Revision 42:a04bff02f231, committed 2018-05-15

Comitter:

leogrotti

Date:

Tue May 15 14:23:01 2018 +0000

Parent:

41:7f91e949ca88

Child:

43:d08a3f6b65b5

Commit message:

3 eixos funcionais sem interrupt

Changed in this revision

--- a/main.cpp	Thu May 03 18:23:42 2018 +0000
+++ b/main.cpp	Tue May 15 14:23:01 2018 +0000
@@ -55,7 +55,7 @@
 #define STEPS 3200
 
 /* Delay in milliseconds. */
-#define DELAY_1 2000
+#define DELAY_1 20
 #define DELAY_2 6000
 #define DELAY_3 8000
 
@@ -68,40 +68,17 @@
 
 
 /* Variables -----------------------------------------------------------------*/
-InterruptIn button1(PC_1);
-InterruptIn button2(PC_0);
+//InterruptIn sensorX1(PC_9); 
+//InterruptIn sensorY1(PA_14); 
 
-/* Initialization parameters. */
-//L6474_init_t init = {
-//    160,                              /* Acceleration rate in pps^2. Range: (0..+inf). */
-//    160,                              /* Deceleration rate in pps^2. Range: (0..+inf). */
-//    4000,                             /* Maximum speed in pps. Range: (30..10000]. */
-//   1300,                              /* Minimum speed in pps. Range: [30..10000). */
-//    1500,                              /* Torque regulation current in mA. Range: 31.25mA to 4000mA. */
-//    L6474_OCD_TH_1875mA,               /* Overcurrent threshold (OCD_TH register). */
-//    L6474_CONFIG_OC_SD_ENABLE,        /* Overcurrent shutwdown (OC_SD field of CONFIG register). */
-//   L6474_CONFIG_EN_TQREG_TVAL_USED,  /* Torque regulation method (EN_TQREG field of CONFIG register). */
-//    L6474_STEP_SEL_1_2,               /* Step selection (STEP_SEL field of STEP_MODE register). */
-//   L6474_SYNC_SEL_1_2,               /* Sync selection (SYNC_SEL field of STEP_MODE register). */
-//    L6474_FAST_STEP_12us,             /* Fall time value (T_FAST field of T_FAST register). Range: 2us to 32us. */
-//    L6474_TOFF_FAST_8us,              /* Maximum fast decay time (T_OFF field of T_FAST register). Range: 2us to 32us. */
-//    3,                                /* Minimum ON time in us (TON_MIN register). Range: 0.5us to 64us. */
-//    21,                               /* Minimum OFF time in us (TOFF_MIN register). Range: 0.5us to 64us. */
-//    L6474_CONFIG_TOFF_044us,          /* Target Swicthing Period (field TOFF of CONFIG register). */
-//    L6474_CONFIG_SR_320V_us,          /* Slew rate (POW_SR field of CONFIG register). */
-//    L6474_CONFIG_INT_16MHZ,           /* Clock setting (OSC_CLK_SEL field of CONFIG register). */
-//   L6474_ALARM_EN_OVERCURRENT |
-//  L6474_ALARM_EN_THERMAL_SHUTDOWN |
-// L6474_ALARM_EN_THERMAL_WARNING |
-//    L6474_ALARM_EN_UNDERVOLTAGE |
-//    L6474_ALARM_EN_SW_TURN_ON |
-//    L6474_ALARM_EN_WRONG_NPERF_CMD    /* Alarm (ALARM_EN register). */
-//};
+
 
 Serial pc(USBTX, USBRX);
 
-AnalogIn eixo_X(A0);
-AnalogIn eixo_Y(A1);
+AnalogIn eixo_X(A2);
+AnalogIn eixo_Y(A3);
+AnalogIn eixo_ZU(A0);
+AnalogIn eixo_ZD(A1);
 
 
 
@@ -109,9 +86,14 @@
 float y;
 float w;
 float u;
+float zu;
+float zd;
 
-//float a;
+int count;
+
 
+bool flagX1=0; 
+bool flagY1=0; 
 
 
 unsigned int minspeed = 1300;
@@ -130,39 +112,9 @@
 L6474 *motor2;
 L6474 *motor3;
 
-void flag_irq_handler(void)
-{
-    /* Set ISR flag. */
-    motor3->isr_flag = TRUE;
- 
-    /* Get the value of the status register. */
-    unsigned int status = motor3->get_status();
- 
-    /* Check NOTPERF_CMD flag: if set, the command received by SPI can't be performed. */
-    /* This often occures when a command is sent to the L6474 while it is not in HiZ state. */
-    if ((status & L6474_STATUS_NOTPERF_CMD) == L6474_STATUS_NOTPERF_CMD) {
-        printf("    WARNING: \"FLAG\" interrupt triggered. Non-performable command detected when updating L6474's registers while not in HiZ state.\r\n");
-    }
-    
-    /* Reset ISR flag. */
-    motor3->isr_flag = FALSE;
-}
-
 
 /* Main ----------------------------------------------------------------------*/
-
-void pressed_cima() {
-
-     motor3->run(StepperMotor::FWD);
-     printf ("Ariba! \r\n");
-
-}
-void pressed_baixo() {
-
-     motor3->run(StepperMotor::BWD);
-     printf ("Abajo! \r\n");
-
-}
+/*
 void released_1()
 {
     motor3->hard_stop();
@@ -177,6 +129,28 @@
 
 }
 
+void paraX1() {
+    flagX1 = 1;   
+    motor2->hard_stop();
+    
+    }
+    
+    void continuaX1() {
+    flagX1 = 0;
+    }
+ 
+ 
+ void paraY1() {
+    flagY1 = 1;
+    motor1->hard_stop();
+    
+    }
+    
+    void continuaY1() {
+    flagY1 = 0;
+    }
+ */
+ 
 int main()
 {
     /*----- Initialization. -----*/
@@ -202,103 +176,119 @@
 
 
 
-    /* Attaching and enabling interrupt handlers. */
-    motor3->attach_flag_irq(&flag_irq_handler);
+    /* Attaching and enabling interrupt handlers. 
+    motor3->attach_flag_irq(&flag_irq_handler3);
     motor3->enable_flag_irq();
+    motor1->attach_flag_irq(&flag_irq_handler1);
+    motor1->enable_flag_irq();
+    motor2->attach_flag_irq(&flag_irq_handler2);
+    motor2->enable_flag_irq();
+    */
     
+    //sensorX1.rise(&paraX1);
+   // sensorX1.fall(&continuaX1);
 
     
-    button1.rise(&pressed_cima);
-    button2.rise(&pressed_baixo);
-    button1.fall(&released_1);
-    button2.fall(&released_2);
- 
+    //sensorY1.rise(&paraY1);
+    //sensorY1.fall(&continuaY1);
+    
+
     while(true) {
+        count = count +1;
+        // Leitura analógica
         u = eixo_X.read();
         w = eixo_Y.read();
-        
-  /*  if (button1.read()==0()){ 
-        
-            button.fall()
-            printf("button1 fwd \r\n\n");
-        
-     }
-    
- //   else {
- //       motor3->run(StepperMotor::BWD);
-  //          printf("button1 bwd \r\n\n");
-         
- //    }
- 
-    if (button1.read()==0){ 
-        
-        button1.rise()
-        printf("button1 bwd \r\n\n");
+        zu = eixo_ZU.read();
+        zd = eixo_ZD.read();
+        if (count == 10000) {
+        printf("zu =%f \r\n\n", zu);
+        printf("zd =%f \r\n\n", zd);
+        count = 0;
+        }
         
-     }*/
-
-  
-        if (u>0.740) {
-
-           motor1->run(StepperMotor::FWD);
-           //wait_ms(DELAY_1);
-
-           speed1 = motor1->get_speed();
-           
-            printf("speed1 =%d \r\n\n", speed1);
-            printf("U =%f \r\n\n", u);
-
-           }
-            else{ if(u<0.65) {
+    //printf("X =%i \r\n\n", flagX1);
+   // printf("Y =%i \r\n\n", flagY1);
+    
+ // Movimentando eixo Z cima caso botão 1 apertado
+    if (zu >0.7) {
+        motor3->run(StepperMotor::FWD);
+        //wait_ms(DELAY_1);
+        speed3 = motor3->get_speed();
+        //wait_ms(DELAY_1);
+        }
                 
-                motor1->run(StepperMotor::BWD);
-             //   wait_ms(DELAY_1);
-
-                speed1 = motor1->get_speed();
+  // Parando eixo Z caso botão 1 e 2 liberado              
+        if (zu< 0.7 && zd < 0.7){
+            motor3->hard_stop();
+            //  wait_ms(DELAY_1);
+            speed3 = 0;
+            //wait_ms(DELAY_1);
+            }
+                     
+// Movimentando eixo Z baixo caso botão 2 apertado
+    if (zd >0.7) {
+        motor3->run(StepperMotor::BWD);
+        //wait_ms(DELAY_1);
+        speed3 = motor3->get_speed();
+        //wait_ms(DELAY_1);
+        }
                 
-                printf("speed1 =%d \r\n\n", speed1);
-                
-                printf("U =%f \r\n\n", u);
-
+  // Parando eixo Z caso botão 1 e 2 liberado              
+        if (zu< 0.7 && zd < 0.7){
+            motor3->hard_stop();
+            //  wait_ms(DELAY_1);
+            speed3 = 0;
+            //wait_ms(DELAY_1);
+            }
+            
+             
+// Movimentando eixo Y duas direções com joystick
+    //if (flagY1 == 0 ) {
+        
+// Movimentando eixo Y fwd        
+        if (u>0.820) {
+            motor1->run(StepperMotor::FWD);
+            //wait_ms(DELAY_1);
+            speed1 = motor1->get_speed();
+            //wait_ms(DELAY_1);
+            }
+// Movimentando eixo Y bwd             
+            else{ if(u<0.65) {
+                motor1->run(StepperMotor::BWD);
+                //wait_ms(DELAY_1);
+                speed1 = motor1->get_speed();
+                // wait_ms(DELAY_1); 
                 }
-               else 
-               motor1->hard_stop();
-             //  wait_ms(DELAY_1);
-
+// parando eixo Y
+            else 
+                motor1->hard_stop();
+                //wait_ms(DELAY_1);
                 speed1 = 0;
-               printf("speed1 =%d \r\n\n", speed1);
-               
-                printf("U =%f \r\n\n", u);
-
-               }
-        
-       if (w>0.76) {
-           
+                //wait_ms(DELAY_1);
+                //}
+                }
+                
+// Movimentando eixo X duas direções com joystick
+    //if (flagX1 == 0) {
+// Movimentando eixo Y fwd   
+        if (w>0.80) {
             motor2->run(StepperMotor::BWD);
-           speed2 = motor2->get_speed();
-           
+            speed2 = motor2->get_speed();
             printf("speed2 =%d \r\n\n", speed2);
             printf("W =%f \r\n\n", w);
-
-           }
-            else{ if(w<0.67) {
-    
-           
+            }
+// Movimentando eixo Y Bwd 
+            else{ if(w<0.60) {
                 motor2->run(StepperMotor::FWD);
-                speed2 = motor2->get_speed();
-                
+                speed2 = motor2->get_speed();  
                 printf("speed2 =%d \r\n\n", speed2);
                 printf("W =%f \r\n\n", w);
- 
-               }
-                else
+                }
+// parando eixo X
+            else
                 motor2->hard_stop();
                 speed2 = 0;
                 printf("speed2 =%d \r\n\n", speed2);
-                printf("W =%f \r\n\n", w);
-
                }
-
-               
     }
 }
\ No newline at end of file

--- a/mbed-os.lib	Thu May 03 18:23:42 2018 +0000
+++ b/mbed-os.lib	Tue May 15 14:23:01 2018 +0000
@@ -1,1 +1,1 @@
-https://github.com/ARMmbed/mbed-os/#c9e63f14085f5751ff5ead79a7c0382d50a813a2
+https://github.com/ARMmbed/mbed-os/#c05d72c3c005fbb7e92c3994c32bda45218ae7fe