93 lines
1.9 KiB
C++
93 lines
1.9 KiB
C++
|
|
#include "stepper.h"
|
|
#include "writepin.h"
|
|
|
|
void Stepper::tick()
|
|
{
|
|
if(++_tickCounter > UINT8_MAX - (_speed>>8) )
|
|
{
|
|
if(_targetStep != _currentStep)
|
|
{
|
|
step(_targetStep > _currentStep);
|
|
}
|
|
else if(endlessMove) step(endlessDriection);
|
|
_tickCounter = 0;
|
|
}
|
|
if(_speed>>8 < _targetSpeed) _speed = _speed + acceleration;
|
|
else if(_speed>>8 > _targetSpeed)_speed = _speed - acceleration;;
|
|
}
|
|
|
|
void Stepper::moveTo(const int32_t step)
|
|
{
|
|
_targetStep = step;
|
|
}
|
|
|
|
void Stepper::moveRelative(const int16_t dist)
|
|
{
|
|
moveTo(_targetStep + dist);
|
|
}
|
|
|
|
void Stepper::setSpeed(const uint8_t speed)
|
|
{
|
|
_targetSpeed = speed;
|
|
if(_targetSpeed < speedFloor) _targetSpeed = speedFloor;
|
|
}
|
|
|
|
void Stepper::setEndlesMove(bool endless, bool direction)
|
|
{
|
|
endlessMove = endless;
|
|
if(direction != endlessDriection)
|
|
{
|
|
_speed = speedFloor;
|
|
endlessDriection = direction;
|
|
}
|
|
}
|
|
|
|
uint32_t Stepper::isAt()
|
|
{
|
|
return _currentStep;
|
|
}
|
|
|
|
bool Stepper::isStoped()
|
|
{
|
|
return _currentStep == _targetStep;
|
|
}
|
|
|
|
void Stepper::step(bool direction)
|
|
{
|
|
switch(_currentStep & 0x03)
|
|
{
|
|
case 0:
|
|
writePin(_port, _pinA, true);
|
|
writePin(_port, _pinB, false);
|
|
writePin(_port, _pinC, false);
|
|
writePin(_port, _pinD, true);
|
|
break;
|
|
case 1:
|
|
writePin(_port, _pinA, true);
|
|
writePin(_port, _pinB, true);
|
|
writePin(_port, _pinC, false);
|
|
writePin(_port, _pinD, false);
|
|
break;
|
|
case 2:
|
|
writePin(_port, _pinA, false);
|
|
writePin(_port, _pinB, true);
|
|
writePin(_port, _pinC, true);
|
|
writePin(_port, _pinD, false);
|
|
break;
|
|
case 3:
|
|
writePin(_port, _pinA, false);
|
|
writePin(_port, _pinB, false);
|
|
writePin(_port, _pinC, true);
|
|
writePin(_port, _pinD, true);
|
|
break;
|
|
default:
|
|
writePin(_port, _pinA, false);
|
|
writePin(_port, _pinB, false);
|
|
writePin(_port, _pinC, false);
|
|
writePin(_port, _pinD, false);
|
|
}
|
|
_currentStep = _currentStep + (direction ? 1 : -1);
|
|
if(endlessMove) _targetStep = _currentStep;
|
|
}
|