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fixes a bug in the stepper motor error detection

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hneemann 2020-06-03 10:12:02 +02:00
parent 9b3740643d
commit baf3f893de
1 changed files with 9 additions and 6 deletions
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15
src/main/java/de/neemann/digital/core/io/StepperMotorUnipolar.java
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@ -5,10 +5,7 @@
*/ */
package de.neemann.digital.core.io; package de.neemann.digital.core.io;
import de.neemann.digital.core.Node; import de.neemann.digital.core.*;
import de.neemann.digital.core.NodeException;
import de.neemann.digital.core.ObservableValue;
import de.neemann.digital.core.ObservableValues;
import de.neemann.digital.core.element.*; import de.neemann.digital.core.element.*;
import static de.neemann.digital.core.element.PinInfo.input; import static de.neemann.digital.core.element.PinInfo.input;
@ -22,6 +19,12 @@ public class StepperMotorUnipolar extends Node implements Element {
*/ */
public static final int STEPS = 72; public static final int STEPS = 72;
private static final int SWITCH_SIZE = 2; private static final int SWITCH_SIZE = 2;
private static final boolean[] STATE_VALID = new boolean[]{
false, true, true, true,
true, false, true, false,
true, true, false, false,
true, false, false, false,
};
private static final int[][] STEP_TABLE = new int[][]{ private static final int[][] STEP_TABLE = new int[][]{
{0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
{0, 0, 2, 1, 0, 0, 0, 0, -2, -1, 0, 0, 0, 0, 0, 0}, {0, 0, 2, 1, 0, 0, 0, 0, -2, -1, 0, 0, 0, 0, 0, 0},
@ -89,14 +92,14 @@ public class StepperMotorUnipolar extends Node implements Element {
if (this.pos < 0) this.pos += STEPS; if (this.pos < 0) this.pos += STEPS;
else if (this.pos >= STEPS) this.pos -= STEPS; else if (this.pos >= STEPS) this.pos -= STEPS;
if (step == 0 && lastState != 0) { if (step == 0 && STATE_VALID[lastState] && STATE_VALID[state]) {
error += 8; error += 8;
if (error > 8) if (error > 8)
error = 8; error = 8;
} else if (error > 0) } else if (error > 0)
error--; error--;
if (state != 0) if (STATE_VALID[state])
lastState = state; lastState = state;
} }