File content as of revision 40:13d2c943dfe9:

/* Includes ------------------------------------------------------------------*/

/* mbed specific header files. */
#include "mbed.h"

/* Helper header files. */
#include "DevSPI.h"

/* Component specific header files. */
#include "L6474.h"
#include "new_file.cpp"

/* Definitions ---------------------------------------------------------------*/

/* Number of steps. */
#define STEPS_1 (200 * 2)   /* 1 revolution given a 200 steps motor configured at 1/2 microstep mode. */
#define safe (600)

/* Delay in milliseconds. */
#define DELAY_1 1000


/* Speed in pps (Pulses Per Second).
   In Full Step mode: 1 pps = 1 step/s).
   In 1/N Step Mode:  N pps = 1 step/s). */
#define SPEED_1 2400
#define SPEED_2 1200

DigitalOut myled(LED1);
Serial pc(USBTX, USBRX);


/* Variables -----------------------------------------------------------------*/

/* Initialization parameters. */

L6474_init_t init = {
    160,                              /* Acceleration rate in pps^2. Range: (0..+inf). */
    160,                              /* Deceleration rate in pps^2. Range: (0..+inf). */
    2600,                             /* Maximum speed in pps. Range: (30..10000]. */
    1300,                              /* Minimum speed in pps. Range: [30..10000). */
    250,                              /* Torque regulation current in mA. Range: 31.25mA to 4000mA. */
    L6474_OCD_TH_750mA,               /* Overcurrent threshold (OCD_TH register). */
    L6474_CONFIG_OC_SD_ENABLE,        /* Overcurrent shutwdown (OC_SD field of CONFIG register). */
    L6474_CONFIG_EN_TQREG_TVAL_USED,  /* Torque regulation method (EN_TQREG field of CONFIG register). */
    L6474_STEP_SEL_1_16,              /* Step selection (STEP_SEL field of STEP_MODE register). */
    L6474_SYNC_SEL_1_2,               /* Sync selection (SYNC_SEL field of STEP_MODE register). */
    L6474_FAST_STEP_12us,             /* Fall time value (T_FAST field of T_FAST register). Range: 2us to 32us. */
    L6474_TOFF_FAST_8us,              /* Maximum fast decay time (T_OFF field of T_FAST register). Range: 2us to 32us. */
    3,                                /* Minimum ON time in us (TON_MIN register). Range: 0.5us to 64us. */
    21,                               /* Minimum OFF time in us (TOFF_MIN register). Range: 0.5us to 64us. */
    L6474_CONFIG_TOFF_044us,          /* Target Swicthing Period (field TOFF of CONFIG register). */
    L6474_CONFIG_SR_320V_us,          /* Slew rate (POW_SR field of CONFIG register). */
    L6474_CONFIG_INT_16MHZ,           /* Clock setting (OSC_CLK_SEL field of CONFIG register). */
    L6474_ALARM_EN_OVERCURRENT |
    L6474_ALARM_EN_THERMAL_SHUTDOWN |
    L6474_ALARM_EN_THERMAL_WARNING |
    L6474_ALARM_EN_UNDERVOLTAGE |
    L6474_ALARM_EN_SW_TURN_ON |
    L6474_ALARM_EN_WRONG_NPERF_CMD    /* Alarm (ALARM_EN register). */
};

/* Motor Control Component. */
L6474 *motor1;
L6474 *motor2;
L6474 *motor3;



/*---------------------Functions -------------------*/




DigitalIn sUp(A0);
DigitalIn sDown(A1);
DigitalIn sLeft(A2);
DigitalIn sRight(A3);
DigitalIn YES(A4);
DigitalIn NO(A5);
DigitalIn zeroX(PC_8);
DigitalIn zeroY(PC_6);
DigitalIn zeroZ(PA_11);
DigitalIn maxX(PC_5);
DigitalIn maxY(PA_12);
DigitalIn maxZ(PB_12);



void fdc_inicialX(){
    pc.printf("\n\rZerando eixo X");
    motor1->run(StepperMotor::BWD);
    while(zeroX ==1){
        wait(0.01);
        }
    motor1->hard_stop();
    motor1->move(StepperMotor::FWD, safe);
    motor1->set_home();
    pc.printf("\n\rEixo X zerado");
}


void fdc_inicialY(){
    pc.printf("\n\rZerando eixo Y");
    motor2->run(StepperMotor::BWD);
    while(zeroY ==1){
        wait(0.01);
        }
    motor2->hard_stop();
    motor2->move(StepperMotor::FWD, safe);
    motor2->set_home();
    pc.printf("\n\rEixo Y zerado");    
}


void fdc_inicialZ(){
    pc.printf("\n\rZerando eixo Z");
    motor3->run(StepperMotor::BWD);
    while(zeroZ ==1){
        wait(0.01);
        }
    motor3->hard_stop();
    motor3->move(StepperMotor::FWD, safe);
    motor3->set_home(); 
    pc.printf("\n\rEixo Z zerado");   
}


void fdc_zeroX(){
    motor1->move(StepperMotor::FWD, safe);
    pc.printf ("\n\rLimite do Eixo X");
    pc.printf ("\n\rY: %d", motor2->get_position());
    wait(2);
}

void fdc_zeroY(){
    motor2->move(StepperMotor::FWD, safe);
    pc.printf ("\n\rX: %d", motor1->get_position());
    pc.printf ("\n\rLimite do Eixo Y");
    wait(2);
}

void fdc_zeroZ(){
    motor3->move(StepperMotor::FWD, safe);
    pc.printf ("\n\rZ: %d", motor3->get_position());
    pc.printf ("\n\rLimite do Eixo Z");
    wait(2);
}

void fdc_maxX(){
    motor1->move(StepperMotor::BWD, safe);
    pc.printf ("\n\rLimite do Eixo X");
    pc.printf ("\n\rY: %d", motor2->get_position());
    wait(2);
}

void fdc_maxY(){
    motor2->move(StepperMotor::BWD, safe);
    pc.printf ("\n\rX: %d", motor1->get_position());
    pc.printf ("\n\rLimite do Eixo Y");
    wait(2);
}


void fdc_maxZ(){
    motor3->move(StepperMotor::BWD, safe);
    pc.printf ("\n\rZ: %d", motor3->get_position());
    pc.printf ("\n\rLimite do Eixo Z");
    wait(2);
}                    
                
void zeramento(){
    fdc_inicialX();
    fdc_inicialY();
    fdc_inicialZ();         
}

int referenciar_z(int referencia_z){
    pc.printf("\n\rZ: %d", motor3->get_position());
    while(NO!=0){
        if (sUp==0){
            motor3->move(StepperMotor::FWD,600);
            pc.printf("\n\rZ: %d", motor3->get_position()); 
        }
        if (sDown==0){
            motor3->move(StepperMotor::BWD,600);
            pc.printf("\n\rZ: %d", motor3->get_position());
        }
        if (zeroZ ==0){
            fdc_zeroZ();
        }
        if (maxZ ==0){
            fdc_maxZ();
        }
        wait(0.1);
        pc.printf ("\n\rZ: %d", motor3->get_position());
        if (YES==0) {
            pc.printf ("\n\rEixo Z referenciado!");
            referencia_z=motor3->get_position();
            wait(1);
        }
    }
    return referencia_z;
}
int adicionar_pontos(int j,int positionX[], int positionY[]){
    while(NO!=0) {
        if (sUp==0) {
            pc.printf ("\n\rX: %d", motor1->get_position());
            pc.printf ("\n\rY: %d", motor2->get_position());
            motor2->move(StepperMotor::FWD, 600);
        }
        if (sRight==0) {
            pc.printf ("\n\rX: %d", motor1->get_position());
            pc.printf ("\n\rY: %d", motor2->get_position());
            motor1->move(StepperMotor::FWD, 600);
        }       
        if (sDown==0) {
            pc.printf ("\n\rX: %d", motor1->get_position());
            pc.printf ("\n\rY: %d", motor2->get_position());
            motor2->move(StepperMotor::BWD, 600);
        }
        if (sLeft==0) {
            pc.printf ("\n\rX: %d", motor1->get_position());
            pc.printf ("\n\rY: %d", motor2->get_position());
            motor1->move(StepperMotor::BWD, 600);
        }
        if (zeroX ==0){
            fdc_zeroX();
        }
        if (zeroY ==0){
            fdc_zeroY();
        }
        if (maxX ==0){
            fdc_maxX();
        }
        if (maxY ==0){
            fdc_maxY();
        }    
        wait(0.2);
        if (YES==0) {
            pc.printf ("\n\rPonto Adicionado!");
            positionX[j]=motor1->get_position();
            positionY[j]=motor2->get_position();
            j++;
            wait(1);
        }
    }
}

void home (){
    motor1->go_home();
    motor2->go_home();
    motor3->go_home();
}

void move_xy(int i,int x[],int y[]){
    int xi=x[i];
    int yi=y[i];
    motor1->go_to(xi);
    motor2->go_to(yi);
}

/*-------------------------Variables---------------------------*/

int j=0;
int positionX[20];
int positionY[20];
int referencia_z=0;
   
/*---------------------- Initialization. --------------------*/
int main() {

    /* Initializing SPI bus. */
    DevSPI dev_spi(D11, D12, D13);

    /* Initializing Motor Control Component. */
    motor1 = new L6474(D2, D8, D7, D9, D10, dev_spi);
    motor2 = new L6474(D2, D8, D4, D3, D10, dev_spi);
    motor3 = new L6474(D2, D8, D5, D6, D10, dev_spi);
    if (motor1->init(&init) != COMPONENT_OK) {
        exit(EXIT_FAILURE);
    }
    if (motor2->init(&init) != COMPONENT_OK) {
        exit(EXIT_FAILURE);
    }
    if (motor3->init(&init) != COMPONENT_OK) {
        exit(EXIT_FAILURE);
    }
 
  
    pc.baud(9600);
  
    while(YES!=0){
        pc.printf("\n\rZerar a mesa?");
    }
    
    
/*----------------------------Zerando a mesa-----------------*/
    
    zeramento();
    pc.printf("\n\rReferenciar eixo Z");
    wait (2);
    int referencia_z=referenciar_z(referencia_z);  
    pc.printf ("%d",referencia_z);  
    home();         
/*-------------------------Menu "Inicial"-----------------*/

    pc.printf("\n\rMenu");
    wait(1);
    

/*-----------------------------Adiciontar Pontos------------------------*/
    
    pc.printf ("\n\rX: %d", motor1->get_position());
    pc.printf ("\n\rY: %d", motor2->get_position());
    
    while(!=NO){
        
        
    adicionar_pontos(j, positionX, positionY);
    

/*-----------------------------Colar Pontos----------------------------*/
    
    pc.printf ("\n\rIniciando...");
    
    home();
    
    pc.printf ("\n\rColando...");
    
    for (int i=0;i<20;i++){
        move_xy(i, positionX, positionY);
        motor3->go_to(referencia_z);
        //depositar();
        motor3->go_home();
    }  

/*------------------------Finalizar Operação/Zerar----------------------*/
    home();
}