Diff: stepper.cpp

Revision:

41:9b293b14b845

Parent:

36:ad2b3d6f0e5a

Child:

42:6cba679a4ee4

--- a/stepper.cpp	Fri Mar 23 21:24:26 2018 +0000
+++ b/stepper.cpp	Tue Mar 27 16:34:17 2018 +0000
@@ -8,7 +8,7 @@
 * Purpose: Driver for stepper motor
 *
 * Created: 03/02/2018
-* Last Modified: 03/08/2018
+* Last Modified: 03/27/2018
 *
 ******************************************************************************/
 
@@ -16,11 +16,13 @@
 #include "io_pins.h"
 #include "spi.h"
 #include "stepper.h"
+#include "utility.h"
 
 extern DigitalIn jog_ccw;
 extern DigitalIn jog_cw;
 extern DigitalIn my_button;
 extern DigitalIn cal_button;
+extern DigitalIn home_sensor;
 extern Serial pc;
 
 int stp_cur_pos;
@@ -65,25 +67,24 @@
  *      Returns: void
 */
 void stp_step(int direction) {
-    jog_cw.mode(PullUp);
-    jog_ccw.mode(PullUp);
     
     //static int cur_pos = stp_cur_pos;
     static int turn[4] = {0x03, 0x06, 0x0c, 0x09};
     if (direction == STP_CW) {
         for (int i = 0; i < 4; i++) {
-            wait(0.002);
+            wait(MOTOR_DELAY);
             //pc.printf("i = %d\n", i);
             spi_send(drv8806, turn[i]);
         }
     }
     else if (direction == STP_CCW) {
         for (int i = 3; i >= 0; i--) {
-            wait(0.002);
+            wait(MOTOR_DELAY);
             //pc.printf("i = %d\n", i);
             spi_send(drv8806, turn[i]);
         }
     }
+    wait(MOTOR_DELAY);
 }
 
 /*
@@ -98,19 +99,62 @@
  *      Returns: void
 */
 void step_test() {
+    jog_cw.mode(PullUp);
+    jog_ccw.mode(PullUp);
+    cal_button.mode(PullUp);
+    home_sensor.mode(PullUp);
+    while (uti_chk_ubutton() == 0);
+    pc.printf("test begin\n");
     while(1) {
             if (jog_ccw == 0) {
                 stp_step(STP_CCW);
+                //pc.printf("Home sensor is currently %d\n", home_sensor.read());
             }
             if (jog_cw == 0) {
                 stp_step(STP_CW);
+                //pc.printf("Home sensor is currently %d\n", home_sensor.read());
             } 
             if (cal_button == 0) {
                 stp_find_home();
+                //pc.printf("Home sensor is currently %d\n", home_sensor.read());
             }
         }
 }
 
+/*
+ * void stp_find_home();
+ * Description: uses the stepper motor and home sensor to find home
+ *
+ * Inputs: 
+ *      Parameters:
+ *      Globals:
+ *      
+ * Outputs:
+ *      Returns: void
+*/
 void stp_find_home() {
-    
+    int count = 0;
+    int half_count = 0;
+    stp_cur_pos = STP_POS_UNKN;
+    //pc.printf("Home sensor is currently %d\n", home_sensor.read());
+    if (home_sensor == 0) {
+        for(int i = 0; i < 100; i++)
+            stp_step(STP_CW);
+        if (home_sensor == 0) {
+            pc.printf("Error, home sensor not functioning. Home sensor is currently %d\n", home_sensor.read());
+            while(1);
+        }
+    }
+    while (home_sensor.read() != 0) {
+        stp_step(STP_CCW);
+    }
+    while (home_sensor.read() != 1) {
+        stp_step(STP_CCW);
+        count++;
+    }
+    half_count = count/2;
+    for(int i = 0; i < half_count; i++)
+        stp_step(STP_CW);
+    stp_cur_pos = 0;
+    pc.printf("Home found.\n");
 }
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