Jason Brewer
A fork of a fine man's work. simplified. No microstepping etc, just a work in progress
Fork of
BipoarStepperMotor
by 
Harsha vardan
Revision 6:84c5df74391b, committed 2015-02-03
- Comitter:
- InBrewJ
- Date:
- Tue Feb 03 03:44:45 2015 +0000
- Parent:
- 5:f9404f00deda
- Commit message:
- changed the names to "lsMotor.h" etc - for "Linear Stepper Motor"
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/lsMotor.cpp Tue Feb 03 03:44:45 2015 +0000
@@ -0,0 +1,139 @@
+/*
+##############################################
+## Program Created by Harshavardan61 ##
+##############################################
+ ---- harshavardan61@gmail.com -----
+
+Extended by Jason Brewer 2015
+
+*/
+
+#include "lsMotor.h"
+#include "mbed.h"
+
+lsMotor::lsMotor(PinName A0, PinName A1, PinName A2, PinName A3, PinName motorEnable, const int maxSteps) : _A0(A0), _A1(A1),
+ _A2(A2), _A3(A3), _motorEnable(motorEnable) {
+ _A0=0;
+ _A1=0;
+ _A2=0;
+ _A3=0;
+ _motorEnable = 0;
+ _maxSteps = maxSteps;
+ _motorPosition = maxSteps;
+}
+
+//UP
+void lsMotor::up(int num_steps) { // rotate the motor num_steps UP
+ short subStep = 0;
+ //printf("In UP\n");
+ for (int i = 0; i < num_steps && _motorPosition < _maxSteps; i++) {
+ //printf("numsteps: %d Doing UP %d pos: %d\n", num_steps, i, _motorPosition);
+ switch (subStep) { // activate the ports A0, A2, A3, A3 in a binary sequence for steps
+ case 0: {
+ _A0=1;
+ _A1=0;
+ _A2=0;
+ _A3=1;
+ }
+ break;
+ case 1: {
+ _A0=0;
+ _A1=0;
+ _A2=1;
+ _A3=1;
+ }
+ break;
+ case 2: {
+ _A0=0;
+ _A1=1;
+ _A2=1;
+ _A3=0;
+ }
+ break;
+ case 3: {
+ _A0=1;
+ _A1=1;
+ _A2=0;
+ _A3=0;
+ }
+ break;
+ }
+
+ subStep++;
+ subStep %= 4;
+ _motorPosition++;
+ wait_ms(_motorSpeed);
+ }
+ /*_A0=0;
+ _A1=0;
+ _A2=0;
+ _A3=0;*/
+ return;
+}
+
+// DOWN
+void lsMotor::down(int num_steps) { // rotate the motor num_steps DOWN
+ short subStep = 0;
+ //printf("In DOWN\n");
+ for (int i = 0; i < num_steps && _motorPosition > 0; i++) {
+ //printf("numsteps: %d Doing DOWN %d pos: %d\n", num_steps, i, _motorPosition);
+ switch (subStep) {
+ case 0: {
+ _A0=1;
+ _A1=1;
+ _A2=0;
+ _A3=0;
+ }
+ break;
+ case 1: {
+ _A0=0;
+ _A1=1;
+ _A2=1;
+ _A3=0;
+ }
+ break;
+ case 2: {
+ _A0=0;
+ _A1=0;
+ _A2=1;
+ _A3=1;
+ }
+ break;
+ case 3: {
+ _A0=1;
+ _A1=0;
+ _A2=0;
+ _A3=1;
+ }
+ break;
+ }
+
+ subStep++;
+ subStep %= 4;
+ _motorPosition--;
+ wait_ms(_motorSpeed); // wait time defines the speed
+ }
+ /*_A0=0;
+ _A1=0;
+ _A2=0;
+ _A3=0;*/
+ return;
+}
+
+void lsMotor::setMotorPosition(int position) {
+ _motorPosition = position;
+ return;
+}
+
+void lsMotor::step(int num_steps, int direction, int speed) {// steper function: number of steps, direction (0- down, 1- up), speed in ms
+ _motorSpeed = speed; //set motor speed
+ if (!direction){ // shaft DOWN
+ _motorEnable = 1;
+ down(num_steps);
+ _motorEnable = 0;
+ }else if (direction){// Shaft UP
+ _motorEnable = 1;
+ up(num_steps);
+ _motorEnable = 0;
+ }
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/lsMotor.h Tue Feb 03 03:44:45 2015 +0000
@@ -0,0 +1,45 @@
+/*
+##############################################
+##Original Program Created by Harshavardan61##
+##############################################
+ ---- harshavardan61@gmail.com -----
+Extended by Jason Brewer 2015
+to adapt to the stepper motor + linear actuator
+supplied by Selim Yilmaz
+
+Now includes functional stepper pulses, a motor enable pin
+(motor and l293D were getting very warm if the enable pin was
+always HIGH)
+
+*/
+#ifndef MBED_LSMOTOR_H
+#define MBED_LSMOTOR_H
+
+#include "mbed.h"
+
+class lsMotor {
+public:
+
+ lsMotor(PinName A0, PinName A1, PinName A2, PinName A3, PinName motorEnable, const int maxSteps); //motor constructor
+
+ void setMotorPosition(int position); // for use ONLY if the stepper init is skipped
+ int getMotorPosition(void){ return _motorPosition; };
+ void step(int num_steps, int direction, int speed);
+ void up(int num_steps);
+ void down(int num_steps);
+
+
+private:
+
+ DigitalOut _A0;
+ DigitalOut _A1;
+ DigitalOut _A2;
+ DigitalOut _A3;
+ DigitalOut _motorEnable;
+ int _motorPosition;
+ int _maxSteps;
+ int _motorSpeed;
+
+};
+
+#endif
\ No newline at end of file
--- a/sMotor.cpp Tue Feb 03 03:41:10 2015 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,139 +0,0 @@
-/*
-##############################################
-## Program Created by Harshavardan61 ##
-##############################################
- ---- harshavardan61@gmail.com -----
-
-Extended by Jason Brewer 2015
-
-*/
-
-#include "sMotor.h"
-#include "mbed.h"
-
-sMotor::sMotor(PinName A0, PinName A1, PinName A2, PinName A3, PinName motorEnable, const int maxSteps) : _A0(A0), _A1(A1),
- _A2(A2), _A3(A3), _motorEnable(motorEnable) {
- _A0=0;
- _A1=0;
- _A2=0;
- _A3=0;
- _motorEnable = 0;
- _maxSteps = maxSteps;
- _motorPosition = maxSteps;
-}
-
-//UP
-void sMotor::up(int num_steps) { // rotate the motor num_steps UP
- short subStep = 0;
- //printf("In UP\n");
- for (int i = 0; i < num_steps && _motorPosition < _maxSteps; i++) {
- //printf("numsteps: %d Doing UP %d pos: %d\n", num_steps, i, _motorPosition);
- switch (subStep) { // activate the ports A0, A2, A3, A3 in a binary sequence for steps
- case 0: {
- _A0=1;
- _A1=0;
- _A2=0;
- _A3=1;
- }
- break;
- case 1: {
- _A0=0;
- _A1=0;
- _A2=1;
- _A3=1;
- }
- break;
- case 2: {
- _A0=0;
- _A1=1;
- _A2=1;
- _A3=0;
- }
- break;
- case 3: {
- _A0=1;
- _A1=1;
- _A2=0;
- _A3=0;
- }
- break;
- }
-
- subStep++;
- subStep %= 4;
- _motorPosition++;
- wait_ms(_motorSpeed);
- }
- /*_A0=0;
- _A1=0;
- _A2=0;
- _A3=0;*/
- return;
-}
-
-// DOWN
-void sMotor::down(int num_steps) { // rotate the motor num_steps DOWN
- short subStep = 0;
- //printf("In DOWN\n");
- for (int i = 0; i < num_steps && _motorPosition > 0; i++) {
- //printf("numsteps: %d Doing DOWN %d pos: %d\n", num_steps, i, _motorPosition);
- switch (subStep) {
- case 0: {
- _A0=1;
- _A1=1;
- _A2=0;
- _A3=0;
- }
- break;
- case 1: {
- _A0=0;
- _A1=1;
- _A2=1;
- _A3=0;
- }
- break;
- case 2: {
- _A0=0;
- _A1=0;
- _A2=1;
- _A3=1;
- }
- break;
- case 3: {
- _A0=1;
- _A1=0;
- _A2=0;
- _A3=1;
- }
- break;
- }
-
- subStep++;
- subStep %= 4;
- _motorPosition--;
- wait_ms(_motorSpeed); // wait time defines the speed
- }
- /*_A0=0;
- _A1=0;
- _A2=0;
- _A3=0;*/
- return;
-}
-
-void sMotor::setMotorPosition(int position) {
- _motorPosition = position;
- return;
-}
-
-void sMotor::step(int num_steps, int direction, int speed) {// steper function: number of steps, direction (0- down, 1- up), speed in ms
- _motorSpeed = speed; //set motor speed
- if (!direction){ // shaft DOWN
- _motorEnable = 1;
- down(num_steps);
- _motorEnable = 0;
- }else if (direction){// Shaft UP
- _motorEnable = 1;
- up(num_steps);
- _motorEnable = 0;
- }
-}
\ No newline at end of file
--- a/sMotor.h Tue Feb 03 03:41:10 2015 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,45 +0,0 @@
-/*
-##############################################
-##Original Program Created by Harshavardan61##
-##############################################
- ---- harshavardan61@gmail.com -----
-Extended by Jason Brewer 2015
-to adapt to the stepper motor + linear actuator
-supplied by Selim Yilmaz
-
-Now includes functional stepper pulses, a motor enable pin
-(motor and l293D were getting very warm if the enable pin was
-always HIGH)
-
-*/
-#ifndef MBED_SMOTOR_H
-#define MBED_SMOTOR_H
-
-#include "mbed.h"
-
-class sMotor {
-public:
-
- sMotor(PinName A0, PinName A1, PinName A2, PinName A3, PinName motorEnable, const int maxSteps); //motor constructor
-
- void setMotorPosition(int position); // for use ONLY if the stepper init is skipped
- int getMotorPosition(void){ return _motorPosition; };
- void step(int num_steps, int direction, int speed);
- void up(int num_steps);
- void down(int num_steps);
-
-
-private:
-
- DigitalOut _A0;
- DigitalOut _A1;
- DigitalOut _A2;
- DigitalOut _A3;
- DigitalOut _motorEnable;
- int _motorPosition;
- int _maxSteps;
- int _motorSpeed;
-
-};
-
-#endif
\ No newline at end of file