ze chen
Credit for the author
Fork of
sMotor
by 
Nuno Sarmento
Diff: sMotor.cpp
- Revision:
- 1:cf4869aef47f
- Parent:
- 0:4b3b9e047ce3
--- a/sMotor.cpp Thu Jun 14 12:16:40 2012 +0000
+++ b/sMotor.cpp Sat Sep 20 14:48:34 2014 +0000
@@ -23,10 +23,78 @@
}
-void sMotor::anticlockwise() { // rotate the motor 1 step anticlockwise
- for (int i = 0; i < 8; i++) {
+void sMotor::anticlockwise(int current_step) { // rotate the motor 1 step anticlockwise
+
+ //for (int i = 0; i < 8; i++) {
- switch (i) { // activate the ports A0, A2, A3, A3 in a binary sequence for steps
+ switch (current_step) { // activate the ports A0, A2, A3, A3 in a binary sequence for steps
+ case 0: {
+ _A0=0;
+ _A1=0;
+ _A2=0;
+ _A3=1;
+ }
+ //break;
+ case 1: {
+ _A0=0;
+ _A1=0;
+ _A2=1;
+ _A3=1;
+ }
+ //break;
+ case 2: {
+ _A0=0;
+ _A1=0;
+ _A2=1;
+ _A3=0;
+ }
+ //break;
+ case 3: {
+ _A0=0;
+ _A1=1;
+ _A2=1;
+ _A3=0;
+ }
+ //break;
+ case 4: {
+ _A0=0;
+ _A1=1;
+ _A2=0;
+ _A3=0;
+ }
+ //break;
+ case 5: {
+ _A0=1;
+ _A1=1;
+ _A2=0;
+ _A3=0;
+ }
+ //break;
+ case 6: {
+ _A0=1;
+ _A1=0;
+ _A2=0;
+ _A3=0;
+ }
+ //break;
+ case 7: {
+ _A0=1;
+ _A1=0;
+ _A2=0;
+ _A3=1;
+ }
+ // break;
+ //}
+
+
+ wait_us(motorSpeed); // wait time defines the speed
+ }
+}
+
+void sMotor::clockwise(int current_step) { // rotate the motor 1 step clockwise
+ //for (int i = 7; i >= 0; i--) {
+
+ switch (current_step) {
case 0: {
_A0=0;
_A1=0;
@@ -88,74 +156,7 @@
wait_us(motorSpeed); // wait time defines the speed
}
-}
-
-void sMotor::clockwise() { // rotate the motor 1 step clockwise
- for (int i = 7; i >= 0; i--) {
-
- switch (i) {
- case 0: {
- _A0=0;
- _A1=0;
- _A2=0;
- _A3=1;
- }
- break;
- case 1: {
- _A0=0;
- _A1=0;
- _A2=1;
- _A3=1;
- }
- break;
- case 2: {
- _A0=0;
- _A1=0;
- _A2=1;
- _A3=0;
- }
- break;
- case 3: {
- _A0=0;
- _A1=1;
- _A2=1;
- _A3=0;
- }
- break;
- case 4: {
- _A0=0;
- _A1=1;
- _A2=0;
- _A3=0;
- }
- break;
- case 5: {
- _A0=1;
- _A1=1;
- _A2=0;
- _A3=0;
- }
- break;
- case 6: {
- _A0=1;
- _A1=0;
- _A2=0;
- _A3=0;
- }
- break;
- case 7: {
- _A0=1;
- _A1=0;
- _A2=0;
- _A3=1;
- }
- break;
- }
-
-
- wait_us(motorSpeed); // wait time defines the speed
- }
-}
+//}
void sMotor::step(int num_steps, int direction, int speed) {// steper function: number of steps, direction (0- right, 1- left), speed (default 1200)
int count=0; // initalize step count
motorSpeed=speed; //set motor speed
@@ -170,4 +171,143 @@
count++;
} while (count<num_steps);// turn number of steps applied
+}
+
+
+void sMotor::anticlockwise(int current_step) { // rotate the motor 1 step anticlockwise
+
+ //for (int i = 0; i < 8; i++) {
+
+ switch (current_step) { // activate the ports A0, A2, A3, A3 in a binary sequence for steps
+ case 0: {
+ _A0=0;
+ _A1=0;
+ _A2=0;
+ _A3=1;
+ }
+ //break;
+ case 1: {
+ _A0=0;
+ _A1=0;
+ _A2=1;
+ _A3=1;
+ }
+ //break;
+ case 2: {
+ _A0=0;
+ _A1=0;
+ _A2=1;
+ _A3=0;
+ }
+ //break;
+ case 3: {
+ _A0=0;
+ _A1=1;
+ _A2=1;
+ _A3=0;
+ }
+ //break;
+ case 4: {
+ _A0=0;
+ _A1=1;
+ _A2=0;
+ _A3=0;
+ }
+ //break;
+ case 5: {
+ _A0=1;
+ _A1=1;
+ _A2=0;
+ _A3=0;
+ }
+ //break;
+ case 6: {
+ _A0=1;
+ _A1=0;
+ _A2=0;
+ _A3=0;
+ }
+ //break;
+ case 7: {
+ _A0=1;
+ _A1=0;
+ _A2=0;
+ _A3=1;
+ }
+ // break;
+ //}
+
+
+ wait_us(motorSpeed); // wait time defines the speed
+ }
+}
+
+void sMotor::stop(int current_step) { // rotate the motor 1 step clockwise
+ //for (int i = 7; i >= 0; i--) {
+
+ switch (current_step) {
+ case 1: {
+ _A0=0;
+ _A1=0;
+ _A2=0;
+ _A3=1;
+ }
+ break;
+ case 2: {
+ _A0=0;
+ _A1=0;
+ _A2=1;
+ _A3=1;
+ }
+ break;
+ case 3: {
+ _A0=0;
+ _A1=0;
+ _A2=1;
+ _A3=0;
+ }
+ break;
+ case 4: {
+ _A0=0;
+ _A1=1;
+ _A2=1;
+ _A3=0;
+ }
+ break;
+ case 5: {
+ _A0=0;
+ _A1=1;
+ _A2=0;
+ _A3=0;
+ }
+ break;
+ case 6: {
+ _A0=1;
+ _A1=1;
+ _A2=0;
+ _A3=0;
+ }
+ break;
+ case 7: {
+ _A0=1;
+ _A1=0;
+ _A2=0;
+ _A3=0;
+ }
+ break;
+ case 0: {
+ _A0=1;
+ _A1=0;
+ _A2=0;
+ _A3=1;
+ }
+ break;
+ }
+
+
+ wait_us(motorSpeed); // wait time defines the speed
+ }
+
+void sMotor::delay(int delay_time){
+ wait_us(delay_time);
}
\ No newline at end of file