Credit for the author
Fork of sMotor by
sMotor.cpp@1:cf4869aef47f, 2014-09-20 (annotated)
- Committer:
- zchen311
- Date:
- Sat Sep 20 14:48:34 2014 +0000
- Revision:
- 1:cf4869aef47f
- Parent:
- 0:4b3b9e047ce3
modify
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
XtaticO | 0:4b3b9e047ce3 | 1 | /* |
XtaticO | 0:4b3b9e047ce3 | 2 | ############################################ |
XtaticO | 0:4b3b9e047ce3 | 3 | ## sMotor v0.1 Library ## |
XtaticO | 0:4b3b9e047ce3 | 4 | ## created by Samuel Matildes ## |
XtaticO | 0:4b3b9e047ce3 | 5 | ############################################ |
XtaticO | 0:4b3b9e047ce3 | 6 | ---- sam.naeec@gmail.com ----- |
XtaticO | 0:4b3b9e047ce3 | 7 | This library was made for 4-Phase Stepper Motors |
XtaticO | 0:4b3b9e047ce3 | 8 | I don't take any resposability for the damage caused to your equipment. |
XtaticO | 0:4b3b9e047ce3 | 9 | |
XtaticO | 0:4b3b9e047ce3 | 10 | */ |
XtaticO | 0:4b3b9e047ce3 | 11 | |
XtaticO | 0:4b3b9e047ce3 | 12 | #include "sMotor.h" |
XtaticO | 0:4b3b9e047ce3 | 13 | |
XtaticO | 0:4b3b9e047ce3 | 14 | #include "mbed.h" |
XtaticO | 0:4b3b9e047ce3 | 15 | |
XtaticO | 0:4b3b9e047ce3 | 16 | int motorSpeed; // Steper speed |
XtaticO | 0:4b3b9e047ce3 | 17 | |
XtaticO | 0:4b3b9e047ce3 | 18 | sMotor::sMotor(PinName A0, PinName A1, PinName A2, PinName A3) : _A0(A0), _A1(A1), _A2(A2), _A3(A3) { // Defenition of motor pins |
XtaticO | 0:4b3b9e047ce3 | 19 | _A0=0; |
XtaticO | 0:4b3b9e047ce3 | 20 | _A1=0; |
XtaticO | 0:4b3b9e047ce3 | 21 | _A2=0; |
XtaticO | 0:4b3b9e047ce3 | 22 | _A3=0; |
XtaticO | 0:4b3b9e047ce3 | 23 | } |
XtaticO | 0:4b3b9e047ce3 | 24 | |
XtaticO | 0:4b3b9e047ce3 | 25 | |
zchen311 | 1:cf4869aef47f | 26 | void sMotor::anticlockwise(int current_step) { // rotate the motor 1 step anticlockwise |
zchen311 | 1:cf4869aef47f | 27 | |
zchen311 | 1:cf4869aef47f | 28 | //for (int i = 0; i < 8; i++) { |
XtaticO | 0:4b3b9e047ce3 | 29 | |
zchen311 | 1:cf4869aef47f | 30 | switch (current_step) { // activate the ports A0, A2, A3, A3 in a binary sequence for steps |
zchen311 | 1:cf4869aef47f | 31 | case 0: { |
zchen311 | 1:cf4869aef47f | 32 | _A0=0; |
zchen311 | 1:cf4869aef47f | 33 | _A1=0; |
zchen311 | 1:cf4869aef47f | 34 | _A2=0; |
zchen311 | 1:cf4869aef47f | 35 | _A3=1; |
zchen311 | 1:cf4869aef47f | 36 | } |
zchen311 | 1:cf4869aef47f | 37 | //break; |
zchen311 | 1:cf4869aef47f | 38 | case 1: { |
zchen311 | 1:cf4869aef47f | 39 | _A0=0; |
zchen311 | 1:cf4869aef47f | 40 | _A1=0; |
zchen311 | 1:cf4869aef47f | 41 | _A2=1; |
zchen311 | 1:cf4869aef47f | 42 | _A3=1; |
zchen311 | 1:cf4869aef47f | 43 | } |
zchen311 | 1:cf4869aef47f | 44 | //break; |
zchen311 | 1:cf4869aef47f | 45 | case 2: { |
zchen311 | 1:cf4869aef47f | 46 | _A0=0; |
zchen311 | 1:cf4869aef47f | 47 | _A1=0; |
zchen311 | 1:cf4869aef47f | 48 | _A2=1; |
zchen311 | 1:cf4869aef47f | 49 | _A3=0; |
zchen311 | 1:cf4869aef47f | 50 | } |
zchen311 | 1:cf4869aef47f | 51 | //break; |
zchen311 | 1:cf4869aef47f | 52 | case 3: { |
zchen311 | 1:cf4869aef47f | 53 | _A0=0; |
zchen311 | 1:cf4869aef47f | 54 | _A1=1; |
zchen311 | 1:cf4869aef47f | 55 | _A2=1; |
zchen311 | 1:cf4869aef47f | 56 | _A3=0; |
zchen311 | 1:cf4869aef47f | 57 | } |
zchen311 | 1:cf4869aef47f | 58 | //break; |
zchen311 | 1:cf4869aef47f | 59 | case 4: { |
zchen311 | 1:cf4869aef47f | 60 | _A0=0; |
zchen311 | 1:cf4869aef47f | 61 | _A1=1; |
zchen311 | 1:cf4869aef47f | 62 | _A2=0; |
zchen311 | 1:cf4869aef47f | 63 | _A3=0; |
zchen311 | 1:cf4869aef47f | 64 | } |
zchen311 | 1:cf4869aef47f | 65 | //break; |
zchen311 | 1:cf4869aef47f | 66 | case 5: { |
zchen311 | 1:cf4869aef47f | 67 | _A0=1; |
zchen311 | 1:cf4869aef47f | 68 | _A1=1; |
zchen311 | 1:cf4869aef47f | 69 | _A2=0; |
zchen311 | 1:cf4869aef47f | 70 | _A3=0; |
zchen311 | 1:cf4869aef47f | 71 | } |
zchen311 | 1:cf4869aef47f | 72 | //break; |
zchen311 | 1:cf4869aef47f | 73 | case 6: { |
zchen311 | 1:cf4869aef47f | 74 | _A0=1; |
zchen311 | 1:cf4869aef47f | 75 | _A1=0; |
zchen311 | 1:cf4869aef47f | 76 | _A2=0; |
zchen311 | 1:cf4869aef47f | 77 | _A3=0; |
zchen311 | 1:cf4869aef47f | 78 | } |
zchen311 | 1:cf4869aef47f | 79 | //break; |
zchen311 | 1:cf4869aef47f | 80 | case 7: { |
zchen311 | 1:cf4869aef47f | 81 | _A0=1; |
zchen311 | 1:cf4869aef47f | 82 | _A1=0; |
zchen311 | 1:cf4869aef47f | 83 | _A2=0; |
zchen311 | 1:cf4869aef47f | 84 | _A3=1; |
zchen311 | 1:cf4869aef47f | 85 | } |
zchen311 | 1:cf4869aef47f | 86 | // break; |
zchen311 | 1:cf4869aef47f | 87 | //} |
zchen311 | 1:cf4869aef47f | 88 | |
zchen311 | 1:cf4869aef47f | 89 | |
zchen311 | 1:cf4869aef47f | 90 | wait_us(motorSpeed); // wait time defines the speed |
zchen311 | 1:cf4869aef47f | 91 | } |
zchen311 | 1:cf4869aef47f | 92 | } |
zchen311 | 1:cf4869aef47f | 93 | |
zchen311 | 1:cf4869aef47f | 94 | void sMotor::clockwise(int current_step) { // rotate the motor 1 step clockwise |
zchen311 | 1:cf4869aef47f | 95 | //for (int i = 7; i >= 0; i--) { |
zchen311 | 1:cf4869aef47f | 96 | |
zchen311 | 1:cf4869aef47f | 97 | switch (current_step) { |
XtaticO | 0:4b3b9e047ce3 | 98 | case 0: { |
XtaticO | 0:4b3b9e047ce3 | 99 | _A0=0; |
XtaticO | 0:4b3b9e047ce3 | 100 | _A1=0; |
XtaticO | 0:4b3b9e047ce3 | 101 | _A2=0; |
XtaticO | 0:4b3b9e047ce3 | 102 | _A3=1; |
XtaticO | 0:4b3b9e047ce3 | 103 | } |
XtaticO | 0:4b3b9e047ce3 | 104 | break; |
XtaticO | 0:4b3b9e047ce3 | 105 | case 1: { |
XtaticO | 0:4b3b9e047ce3 | 106 | _A0=0; |
XtaticO | 0:4b3b9e047ce3 | 107 | _A1=0; |
XtaticO | 0:4b3b9e047ce3 | 108 | _A2=1; |
XtaticO | 0:4b3b9e047ce3 | 109 | _A3=1; |
XtaticO | 0:4b3b9e047ce3 | 110 | } |
XtaticO | 0:4b3b9e047ce3 | 111 | break; |
XtaticO | 0:4b3b9e047ce3 | 112 | case 2: { |
XtaticO | 0:4b3b9e047ce3 | 113 | _A0=0; |
XtaticO | 0:4b3b9e047ce3 | 114 | _A1=0; |
XtaticO | 0:4b3b9e047ce3 | 115 | _A2=1; |
XtaticO | 0:4b3b9e047ce3 | 116 | _A3=0; |
XtaticO | 0:4b3b9e047ce3 | 117 | } |
XtaticO | 0:4b3b9e047ce3 | 118 | break; |
XtaticO | 0:4b3b9e047ce3 | 119 | case 3: { |
XtaticO | 0:4b3b9e047ce3 | 120 | _A0=0; |
XtaticO | 0:4b3b9e047ce3 | 121 | _A1=1; |
XtaticO | 0:4b3b9e047ce3 | 122 | _A2=1; |
XtaticO | 0:4b3b9e047ce3 | 123 | _A3=0; |
XtaticO | 0:4b3b9e047ce3 | 124 | } |
XtaticO | 0:4b3b9e047ce3 | 125 | break; |
XtaticO | 0:4b3b9e047ce3 | 126 | case 4: { |
XtaticO | 0:4b3b9e047ce3 | 127 | _A0=0; |
XtaticO | 0:4b3b9e047ce3 | 128 | _A1=1; |
XtaticO | 0:4b3b9e047ce3 | 129 | _A2=0; |
XtaticO | 0:4b3b9e047ce3 | 130 | _A3=0; |
XtaticO | 0:4b3b9e047ce3 | 131 | } |
XtaticO | 0:4b3b9e047ce3 | 132 | break; |
XtaticO | 0:4b3b9e047ce3 | 133 | case 5: { |
XtaticO | 0:4b3b9e047ce3 | 134 | _A0=1; |
XtaticO | 0:4b3b9e047ce3 | 135 | _A1=1; |
XtaticO | 0:4b3b9e047ce3 | 136 | _A2=0; |
XtaticO | 0:4b3b9e047ce3 | 137 | _A3=0; |
XtaticO | 0:4b3b9e047ce3 | 138 | } |
XtaticO | 0:4b3b9e047ce3 | 139 | break; |
XtaticO | 0:4b3b9e047ce3 | 140 | case 6: { |
XtaticO | 0:4b3b9e047ce3 | 141 | _A0=1; |
XtaticO | 0:4b3b9e047ce3 | 142 | _A1=0; |
XtaticO | 0:4b3b9e047ce3 | 143 | _A2=0; |
XtaticO | 0:4b3b9e047ce3 | 144 | _A3=0; |
XtaticO | 0:4b3b9e047ce3 | 145 | } |
XtaticO | 0:4b3b9e047ce3 | 146 | break; |
XtaticO | 0:4b3b9e047ce3 | 147 | case 7: { |
XtaticO | 0:4b3b9e047ce3 | 148 | _A0=1; |
XtaticO | 0:4b3b9e047ce3 | 149 | _A1=0; |
XtaticO | 0:4b3b9e047ce3 | 150 | _A2=0; |
XtaticO | 0:4b3b9e047ce3 | 151 | _A3=1; |
XtaticO | 0:4b3b9e047ce3 | 152 | } |
XtaticO | 0:4b3b9e047ce3 | 153 | break; |
XtaticO | 0:4b3b9e047ce3 | 154 | } |
XtaticO | 0:4b3b9e047ce3 | 155 | |
XtaticO | 0:4b3b9e047ce3 | 156 | |
XtaticO | 0:4b3b9e047ce3 | 157 | wait_us(motorSpeed); // wait time defines the speed |
XtaticO | 0:4b3b9e047ce3 | 158 | } |
zchen311 | 1:cf4869aef47f | 159 | //} |
XtaticO | 0:4b3b9e047ce3 | 160 | void sMotor::step(int num_steps, int direction, int speed) {// steper function: number of steps, direction (0- right, 1- left), speed (default 1200) |
XtaticO | 0:4b3b9e047ce3 | 161 | int count=0; // initalize step count |
XtaticO | 0:4b3b9e047ce3 | 162 | motorSpeed=speed; //set motor speed |
XtaticO | 0:4b3b9e047ce3 | 163 | if (direction==0) // turn clockwise |
XtaticO | 0:4b3b9e047ce3 | 164 | do { |
XtaticO | 0:4b3b9e047ce3 | 165 | clockwise(); |
XtaticO | 0:4b3b9e047ce3 | 166 | count++; |
XtaticO | 0:4b3b9e047ce3 | 167 | } while (count<num_steps); // turn number of steps applied |
XtaticO | 0:4b3b9e047ce3 | 168 | else if (direction==1)// turn anticlockwise |
XtaticO | 0:4b3b9e047ce3 | 169 | do { |
XtaticO | 0:4b3b9e047ce3 | 170 | anticlockwise(); |
XtaticO | 0:4b3b9e047ce3 | 171 | count++; |
XtaticO | 0:4b3b9e047ce3 | 172 | } while (count<num_steps);// turn number of steps applied |
XtaticO | 0:4b3b9e047ce3 | 173 | |
zchen311 | 1:cf4869aef47f | 174 | } |
zchen311 | 1:cf4869aef47f | 175 | |
zchen311 | 1:cf4869aef47f | 176 | |
zchen311 | 1:cf4869aef47f | 177 | void sMotor::anticlockwise(int current_step) { // rotate the motor 1 step anticlockwise |
zchen311 | 1:cf4869aef47f | 178 | |
zchen311 | 1:cf4869aef47f | 179 | //for (int i = 0; i < 8; i++) { |
zchen311 | 1:cf4869aef47f | 180 | |
zchen311 | 1:cf4869aef47f | 181 | switch (current_step) { // activate the ports A0, A2, A3, A3 in a binary sequence for steps |
zchen311 | 1:cf4869aef47f | 182 | case 0: { |
zchen311 | 1:cf4869aef47f | 183 | _A0=0; |
zchen311 | 1:cf4869aef47f | 184 | _A1=0; |
zchen311 | 1:cf4869aef47f | 185 | _A2=0; |
zchen311 | 1:cf4869aef47f | 186 | _A3=1; |
zchen311 | 1:cf4869aef47f | 187 | } |
zchen311 | 1:cf4869aef47f | 188 | //break; |
zchen311 | 1:cf4869aef47f | 189 | case 1: { |
zchen311 | 1:cf4869aef47f | 190 | _A0=0; |
zchen311 | 1:cf4869aef47f | 191 | _A1=0; |
zchen311 | 1:cf4869aef47f | 192 | _A2=1; |
zchen311 | 1:cf4869aef47f | 193 | _A3=1; |
zchen311 | 1:cf4869aef47f | 194 | } |
zchen311 | 1:cf4869aef47f | 195 | //break; |
zchen311 | 1:cf4869aef47f | 196 | case 2: { |
zchen311 | 1:cf4869aef47f | 197 | _A0=0; |
zchen311 | 1:cf4869aef47f | 198 | _A1=0; |
zchen311 | 1:cf4869aef47f | 199 | _A2=1; |
zchen311 | 1:cf4869aef47f | 200 | _A3=0; |
zchen311 | 1:cf4869aef47f | 201 | } |
zchen311 | 1:cf4869aef47f | 202 | //break; |
zchen311 | 1:cf4869aef47f | 203 | case 3: { |
zchen311 | 1:cf4869aef47f | 204 | _A0=0; |
zchen311 | 1:cf4869aef47f | 205 | _A1=1; |
zchen311 | 1:cf4869aef47f | 206 | _A2=1; |
zchen311 | 1:cf4869aef47f | 207 | _A3=0; |
zchen311 | 1:cf4869aef47f | 208 | } |
zchen311 | 1:cf4869aef47f | 209 | //break; |
zchen311 | 1:cf4869aef47f | 210 | case 4: { |
zchen311 | 1:cf4869aef47f | 211 | _A0=0; |
zchen311 | 1:cf4869aef47f | 212 | _A1=1; |
zchen311 | 1:cf4869aef47f | 213 | _A2=0; |
zchen311 | 1:cf4869aef47f | 214 | _A3=0; |
zchen311 | 1:cf4869aef47f | 215 | } |
zchen311 | 1:cf4869aef47f | 216 | //break; |
zchen311 | 1:cf4869aef47f | 217 | case 5: { |
zchen311 | 1:cf4869aef47f | 218 | _A0=1; |
zchen311 | 1:cf4869aef47f | 219 | _A1=1; |
zchen311 | 1:cf4869aef47f | 220 | _A2=0; |
zchen311 | 1:cf4869aef47f | 221 | _A3=0; |
zchen311 | 1:cf4869aef47f | 222 | } |
zchen311 | 1:cf4869aef47f | 223 | //break; |
zchen311 | 1:cf4869aef47f | 224 | case 6: { |
zchen311 | 1:cf4869aef47f | 225 | _A0=1; |
zchen311 | 1:cf4869aef47f | 226 | _A1=0; |
zchen311 | 1:cf4869aef47f | 227 | _A2=0; |
zchen311 | 1:cf4869aef47f | 228 | _A3=0; |
zchen311 | 1:cf4869aef47f | 229 | } |
zchen311 | 1:cf4869aef47f | 230 | //break; |
zchen311 | 1:cf4869aef47f | 231 | case 7: { |
zchen311 | 1:cf4869aef47f | 232 | _A0=1; |
zchen311 | 1:cf4869aef47f | 233 | _A1=0; |
zchen311 | 1:cf4869aef47f | 234 | _A2=0; |
zchen311 | 1:cf4869aef47f | 235 | _A3=1; |
zchen311 | 1:cf4869aef47f | 236 | } |
zchen311 | 1:cf4869aef47f | 237 | // break; |
zchen311 | 1:cf4869aef47f | 238 | //} |
zchen311 | 1:cf4869aef47f | 239 | |
zchen311 | 1:cf4869aef47f | 240 | |
zchen311 | 1:cf4869aef47f | 241 | wait_us(motorSpeed); // wait time defines the speed |
zchen311 | 1:cf4869aef47f | 242 | } |
zchen311 | 1:cf4869aef47f | 243 | } |
zchen311 | 1:cf4869aef47f | 244 | |
zchen311 | 1:cf4869aef47f | 245 | void sMotor::stop(int current_step) { // rotate the motor 1 step clockwise |
zchen311 | 1:cf4869aef47f | 246 | //for (int i = 7; i >= 0; i--) { |
zchen311 | 1:cf4869aef47f | 247 | |
zchen311 | 1:cf4869aef47f | 248 | switch (current_step) { |
zchen311 | 1:cf4869aef47f | 249 | case 1: { |
zchen311 | 1:cf4869aef47f | 250 | _A0=0; |
zchen311 | 1:cf4869aef47f | 251 | _A1=0; |
zchen311 | 1:cf4869aef47f | 252 | _A2=0; |
zchen311 | 1:cf4869aef47f | 253 | _A3=1; |
zchen311 | 1:cf4869aef47f | 254 | } |
zchen311 | 1:cf4869aef47f | 255 | break; |
zchen311 | 1:cf4869aef47f | 256 | case 2: { |
zchen311 | 1:cf4869aef47f | 257 | _A0=0; |
zchen311 | 1:cf4869aef47f | 258 | _A1=0; |
zchen311 | 1:cf4869aef47f | 259 | _A2=1; |
zchen311 | 1:cf4869aef47f | 260 | _A3=1; |
zchen311 | 1:cf4869aef47f | 261 | } |
zchen311 | 1:cf4869aef47f | 262 | break; |
zchen311 | 1:cf4869aef47f | 263 | case 3: { |
zchen311 | 1:cf4869aef47f | 264 | _A0=0; |
zchen311 | 1:cf4869aef47f | 265 | _A1=0; |
zchen311 | 1:cf4869aef47f | 266 | _A2=1; |
zchen311 | 1:cf4869aef47f | 267 | _A3=0; |
zchen311 | 1:cf4869aef47f | 268 | } |
zchen311 | 1:cf4869aef47f | 269 | break; |
zchen311 | 1:cf4869aef47f | 270 | case 4: { |
zchen311 | 1:cf4869aef47f | 271 | _A0=0; |
zchen311 | 1:cf4869aef47f | 272 | _A1=1; |
zchen311 | 1:cf4869aef47f | 273 | _A2=1; |
zchen311 | 1:cf4869aef47f | 274 | _A3=0; |
zchen311 | 1:cf4869aef47f | 275 | } |
zchen311 | 1:cf4869aef47f | 276 | break; |
zchen311 | 1:cf4869aef47f | 277 | case 5: { |
zchen311 | 1:cf4869aef47f | 278 | _A0=0; |
zchen311 | 1:cf4869aef47f | 279 | _A1=1; |
zchen311 | 1:cf4869aef47f | 280 | _A2=0; |
zchen311 | 1:cf4869aef47f | 281 | _A3=0; |
zchen311 | 1:cf4869aef47f | 282 | } |
zchen311 | 1:cf4869aef47f | 283 | break; |
zchen311 | 1:cf4869aef47f | 284 | case 6: { |
zchen311 | 1:cf4869aef47f | 285 | _A0=1; |
zchen311 | 1:cf4869aef47f | 286 | _A1=1; |
zchen311 | 1:cf4869aef47f | 287 | _A2=0; |
zchen311 | 1:cf4869aef47f | 288 | _A3=0; |
zchen311 | 1:cf4869aef47f | 289 | } |
zchen311 | 1:cf4869aef47f | 290 | break; |
zchen311 | 1:cf4869aef47f | 291 | case 7: { |
zchen311 | 1:cf4869aef47f | 292 | _A0=1; |
zchen311 | 1:cf4869aef47f | 293 | _A1=0; |
zchen311 | 1:cf4869aef47f | 294 | _A2=0; |
zchen311 | 1:cf4869aef47f | 295 | _A3=0; |
zchen311 | 1:cf4869aef47f | 296 | } |
zchen311 | 1:cf4869aef47f | 297 | break; |
zchen311 | 1:cf4869aef47f | 298 | case 0: { |
zchen311 | 1:cf4869aef47f | 299 | _A0=1; |
zchen311 | 1:cf4869aef47f | 300 | _A1=0; |
zchen311 | 1:cf4869aef47f | 301 | _A2=0; |
zchen311 | 1:cf4869aef47f | 302 | _A3=1; |
zchen311 | 1:cf4869aef47f | 303 | } |
zchen311 | 1:cf4869aef47f | 304 | break; |
zchen311 | 1:cf4869aef47f | 305 | } |
zchen311 | 1:cf4869aef47f | 306 | |
zchen311 | 1:cf4869aef47f | 307 | |
zchen311 | 1:cf4869aef47f | 308 | wait_us(motorSpeed); // wait time defines the speed |
zchen311 | 1:cf4869aef47f | 309 | } |
zchen311 | 1:cf4869aef47f | 310 | |
zchen311 | 1:cf4869aef47f | 311 | void sMotor::delay(int delay_time){ |
zchen311 | 1:cf4869aef47f | 312 | wait_us(delay_time); |
XtaticO | 0:4b3b9e047ce3 | 313 | } |