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:
- 9:7f02256f6e8f
- Parent:
- 8:310f9e4eac7b
- Child:
- 10:9e70619e97ab
--- a/main.cpp Mon Mar 11 06:44:59 2019 +0000
+++ b/main.cpp Mon Mar 11 17:13:17 2019 +0000
@@ -231,7 +231,11 @@
TBrpm = seedWheelRPM*rapportoRuote; // 5.896 31,75
TBfrequency = (TBrpm*K_TBfrequency); // 130Hz a 0,29Mts 1397,00 a 1,25mt/s con 15 becchi e 15 celle
#if defined(runner)
- TBperiod=5.2f*TBrpm; //prova dopo test con contagiri
+ #if defined(Zucca)
+ TBperiod=5.2f*TBrpm*2.0f; //prova dopo test con contagiri
+ #else
+ TBperiod=5.2f*TBrpm; //prova dopo test con contagiri
+ #endif
//5.681818f
#else
TBperiod=1000000.0f/TBfrequency; // 715uS
@@ -378,12 +382,20 @@
if (TBmotorDirecti==TBreverse) {
TBmotorDirecti=TBforward;
#if !defined(runner)
- motor->step_clock_mode_enable(StepperMotor::FWD);
+ #if defined(Zucca)
+ motor->step_clock_mode_enable(StepperMotor::BWD);
+ #else
+ motor->step_clock_mode_enable(StepperMotor::FWD);
+ #endif
#endif
} else {
TBmotorDirecti=TBreverse;
#if !defined(runner)
- motor->step_clock_mode_enable(StepperMotor::BWD);
+ #if defined(Zucca)
+ motor->step_clock_mode_enable(StepperMotor::FWD);
+ #else
+ motor->step_clock_mode_enable(StepperMotor::BWD);
+ #endif
#endif
}
#if defined(pcSerial)
@@ -412,7 +424,11 @@
SDsectorStep = (double)fixedStepGiroSD / (double)pickNumber;
TBsectorStep = (TBmotorSteps*TBreductionRatio)/cellsNumber;
#if defined(runner)
- KcorT = (SDsectorStep/TBsectorStep)/2.0f;
+ #if defined(Zucca)
+ KcorT = (SDsectorStep/TBsectorStep)*2.0f;
+ #else
+ KcorT = (SDsectorStep/TBsectorStep)/2.0f;
+ #endif
#else
KcorT = (SDsectorStep/TBsectorStep);///2.0f;
#endif
@@ -448,7 +464,11 @@
pc.printf("TBper: %f MtS: %f\n",TBper,tractorSpeed_MtS_timed);
#endif
#endif
- motor->run(StepperMotor::FWD,TBper);
+ #if defined(Zucca)
+ motor->run(StepperMotor::BWD,TBper);
+ #else
+ motor->run(StepperMotor::FWD,TBper);
+ #endif
oldPeriodoTB=TBper;
}
}
@@ -471,7 +491,11 @@
#endif
#endif
if (TBper != NULL) {
- motor->step_clock_mode_enable(StepperMotor::FWD);
+ #if defined(Zucca)
+ motor->step_clock_mode_enable(StepperMotor::BWD);
+ #else
+ motor->step_clock_mode_enable(StepperMotor::FWD);
+ #endif
TBticker.attach_us(&step_TBPulseOut,TBper); // clock time are milliseconds and attach seed motor stepper controls
}
} else {
@@ -528,8 +552,8 @@
TBdeltaStep=(fixedStepGiroSD/pickNumber)-(stepGrado*avvioGradi);
TBfaseStep = (stepGrado*angoloFase);
*/
-#if defined(Zucca)
- if ((tractorSpeed_MtS_timed>0.01f)) {
+//#if defined(Zucca)
+/* if ((tractorSpeed_MtS_timed>0.01f)) {
if (inhibit==0) {
double posError =0.0f;
double posSD=((double)SDactualPosition)/KcorT;
@@ -548,7 +572,7 @@
if (ePpos>0.0f) {
cambiaTB(ePpos);
} else {
- cambiaTB(periodo)/2.0f;
+ cambiaTB(periodo);//2.0f;
}
#if defined(pcSerial)
#if defined(TBperS)
@@ -559,7 +583,8 @@
}
}
}
-#else
+ */
+//#else
if ((tractorSpeed_MtS_timed>0.01f)) {
if (inhibit==0) {
double posError =0.0f;
@@ -612,7 +637,7 @@
}
}
}
-#endif
+//#endif
#if defined(pcSerial)
#if defined(checkLoopa)
pc.printf("12\n");
@@ -656,11 +681,19 @@
#endif
#endif
#if defined(runner)
- motor->run(StepperMotor::FWD,TBperiod);
+ #if defined(Zucca)
+ motor->run(StepperMotor::BWD,TBperiod);
+ #else
+ motor->run(StepperMotor::FWD,TBperiod);
+ #endif
#else
if (TBperiod >= (250.0f*2.0f)) {
if (TBperiod != NULL) {
- motor->step_clock_mode_enable(StepperMotor::FWD);
+ #if defined(Zucca)
+ motor->step_clock_mode_enable(StepperMotor::BWD);
+ #else
+ motor->step_clock_mode_enable(StepperMotor::FWD);
+ #endif
TBticker.attach_us(&step_TBPulseOut,TBperiod/2.0f); // clock time are milliseconds and attach seed motor stepper controls
}
}
@@ -675,9 +708,17 @@
#endif
#endif
#if defined(runner)
- motor->run(StepperMotor::FWD,50.0f);
+ #if defined(Zucca)
+ motor->run(StepperMotor::BWD,50.0f);
+ #else
+ motor->run(StepperMotor::FWD,50.0f);
+ #endif
#else
- motor->step_clock_mode_enable(StepperMotor::FWD);
+ #if defined(Zucca)
+ motor->step_clock_mode_enable(StepperMotor::BWD);
+ #else
+ motor->step_clock_mode_enable(StepperMotor::FWD);
+ #endif
TBticker.attach_us(&step_TBPulseOut,1000.0f); // clock time are milliseconds and attach seed motor stepper controls
#endif
loadDaCanInCorso=1;
@@ -1597,7 +1638,11 @@
TBmotorRst=1;
TBmotorDirecti=TBforward;
// definire il pin di clock che è PB_3
- motor->step_clock_mode_enable(StepperMotor::BWD);
+ #if defined(Zucca)
+ motor->step_clock_mode_enable(StepperMotor::FWD);
+ #else
+ motor->step_clock_mode_enable(StepperMotor::BWD);
+ #endif
// attiva l'out per il controllo dello stepper in stepClockMode
DigitalOut TBmotorStepOut(PB_3); // PowerStep01 Step Input
#if defined(pcSerial)
@@ -1613,7 +1658,11 @@
motor->go_to(50);
motor->wait_while_active();
#if !defined(runner)
- motor->step_clock_mode_enable(StepperMotor::FWD);
+ #if defined(Zucca)
+ motor->step_clock_mode_enable(StepperMotor::BWD);
+ #else
+ motor->step_clock_mode_enable(StepperMotor::FWD);
+ #endif
#endif
#if defined(pcSerial)
#if defined(loStop)
@@ -1966,9 +2015,17 @@
if (cntCellsForReload >= cellsCountSet) {
TBmotorDirecti=TBforward; // rotazione normale
#if defined(runner)
- motor->run(StepperMotor::FWD);
+ #if defined(Zucca)
+ motor->run(StepperMotor::BWD);
+ #else
+ motor->run(StepperMotor::FWD);
+ #endif
#else
- motor->step_clock_mode_enable(StepperMotor::FWD);
+ #if defined(Zucca)
+ motor->step_clock_mode_enable(StepperMotor::FWD);
+ #else
+ motor->step_clock_mode_enable(StepperMotor::FWD);
+ #endif
#endif
erroreTamburo=0;
cntCellsCorrect=0;
@@ -1992,9 +2049,17 @@
erroreTamburo=1;
TBmotorDirecti=TBreverse; // rotazione inversa
#if defined(runner)
- motor->run(StepperMotor::BWD);
+ #if defined(Zucca)
+ motor->run(StepperMotor::FWD);
+ #else
+ motor->run(StepperMotor::BWD);
+ #endif
#else
- motor->step_clock_mode_enable(StepperMotor::BWD);
+ #if defined(Zucca)
+ motor->step_clock_mode_enable(StepperMotor::FWD);
+ #else
+ motor->step_clock_mode_enable(StepperMotor::BWD);
+ #endif
#endif
cntCellsForReload=0;
cntTbError++;
@@ -2286,7 +2351,11 @@
lockStart=1;
periodo = TBperiod;
#if !defined(runner)
- motor->step_clock_mode_enable(StepperMotor::FWD);
+ #if defined(Zucca)
+ motor->step_clock_mode_enable(StepperMotor::BWD);
+ #else
+ motor->step_clock_mode_enable(StepperMotor::FWD);
+ #endif
#endif
if (aspettaStart==0) {
#if defined(pcSerial)