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sMotor
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sMotor
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Nuno Sarmento
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sMotor.cpp
00001 /* 00002 ############################################ 00003 ## sMotor v0.1 Library ## 00004 ## created by Samuel Matildes ## 00005 ############################################ 00006 ---- sam.naeec@gmail.com ----- 00007 This library was made for 4-Phase Stepper Motors 00008 I don't take any resposability for the damage caused to your equipment. 00009 00010 */ 00011 00012 #include "sMotor.h" 00013 00014 #include "mbed.h" 00015 00016 int motorSpeed; // Steper speed 00017 00018 sMotor::sMotor(PinName A0, PinName A1, PinName A2, PinName A3) : _A0(A0), _A1(A1), _A2(A2), _A3(A3) { // Defenition of motor pins 00019 _A0=0; 00020 _A1=0; 00021 _A2=0; 00022 _A3=0; 00023 } 00024 00025 00026 void sMotor::anticlockwise(int current_step) { // rotate the motor 1 step anticlockwise 00027 00028 //for (int i = 0; i < 8; i++) { 00029 00030 switch (current_step) { // activate the ports A0, A2, A3, A3 in a binary sequence for steps 00031 case 0: { 00032 _A0=0; 00033 _A1=0; 00034 _A2=0; 00035 _A3=1; 00036 } 00037 //break; 00038 case 1: { 00039 _A0=0; 00040 _A1=0; 00041 _A2=1; 00042 _A3=1; 00043 } 00044 //break; 00045 case 2: { 00046 _A0=0; 00047 _A1=0; 00048 _A2=1; 00049 _A3=0; 00050 } 00051 //break; 00052 case 3: { 00053 _A0=0; 00054 _A1=1; 00055 _A2=1; 00056 _A3=0; 00057 } 00058 //break; 00059 case 4: { 00060 _A0=0; 00061 _A1=1; 00062 _A2=0; 00063 _A3=0; 00064 } 00065 //break; 00066 case 5: { 00067 _A0=1; 00068 _A1=1; 00069 _A2=0; 00070 _A3=0; 00071 } 00072 //break; 00073 case 6: { 00074 _A0=1; 00075 _A1=0; 00076 _A2=0; 00077 _A3=0; 00078 } 00079 //break; 00080 case 7: { 00081 _A0=1; 00082 _A1=0; 00083 _A2=0; 00084 _A3=1; 00085 } 00086 // break; 00087 //} 00088 00089 00090 wait_us(motorSpeed); // wait time defines the speed 00091 } 00092 } 00093 00094 void sMotor::clockwise(int current_step) { // rotate the motor 1 step clockwise 00095 //for (int i = 7; i >= 0; i--) { 00096 00097 switch (current_step) { 00098 case 0: { 00099 _A0=0; 00100 _A1=0; 00101 _A2=0; 00102 _A3=1; 00103 } 00104 break; 00105 case 1: { 00106 _A0=0; 00107 _A1=0; 00108 _A2=1; 00109 _A3=1; 00110 } 00111 break; 00112 case 2: { 00113 _A0=0; 00114 _A1=0; 00115 _A2=1; 00116 _A3=0; 00117 } 00118 break; 00119 case 3: { 00120 _A0=0; 00121 _A1=1; 00122 _A2=1; 00123 _A3=0; 00124 } 00125 break; 00126 case 4: { 00127 _A0=0; 00128 _A1=1; 00129 _A2=0; 00130 _A3=0; 00131 } 00132 break; 00133 case 5: { 00134 _A0=1; 00135 _A1=1; 00136 _A2=0; 00137 _A3=0; 00138 } 00139 break; 00140 case 6: { 00141 _A0=1; 00142 _A1=0; 00143 _A2=0; 00144 _A3=0; 00145 } 00146 break; 00147 case 7: { 00148 _A0=1; 00149 _A1=0; 00150 _A2=0; 00151 _A3=1; 00152 } 00153 break; 00154 } 00155 00156 00157 wait_us(motorSpeed); // wait time defines the speed 00158 } 00159 //} 00160 void sMotor::step(int num_steps, int direction, int speed) {// steper function: number of steps, direction (0- right, 1- left), speed (default 1200) 00161 int count=0; // initalize step count 00162 motorSpeed=speed; //set motor speed 00163 if (direction==0) // turn clockwise 00164 do { 00165 clockwise(); 00166 count++; 00167 } while (count<num_steps); // turn number of steps applied 00168 else if (direction==1)// turn anticlockwise 00169 do { 00170 anticlockwise(); 00171 count++; 00172 } while (count<num_steps);// turn number of steps applied 00173 00174 } 00175 00176 00177 void sMotor::anticlockwise(int current_step) { // rotate the motor 1 step anticlockwise 00178 00179 //for (int i = 0; i < 8; i++) { 00180 00181 switch (current_step) { // activate the ports A0, A2, A3, A3 in a binary sequence for steps 00182 case 0: { 00183 _A0=0; 00184 _A1=0; 00185 _A2=0; 00186 _A3=1; 00187 } 00188 //break; 00189 case 1: { 00190 _A0=0; 00191 _A1=0; 00192 _A2=1; 00193 _A3=1; 00194 } 00195 //break; 00196 case 2: { 00197 _A0=0; 00198 _A1=0; 00199 _A2=1; 00200 _A3=0; 00201 } 00202 //break; 00203 case 3: { 00204 _A0=0; 00205 _A1=1; 00206 _A2=1; 00207 _A3=0; 00208 } 00209 //break; 00210 case 4: { 00211 _A0=0; 00212 _A1=1; 00213 _A2=0; 00214 _A3=0; 00215 } 00216 //break; 00217 case 5: { 00218 _A0=1; 00219 _A1=1; 00220 _A2=0; 00221 _A3=0; 00222 } 00223 //break; 00224 case 6: { 00225 _A0=1; 00226 _A1=0; 00227 _A2=0; 00228 _A3=0; 00229 } 00230 //break; 00231 case 7: { 00232 _A0=1; 00233 _A1=0; 00234 _A2=0; 00235 _A3=1; 00236 } 00237 // break; 00238 //} 00239 00240 00241 wait_us(motorSpeed); // wait time defines the speed 00242 } 00243 } 00244 00245 void sMotor::stop(int current_step) { // rotate the motor 1 step clockwise 00246 //for (int i = 7; i >= 0; i--) { 00247 00248 switch (current_step) { 00249 case 1: { 00250 _A0=0; 00251 _A1=0; 00252 _A2=0; 00253 _A3=1; 00254 } 00255 break; 00256 case 2: { 00257 _A0=0; 00258 _A1=0; 00259 _A2=1; 00260 _A3=1; 00261 } 00262 break; 00263 case 3: { 00264 _A0=0; 00265 _A1=0; 00266 _A2=1; 00267 _A3=0; 00268 } 00269 break; 00270 case 4: { 00271 _A0=0; 00272 _A1=1; 00273 _A2=1; 00274 _A3=0; 00275 } 00276 break; 00277 case 5: { 00278 _A0=0; 00279 _A1=1; 00280 _A2=0; 00281 _A3=0; 00282 } 00283 break; 00284 case 6: { 00285 _A0=1; 00286 _A1=1; 00287 _A2=0; 00288 _A3=0; 00289 } 00290 break; 00291 case 7: { 00292 _A0=1; 00293 _A1=0; 00294 _A2=0; 00295 _A3=0; 00296 } 00297 break; 00298 case 0: { 00299 _A0=1; 00300 _A1=0; 00301 _A2=0; 00302 _A3=1; 00303 } 00304 break; 00305 } 00306 00307 00308 wait_us(motorSpeed); // wait time defines the speed 00309 } 00310 00311 void sMotor::delay(int delay_time){ 00312 wait_us(delay_time); 00313 }
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