stepperMotor.c

Go to the documentation of this file.

#include "stepperMotor.h"

void StepperMotor_construct(StepperMotor_t *stepper, uint8_t multiple){

    stepper->pinEnA = PIN_EN_A_;
    stepper->pinEnB = PIN_EN_B_;
    stepper->pinA0 = PIN_IN_1_;
    stepper->pinA1 = PIN_IN_2_;
    stepper->pinB0 = PIN_IN_3_;
    stepper->pinB1 = PIN_IN_4_;

    stepper->step[0] = StepperMotor_step0;
    stepper->step[1] = StepperMotor_step1;
    stepper->step[2] = StepperMotor_step2;
    stepper->step[3] = StepperMotor_step3;

    stepper->currentStep = 0;
    stepper->waitTime = STEP_DELAY_;

    stepper->stepMultiple = multiple;
    stepper->direction = DIRECTION_CLOCKWISE_;

    StepperMotor_enable(stepper);
}

void StepperMotor_update(StepperMotor_t *stepper){

    if(stepper->direction == DIRECTION_CLOCKWISE_){

        for(uint8_t i=0; i<stepper->stepMultiple; i++){

            StepperMotor_incrementStep(stepper);
            time_sleep(stepper->waitTime);
        }
    }
    else{

        for(uint8_t i=0; i<stepper->stepMultiple; i++){

            StepperMotor_decrementStep(stepper);
            time_sleep(stepper->waitTime);
        }
    }
}

void StepperMotor_setStepSize(StepperMotor_t *stepper, uint8_t multiple){

    stepper->stepMultiple = multiple;
}

void StepperMotor_setDirection(StepperMotor_t *stepper, uint8_t direction){

    stepper->direction = direction;
}

void StepperMotor_enable(StepperMotor_t *stepper){

    gpio_write(pi, stepper->pinEnA, 1);
    gpio_write(pi, stepper->pinEnB, 1);

    gpio_write(pi, stepper->pinA0, 0);
    gpio_write(pi, stepper->pinA1, 0);
    gpio_write(pi, stepper->pinB0, 0);
    gpio_write(pi, stepper->pinB1, 0);
}

void StepperMotor_disable(StepperMotor_t *stepper){

    gpio_write(pi, stepper->pinEnA, 0);
    gpio_write(pi, stepper->pinEnB, 0);

    gpio_write(pi, stepper->pinA0, 0);
    gpio_write(pi, stepper->pinA1, 0);
    gpio_write(pi, stepper->pinB0, 0);
    gpio_write(pi, stepper->pinB1, 0);
}

void StepperMotor_enA(StepperMotor_t *stepper){

    gpio_write(pi, stepper->pinEnA, 1);
}

void StepperMotor_enB(StepperMotor_t *stepper){

    gpio_write(pi, stepper->pinEnB, 1);
}

void StepperMotor_incrementStep(StepperMotor_t *stepper){

    stepper->step[stepper->currentStep](stepper);

    stepper->currentStep++;

    StepperMotor_wrapStep(stepper);
}

void StepperMotor_decrementStep(StepperMotor_t *stepper){

    stepper->step[stepper->currentStep](stepper);
    stepper->currentStep--;

    StepperMotor_wrapStep(stepper);
}

void StepperMotor_wrapStep(StepperMotor_t *stepper){

    if(stepper->currentStep >= NO_STEPS_){
        stepper->currentStep = 0;
    }

    if(stepper->currentStep < 0){
        stepper->currentStep = NO_STEPS_ - 1;
    }
}

void StepperMotor_step0(StepperMotor_t *stepper){

    gpio_write(pi, stepper->pinA0, 0);
    gpio_write(pi, stepper->pinA1, 1);
    gpio_write(pi, stepper->pinB0, 1);
    gpio_write(pi, stepper->pinB1, 0);
}

void StepperMotor_step1(StepperMotor_t *stepper){

    gpio_write(pi, stepper->pinA0, 0);
    gpio_write(pi, stepper->pinA1, 1);
    gpio_write(pi, stepper->pinB0, 0);
    gpio_write(pi, stepper->pinB1, 1);
}

void StepperMotor_step2(StepperMotor_t *stepper){

    gpio_write(pi, stepper->pinA0, 1);
    gpio_write(pi, stepper->pinA1, 0);
    gpio_write(pi, stepper->pinB0, 0);
    gpio_write(pi, stepper->pinB1, 1);
}

void StepperMotor_step3(StepperMotor_t *stepper){

    gpio_write(pi, stepper->pinA0, 1);
    gpio_write(pi, stepper->pinA1, 0);
    gpio_write(pi, stepper->pinB0, 1);
    gpio_write(pi, stepper->pinB1, 0);
}