//?AccelStepper.cpp
//
//?Copyright?（C）?2009?Mike?McCauley
//?$Id:?AccelStepper.cppv?1.13?2012/11/28?09:28:24?mikem?Exp?mikem?$

#include?“AccelStepper.h“

#if?0
//?Some?debugging?assistance
void?dump（uint8_t*?p?int?l）
{
????int?i;

????for?（i?=?0;?i?????{
	Serial.print（p[i]?HEX）;
	Serial.print（“?“）;
????}
????Serial.println（““）;
}
#endif

void?AccelStepper::moveTo（long?absolute）
{
????if?（_targetPos?!=?absolute）
????{
	_targetPos?=?absolute;
	computeNewSpeed（）;
	//?compute?new?n?
????}
}

void?AccelStepper::move（long?relative）
{
????moveTo（_currentPos?+?relative）;
}

//?Implements?steps?according?to?the?current?step?interval
//?You?must?call?this?at?least?once?per?step
//?returns?true?if?a?step?occurred
boolean?AccelStepper::runSpeed（）
{
????//?Dont?do?anything?unless?we?actually?have?a?step?interval
????if?（!_stepInterval）
	return?false;

????unsigned?long?time?=?micros（）;
????//?Gymnastics?to?detect?wrapping?of?either?the?nextStepTime?and/or?the?current?time
????unsigned?long?nextStepTime?=?_lastStepTime?+?_stepInterval;
????if?（???（（nextStepTime?>=?_lastStepTime）?&&?（（time?>=?nextStepTime）?||?（time?	||?（（nextStepTime?=?nextStepTime）?&&?（time?
????{
	if?（_direction?==?DIRECTION_CW）
	{
	????//?Clockwise
	????_currentPos?+=?1;
	}
	else
	{
	????//?Anticlockwise??
	????_currentPos?-=?1;
	}
	step（_currentPos?&?0x7）;?//?Bottom?3?bits?（same?as?mod?8?but?works?with?+?and?-?numbers）?

	_lastStepTime?=?time;
	return?true;
????}
????else
????{
	return?false;
????}
}

long?AccelStepper::distanceToGo（）
{
????return?_targetPos?-?_currentPos;
}

long?AccelStepper::targetPosition（）
{
????return?_targetPos;
}

long?AccelStepper::currentPosition（）
{
????return?_currentPos;
}

//?Useful?during?initialisations?or?after?initial?positioning
//?Sets?speed?to?0
void?AccelStepper::setCurrentPosition（long?position）
{
????_targetPos?=?_currentPos?=?position;
????_n?=?0;
????_stepInterval?=?0;
}

void?AccelStepper::computeNewSpeed（）
{
????long?distanceTo?=?distanceToGo（）;?//?+ve?is?clockwise?from?curent?location

????long?stepsToStop?=?（long）（（_speed?*?_speed）?/?（2.0?*?_acceleration））?+?1;?//?Equation?16?（+integer?rounding）

????if?（distanceTo?==?0?&&?_n?==?0）
????{
	//?We?are?at?the?target?and?not?moving.?Stop?here
	_stepInterval?=?0;
	_speed?=?0.0;
	return;
????}


????if?（distanceTo?>?0）
????{
	//?We?are?anticlockwise?from?the?target
	//?Need?to?go?clockwise?from?here?maybe?decelerate?now
	if?（_n?>?0）
	{
	????//?Currently?accelerating?need?to?decel?now??Or?maybe?going?the?wrong?way?
	????if?（（stepsToStop?>=?distanceTo）?||?_direction?==?DIRECTION_CCW）
		_n?=?-stepsToStop;?//?Start?deceleration
	}
	else?if?（_n?	{
	????//?Currently?decelerating?need?to?accel?again?
	????if?（（stepsToStop?		_n?=?-_n;?//?Start?accceleration
	}
????}
????else?if?（distanceTo?????{
	//?We?are?clockwise?from?the?target
	//?Need?to?go?anticlockwise?from?here

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2016-03-11?21:48??AccelStepper\
?????文件???????11896??2012-11-29?05:28??AccelStepper\AccelStepper.cpp
?????文件???????27701??2012-11-29?05:37??AccelStepper\AccelStepper.h
?????目錄???????????0??2016-03-11?21:48??AccelStepper\doc\
?????文件???????47718??2012-01-08?15:27??AccelStepper\doc\AccelStepper_8h-source.html
?????文件????????2468??2012-11-29?05:37??AccelStepper\doc\annotated.html
?????文件???????13175??2012-11-29?05:37??AccelStepper\doc\classAccelStepper-members.html
?????文件???????66539??2012-11-29?05:37??AccelStepper\doc\classAccelStepper.html
?????文件???????19165??2012-11-29?05:37??AccelStepper\doc\doxygen.css
?????文件????????3779??2012-11-29?05:37??AccelStepper\doc\doxygen.png
?????文件????????2312??2012-11-29?05:37??AccelStepper\doc\files.html
?????文件????????8489??2012-11-29?05:37??AccelStepper\doc\functions.html
?????文件????????6851??2012-11-29?05:37??AccelStepper\doc\functions_func.html
?????文件???????11498??2012-11-29?05:37??AccelStepper\doc\index.html
?????文件????????1095??2012-11-29?05:37??AccelStepper\doc\tabs.css
?????文件??????????35??2012-01-08?15:27??AccelStepper\doc\tab_b.gif
?????文件?????????706??2012-01-08?15:27??AccelStepper\doc\tab_l.gif
?????文件????????2585??2012-01-08?15:27??AccelStepper\doc\tab_r.gif
?????目錄???????????0??2016-03-11?21:48??AccelStepper\examples\
?????目錄???????????0??2016-03-11?21:48??AccelStepper\examples\AFMotor_ConstantSpeed\
?????文件?????????771??2012-03-13?05:42??AccelStepper\examples\AFMotor_ConstantSpeed\AFMotor_ConstantSpeed.pde
?????目錄???????????0??2016-03-11?21:48??AccelStepper\examples\AFMotor_MultiStepper\
?????文件????????1350??2012-03-12?19:14??AccelStepper\examples\AFMotor_MultiStepper\AFMotor_MultiStepper.pde
?????目錄???????????0??2016-03-11?21:48??AccelStepper\examples\Blocking\
?????文件?????????693??2012-09-24?04:59??AccelStepper\examples\Blocking\Blocking.pde
?????目錄???????????0??2016-03-11?21:48??AccelStepper\examples\Bounce\
?????文件?????????683??2012-10-06?13:48??AccelStepper\examples\Bounce\Bounce.pde
?????目錄???????????0??2016-03-11?21:48??AccelStepper\examples\ConstantSpeed\
?????文件?????????520??2012-09-24?04:59??AccelStepper\examples\ConstantSpeed\ConstantSpeed.pde
?????目錄???????????0??2016-03-11?21:48??AccelStepper\examples\MultiStepper\
?????文件????????1133??2012-09-24?05:00??AccelStepper\examples\MultiStepper\MultiStepper.pde
............此處省略2015個文件信息