GroupA
/
WaG_final
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Dependencies: mbed
Diff: stepper.cpp
- Revision:
- 43:3b7f326aa096
- Parent:
- 42:6cba679a4ee4
- Child:
- 45:54d18ab80fd1
--- a/stepper.cpp Thu Mar 29 15:51:52 2018 +0000
+++ b/stepper.cpp Thu Mar 29 16:28:06 2018 +0000
@@ -49,8 +49,12 @@
*/
void stp_init() {
stp_cur_pos = STP_POS_UNKN;
+ jog_cw.mode(PullUp);
+ jog_ccw.mode(PullUp);
+ cal_button.mode(PullUp);
+ home_sensor.mode(PullUp);
for (int i = 1; i <= NUM_SENSORS; i++) {
- stp_sensor_pos[i] = STP_POS_UNKN;
+ //stp_sensor_pos[i] = STP_POS_UNKN;
}
}
@@ -76,6 +80,7 @@
//pc.printf("i = %d\n", i);
spi_send(drv8806, turn[i]);
}
+ wait(0.015);
}
else if (direction == STP_CCW) {
for (int i = 3; i >= 0; i--) {
@@ -83,6 +88,7 @@
//pc.printf("i = %d\n", i);
spi_send(drv8806, turn[i]);
}
+ wait(0.015);
}
wait(MOTOR_DELAY);
}
@@ -99,10 +105,7 @@
* Returns: void
*/
void step_test() {
- jog_cw.mode(PullUp);
- jog_ccw.mode(PullUp);
- cal_button.mode(PullUp);
- home_sensor.mode(PullUp);
+ stp_init();
while (uti_chk_ubutton() == 0);
pc.printf("test begin\n");
while(1) {
@@ -112,6 +115,7 @@
if (stp_cur_pos != STP_POS_UNKN)
stp_cur_pos--;
}
+
}
if (jog_cw == 0) {
if (stp_cur_pos <= 400) {