Abschluss
Dependencies: mbed mbed-rtos X_NUCLEO_IHM02A1
STEPPER.h@44:d5481d289b78, 2019-05-19 (annotated)
- Committer:
- scherfa2
- Date:
- Sun May 19 20:46:32 2019 +0000
- Revision:
- 44:d5481d289b78
- Parent:
- 40:117b324843ee
Abschluss
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
hagenrap | 35:758191d5c6e1 | 1 | #ifndef STEPPER_H |
hagenrap | 35:758191d5c6e1 | 2 | #define STEPPER_H |
hagenrap | 35:758191d5c6e1 | 3 | |
hagenrap | 36:ba2e7eddbafa | 4 | #include "mbed.h" |
hagenrap | 36:ba2e7eddbafa | 5 | #include "DevSPI.h" |
hagenrap | 36:ba2e7eddbafa | 6 | #include "L6470_def.h" |
hagenrap | 36:ba2e7eddbafa | 7 | #include "StepperMotor.h" |
hagenrap | 35:758191d5c6e1 | 8 | |
hagenrap | 35:758191d5c6e1 | 9 | /* ----------------------- LEERLAUF ----------------------------------------- */ |
hagenrap | 35:758191d5c6e1 | 10 | void Stepper_1_Leerlauf(); |
hagenrap | 35:758191d5c6e1 | 11 | void Stepper_2_Leerlauf(); |
hagenrap | 35:758191d5c6e1 | 12 | void Stepper_3_Leerlauf(); |
hagenrap | 35:758191d5c6e1 | 13 | void Stepper_4_Leerlauf(); |
hagenrap | 35:758191d5c6e1 | 14 | /* ---------------------------- END ----------------------------------------- */ |
hagenrap | 35:758191d5c6e1 | 15 | |
hagenrap | 35:758191d5c6e1 | 16 | |
hagenrap | 35:758191d5c6e1 | 17 | |
hagenrap | 35:758191d5c6e1 | 18 | |
hagenrap | 36:ba2e7eddbafa | 19 | /* -------------------------- STOP ------------------------------------------ */ |
hagenrap | 36:ba2e7eddbafa | 20 | void Stepper_1_Stop(); |
hagenrap | 36:ba2e7eddbafa | 21 | void Stepper_2_Stop(); |
hagenrap | 36:ba2e7eddbafa | 22 | void Stepper_3_Stop(); |
hagenrap | 36:ba2e7eddbafa | 23 | void Stepper_4_Stop(); |
hagenrap | 36:ba2e7eddbafa | 24 | /* ---------------------------- END ----------------------------------------- */ |
hagenrap | 36:ba2e7eddbafa | 25 | |
hagenrap | 36:ba2e7eddbafa | 26 | |
hagenrap | 36:ba2e7eddbafa | 27 | |
hagenrap | 35:758191d5c6e1 | 28 | |
hagenrap | 35:758191d5c6e1 | 29 | /* ----------------------- SET_HOME_POSITION -------------------------------- */ |
hagenrap | 35:758191d5c6e1 | 30 | /* Legt akutelle Postion als Home fest und setzt Stepper-Count auf 0 */ |
hagenrap | 35:758191d5c6e1 | 31 | void Stepper_1_SetHome(); |
hagenrap | 35:758191d5c6e1 | 32 | void Stepper_2_SetHome(); |
hagenrap | 35:758191d5c6e1 | 33 | void Stepper_3_SetHome(); |
hagenrap | 35:758191d5c6e1 | 34 | void Stepper_4_SetHome(); |
hagenrap | 35:758191d5c6e1 | 35 | |
hagenrap | 35:758191d5c6e1 | 36 | /* Fährt auf dem kürzesten Weg nach Home zurück */ |
hagenrap | 35:758191d5c6e1 | 37 | void Stepper_1_GoHome(); |
hagenrap | 35:758191d5c6e1 | 38 | void Stepper_2_GoHome(); |
hagenrap | 35:758191d5c6e1 | 39 | void Stepper_3_GoHome(); |
hagenrap | 35:758191d5c6e1 | 40 | void Stepper_4_GoHome(); |
hagenrap | 35:758191d5c6e1 | 41 | /* ---------------------------- END ----------------------------------------- */ |
hagenrap | 35:758191d5c6e1 | 42 | |
hagenrap | 35:758191d5c6e1 | 43 | |
hagenrap | 35:758191d5c6e1 | 44 | |
hagenrap | 35:758191d5c6e1 | 45 | |
hagenrap | 35:758191d5c6e1 | 46 | |
hagenrap | 35:758191d5c6e1 | 47 | /* ----------------------- MARK_POSITION ------------------------------------ */ |
hagenrap | 35:758191d5c6e1 | 48 | /* Markiert aktuelle Position des Steppers, setzt Stepper-Count NICHT auf 0 */ |
hagenrap | 35:758191d5c6e1 | 49 | void Stepper_1_MarkPos(); |
hagenrap | 35:758191d5c6e1 | 50 | void Stepper_2_MarkPos(); |
hagenrap | 35:758191d5c6e1 | 51 | void Stepper_3_MarkPos(); |
hagenrap | 35:758191d5c6e1 | 52 | void Stepper_4_MarkPos(); |
hagenrap | 35:758191d5c6e1 | 53 | |
hagenrap | 35:758191d5c6e1 | 54 | /* Fährt auf dem kürzesten Weg zur markierten Postion zurück */ |
hagenrap | 35:758191d5c6e1 | 55 | void Stepper_1_GoMark(); |
hagenrap | 35:758191d5c6e1 | 56 | void Stepper_2_GoMark(); |
hagenrap | 35:758191d5c6e1 | 57 | void Stepper_3_GoMark(); |
hagenrap | 35:758191d5c6e1 | 58 | void Stepper_4_GoMark(); |
hagenrap | 35:758191d5c6e1 | 59 | |
scherfa2 | 40:117b324843ee | 60 | /* Gibt Position welche markiert wurden zurück */ |
hagenrap | 35:758191d5c6e1 | 61 | int Stepper_1_GetMark(); |
hagenrap | 35:758191d5c6e1 | 62 | int Stepper_1_GetMark(); // Braucht man eigentlich nicht |
hagenrap | 35:758191d5c6e1 | 63 | int Stepper_1_GetMark(); |
scherfa2 | 40:117b324843ee | 64 | int Stepper_1_GetMark(); |
hagenrap | 35:758191d5c6e1 | 65 | /* ---------------------------- END ----------------------------------------- */ |
hagenrap | 35:758191d5c6e1 | 66 | |
hagenrap | 35:758191d5c6e1 | 67 | |
hagenrap | 35:758191d5c6e1 | 68 | |
hagenrap | 35:758191d5c6e1 | 69 | |
hagenrap | 35:758191d5c6e1 | 70 | /* ---------------------------- ANY_POSITION -------------------------------- */ |
hagenrap | 35:758191d5c6e1 | 71 | /* Gibt aktuelle Position des Steppers zurück */ |
hagenrap | 35:758191d5c6e1 | 72 | int Stepper_1_GetPosition(); |
hagenrap | 35:758191d5c6e1 | 73 | int Stepper_2_GetPosition(); |
hagenrap | 35:758191d5c6e1 | 74 | int Stepper_3_GetPosition(); |
hagenrap | 35:758191d5c6e1 | 75 | int Stepper_4_GetPosition(); |
hagenrap | 35:758191d5c6e1 | 76 | |
hagenrap | 35:758191d5c6e1 | 77 | /* Fährt automatisch zur markierten Postion */ |
hagenrap | 35:758191d5c6e1 | 78 | void Stepper_1_GoTo(signed int position); |
hagenrap | 35:758191d5c6e1 | 79 | void Stepper_2_GoTo(signed int position); |
hagenrap | 35:758191d5c6e1 | 80 | void Stepper_3_GoTo(signed int position); |
hagenrap | 35:758191d5c6e1 | 81 | void Stepper_4_GoTo(signed int position); |
hagenrap | 35:758191d5c6e1 | 82 | /* ---------------------------- END ----------------------------------------- */ |
hagenrap | 35:758191d5c6e1 | 83 | |
hagenrap | 35:758191d5c6e1 | 84 | |
hagenrap | 36:ba2e7eddbafa | 85 | |
hagenrap | 36:ba2e7eddbafa | 86 | |
hagenrap | 36:ba2e7eddbafa | 87 | /* --------------------------------- MOVE ----------------------------------- */ |
hagenrap | 36:ba2e7eddbafa | 88 | /* Richtung angeben und Anzahl Steps */ |
hagenrap | 36:ba2e7eddbafa | 89 | /* V = Vorwärts */ |
hagenrap | 36:ba2e7eddbafa | 90 | /* R = Rückwärts */ |
hagenrap | 36:ba2e7eddbafa | 91 | |
hagenrap | 36:ba2e7eddbafa | 92 | void Stepper_1_Move(char direction, unsigned int steps); |
hagenrap | 36:ba2e7eddbafa | 93 | void Stepper_2_Move(char direction, unsigned int steps); |
hagenrap | 36:ba2e7eddbafa | 94 | void Stepper_3_Move(char direction, unsigned int steps); |
hagenrap | 36:ba2e7eddbafa | 95 | void Stepper_4_Move(char direction, unsigned int steps); |
hagenrap | 36:ba2e7eddbafa | 96 | /* ---------------------------- END ----------------------------------------- */ |
hagenrap | 36:ba2e7eddbafa | 97 | |
hagenrap | 36:ba2e7eddbafa | 98 | |
hagenrap | 36:ba2e7eddbafa | 99 | |
hagenrap | 36:ba2e7eddbafa | 100 | |
hagenrap | 36:ba2e7eddbafa | 101 | /* --------------------------------- RUN ------------------------------------ */ |
hagenrap | 36:ba2e7eddbafa | 102 | /* Richtung angeben und Geschwindigkeit */ |
hagenrap | 36:ba2e7eddbafa | 103 | /* V = Vorwärts */ |
hagenrap | 36:ba2e7eddbafa | 104 | /* R = Rückwärts */ |
hagenrap | 36:ba2e7eddbafa | 105 | void Stepper_1_Run(char direction, unsigned int speed); |
hagenrap | 36:ba2e7eddbafa | 106 | void Stepper_2_Run(char direction, unsigned int speed); |
hagenrap | 36:ba2e7eddbafa | 107 | void Stepper_3_Run(char direction, unsigned int speed); |
hagenrap | 36:ba2e7eddbafa | 108 | void Stepper_4_Run(char direction, unsigned int speed); |
hagenrap | 36:ba2e7eddbafa | 109 | /* ---------------------------- END ----------------------------------------- */ |
hagenrap | 35:758191d5c6e1 | 110 | |
hagenrap | 35:758191d5c6e1 | 111 | |
hagenrap | 35:758191d5c6e1 | 112 | |
hagenrap | 39:6cc9a40bc8a6 | 113 | /* ------------------------- SET_SPEED_AC ----------------------------------- */ |
hagenrap | 39:6cc9a40bc8a6 | 114 | void Stepper_1_SetPara(int speed, int acc); |
hagenrap | 39:6cc9a40bc8a6 | 115 | void Stepper_2_SetPara(int speed, int acc); |
hagenrap | 39:6cc9a40bc8a6 | 116 | void Stepper_3_SetPara(int speed, int acc); |
hagenrap | 39:6cc9a40bc8a6 | 117 | void Stepper_4_SetPara(int speed, int acc); |
hagenrap | 39:6cc9a40bc8a6 | 118 | /* ---------------------------- END ----------------------------------------- */ |
hagenrap | 35:758191d5c6e1 | 119 | |
hagenrap | 35:758191d5c6e1 | 120 | #endif |