ceri clatworthy / Stepper

Libary for Strpper motor controller, eg: Rep-Rap smart stick Catering for both, Phisical 'PIN' endstops, and PORT Expander end stops . ** BOTH IN TEST ** ** Phisical PIN tested (minimal) **** PORT PIN NOT TESTED ****

Stepper.h@3:57d3774612fc, 2013-08-08 (annotated)

Committer:
ceri
Date:
Thu Aug 08 09:36:39 2013 +0000
Revision:
3:57d3774612fc
Parent:
1:66e95666c3b5 
before publish

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ceri 0:a509cc91f7c2 1
ceri 0:a509cc91f7c2 2
ceri 0:a509cc91f7c2 3 #ifndef _stepper_h_
ceri 0:a509cc91f7c2 4 #define _stepper_h_
ceri 0:a509cc91f7c2 5
ceri 0:a509cc91f7c2 6 #include "mbed.h"
ceri 0:a509cc91f7c2 7
ceri 0:a509cc91f7c2 8 class Stepper {
ceri 0:a509cc91f7c2 9
ceri 0:a509cc91f7c2 10 public:
ceri 0:a509cc91f7c2 11
ceri 0:a509cc91f7c2 12 Stepper(PinName Step, PinName Dir, PinName En, PinName Endstop_Left, PinName Endstop_Right, bool Invert_Dir, bool Invert_ESL, bool Invert_ESR);
ceri 0:a509cc91f7c2 13
ceri 0:a509cc91f7c2 14 bool Pulse();
ceri 0:a509cc91f7c2 15 bool Set_Dir (bool Dir2Set);
ceri 0:a509cc91f7c2 16 bool ESL_Activeated();
ceri 0:a509cc91f7c2 17 bool ESR_Activeated();
ceri 0:a509cc91f7c2 18 bool ESL_Fitted();
ceri 0:a509cc91f7c2 19 bool ESR_Fitted();
ceri 1:66e95666c3b5 20
ceri 3:57d3774612fc 21 void Enable (bool OnOff);
ceri 3:57d3774612fc 22
ceri 3:57d3774612fc 23 bool ESL_Port(int PORT_In); // bit MASK testing of non zero port bits
ceri 3:57d3774612fc 24
ceri 3:57d3774612fc 25 void ESL_Set_MASK (int Port_MASK_L_in);
ceri 3:57d3774612fc 26 void ESL_Set_INV_MASK (int Port_INV_MASK_L_in);
ceri 3:57d3774612fc 27
ceri 3:57d3774612fc 28
ceri 0:a509cc91f7c2 29
ceri 0:a509cc91f7c2 30 protected:
ceri 0:a509cc91f7c2 31 DigitalOut _Step;
ceri 0:a509cc91f7c2 32 DigitalOut _Dir;
ceri 0:a509cc91f7c2 33 DigitalOut _En;
ceri 0:a509cc91f7c2 34
ceri 0:a509cc91f7c2 35 DigitalIn _Endstop_Left;
ceri 0:a509cc91f7c2 36 DigitalIn _Endstop_Right;
ceri 0:a509cc91f7c2 37
ceri 0:a509cc91f7c2 38
ceri 0:a509cc91f7c2 39 bool _Invert_Dir;
ceri 0:a509cc91f7c2 40 bool _Invert_ESL;
ceri 0:a509cc91f7c2 41 bool _Invert_ESR;
ceri 0:a509cc91f7c2 42 bool _g4;
ceri 0:a509cc91f7c2 43
ceri 0:a509cc91f7c2 44 bool ESL;
ceri 3:57d3774612fc 45 int Port_MASK_L;
ceri 3:57d3774612fc 46
ceri 0:a509cc91f7c2 47
ceri 0:a509cc91f7c2 48 private:
ceri 0:a509cc91f7c2 49
ceri 0:a509cc91f7c2 50 int ESR;
ceri 0:a509cc91f7c2 51 int Set;
ceri 0:a509cc91f7c2 52
ceri 3:57d3774612fc 53
ceri 3:57d3774612fc 54 int Port_INV_MASK_L;
ceri 3:57d3774612fc 55
ceri 0:a509cc91f7c2 56 };
ceri 0:a509cc91f7c2 57
ceri 0:a509cc91f7c2 58 #endif // _stepper_h_