Joshua Brown
First revision of tactile mouse code
Revision 0:f254a3cfe0f6, committed 2019-04-08
- Comitter:
- JPB515
- Date:
- Mon Apr 08 16:57:36 2019 +0000
- Commit message:
- First publish of tactile mouse code;
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/.gitignore Mon Apr 08 16:57:36 2019 +0000 @@ -0,0 +1,4 @@ +.build +.mbed +projectfiles +*.py*
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/README.md Mon Apr 08 16:57:36 2019 +0000 @@ -0,0 +1,57 @@ +# Getting started with Blinky on mbed OS + +This guide reviews the steps required to get Blinky working on an mbed OS platform. + +Please install [mbed CLI](https://github.com/ARMmbed/mbed-cli#installing-mbed-cli). + +## Import the example application + +From the command-line, import the example: + +``` +mbed import mbed-os-example-blinky +cd mbed-os-example-blinky +``` + +### Now compile + +Invoke `mbed compile`, and specify the name of your platform and your favorite toolchain (`GCC_ARM`, `ARM`, `IAR`). For example, for the ARM Compiler 5: + +``` +mbed compile -m K64F -t ARM +``` + +Your PC may take a few minutes to compile your code. At the end, you see the following result: + +``` +[snip] ++----------------------------+-------+-------+------+ +| Module | .text | .data | .bss | ++----------------------------+-------+-------+------+ +| Misc | 13939 | 24 | 1372 | +| core/hal | 16993 | 96 | 296 | +| core/rtos | 7384 | 92 | 4204 | +| features/FEATURE_IPV4 | 80 | 0 | 176 | +| frameworks/greentea-client | 1830 | 60 | 44 | +| frameworks/utest | 2392 | 512 | 292 | +| Subtotals | 42618 | 784 | 6384 | ++----------------------------+-------+-------+------+ +Allocated Heap: unknown +Allocated Stack: unknown +Total Static RAM memory (data + bss): 7168 bytes +Total RAM memory (data + bss + heap + stack): 7168 bytes +Total Flash memory (text + data + misc): 43402 bytes +Image: .\.build\K64F\ARM\mbed-os-example-blinky.bin +``` + +### Program your board + +1. Connect your mbed device to the computer over USB. +1. Copy the binary file to the mbed device. +1. Press the reset button to start the program. + +The LED on your platform turns on and off. + +## Troubleshooting + +If you have problems, you can review the [documentation](https://os.mbed.com/docs/latest/tutorials/debugging.html) for suggestions on what could be wrong and how to fix it.
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/braille_mouse.cpp Mon Apr 08 16:57:36 2019 +0000
@@ -0,0 +1,151 @@
+#include "braille_mouse.hpp"
+#include "tactile_mouse.hpp"
+
+/* CELL OFFSETS
+76543210
+22-11-00 0
+22-11-00 1
+22-11-00 2
+-------- 3
+-------- 4
+55-44-33 5
+55-44-33 6
+55-44-33 7
+*/
+
+void brailleCharacter(tactileDisplay &display, int cell, char character){
+ int xOffset = getXOffset(cell);
+ int yOffset = getYOffset(cell);
+
+ if ((character == 'c')||
+ (character == 'd')||
+ (character == 'f')||
+ (character == 'g')||
+ (character == 'i')||
+ (character == 'j')||
+ (character == 'm')||
+ (character == 'n')||
+ (character == 'p')||
+ (character == 'q')||
+ (character == 's')||
+ (character == 't')||
+ (character == 'w')||
+ (character == 'x')||
+ (character == 'y')||
+ (character == '3')||
+ (character == '4')||
+ (character == '6')||
+ (character == '7')||
+ (character == '9')||
+ (character == '0'))
+ {display.setTaxel((6+xOffset),(0+yOffset),100);}
+ else{display.setTaxel((6+xOffset),(0+yOffset),0);}
+ if ((character == 'd')||
+ (character == 'e')||
+ (character == 'g')||
+ (character == 'h')||
+ (character == 'j')||
+ (character == 'n')||
+ (character == 'o')||
+ (character == 'q')||
+ (character == 'r')||
+ (character == 't')||
+ (character == 'w')||
+ (character == 'y')||
+ (character == 'z')||
+ (character == '4')||
+ (character == '5')||
+ (character == '7')||
+ (character == '8')||
+ (character == '0'))
+ {display.setTaxel((5+xOffset),(0+yOffset),100);}
+ else{display.setTaxel((5+xOffset),(0+yOffset),0);}
+ if ((character == 'u')||
+ (character == 'v')||
+ (character == 'w')||
+ (character == 'x')||
+ (character == 'y')||
+ (character == 'z'))
+ {display.setTaxel((4+xOffset),(0+yOffset),100);}
+ else{display.setTaxel((4+xOffset),(0+yOffset),0);}
+ if ((character == 'i')||
+ (character == 'j')||
+ (character == 's')||
+ (character == 't')||
+ (character == 'w')||
+ (character == '9')||
+ (character == '0'))
+ {display.setTaxel((6+xOffset),(1+yOffset),0);}
+ else{display.setTaxel((6+xOffset),(1+yOffset),100);}
+ if ((character == 'a')||
+ (character == 'c')||
+ (character == 'd')||
+ (character == 'e')||
+ (character == 'k')||
+ (character == 'm')||
+ (character == 'n')||
+ (character == 'o')||
+ (character == 'u')||
+ (character == 'x')||
+ (character == 'y')||
+ (character == 'z')||
+ (character == '1')||
+ (character == '3')||
+ (character == '4')||
+ (character == '5'))
+ {display.setTaxel((5+xOffset),(1+yOffset),0);}
+ else{display.setTaxel((5+xOffset),(1+yOffset),100);}
+ if ((character == 'k')||
+ (character == 'l')||
+ (character == 'm')||
+ (character == 'n')||
+ (character == 'o')||
+ (character == 'p')||
+ (character == 'q')||
+ (character == 'r')||
+ (character == 's')||
+ (character == 't')||
+ (character == 'u')||
+ (character == 'v')||
+ (character == 'x')||
+ (character == 'y')||
+ (character == 'z'))
+ {display.setTaxel((4+xOffset),(1+yOffset),100);}
+ else{display.setTaxel((4+xOffset),(1+yOffset),0);}
+}
+
+/* CELL OFFSETS
+76543210
+-000-333 0
+-000-333 1
+-------- 2
+-111-444 3
+-111-444 4
+-------- 5
+-222-555 6
+-222-555 7
+*/
+
+int getYOffset(int cell){
+ if ((cell == 0)||(cell == 3)){
+ return 0;
+ }
+ else if ((cell == 1)||(cell == 4)){
+ return 3;
+ }
+ else if ((cell == 2)||(cell == 5)){
+ return 6;
+ }
+ return -1;
+}
+
+int getXOffset(int cell){
+ if ((cell == 0)||(cell == 1)||(cell == 2)){
+ return 0;
+ }
+ else if ((cell == 3)||(cell == 4)||(cell == 5)){
+ return 4;
+ }
+ return -1;
+
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/braille_mouse.hpp Mon Apr 08 16:57:36 2019 +0000 @@ -0,0 +1,11 @@ +#ifndef BRAILLE_MOUSE_HPP +#define BRAILLE_MOUSE_HPP + +#include "mbed.h" +#include "tactile_display.hpp" + +void brailleCharacter(tactileDisplay &display, int cell, char character); +int getXOffset(int cell); +int getYOffset(int cell); + +#endif \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Mon Apr 08 16:57:36 2019 +0000
@@ -0,0 +1,170 @@
+#include "mbed.h"
+#include "tactile_mouse.hpp"
+#include "braille_mouse.hpp"
+#include "tactile_display.hpp"
+#include "stepper.hpp"
+#include <vector>
+#include <ctime>
+
+// ***PINS FOR EMBEDDED PCB***
+DigitalOut MotorA1(PD_4);
+DigitalOut MotorA2(PD_3);
+DigitalOut MotorB1(PD_1);
+DigitalOut MotorB2(PD_2);
+DigitalOut MUXA(PD_0);
+DigitalOut MUXB(PC_12);
+DigitalOut MUXC(PC_11);
+DigitalOut BOARD_MUXA(PE_6);
+DigitalOut BOARD_MUXB(PE_5);
+DigitalOut BOARD_MUXC(PE_4);
+DigitalOut step(PD_5);
+DigitalOut motorPower(PC_4); //Power enable pin 44
+DigitalIn reversePin(PG_0, PullDown);
+
+Thread displayThread;
+bool running;
+
+void refreshDisplay(tactileDisplay *display){
+ int count = 0;
+ while(running){
+ (*display).stepDisplay();
+ //if((count%50)==0){
+ //removePin = !removePin;
+ //}
+ count++;
+ }
+ //Clear all latches
+ for(int m=0 ; m<8 ; m++){
+ for(int n=0 ; n<8 ; n++){
+ selectMotor(m,n);
+ M1stop(0.0005);
+ }
+ }
+}
+
+
+int main() {
+
+ tactileDisplay display(8,8,3);
+
+ step = 0;
+ motorPower = 0;
+ running = false;
+
+ //Clear all latches
+ for(int m=0 ; m<8 ; m++){
+ for(int n=0 ; n<8 ; n++){
+ selectMotor(m,n);
+ M1stop(0.0005);
+ }
+ }
+
+ motorPower = 1;
+
+ //Establish serial connection
+ Serial pc(USBTX, USBRX);
+
+ running = true;
+ displayThread.start(callback(refreshDisplay, &display));
+ char xin,yin;
+ char zin[5];
+ int x,y,z;
+
+ while(1){
+ if(pc.readable()){
+ xin = pc.getc();
+ pc.getc(); //Throw away separator
+ yin = pc.getc();
+ pc.getc(); //Throw away separator
+ pc.scanf("%s",zin);
+
+ //Make x integer
+ x = xin - '0';
+
+ //Make y integer
+ y = yin - '0';
+
+ //Make z integer
+ if(zin[0] == '-'){ //if negative
+ z = ((zin[1])+(zin[2]*10)+(zin[3]*100)+(zin[4]*1000))*(-1);
+ }
+ else{ //if positive
+ z = ((zin[0])+(zin[1]*10)+(zin[2]*100)+(zin[3]*1000)+(zin[4]*10000))
+ }
+
+ display.setTaxel(x,y,z);
+ }
+ }
+
+ brailleCharacter(display, 0, 'e');
+ brailleCharacter(display, 1, 'i');
+ brailleCharacter(display, 2, 'e');
+
+ wait(15);
+
+ brailleCharacter(display, 3, 'n');
+ brailleCharacter(display, 4, 'i');
+ brailleCharacter(display, 5, 'w');
+
+ wait(15);
+
+ brailleCharacter(display, 0, 'g');
+ brailleCharacter(display, 1, 'i');
+ brailleCharacter(display, 2, 'b');
+
+ wait(15);
+
+ brailleCharacter(display, 0, 'g');
+ brailleCharacter(display, 1, 'o');
+ brailleCharacter(display, 2, 'd');
+
+ wait(15);
+
+ /*
+ //SQUARE
+ display.setTaxel(6,3,50);
+ display.setTaxel(3,3,50);
+ display.setTaxel(3,4,50);
+ display.setTaxel(3,5,50);
+ display.setTaxel(6,2,50);
+ display.setTaxel(6,3,50);
+ display.setTaxel(6,4,50);
+ display.setTaxel(6,5,50);
+ display.setTaxel(5,2,50);
+ display.setTaxel(5,5,50);
+ display.setTaxel(4,2,50);
+ display.setTaxel(4,5,50);
+ */
+ /*int dist = -4000;
+ if(reversePin == 1){ dist = dist * (-1);}
+
+ for(int i=0 ; i<7 ; ++i){
+ for(int j=0 ; j<8 ; ++j){
+ display.setTaxel(i,j,(rand()%50));
+ }
+ }
+ */
+ wait(30);
+
+ for(int i=0 ; i<7 ; ++i){
+ for(int j=0 ; j<8 ; ++j){
+ display.setTaxel(i,j,0);
+ }
+ }
+
+ wait(50);
+
+ running = false;
+ wait(1);
+ displayThread.join();
+
+ //Clear all latches
+ for(int m=0 ; m<8 ; m++){
+ for(int n=0 ; n<8 ; n++){
+ selectMotor(m,n);
+ M1stop(0.0005);
+ }
+ }
+}
+
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed-os.lib Mon Apr 08 16:57:36 2019 +0000 @@ -0,0 +1,1 @@ +https://github.com/ARMmbed/mbed-os/#ae6c7c60f91c89cbf755a2f3c8ec9c66635849fd
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/stepper.cpp Mon Apr 08 16:57:36 2019 +0000
@@ -0,0 +1,209 @@
+#include "mbed.h"
+#include "tactile_mouse.hpp"
+#include "stepper.hpp"
+
+void M1downstep1(double delay){
+ MotorA1=0;
+ MotorA2=1;
+ MotorB1=0;
+ MotorB2=1;
+ wait(0.000001);
+ step = 1;
+ wait(0.000001);
+ step=0;
+ wait(delay);
+ }
+
+void M1downstep2(double delay){
+ MotorA1=0;
+ MotorA2=1;
+ MotorB1=1;
+ MotorB2=0;
+ wait(0.000001);
+ step = 1;
+ wait(0.000001);
+ step=0;
+ wait(delay);
+ }
+
+void M1downstep3(double delay){
+ MotorA1=1;
+ MotorA2=0;
+ MotorB1=1;
+ MotorB2=0;
+ wait(0.000001);
+ step = 1;
+ wait(0.000001);
+ step=0;
+ wait(delay);
+ }
+
+void M1downstep4(double delay){
+ MotorA1=1;
+ MotorA2=0;
+ MotorB1=0;
+ MotorB2=1;
+ wait(0.000001);
+ step = 1;
+ wait(0.000001);
+ step=0;
+ wait(delay);
+ }
+
+void M1upstep1(double delay){
+ MotorA1=1;
+ MotorA2=0;
+ MotorB1=0;
+ MotorB2=1;
+ wait(0.000001);
+ step = 1;
+ wait(0.000001);
+ step=0;
+ wait(delay);
+ }
+
+void M1upstep3(double delay){
+ MotorA1=1;
+ MotorA2=0;
+ MotorB1=1;
+ MotorB2=0;
+ wait(0.000001);
+ step = 1;
+ wait(0.000001);
+ step=0;
+ wait(delay);
+ }
+
+void M1upstep5(double delay){
+ MotorA1=0;
+ MotorA2=1;
+ MotorB1=1;
+ MotorB2=0;
+ wait(0.000001);
+ step = 1;
+ wait(0.000001);
+ step=0;
+ wait(delay);
+ }
+
+void M1upstep7(double delay){
+ MotorA1=0;
+ MotorA2=1;
+ MotorB1=0;
+ MotorB2=1;
+ wait(0.000001);
+ step = 1;
+ wait(0.000001);
+ step=0;
+ wait(delay);
+ }
+
+
+void M1stop(double delay){
+ MotorA1=0;
+ MotorA2=0;
+ MotorB1=0;
+ MotorB2=0;
+ wait(0.00001);
+ step = 1;
+ wait(0.00001);
+ step=0;
+ }
+
+//Extend and retract functions take time delay in S
+void M1down(double delay){
+ M1upstep7(delay);
+ M1upstep5(delay);
+ M1upstep3(delay);
+ M1upstep1(delay);
+ M1stop(0);
+}//Steps are different - sequence actually turns out to be the same as the up sequence!
+
+void M1up(double delay){
+ M1upstep1(delay);
+ M1upstep3(delay);
+ M1upstep5(delay);
+ M1upstep7(delay);
+ M1stop(0);
+}
+
+
+
+void selectMotor(int x, int y){
+ switch (x){
+ case 0: BOARD_MUXA=0;
+ BOARD_MUXB=0;
+ BOARD_MUXC=0;
+ break;
+ case 1: BOARD_MUXA=1;
+ BOARD_MUXB=0;
+ BOARD_MUXC=0;
+ break;
+ case 2: BOARD_MUXA=0;
+ BOARD_MUXB=1;
+ BOARD_MUXC=0;
+ break;
+ case 3: BOARD_MUXA=1;
+ BOARD_MUXB=1;
+ BOARD_MUXC=0;
+ break;
+ case 4: BOARD_MUXA=0;
+ BOARD_MUXB=0;
+ BOARD_MUXC=1;
+ break;
+ case 5: BOARD_MUXA=1;
+ BOARD_MUXB=0;
+ BOARD_MUXC=1;
+ break;
+ case 6: BOARD_MUXA=0;
+ BOARD_MUXB=1;
+ BOARD_MUXC=1;
+ break;
+ case 7: BOARD_MUXA=1;
+ BOARD_MUXB=1;
+ BOARD_MUXC=1;
+ break;
+ default:BOARD_MUXA=0;
+ BOARD_MUXB=0;
+ BOARD_MUXC=0;
+ break;
+ }
+ switch (y){
+ case 0: MUXA=0;
+ MUXB=0;
+ MUXC=0;
+ break;
+ case 1: MUXA=1;
+ MUXB=0;
+ MUXC=0;
+ break;
+ case 2: MUXA=0;
+ MUXB=1;
+ MUXC=0;
+ break;
+ case 3: MUXA=1;
+ MUXB=1;
+ MUXC=0;
+ break;
+ case 4: MUXA=0;
+ MUXB=0;
+ MUXC=1;
+ break;
+ case 5: MUXA=1;
+ MUXB=0;
+ MUXC=1;
+ break;
+ case 6: MUXA=0;
+ MUXB=1;
+ MUXC=1;
+ break;
+ case 7: MUXA=1;
+ MUXB=1;
+ MUXC=1;
+ break;
+ default:MUXA=0;
+ MUXB=0;
+ MUXC=0;
+ break;
+ }
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/stepper.hpp Mon Apr 08 16:57:36 2019 +0000 @@ -0,0 +1,21 @@ +#ifndef STEPPER_HPP +#define STEPPER_HPP + +#include "mbed.h" + +void M1downstep1(double delay); +void M1downstep2(double delay); +void M1downstep3(double delay); +void M1downstep4(double delay); +void M1upstep1(double delay); +void M1upstep3(double delay); +void M1upstep5(double delay); +void M1upstep7(double delay); +void M1stop(double delay); + +void M1down(double delay); +void M1up(double delay); + +void selectMotor(int x, int y); + +#endif \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/tactile_display.cpp Mon Apr 08 16:57:36 2019 +0000
@@ -0,0 +1,79 @@
+#include "mbed.h"
+#include "tactile_display.hpp"
+#include "tactile_mouse.hpp"
+
+tactileDisplay::tactileDisplay(){}
+
+tactileDisplay::tactileDisplay(int x, int y){
+ xSize = x;
+ ySize = y;
+ size = x * y;
+ maxActive = size; //By default, all motors can be active at once;
+
+ for(int j=0 ; j<ySize ; ++j){
+ for(int i=0 ; i<xSize ; ++i){
+ taxel* tempTaxel = new taxel(i,j);
+ taxels.push_back(tempTaxel);
+ }
+ }
+}
+
+tactileDisplay::tactileDisplay(int x, int y, int max){
+ xSize = x;
+ ySize = y;
+ size = x * y;
+ maxActive = max;
+
+ for(int j=0 ; j<ySize ; ++j){
+ for(int i=0 ; i<xSize ; ++i){
+ taxel* tempTaxel = new taxel(i,j);
+ taxels.push_back(tempTaxel);
+ }
+ }
+}
+
+tactileDisplay::~tactileDisplay(){
+ xSize = 8;
+ ySize = 8;
+ size = 64;
+
+ for(int i=0 ; i<xSize ; ++i){
+ for(int j=0 ; j<ySize ; ++j){
+ taxel* tempTaxel = new taxel(i,j);
+ taxels.push_back(tempTaxel);
+ }
+ }
+
+}
+
+void zero(){}
+
+int tactileDisplay::coordtoidx(int x, int y){
+ int idx=-1;
+
+ if((x>=0)&&(x<xSize)){
+ if((y>=0)&&(y<ySize)){
+ idx = (xSize*y) + x;
+ }
+ }
+ return idx;
+}
+
+void tactileDisplay::setTaxel(int x, int y, int target){
+ int idx = coordtoidx(x,y);
+ taxels[idx]->setTarget(target);
+}
+
+void tactileDisplay::stepDisplay(){
+ int nMoved = 0;
+ vector<int> moved;
+ for(int i=0 ; ((i<size) && (nMoved<=maxActive)) ; ++i){
+ if(taxels[i]->stepToTarget()){
+ nMoved++;
+ moved.push_back(i);
+ }
+ }
+ //for(int i=0 ; i<nMoved ; ++i){
+ // taxels[moved[i]]->stop();
+ //}
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/tactile_display.hpp Mon Apr 08 16:57:36 2019 +0000
@@ -0,0 +1,28 @@
+#ifndef TACTILE_DISPLAY_HPP
+#define TACTILE_DISPLAY_HPP
+
+#include "mbed.h"
+#include "taxel.hpp"
+
+#include <vector>
+
+class tactileDisplay{
+ public:
+ tactileDisplay();
+ tactileDisplay(int x, int y);
+ tactileDisplay(int x, int y, int max);
+ ~tactileDisplay();
+ void zero();
+ int coordtoidx(int x, int y);
+ void setTaxel(int x, int y, int steps);
+ void stepDisplay();
+
+ private:
+ int xSize;
+ int ySize;
+ int size;
+ int maxActive;
+ vector<taxel*> taxels;
+};
+
+#endif
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/tactile_mouse.hpp Mon Apr 08 16:57:36 2019 +0000 @@ -0,0 +1,19 @@ +#ifndef TACTILE_MOUSE_HPP +#define TACTILE_MOUSE_HPP + +#include "mbed.h" + +extern DigitalOut MotorA1; +extern DigitalOut MotorA2; +extern DigitalOut MotorB1; +extern DigitalOut MotorB2; +extern DigitalOut MUXA; +extern DigitalOut MUXB; +extern DigitalOut MUXC; +extern DigitalOut BOARD_MUXA; +extern DigitalOut BOARD_MUXB; +extern DigitalOut BOARD_MUXC; +extern DigitalOut step; +extern DigitalIn reversePin; + +#endif \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/taxel.cpp Mon Apr 08 16:57:36 2019 +0000
@@ -0,0 +1,266 @@
+#include "mbed.h"
+#include "tactile_mouse.hpp"
+#include "taxel.hpp"
+
+taxel::taxel(){
+ steps=0;
+ targetSteps=0;
+ lastStep=1;
+ delay = 0.003;
+ changed = false;
+}
+
+taxel::taxel(int x_, int y_){
+ x=x_;
+ y=y_;
+ steps=0;
+ targetSteps=0;
+ lastStep=1;
+ delay = 0.003;
+ changed = false;
+}
+
+taxel::~taxel(){}
+
+void taxel::step1(){
+ MotorA1=1;
+ MotorA2=0;
+ MotorB1=0;
+ MotorB2=1;
+ wait(0.000001);
+ step = 1;
+ wait(0.000001);
+ step=0;
+ wait(delay);
+ lastStep = 1;
+ }
+
+void taxel::step2(){
+ MotorA1=1;
+ MotorA2=0;
+ MotorB1=1;
+ MotorB2=0;
+ wait(0.000001);
+ step = 1;
+ wait(0.000001);
+ step=0;
+ wait(delay);
+ lastStep = 2;
+ }
+
+void taxel::step3(){
+ MotorA1=0;
+ MotorA2=1;
+ MotorB1=1;
+ MotorB2=0;
+ wait(0.000001);
+ step = 1;
+ wait(0.000001);
+ step=0;
+ wait(delay);
+ lastStep = 3;
+ }
+
+void taxel::step4(){
+ MotorA1=0;
+ MotorA2=1;
+ MotorB1=0;
+ MotorB2=1;
+ wait(0.000001);
+ step = 1;
+ wait(0.000001);
+ step=0;
+ wait(delay);
+ lastStep = 4;
+ }
+
+
+void taxel::stop(){
+ MotorA1=0;
+ MotorA2=0;
+ MotorB1=0;
+ MotorB2=0;
+ step = 1;
+ step=0;
+ }
+
+//Extend and retract functions take time delay in S
+void taxel::down(){
+ step4();
+ step3();
+ step2();
+ step1();
+ stop();
+}
+
+void taxel::up(){
+ step1();
+ step2();
+ step3();
+ step4();
+ stop();
+}
+
+void taxel::selectMotor(int x, int y){
+ switch (x){
+ case 0: BOARD_MUXA=0;
+ BOARD_MUXB=0;
+ BOARD_MUXC=0;
+ break;
+ case 1: BOARD_MUXA=1;
+ BOARD_MUXB=0;
+ BOARD_MUXC=0;
+ break;
+ case 2: BOARD_MUXA=0;
+ BOARD_MUXB=1;
+ BOARD_MUXC=0;
+ break;
+ case 3: BOARD_MUXA=1;
+ BOARD_MUXB=1;
+ BOARD_MUXC=0;
+ break;
+ case 4: BOARD_MUXA=0;
+ BOARD_MUXB=0;
+ BOARD_MUXC=1;
+ break;
+ case 5: BOARD_MUXA=1;
+ BOARD_MUXB=0;
+ BOARD_MUXC=1;
+ break;
+ case 6: BOARD_MUXA=0;
+ BOARD_MUXB=1;
+ BOARD_MUXC=1;
+ break;
+ case 7: BOARD_MUXA=1;
+ BOARD_MUXB=1;
+ BOARD_MUXC=1;
+ break;
+ default:BOARD_MUXA=0;
+ BOARD_MUXB=0;
+ BOARD_MUXC=0;
+ break;
+ }
+ switch (y){
+ case 0: MUXA=0;
+ MUXB=0;
+ MUXC=0;
+ break;
+ case 1: MUXA=1;
+ MUXB=0;
+ MUXC=0;
+ break;
+ case 2: MUXA=0;
+ MUXB=1;
+ MUXC=0;
+ break;
+ case 3: MUXA=1;
+ MUXB=1;
+ MUXC=0;
+ break;
+ case 4: MUXA=0;
+ MUXB=0;
+ MUXC=1;
+ break;
+ case 5: MUXA=1;
+ MUXB=0;
+ MUXC=1;
+ break;
+ case 6: MUXA=0;
+ MUXB=1;
+ MUXC=1;
+ break;
+ case 7: MUXA=1;
+ MUXB=1;
+ MUXC=1;
+ break;
+ default:MUXA=0;
+ MUXB=0;
+ MUXC=0;
+ break;
+ }
+}
+
+void taxel::stepUp(){
+ selectMotor(x,y);
+ switch (lastStep){
+ case 1:
+ step2();
+ break;
+ case 2:
+ step3();
+ break;
+ case 3:
+ step4();
+ break;
+ case 4:
+ step1();
+ break;
+ }
+ steps++;
+ //deactivate.attach(callback(this, &taxel::stop), 0.015);
+ wait(0.02);
+ stop();
+}
+
+void taxel::stepDown(){
+ selectMotor(x,y);
+ switch (lastStep){
+ case 1:
+ step4();
+ break;
+ case 2:
+ step1();
+ break;
+ case 3:
+ step2();
+ break;
+ case 4:
+ step3();
+ break;
+ }
+ steps--;
+ //deactivate.attach(callback(this, &taxel::stop), 0.015);
+ wait(0.02);
+ stop();
+}
+
+void taxel::setTarget(int target){
+ if(target != steps){
+ changed = true;
+ }
+ targetSteps = target;
+
+}
+
+bool taxel::stepToTarget(){
+ if(!changed){
+ return changed;
+ }
+ if(steps > targetSteps){
+ stepDown();
+ if(steps == targetSteps){
+ changed = false;
+ }
+ return changed;
+ }
+
+ if(steps < targetSteps){
+ stepUp();
+ if(steps == targetSteps){
+ changed = false;
+ }
+ return changed;
+ }
+ return changed; //Should never get here
+}
+
+
+
+
+
+
+
+
+
+
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/taxel.hpp Mon Apr 08 16:57:36 2019 +0000
@@ -0,0 +1,39 @@
+#ifndef TAXEL_HPP
+#define TAXEL_HPP
+
+#include "mbed.h"
+
+class taxel{
+ public:
+ taxel();
+ taxel(int x_, int y_);
+ ~taxel();
+ void step1();
+ void step2();
+ void step3();
+ void step4();
+ void stop();
+
+ void down();
+ void up();
+
+ void stepDown();
+ void stepUp();
+
+ void selectMotor(int x, int y);
+
+ void setTarget(int target);
+ bool stepToTarget();
+
+ private:
+ int x;
+ int y;
+ int lastStep;
+ int steps;
+ int targetSteps;
+ double delay;
+ bool changed;
+ Timeout deactivate;
+};
+
+#endif
\ No newline at end of file