Forigo
Messa in campo 4 file - 26/06/2020 Francia
Dependencies: mbed X_NUCLEO_IHM03A1_for
Fork of
FORIGO_Modula_V7_3_VdcStep_maggio2020
by 
Francesco Pistone
Diff: main.cpp
- Revision:
- 21:3e6576c2e126
- Parent:
- 20:4a400a4cc419
- Child:
- 22:2136dcad1dbc
--- a/main.cpp Fri Apr 26 13:46:42 2019 +0000
+++ b/main.cpp Thu May 02 07:51:08 2019 +0000
@@ -1966,19 +1966,21 @@
cntCellsForReload++;
if (cntCellsForReload >= cellsCountSet) {
TBmotorDirecti=TBforward; // rotazione normale
- #if defined(runner)
- #if defined(Zucca)
- motor->run(StepperMotor::BWD);
+ if (tractorSpeed_MtS_timed>0.0f){
+ #if defined(runner)
+ #if defined(Zucca)
+ motor->run(StepperMotor::BWD);
+ #else
+ motor->run(StepperMotor::FWD);
+ #endif
#else
- motor->run(StepperMotor::FWD);
+ #if defined(Zucca)
+ motor->step_clock_mode_enable(StepperMotor::FWD);
+ #else
+ motor->step_clock_mode_enable(StepperMotor::FWD);
+ #endif
#endif
- #else
- #if defined(Zucca)
- motor->step_clock_mode_enable(StepperMotor::FWD);
- #else
- motor->step_clock_mode_enable(StepperMotor::FWD);
- #endif
- #endif
+ }
erroreTamburo=0;
cntCellsCorrect=0;
}
@@ -2003,19 +2005,21 @@
if (cellsCountSet>1){
erroreTamburo=1;
TBmotorDirecti=TBreverse; // rotazione inversa
- #if defined(runner)
- #if defined(Zucca)
- motor->run(StepperMotor::FWD);
+ if (tractorSpeed_MtS_timed>0.0f){
+ #if defined(runner)
+ #if defined(Zucca)
+ motor->run(StepperMotor::FWD);
+ #else
+ motor->run(StepperMotor::BWD);
+ #endif
#else
- motor->run(StepperMotor::BWD);
+ #if defined(Zucca)
+ motor->step_clock_mode_enable(StepperMotor::FWD);
+ #else
+ motor->step_clock_mode_enable(StepperMotor::BWD);
+ #endif
#endif
- #else
- #if defined(Zucca)
- motor->step_clock_mode_enable(StepperMotor::FWD);
- #else
- motor->step_clock_mode_enable(StepperMotor::BWD);
- #endif
- #endif
+ }
}
cntCellsForReload=0;
if (tractorSpeed_MtS_timed>0.0f){