} // End of backward
// PRIVATE: Setup for continuous rotation at given speed.
function move() {
if (this._usePWM) {
// PWM clock is 0.1ms
// PWM range must be stepDelay * 10 and PWM value must be 1/2 of PWM range
var range = this._stepDelay * 10
wpi.pwmSetRange(range);
wpi.pwmWrite(this._stepPin, range/2);
return;
}
//console.log("Step number: %d", this._stepNumber);
stepMotor.call(this);
this._moveTimeoutId = setTimeout(move.bind(this), this._stepDelay);
} // End of move
exports.setupDigital = function(stepsPerRevolution, stepPin, directionPin, usePWM) {
var context = {
step: step, // Function
setSpeed: setSpeed, // Function
forward: forward, // Function
backward: backward, // Function
stop: stop, // Function
halt: halt, // Function
_stepDelay: 60*1000/stepsPerRevolution, // Set the default step delay to 1 rpm.
_direction: FORWARD, // Motor direction.
_timerId: null, // Interval object for stepping fixed number of steps.
_moveTimeoutId: null, // Timeout object for continuous rotation
_motorIndex: motorIndex, // The index of the motor used for debugging purposes.
_stepPin: stepPin, // The pin used to step via a pulse
_directionPin: directionPin, // The direction to rotate
_stepsPerRevolution: stepsPerRevolution, // Total number of steps for this motor.
_isDigital: true, // Is this a digital controller?
_usePWM: usePWM // Use pwm for timing?
};
motorIndex++; // Increment the global motorIndex count (used for debugging).
wpi.pinMode(directionPin, wpi.OUTPUT);
// If we are using PWM, then set the step pin to be PWM and set its
// initial value to zero.
if (usePWM) {
wpi.pwmSetMode(wpi.PWM_MODE_MS);
wpi.pwmSetClock(1920);
wpi.pwmSetRange(10); // Some value
wpi.pinMode(stepPin, wpi.PWM_OUTPUT);
wpi.pwmWrite(stepPin, 0);
} else {
wpi.pinMode(stepPin, wpi.OUTPUT);
}
return context;
}