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Dependencies:   mbed

Fork of Lab_6_WaG by GroupA

stepper.cpp@46:85c4b722baa7, 2018-03-30 (annotated)

Committer:
spm71
Date:
Fri Mar 30 20:25:25 2018 +0000
Revision:
46:85c4b722baa7
Parent:
45:54d18ab80fd1
Child:
48:d612de6880b0
Part 8

Who changed what in which revision?

UserRevisionLine numberNew contents of line
spm71 18:0e281922212c 1 /******************************************************************************
spm71 18:0e281922212c 2 * EECS 397
spm71 18:0e281922212c 3 *
spm71 42:6cba679a4ee4 4 * Assignment Name: Lab 6: WaG
spm71 18:0e281922212c 5 *
spm71 18:0e281922212c 6 * Authors: Sam Morrison and Phong Nguyen
spm71 18:0e281922212c 7 * File name: stepper.cpp
spm71 18:0e281922212c 8 * Purpose: Driver for stepper motor
spm71 18:0e281922212c 9 *
spm71 18:0e281922212c 10 * Created: 03/02/2018
spm71 42:6cba679a4ee4 11 * Last Modified: 03/29/2018
spm71 18:0e281922212c 12 *
spm71 18:0e281922212c 13 ******************************************************************************/
spm71 18:0e281922212c 14
spm71 18:0e281922212c 15 #include "mbed.h"
spm71 18:0e281922212c 16 #include "io_pins.h"
spm71 18:0e281922212c 17 #include "spi.h"
spm71 18:0e281922212c 18 #include "stepper.h"
spm71 41:9b293b14b845 19 #include "utility.h"
spm71 18:0e281922212c 20
spm71 21:88f9f280931b 21 extern DigitalIn jog_ccw;
spm71 21:88f9f280931b 22 extern DigitalIn jog_cw;
spm71 35:ad2b3d6f0e5a 23 extern DigitalIn my_button;
spm71 35:ad2b3d6f0e5a 24 extern DigitalIn cal_button;
spm71 41:9b293b14b845 25 extern DigitalIn home_sensor;
spm71 22:09dd6977576b 26 extern Serial pc;
spm71 20:d23bcd97f2c5 27
spm71 20:d23bcd97f2c5 28 int stp_cur_pos;
phn10 44:4c2ba5bbba67 29 int stp_sensor_pos[TGT_SENSOR_QUAN];
spm71 18:0e281922212c 30
spm71 18:0e281922212c 31 extern spi_cfg drv8806 {
spm71 18:0e281922212c 32 SPI_DRV8806_ID,
spm71 18:0e281922212c 33 STP_DRV8806_NCS,
spm71 20:d23bcd97f2c5 34 DRV8806_SPI_MODE,
spm71 20:d23bcd97f2c5 35 DRV8806_SPI_FREQ,
spm71 20:d23bcd97f2c5 36 DRV8806_SPI_NO_BITS,
spm71 18:0e281922212c 37 };
spm71 18:0e281922212c 38
spm71 18:0e281922212c 39 /*
spm71 18:0e281922212c 40 * void stp_init();
spm71 18:0e281922212c 41 * Description: initializes stepper values to unkown
spm71 18:0e281922212c 42 *
spm71 18:0e281922212c 43 * Inputs:
spm71 18:0e281922212c 44 * Parameters: void
spm71 18:0e281922212c 45 * Globals:
spm71 18:0e281922212c 46 *
spm71 18:0e281922212c 47 * Outputs:
spm71 18:0e281922212c 48 * Returns: void
spm71 18:0e281922212c 49 */
spm71 18:0e281922212c 50 void stp_init() {
spm71 20:d23bcd97f2c5 51 stp_cur_pos = STP_POS_UNKN;
spm71 43:3b7f326aa096 52 jog_cw.mode(PullUp);
spm71 43:3b7f326aa096 53 jog_ccw.mode(PullUp);
spm71 43:3b7f326aa096 54 cal_button.mode(PullUp);
spm71 43:3b7f326aa096 55 home_sensor.mode(PullUp);
spm71 46:85c4b722baa7 56 for (int i = 1; i <= TGT_SENSOR_QUAN; i++) {
spm71 43:3b7f326aa096 57 //stp_sensor_pos[i] = STP_POS_UNKN;
spm71 18:0e281922212c 58 }
spm71 18:0e281922212c 59 }
spm71 18:0e281922212c 60
spm71 18:0e281922212c 61 /*
spm71 18:0e281922212c 62 * void stp_step(int direction);
spm71 18:0e281922212c 63 * Description: turns the stepper motor clockwise or counter-clockwise
spm71 18:0e281922212c 64 *
spm71 18:0e281922212c 65 * Inputs:
spm71 18:0e281922212c 66 * Parameters:
spm71 18:0e281922212c 67 * int direction
spm71 18:0e281922212c 68 * Globals:
spm71 18:0e281922212c 69 *
spm71 18:0e281922212c 70 * Outputs:
spm71 18:0e281922212c 71 * Returns: void
spm71 18:0e281922212c 72 */
spm71 18:0e281922212c 73 void stp_step(int direction) {
spm71 20:d23bcd97f2c5 74
spm71 20:d23bcd97f2c5 75 //static int cur_pos = stp_cur_pos;
spm71 20:d23bcd97f2c5 76 static int turn[4] = {0x03, 0x06, 0x0c, 0x09};
spm71 20:d23bcd97f2c5 77 if (direction == STP_CW) {
spm71 22:09dd6977576b 78 for (int i = 0; i < 4; i++) {
spm71 41:9b293b14b845 79 wait(MOTOR_DELAY);
spm71 22:09dd6977576b 80 //pc.printf("i = %d\n", i);
spm71 20:d23bcd97f2c5 81 spi_send(drv8806, turn[i]);
spm71 22:09dd6977576b 82 }
spm71 43:3b7f326aa096 83 wait(0.015);
spm71 20:d23bcd97f2c5 84 }
spm71 20:d23bcd97f2c5 85 else if (direction == STP_CCW) {
spm71 22:09dd6977576b 86 for (int i = 3; i >= 0; i--) {
spm71 41:9b293b14b845 87 wait(MOTOR_DELAY);
spm71 22:09dd6977576b 88 //pc.printf("i = %d\n", i);
spm71 20:d23bcd97f2c5 89 spi_send(drv8806, turn[i]);
spm71 22:09dd6977576b 90 }
spm71 43:3b7f326aa096 91 wait(0.015);
spm71 20:d23bcd97f2c5 92 }
spm71 41:9b293b14b845 93 wait(MOTOR_DELAY);
spm71 35:ad2b3d6f0e5a 94 }
spm71 35:ad2b3d6f0e5a 95
spm71 35:ad2b3d6f0e5a 96 /*
spm71 35:ad2b3d6f0e5a 97 * void step_test();
spm71 35:ad2b3d6f0e5a 98 * Description: tests the stepper motor
spm71 35:ad2b3d6f0e5a 99 *
spm71 35:ad2b3d6f0e5a 100 * Inputs:
spm71 35:ad2b3d6f0e5a 101 * Parameters:
spm71 35:ad2b3d6f0e5a 102 * Globals:
spm71 35:ad2b3d6f0e5a 103 *
spm71 35:ad2b3d6f0e5a 104 * Outputs:
spm71 35:ad2b3d6f0e5a 105 * Returns: void
spm71 35:ad2b3d6f0e5a 106 */
spm71 35:ad2b3d6f0e5a 107 void step_test() {
spm71 43:3b7f326aa096 108 stp_init();
spm71 41:9b293b14b845 109 while (uti_chk_ubutton() == 0);
spm71 46:85c4b722baa7 110 pc.printf("step motor test begin\n");
spm71 35:ad2b3d6f0e5a 111 while(1) {
spm71 35:ad2b3d6f0e5a 112 if (jog_ccw == 0) {
spm71 42:6cba679a4ee4 113 if (stp_cur_pos != 0) {
spm71 42:6cba679a4ee4 114 stp_step(STP_CCW);
spm71 42:6cba679a4ee4 115 if (stp_cur_pos != STP_POS_UNKN)
spm71 42:6cba679a4ee4 116 stp_cur_pos--;
spm71 42:6cba679a4ee4 117 }
spm71 46:85c4b722baa7 118 else {
spm71 46:85c4b722baa7 119 pc.printf("Cannot turn past home position.\n");
spm71 46:85c4b722baa7 120 wait(0.02);
spm71 46:85c4b722baa7 121 }
spm71 43:3b7f326aa096 122
spm71 35:ad2b3d6f0e5a 123 }
spm71 35:ad2b3d6f0e5a 124 if (jog_cw == 0) {
spm71 42:6cba679a4ee4 125 if (stp_cur_pos <= 400) {
spm71 42:6cba679a4ee4 126 stp_step(STP_CW);
spm71 42:6cba679a4ee4 127 if (stp_cur_pos != STP_POS_UNKN)
spm71 42:6cba679a4ee4 128 stp_cur_pos++;
spm71 42:6cba679a4ee4 129 }
spm71 46:85c4b722baa7 130 else {
spm71 46:85c4b722baa7 131 pc.printf("Cannot turn past maximum position. Fatal error.\n");
spm71 42:6cba679a4ee4 132 while(1);
spm71 46:85c4b722baa7 133 }
spm71 35:ad2b3d6f0e5a 134 }
spm71 35:ad2b3d6f0e5a 135 if (cal_button == 0) {
spm71 35:ad2b3d6f0e5a 136 stp_find_home();
spm71 35:ad2b3d6f0e5a 137 }
spm71 46:85c4b722baa7 138 if (uti_chk_ubutton() == 1)
spm71 46:85c4b722baa7 139 break;
spm71 35:ad2b3d6f0e5a 140 }
spm71 35:ad2b3d6f0e5a 141 }
spm71 35:ad2b3d6f0e5a 142
spm71 41:9b293b14b845 143 /*
spm71 41:9b293b14b845 144 * void stp_find_home();
spm71 41:9b293b14b845 145 * Description: uses the stepper motor and home sensor to find home
spm71 41:9b293b14b845 146 *
spm71 41:9b293b14b845 147 * Inputs:
spm71 41:9b293b14b845 148 * Parameters:
spm71 41:9b293b14b845 149 * Globals:
spm71 41:9b293b14b845 150 *
spm71 41:9b293b14b845 151 * Outputs:
spm71 41:9b293b14b845 152 * Returns: void
spm71 41:9b293b14b845 153 */
spm71 35:ad2b3d6f0e5a 154 void stp_find_home() {
spm71 41:9b293b14b845 155 int count = 0;
spm71 41:9b293b14b845 156 int half_count = 0;
spm71 41:9b293b14b845 157 stp_cur_pos = STP_POS_UNKN;
spm71 41:9b293b14b845 158 //pc.printf("Home sensor is currently %d\n", home_sensor.read());
spm71 41:9b293b14b845 159 if (home_sensor == 0) {
spm71 41:9b293b14b845 160 for(int i = 0; i < 100; i++)
spm71 41:9b293b14b845 161 stp_step(STP_CW);
spm71 41:9b293b14b845 162 if (home_sensor == 0) {
spm71 46:85c4b722baa7 163 pc.printf("Error, home sensor not functioning. Fatal error.\n", home_sensor.read());
spm71 41:9b293b14b845 164 while(1);
spm71 41:9b293b14b845 165 }
spm71 41:9b293b14b845 166 }
spm71 41:9b293b14b845 167 while (home_sensor.read() != 0) {
spm71 41:9b293b14b845 168 stp_step(STP_CCW);
spm71 41:9b293b14b845 169 }
spm71 41:9b293b14b845 170 while (home_sensor.read() != 1) {
spm71 41:9b293b14b845 171 stp_step(STP_CCW);
spm71 41:9b293b14b845 172 count++;
spm71 41:9b293b14b845 173 }
spm71 41:9b293b14b845 174 half_count = count/2;
spm71 41:9b293b14b845 175 for(int i = 0; i < half_count; i++)
spm71 41:9b293b14b845 176 stp_step(STP_CW);
spm71 41:9b293b14b845 177 stp_cur_pos = 0;
spm71 41:9b293b14b845 178 pc.printf("Home found.\n");
phn10 44:4c2ba5bbba67 179 }
phn10 44:4c2ba5bbba67 180
phn10 44:4c2ba5bbba67 181
phn10 44:4c2ba5bbba67 182 /*
phn10 44:4c2ba5bbba67 183 * void stp_calibrate(int station, float * sensor_values, int * cal_status);
phn10 44:4c2ba5bbba67 184 * Description: uses the stepper motor and home sensor to find home
phn10 44:4c2ba5bbba67 185 *
phn10 44:4c2ba5bbba67 186 * Inputs:
phn10 44:4c2ba5bbba67 187 * Parameters:
phn10 44:4c2ba5bbba67 188 * Globals:
phn10 44:4c2ba5bbba67 189 *
phn10 44:4c2ba5bbba67 190 * Outputs:
phn10 44:4c2ba5bbba67 191 * Returns: void
phn10 44:4c2ba5bbba67 192 */
phn10 44:4c2ba5bbba67 193 void stp_calibrate(int station, float * sensor_values, int * cal_status);