Diff: main.cpp

Revision:

50:144a92eeddb9

Parent:

49:2cfa7a02ac1e

Child:

51:51b5498e00c5

--- a/main.cpp	Fri Feb 05 11:24:07 2021 +0000
+++ b/main.cpp	Sat Feb 27 16:18:50 2021 +0000
@@ -415,7 +415,7 @@
                 #endif
             #endif
             #if defined(provaStepper)
-                motor->run(StepperMotor::FWD,150.0f);
+                motor->run(StepperMotor::FWD,500.00f);
             #endif
         #endif
     } else {
@@ -429,7 +429,7 @@
                 #endif
             #endif
             #if defined(provaStepper)
-                motor->run(StepperMotor::BWD,100.0f);
+                motor->run(StepperMotor::BWD,70.0f);
             #endif
         #endif
     }
@@ -1734,7 +1734,7 @@
         //motor->disable_flag_irq();
     
         /* Attaching an error handler */
-        //motor->attach_error_handler(&my_error_handler);
+        motor->attach_error_handler(&my_error_handler);
     #endif
     wait(1.0f);
     for (int a=0; a<5; a++) {
@@ -1807,15 +1807,22 @@
     SDmotorPWM.write(1.0f);         // duty cycle = stop
     TBmotorDirecti=TBforward;               // tb motor direction set
 
+    #if defined(provaDC)
+                DC_brake=0;
+                DC_forward=1;
+                DC_prepare();
+        SDmotorPWM.write(0.5f);         // duty cycle = stop
+    #endif
+    
     #if defined(provaStepper)
         TBmotorRst=1;
         TBmotorDirecti=TBforward;
         // definire il pin di clock che è PB_3
         #if defined(Zucca)
-            motor->run(StepperMotor::BWD,100.0f);
+            motor->run(StepperMotor::BWD,50.0f);
             //motor->step_clock_mode_enable(StepperMotor::FWD);
         #else
-            motor->run(StepperMotor::BWD,100.0f);
+            motor->run(StepperMotor::BWD,50.0f);
             //motor->step_clock_mode_enable(StepperMotor::BWD);
         #endif
         // attiva l'out per il controllo dello stepper in stepClockMode
@@ -1876,6 +1883,47 @@
             alarmEnable=false;
         }            
 
+        #if defined(pcSerial)
+            #if defined(perProva)
+                if ((tractorSpeedRead==1)&&(holdInSpeed==0)){
+                    pc.printf("speed input ON\n");
+                    holdInSpeed=1;
+                    #if defined(provaStepper)
+                        motor->run(StepperMotor::BWD,200.0f);
+                    #endif
+                }
+                if ((tractorSpeedRead==0)&&(holdInSpeed==1)){
+                    pc.printf("speed input OFF\n");
+                    holdInSpeed=0;
+                }
+                if ((DcEncoder==1)&&(holdInDc==0)){
+                    pc.printf("dc encoder input ON\n");
+                    holdInDc=1;
+                }
+                if ((DcEncoder==0)&&(holdInDc==1)){
+                    pc.printf("dc encoder input OFF\n");
+                    holdInDc=0;
+                }
+                
+                if ((seedWheelZeroPinInputRev==1)&&(holdInSD==0)){
+                    pc.printf("SD input ON\n");
+                    holdInSD=1;
+                }
+                if ((seedWheelZeroPinInputRev==0)&&(holdInSD==1)){
+                    pc.printf("SD input OFF\n");
+                    holdInSD=0;
+                }
+
+                if ((TBzeroPinInputRev==1)&&(holdInTB==0)){
+                    pc.printf("TB input ON\n");
+                    holdInTB=1;
+                }
+                if ((TBzeroPinInputRev==0)&&(holdInTB==1)){
+                    pc.printf("TB input OFF\n");
+                    holdInTB=0;
+                }
+            #endif
+        #endif
         // inversione segnali ingressi
         #if !defined(simulaBanco)
             seedWheelZeroPinInput = !seedWheelZeroPinInputRev;
@@ -2203,7 +2251,7 @@
                             pc.printf("TBoldPos: %d\n",TBoldPosition);
                         #endif
                     #endif
-                    #if defined(perProva)
+                    #if defined(TBperS)
                         pc.printf(" ildato %d Actual %d\n", ildato, TBactualPosition);
                     #endif
                 #else