Update
Dependencies: mbed mbed-rtos X_NUCLEO_IHM02A1
STEPPER.cpp@35:758191d5c6e1, 2019-05-05 (annotated)
- Committer:
- hagenrap
- Date:
- Sun May 05 16:18:20 2019 +0000
- Revision:
- 35:758191d5c6e1
- Parent:
- STEPPER_INIT.cpp@34:0dee9a606869
- Child:
- 36:ba2e7eddbafa
V3; ;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
hagenrap | 33:de144094bdd1 | 1 | #include "SETUP.h" |
hagenrap | 35:758191d5c6e1 | 2 | /* --------------------------- Variables ------------------------------------ */ |
scherfa2 | 34:0dee9a606869 | 3 | extern L6470B **motors2; |
scherfa2 | 34:0dee9a606869 | 4 | extern L6470 **motors; |
hagenrap | 35:758191d5c6e1 | 5 | /* ---------------------------- END ----------------------------------------- */ |
hagenrap | 33:de144094bdd1 | 6 | |
hagenrap | 35:758191d5c6e1 | 7 | |
hagenrap | 35:758191d5c6e1 | 8 | |
hagenrap | 35:758191d5c6e1 | 9 | /* -------------------------- Leerlauf -------------------------------------- */ |
hagenrap | 35:758191d5c6e1 | 10 | void Stepper_1_Leerlauf() |
hagenrap | 35:758191d5c6e1 | 11 | { |
hagenrap | 35:758191d5c6e1 | 12 | motors[0]->hard_hiz(); |
hagenrap | 35:758191d5c6e1 | 13 | motors[0]->wait_while_active(); |
hagenrap | 35:758191d5c6e1 | 14 | } |
hagenrap | 35:758191d5c6e1 | 15 | void Stepper_2_Leerlauf() |
hagenrap | 35:758191d5c6e1 | 16 | { |
hagenrap | 35:758191d5c6e1 | 17 | motors[1]->hard_hiz(); |
hagenrap | 35:758191d5c6e1 | 18 | motors[1]->wait_while_active(); |
hagenrap | 35:758191d5c6e1 | 19 | } |
hagenrap | 35:758191d5c6e1 | 20 | void Stepper_3_Leerlauf() |
hagenrap | 35:758191d5c6e1 | 21 | { |
hagenrap | 35:758191d5c6e1 | 22 | motors2[0]->hard_hiz(); |
hagenrap | 35:758191d5c6e1 | 23 | motors2[0]->wait_while_active(); |
hagenrap | 35:758191d5c6e1 | 24 | } |
hagenrap | 35:758191d5c6e1 | 25 | void Stepper_4_Leerlauf() |
hagenrap | 35:758191d5c6e1 | 26 | { |
hagenrap | 35:758191d5c6e1 | 27 | motors2[1]->hard_hiz(); |
hagenrap | 35:758191d5c6e1 | 28 | motors2[1]->wait_while_active(); |
hagenrap | 35:758191d5c6e1 | 29 | } |
hagenrap | 35:758191d5c6e1 | 30 | /* ---------------------------- END ----------------------------------------- */ |
hagenrap | 35:758191d5c6e1 | 31 | |
hagenrap | 35:758191d5c6e1 | 32 | |
hagenrap | 35:758191d5c6e1 | 33 | |
hagenrap | 35:758191d5c6e1 | 34 | /* ---------------------- Setzte Home Position ------------------------------ */ |
hagenrap | 35:758191d5c6e1 | 35 | void Stepper_1_SetHome() |
hagenrap | 35:758191d5c6e1 | 36 | { |
hagenrap | 35:758191d5c6e1 | 37 | motors[0]->set_home(); |
hagenrap | 35:758191d5c6e1 | 38 | motors[0]->wait_while_active(); |
hagenrap | 35:758191d5c6e1 | 39 | } |
hagenrap | 35:758191d5c6e1 | 40 | void Stepper_2_SetHome() |
hagenrap | 35:758191d5c6e1 | 41 | { |
hagenrap | 35:758191d5c6e1 | 42 | motors[1]->set_home(); |
hagenrap | 35:758191d5c6e1 | 43 | motors[1]->wait_while_active(); |
hagenrap | 35:758191d5c6e1 | 44 | } |
hagenrap | 35:758191d5c6e1 | 45 | void Stepper_3_SetHome() |
hagenrap | 35:758191d5c6e1 | 46 | { |
hagenrap | 35:758191d5c6e1 | 47 | motors2[0]->set_home(); |
hagenrap | 35:758191d5c6e1 | 48 | motors2[0]->wait_while_active(); |
hagenrap | 35:758191d5c6e1 | 49 | } |
hagenrap | 35:758191d5c6e1 | 50 | void Stepper_4_SetHome() |
hagenrap | 35:758191d5c6e1 | 51 | { |
hagenrap | 35:758191d5c6e1 | 52 | motors2[1]->set_home(); |
hagenrap | 35:758191d5c6e1 | 53 | motors2[1]->wait_while_active(); |
hagenrap | 35:758191d5c6e1 | 54 | } |
hagenrap | 35:758191d5c6e1 | 55 | /* ---------------------------- END ----------------------------------------- */ |
hagenrap | 35:758191d5c6e1 | 56 | |
hagenrap | 35:758191d5c6e1 | 57 | |
hagenrap | 35:758191d5c6e1 | 58 | |
hagenrap | 35:758191d5c6e1 | 59 | /* -------- Setting the current position to be the marked position ---------- */ |
hagenrap | 35:758191d5c6e1 | 60 | void Stepper_1_MarkPos() |
hagenrap | 35:758191d5c6e1 | 61 | { |
hagenrap | 35:758191d5c6e1 | 62 | motors[0]->set_mark(); |
hagenrap | 35:758191d5c6e1 | 63 | motors[0]->wait_while_active(); |
hagenrap | 35:758191d5c6e1 | 64 | } |
hagenrap | 35:758191d5c6e1 | 65 | void Stepper_2_MarkPos() |
hagenrap | 35:758191d5c6e1 | 66 | { |
hagenrap | 35:758191d5c6e1 | 67 | motors[1]->set_mark(); |
hagenrap | 35:758191d5c6e1 | 68 | motors[1]->wait_while_active(); |
hagenrap | 35:758191d5c6e1 | 69 | } |
hagenrap | 35:758191d5c6e1 | 70 | void Stepper_3_MarkPos() |
hagenrap | 35:758191d5c6e1 | 71 | { |
hagenrap | 35:758191d5c6e1 | 72 | motors2[0]->set_mark(); |
hagenrap | 35:758191d5c6e1 | 73 | motors2[0]->wait_while_active(); |
hagenrap | 35:758191d5c6e1 | 74 | } |
hagenrap | 35:758191d5c6e1 | 75 | void Stepper_4_MarkPos() |
hagenrap | 35:758191d5c6e1 | 76 | { |
hagenrap | 35:758191d5c6e1 | 77 | motors2[1]->set_mark(); |
hagenrap | 35:758191d5c6e1 | 78 | motors2[1]->wait_while_active(); |
hagenrap | 35:758191d5c6e1 | 79 | } |
hagenrap | 35:758191d5c6e1 | 80 | /* ---------------------------- END ----------------------------------------- */ |
hagenrap | 35:758191d5c6e1 | 81 | |
hagenrap | 35:758191d5c6e1 | 82 | |
hagenrap | 35:758191d5c6e1 | 83 | |
hagenrap | 35:758191d5c6e1 | 84 | /* ------------------------ Get Current Position ---------------------------- */ |
hagenrap | 35:758191d5c6e1 | 85 | int Stepper_1_GetPosition() |
hagenrap | 35:758191d5c6e1 | 86 | { |
hagenrap | 35:758191d5c6e1 | 87 | return motors[0]->get_position(); |
hagenrap | 35:758191d5c6e1 | 88 | } |
hagenrap | 35:758191d5c6e1 | 89 | int Stepper_2_GetPosition() |
hagenrap | 35:758191d5c6e1 | 90 | { |
hagenrap | 35:758191d5c6e1 | 91 | return motors[1]->get_position(); |
hagenrap | 35:758191d5c6e1 | 92 | } |
hagenrap | 35:758191d5c6e1 | 93 | int Stepper_3_GetPosition() |
hagenrap | 35:758191d5c6e1 | 94 | { |
hagenrap | 35:758191d5c6e1 | 95 | return motors2[0]->get_position(); |
hagenrap | 35:758191d5c6e1 | 96 | } |
hagenrap | 35:758191d5c6e1 | 97 | int Stepper_4_GetPosition() |
hagenrap | 33:de144094bdd1 | 98 | { |
hagenrap | 35:758191d5c6e1 | 99 | return motors2[1]->get_position(); |
hagenrap | 35:758191d5c6e1 | 100 | } |
hagenrap | 35:758191d5c6e1 | 101 | /* ---------------------------- END ----------------------------------------- */ |
hagenrap | 35:758191d5c6e1 | 102 | |
hagenrap | 35:758191d5c6e1 | 103 | |
hagenrap | 35:758191d5c6e1 | 104 | |
hagenrap | 35:758191d5c6e1 | 105 | /* ---------------------- Get Marked Position ------------------------------- */ |
hagenrap | 35:758191d5c6e1 | 106 | /* |
hagenrap | 35:758191d5c6e1 | 107 | int Stepper_1_GetMark() |
hagenrap | 35:758191d5c6e1 | 108 | { |
hagenrap | 35:758191d5c6e1 | 109 | return motors[0]->get_mark(); |
hagenrap | 35:758191d5c6e1 | 110 | } |
hagenrap | 35:758191d5c6e1 | 111 | int Stepper_2_GetMark() |
hagenrap | 35:758191d5c6e1 | 112 | { |
hagenrap | 35:758191d5c6e1 | 113 | return motors[1]->get_mark(); |
hagenrap | 35:758191d5c6e1 | 114 | } |
hagenrap | 35:758191d5c6e1 | 115 | int Stepper_3_GetMark() |
hagenrap | 35:758191d5c6e1 | 116 | { |
hagenrap | 35:758191d5c6e1 | 117 | return motors2[0]->get_mark(); |
hagenrap | 35:758191d5c6e1 | 118 | } |
hagenrap | 35:758191d5c6e1 | 119 | int Stepper_4_GetMark() |
hagenrap | 35:758191d5c6e1 | 120 | { |
hagenrap | 35:758191d5c6e1 | 121 | return motors2[1]->get_mark(); |
hagenrap | 35:758191d5c6e1 | 122 | } |
hagenrap | 35:758191d5c6e1 | 123 | */ |
hagenrap | 35:758191d5c6e1 | 124 | /* ---------------------------- END ----------------------------------------- */ |
hagenrap | 35:758191d5c6e1 | 125 | |
hagenrap | 35:758191d5c6e1 | 126 | |
hagenrap | 33:de144094bdd1 | 127 | |
hagenrap | 35:758191d5c6e1 | 128 | /* ------------------ Going to a specified position ------------------------- */ |
hagenrap | 35:758191d5c6e1 | 129 | void Stepper_1_GoTo(signed int position) |
hagenrap | 35:758191d5c6e1 | 130 | { |
hagenrap | 35:758191d5c6e1 | 131 | motors[0]->go_to(position); |
hagenrap | 35:758191d5c6e1 | 132 | motors[0]->wait_while_active(); |
hagenrap | 35:758191d5c6e1 | 133 | } |
hagenrap | 35:758191d5c6e1 | 134 | void Stepper_2_GoTo(signed int position) |
hagenrap | 35:758191d5c6e1 | 135 | { |
hagenrap | 35:758191d5c6e1 | 136 | motors[1]->go_to(position); |
hagenrap | 35:758191d5c6e1 | 137 | motors[1]->wait_while_active(); |
hagenrap | 35:758191d5c6e1 | 138 | } |
hagenrap | 35:758191d5c6e1 | 139 | void Stepper_3_GoTo(signed int position) |
hagenrap | 35:758191d5c6e1 | 140 | { |
hagenrap | 35:758191d5c6e1 | 141 | motors2[0]->go_to(position); |
hagenrap | 35:758191d5c6e1 | 142 | motors2[0]->wait_while_active(); |
hagenrap | 35:758191d5c6e1 | 143 | } |
hagenrap | 35:758191d5c6e1 | 144 | void Stepper_4_GoTo(signed int position) |
hagenrap | 35:758191d5c6e1 | 145 | { |
hagenrap | 35:758191d5c6e1 | 146 | motors2[1]->go_to(position); |
hagenrap | 35:758191d5c6e1 | 147 | motors2[1]->wait_while_active(); |
hagenrap | 35:758191d5c6e1 | 148 | } |
hagenrap | 35:758191d5c6e1 | 149 | /* ---------------------------- END ----------------------------------------- */ |
hagenrap | 35:758191d5c6e1 | 150 | |
hagenrap | 35:758191d5c6e1 | 151 | |
hagenrap | 35:758191d5c6e1 | 152 | |
hagenrap | 35:758191d5c6e1 | 153 | /* ------------------------- Go to Home ------------------------------------- */ |
hagenrap | 35:758191d5c6e1 | 154 | void Stepper_1_GoHome() |
hagenrap | 35:758191d5c6e1 | 155 | { |
hagenrap | 35:758191d5c6e1 | 156 | motors[0]->go_home(); |
hagenrap | 35:758191d5c6e1 | 157 | motors[0]->wait_while_active(); |
hagenrap | 35:758191d5c6e1 | 158 | } |
hagenrap | 35:758191d5c6e1 | 159 | void Stepper_2_GoHome() |
hagenrap | 35:758191d5c6e1 | 160 | { |
hagenrap | 35:758191d5c6e1 | 161 | motors[1]->go_home(); |
hagenrap | 35:758191d5c6e1 | 162 | motors[1]->wait_while_active(); |
hagenrap | 35:758191d5c6e1 | 163 | } |
hagenrap | 35:758191d5c6e1 | 164 | void Stepper_3_GoHome() |
hagenrap | 35:758191d5c6e1 | 165 | { |
hagenrap | 35:758191d5c6e1 | 166 | motors2[0]->go_home(); |
hagenrap | 35:758191d5c6e1 | 167 | motors2[0]->wait_while_active(); |
hagenrap | 35:758191d5c6e1 | 168 | } |
hagenrap | 35:758191d5c6e1 | 169 | void Stepper_4_GoHome() |
hagenrap | 35:758191d5c6e1 | 170 | { |
hagenrap | 35:758191d5c6e1 | 171 | motors[1]->go_home(); |
hagenrap | 35:758191d5c6e1 | 172 | motors[1]->wait_while_active(); |
hagenrap | 35:758191d5c6e1 | 173 | } |
hagenrap | 35:758191d5c6e1 | 174 | /* ---------------------------- END ----------------------------------------- */ |
hagenrap | 35:758191d5c6e1 | 175 | |
hagenrap | 35:758191d5c6e1 | 176 | |
hagenrap | 35:758191d5c6e1 | 177 | |
hagenrap | 35:758191d5c6e1 | 178 | /* ----------------------------- Go to Mark --------------------------------- */ |
hagenrap | 35:758191d5c6e1 | 179 | void Stepper_1_GoMark() |
hagenrap | 35:758191d5c6e1 | 180 | { |
hagenrap | 35:758191d5c6e1 | 181 | motors[0]->go_mark(); |
hagenrap | 35:758191d5c6e1 | 182 | motors[0]->wait_while_active(); |
hagenrap | 35:758191d5c6e1 | 183 | } |
hagenrap | 35:758191d5c6e1 | 184 | void Stepper_2_GoMark() |
hagenrap | 35:758191d5c6e1 | 185 | { |
hagenrap | 35:758191d5c6e1 | 186 | motors[1]->go_mark(); |
hagenrap | 35:758191d5c6e1 | 187 | motors[1]->wait_while_active(); |
hagenrap | 35:758191d5c6e1 | 188 | } |
hagenrap | 35:758191d5c6e1 | 189 | void Stepper_3_GoMark() |
hagenrap | 35:758191d5c6e1 | 190 | { |
hagenrap | 35:758191d5c6e1 | 191 | motors2[0]->go_mark(); |
hagenrap | 35:758191d5c6e1 | 192 | motors2[0]->wait_while_active(); |
hagenrap | 35:758191d5c6e1 | 193 | } |
hagenrap | 35:758191d5c6e1 | 194 | void Stepper_4_GoMark() |
hagenrap | 35:758191d5c6e1 | 195 | { |
hagenrap | 35:758191d5c6e1 | 196 | motors2[1]->go_mark(); |
hagenrap | 35:758191d5c6e1 | 197 | motors2[1]->wait_while_active(); |
hagenrap | 35:758191d5c6e1 | 198 | } |
hagenrap | 35:758191d5c6e1 | 199 | /* ---------------------------- END ----------------------------------------- */ |