Revision 33:b276c9c00088, committed 2018-04-24

Comitter:

leogrotti

Date:

Tue Apr 24 13:51:09 2018 +0000

Parent:

32:481674c0f90d

Child:

34:098efd69c86d

Commit message:

2

Changed in this revision

--- a/main.cpp	Mon Apr 23 10:55:24 2018 +0000
+++ b/main.cpp	Tue Apr 24 13:51:09 2018 +0000
@@ -72,14 +72,14 @@
 L6474_init_t init = {
     160,                              /* Acceleration rate in pps^2. Range: (0..+inf). */
     160,                              /* Deceleration rate in pps^2. Range: (0..+inf). */
-    2400,                             /* Maximum speed in pps. Range: (30..10000]. */
-    30,                              /* Minimum speed in pps. Range: [30..10000). */
-    250,                              /* Torque regulation current in mA. Range: 31.25mA to 4000mA. */
-    L6474_OCD_TH_750mA,               /* Overcurrent threshold (OCD_TH register). */
+    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,               /* Step selection (STEP_SEL field of STEP_MODE register). */
-    L6474_SYNC_SEL_1,               /* Sync selection (SYNC_SEL field of STEP_MODE 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. */
@@ -180,7 +180,7 @@
   
         if (u>0.520) {
            motor1->set_min_speed(minspeed);
-           motor1->set_step_mode(step_mode_t_1);
+  //         motor1->set_step_mode(step_mode_t_1_2);
            motor1->run(StepperMotor::FWD);
            speed1 = motor1->get_speed();
            printf("velocidade: motor 1: %d \r\n",speed1);