Fermedicius Labs
Test
Revision 0:151100d6a376, committed 2021-01-11
- Comitter:
- fermedicius
- Date:
- Mon Jan 11 10:52:25 2021 +0000
- Commit message:
- Hello
Changed in this revision
| FermeCantileverMotor.cpp | Show annotated file Show diff for this revision Revisions of this file |
| FermeCantileverMotor.h | Show annotated file Show diff for this revision Revisions of this file |
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/FermeCantileverMotor.cpp Mon Jan 11 10:52:25 2021 +0000
@@ -0,0 +1,226 @@
+#include "FermeCantileverMotor.h"
+
+#include "mbed.h"
+
+int CantilevermotorSpeed; // Steper speed
+
+cantileverMotor::cantileverMotor(PinName A0, PinName A1, PinName A2, PinName A3) : _A0(A0), _A1(A1), _A2(A2), _A3(A3) { // Defenition of motor pins
+ _A0=0;
+ _A1=0;
+ _A2=0;
+ _A3=0;
+}
+
+
+void cantileverMotor::anticlockwise() {
+// 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
+ case 0: {
+ _A0=0;
+ _A1=0;
+ _A2=1;
+ _A3=0;
+ }
+ break;
+ case 1: {
+ _A0=0;
+ _A1=0;
+ _A2=0;
+ _A3=0;
+ }
+ break;
+ case 2: {
+ _A0=0;
+ _A1=0;
+ _A2=0;
+ _A3=1;
+ }
+ break;
+ case 3: {
+ _A0=0;
+ _A1=1;
+ _A2=0;
+ _A3=1;
+ }
+ break;
+ case 4: {
+ _A0=0;
+ _A1=1;
+ _A2=1;
+ _A3=1;
+ }
+ break;
+ case 5: {
+ _A0=1;
+ _A1=1;
+ _A2=1;
+ _A3=1;
+ }
+ break;
+ case 6: {
+ _A0=1;
+ _A1=0;
+ _A2=1;
+ _A3=1;
+ }
+ break;
+ case 7: {
+ _A0=1;
+ _A1=0;
+ _A2=1;
+ _A3=0;
+ }
+ break;
+ }
+
+
+ wait_us(CantilevermotorSpeed); // wait time defines the speed
+ }
+}
+
+void cantileverMotor::clockwise() { // rotate the motor 1 step clockwise
+ for (int i = 7; i>= 0; i--) {
+
+ switch (i) {
+ case 0: {
+ _A0=0;
+ _A1=0;
+ _A2=1;
+ _A3=0;
+ }
+ break;
+ case 1: {
+ _A0=0;
+ _A1=0;
+ _A2=0;
+ _A3=0;
+ }
+ break;
+ case 2: {
+ _A0=0;
+ _A1=0;
+ _A2=0;
+ _A3=1;
+ }
+ break;
+ case 3: {
+ _A0=0;
+ _A1=1;
+ _A2=0;
+ _A3=1;
+ }
+ break;
+ case 4: {
+ _A0=0;
+ _A1=1;
+ _A2=1;
+ _A3=1;
+ }
+ break;
+ case 5: {
+ _A0=1;
+ _A1=1;
+ _A2=1;
+ _A3=1;
+ }
+ break;
+ case 6: {
+ _A0=1;
+ _A1=0;
+ _A2=1;
+ _A3=1;
+ }
+ break;
+ case 7: {
+ _A0=1;
+ _A1=0;
+ _A2=1;
+ _A3=0;
+ }
+ break;
+
+ /* 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(CantilevermotorSpeed); // wait time defines the speed
+ }
+}
+void cantileverMotor::cantileverstep(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
+
+ CantilevermotorSpeed=speed; //set motor speed
+ if (direction==0) // turn clockwise
+ do {
+ clockwise();
+ count++;
+ } while (count<num_steps); // turn number of steps applied
+
+ else if (direction==1)// turn anticlockwise
+ {
+
+ do {
+ anticlockwise();
+ count++;
+ } while (count<num_steps);// turn number of steps applied
+ }
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/FermeCantileverMotor.h Mon Jan 11 10:52:25 2021 +0000
@@ -0,0 +1,30 @@
+/* This library is created for Cantilever Stepper for Juice Works. It specifically applies when the Stepper Motor is run using
+ Lead Shine DM542 stepper driver. Here in the CantileverStepper.cpp file the switching of 4 coils are doone similarily in
+ clockwise() and anticlockwise() functions.
+ For further enquiry you may contact to Arunav Sahay at arunav.f5@gmail.com
+*/
+
+#ifndef FERMECANTILEVERMOTOR_H //FermeCantileverMotor.h
+#define FERMECANTI LEVERMOTOR_H //FermeCantileverMotor.h
+
+#include "mbed.h"
+
+class cantileverMotor {
+public:
+ cantileverMotor(PinName A0,PinName A1, PinName A2, PinName A3); //motor constructor
+
+ void cantileverstep(int num_steps, int direction, int speed);
+ void anticlockwise();
+ void clockwise();
+
+
+private:
+
+ DigitalOut _A0;
+ DigitalOut _A1;
+ DigitalOut _A2;
+ DigitalOut _A3;
+
+};
+
+#endif
\ No newline at end of file