PES_4_Spleisser / Mbed 2 deprecated SpleisserProgramm_V9

Update

Dependencies:   mbed mbed-rtos X_NUCLEO_IHM02A1

STEPPER.cpp@42:0aaa3b282b6e, 2019-05-16 (annotated)

Committer:
scherfa2
Date:
Thu May 16 20:10:32 2019 +0000
Revision:
42:0aaa3b282b6e
Parent:
40:117b324843ee 
Update

Who changed what in which revision?

UserRevisionLine numberNew 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 39:6cc9a40bc8a6 12 motors[0]->hard_hiz();
hagenrap 39:6cc9a40bc8a6 13 motors[0]->wait_while_active();
hagenrap 35:758191d5c6e1 14 }
hagenrap 35:758191d5c6e1 15 void Stepper_2_Leerlauf()
hagenrap 35:758191d5c6e1 16 {
hagenrap 39:6cc9a40bc8a6 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 39:6cc9a40bc8a6 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 39:6cc9a40bc8a6 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 36:ba2e7eddbafa 34 /* --------------------------- Stop ----------------------------------------- */
hagenrap 36:ba2e7eddbafa 35 void Stepper_1_Stop()
hagenrap 36:ba2e7eddbafa 36 {
hagenrap 39:6cc9a40bc8a6 37 motors[0]->hard_stop();
hagenrap 39:6cc9a40bc8a6 38 motors[0]->wait_while_active();
hagenrap 36:ba2e7eddbafa 39 }
hagenrap 36:ba2e7eddbafa 40 void Stepper_2_Stop()
hagenrap 36:ba2e7eddbafa 41 {
hagenrap 39:6cc9a40bc8a6 42 motors[1]->hard_stop();
hagenrap 39:6cc9a40bc8a6 43 motors[1]->wait_while_active();
hagenrap 36:ba2e7eddbafa 44 }
hagenrap 36:ba2e7eddbafa 45 void Stepper_3_Stop()
hagenrap 36:ba2e7eddbafa 46 {
hagenrap 39:6cc9a40bc8a6 47 motors2[0]->hard_stop();
hagenrap 39:6cc9a40bc8a6 48 motors2[0]->wait_while_active();
hagenrap 36:ba2e7eddbafa 49 }
hagenrap 36:ba2e7eddbafa 50 void Stepper_4_Stop()
hagenrap 36:ba2e7eddbafa 51 {
hagenrap 39:6cc9a40bc8a6 52 motors2[1]->hard_stop();
hagenrap 39:6cc9a40bc8a6 53 motors2[1]->wait_while_active();
hagenrap 36:ba2e7eddbafa 54 }
hagenrap 36:ba2e7eddbafa 55 /* ---------------------------- END ----------------------------------------- */
hagenrap 36:ba2e7eddbafa 56
hagenrap 36:ba2e7eddbafa 57
hagenrap 36:ba2e7eddbafa 58
hagenrap 35:758191d5c6e1 59 /* ---------------------- Setzte Home Position ------------------------------ */
hagenrap 35:758191d5c6e1 60 void Stepper_1_SetHome()
hagenrap 35:758191d5c6e1 61 {
hagenrap 35:758191d5c6e1 62 motors[0]->set_home();
hagenrap 35:758191d5c6e1 63 motors[0]->wait_while_active();
hagenrap 35:758191d5c6e1 64 }
hagenrap 35:758191d5c6e1 65 void Stepper_2_SetHome()
hagenrap 35:758191d5c6e1 66 {
hagenrap 35:758191d5c6e1 67 motors[1]->set_home();
hagenrap 35:758191d5c6e1 68 motors[1]->wait_while_active();
hagenrap 35:758191d5c6e1 69 }
hagenrap 35:758191d5c6e1 70 void Stepper_3_SetHome()
hagenrap 35:758191d5c6e1 71 {
hagenrap 35:758191d5c6e1 72 motors2[0]->set_home();
hagenrap 35:758191d5c6e1 73 motors2[0]->wait_while_active();
hagenrap 35:758191d5c6e1 74 }
hagenrap 35:758191d5c6e1 75 void Stepper_4_SetHome()
hagenrap 35:758191d5c6e1 76 {
hagenrap 35:758191d5c6e1 77 motors2[1]->set_home();
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 /* -------- Setting the current position to be the marked position ---------- */
hagenrap 35:758191d5c6e1 85 void Stepper_1_MarkPos()
hagenrap 35:758191d5c6e1 86 {
hagenrap 35:758191d5c6e1 87 motors[0]->set_mark();
hagenrap 35:758191d5c6e1 88 motors[0]->wait_while_active();
hagenrap 35:758191d5c6e1 89 }
hagenrap 35:758191d5c6e1 90 void Stepper_2_MarkPos()
hagenrap 35:758191d5c6e1 91 {
hagenrap 35:758191d5c6e1 92 motors[1]->set_mark();
hagenrap 35:758191d5c6e1 93 motors[1]->wait_while_active();
hagenrap 35:758191d5c6e1 94 }
hagenrap 35:758191d5c6e1 95 void Stepper_3_MarkPos()
hagenrap 35:758191d5c6e1 96 {
hagenrap 35:758191d5c6e1 97 motors2[0]->set_mark();
hagenrap 35:758191d5c6e1 98 motors2[0]->wait_while_active();
hagenrap 35:758191d5c6e1 99 }
hagenrap 35:758191d5c6e1 100 void Stepper_4_MarkPos()
hagenrap 35:758191d5c6e1 101 {
hagenrap 35:758191d5c6e1 102 motors2[1]->set_mark();
hagenrap 35:758191d5c6e1 103 motors2[1]->wait_while_active();
hagenrap 35:758191d5c6e1 104 }
hagenrap 35:758191d5c6e1 105 /* ---------------------------- END ----------------------------------------- */
hagenrap 35:758191d5c6e1 106
hagenrap 35:758191d5c6e1 107
hagenrap 35:758191d5c6e1 108
hagenrap 35:758191d5c6e1 109 /* ------------------------ Get Current Position ---------------------------- */
hagenrap 35:758191d5c6e1 110 int Stepper_1_GetPosition()
hagenrap 35:758191d5c6e1 111 {
hagenrap 35:758191d5c6e1 112 return motors[0]->get_position();
hagenrap 35:758191d5c6e1 113 }
hagenrap 35:758191d5c6e1 114 int Stepper_2_GetPosition()
hagenrap 35:758191d5c6e1 115 {
hagenrap 35:758191d5c6e1 116 return motors[1]->get_position();
hagenrap 35:758191d5c6e1 117 }
hagenrap 35:758191d5c6e1 118 int Stepper_3_GetPosition()
hagenrap 35:758191d5c6e1 119 {
hagenrap 35:758191d5c6e1 120 return motors2[0]->get_position();
hagenrap 35:758191d5c6e1 121 }
hagenrap 35:758191d5c6e1 122 int Stepper_4_GetPosition()
hagenrap 33:de144094bdd1 123 {
hagenrap 35:758191d5c6e1 124 return motors2[1]->get_position();
hagenrap 35:758191d5c6e1 125 }
hagenrap 35:758191d5c6e1 126 /* ---------------------------- END ----------------------------------------- */
hagenrap 35:758191d5c6e1 127
hagenrap 35:758191d5c6e1 128
hagenrap 35:758191d5c6e1 129
hagenrap 35:758191d5c6e1 130 /* ---------------------- Get Marked Position ------------------------------- */
scherfa2 40:117b324843ee 131
hagenrap 35:758191d5c6e1 132 int Stepper_1_GetMark()
hagenrap 35:758191d5c6e1 133 {
hagenrap 35:758191d5c6e1 134 return motors[0]->get_mark();
hagenrap 35:758191d5c6e1 135 }
hagenrap 35:758191d5c6e1 136 int Stepper_2_GetMark()
hagenrap 35:758191d5c6e1 137 {
hagenrap 35:758191d5c6e1 138 return motors[1]->get_mark();
hagenrap 35:758191d5c6e1 139 }
hagenrap 35:758191d5c6e1 140 int Stepper_3_GetMark()
hagenrap 35:758191d5c6e1 141 {
hagenrap 35:758191d5c6e1 142 return motors2[0]->get_mark();
hagenrap 35:758191d5c6e1 143 }
hagenrap 35:758191d5c6e1 144 int Stepper_4_GetMark()
hagenrap 35:758191d5c6e1 145 {
hagenrap 35:758191d5c6e1 146 return motors2[1]->get_mark();
hagenrap 35:758191d5c6e1 147 }
scherfa2 40:117b324843ee 148
hagenrap 35:758191d5c6e1 149 /* ---------------------------- END ----------------------------------------- */
hagenrap 35:758191d5c6e1 150
hagenrap 35:758191d5c6e1 151
hagenrap 33:de144094bdd1 152
hagenrap 35:758191d5c6e1 153 /* ------------------ Going to a specified position ------------------------- */
hagenrap 35:758191d5c6e1 154 void Stepper_1_GoTo(signed int position)
hagenrap 35:758191d5c6e1 155 {
hagenrap 35:758191d5c6e1 156 motors[0]->go_to(position);
hagenrap 35:758191d5c6e1 157 motors[0]->wait_while_active();
hagenrap 35:758191d5c6e1 158 }
hagenrap 35:758191d5c6e1 159 void Stepper_2_GoTo(signed int position)
hagenrap 35:758191d5c6e1 160 {
hagenrap 35:758191d5c6e1 161 motors[1]->go_to(position);
hagenrap 35:758191d5c6e1 162 motors[1]->wait_while_active();
hagenrap 35:758191d5c6e1 163 }
hagenrap 35:758191d5c6e1 164 void Stepper_3_GoTo(signed int position)
hagenrap 35:758191d5c6e1 165 {
hagenrap 35:758191d5c6e1 166 motors2[0]->go_to(position);
hagenrap 35:758191d5c6e1 167 motors2[0]->wait_while_active();
hagenrap 35:758191d5c6e1 168 }
hagenrap 35:758191d5c6e1 169 void Stepper_4_GoTo(signed int position)
hagenrap 35:758191d5c6e1 170 {
hagenrap 35:758191d5c6e1 171 motors2[1]->go_to(position);
hagenrap 35:758191d5c6e1 172 motors2[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 Home ------------------------------------- */
hagenrap 35:758191d5c6e1 179 void Stepper_1_GoHome()
hagenrap 35:758191d5c6e1 180 {
hagenrap 35:758191d5c6e1 181 motors[0]->go_home();
hagenrap 35:758191d5c6e1 182 motors[0]->wait_while_active();
hagenrap 35:758191d5c6e1 183 }
hagenrap 35:758191d5c6e1 184 void Stepper_2_GoHome()
hagenrap 35:758191d5c6e1 185 {
hagenrap 35:758191d5c6e1 186 motors[1]->go_home();
hagenrap 35:758191d5c6e1 187 motors[1]->wait_while_active();
hagenrap 35:758191d5c6e1 188 }
hagenrap 35:758191d5c6e1 189 void Stepper_3_GoHome()
hagenrap 35:758191d5c6e1 190 {
hagenrap 35:758191d5c6e1 191 motors2[0]->go_home();
hagenrap 35:758191d5c6e1 192 motors2[0]->wait_while_active();
hagenrap 35:758191d5c6e1 193 }
hagenrap 35:758191d5c6e1 194 void Stepper_4_GoHome()
hagenrap 35:758191d5c6e1 195 {
hagenrap 35:758191d5c6e1 196 motors[1]->go_home();
hagenrap 35:758191d5c6e1 197 motors[1]->wait_while_active();
hagenrap 35:758191d5c6e1 198 }
hagenrap 35:758191d5c6e1 199 /* ---------------------------- END ----------------------------------------- */
hagenrap 35:758191d5c6e1 200
hagenrap 35:758191d5c6e1 201
hagenrap 35:758191d5c6e1 202
hagenrap 35:758191d5c6e1 203 /* ----------------------------- Go to Mark --------------------------------- */
hagenrap 35:758191d5c6e1 204 void Stepper_1_GoMark()
hagenrap 35:758191d5c6e1 205 {
hagenrap 35:758191d5c6e1 206 motors[0]->go_mark();
hagenrap 35:758191d5c6e1 207 motors[0]->wait_while_active();
hagenrap 35:758191d5c6e1 208 }
hagenrap 35:758191d5c6e1 209 void Stepper_2_GoMark()
hagenrap 35:758191d5c6e1 210 {
hagenrap 35:758191d5c6e1 211 motors[1]->go_mark();
hagenrap 35:758191d5c6e1 212 motors[1]->wait_while_active();
hagenrap 35:758191d5c6e1 213 }
hagenrap 35:758191d5c6e1 214 void Stepper_3_GoMark()
hagenrap 35:758191d5c6e1 215 {
hagenrap 35:758191d5c6e1 216 motors2[0]->go_mark();
hagenrap 35:758191d5c6e1 217 motors2[0]->wait_while_active();
hagenrap 35:758191d5c6e1 218 }
hagenrap 35:758191d5c6e1 219 void Stepper_4_GoMark()
hagenrap 35:758191d5c6e1 220 {
hagenrap 35:758191d5c6e1 221 motors2[1]->go_mark();
hagenrap 35:758191d5c6e1 222 motors2[1]->wait_while_active();
hagenrap 35:758191d5c6e1 223 }
hagenrap 35:758191d5c6e1 224 /* ---------------------------- END ----------------------------------------- */
hagenrap 36:ba2e7eddbafa 225
hagenrap 36:ba2e7eddbafa 226
hagenrap 36:ba2e7eddbafa 227
hagenrap 36:ba2e7eddbafa 228 /* --------------------------------- MOVE ----------------------------------- */
hagenrap 36:ba2e7eddbafa 229 void Stepper_1_Move(char direction, unsigned int steps)
hagenrap 36:ba2e7eddbafa 230 {
hagenrap 39:6cc9a40bc8a6 231 if( direction == 'V') {
hagenrap 37:a74d377d8f74 232 motors[0]->move(StepperMotor::FWD, 128*steps);
hagenrap 36:ba2e7eddbafa 233 motors[0]->wait_while_active();
hagenrap 39:6cc9a40bc8a6 234 } else if ( direction == 'R') {
hagenrap 37:a74d377d8f74 235 motors[0]->move(StepperMotor::BWD, 128*steps);
hagenrap 36:ba2e7eddbafa 236 motors[0]->wait_while_active();
hagenrap 36:ba2e7eddbafa 237 }
hagenrap 39:6cc9a40bc8a6 238
hagenrap 36:ba2e7eddbafa 239 }
hagenrap 36:ba2e7eddbafa 240 void Stepper_2_Move(char direction, unsigned int steps)
hagenrap 36:ba2e7eddbafa 241 {
hagenrap 39:6cc9a40bc8a6 242 if( direction == 'V') {
hagenrap 37:a74d377d8f74 243 motors[1]->move(StepperMotor::FWD, 128*steps);
hagenrap 36:ba2e7eddbafa 244 motors[1]->wait_while_active();
hagenrap 39:6cc9a40bc8a6 245 } else if ( direction == 'R') {
hagenrap 37:a74d377d8f74 246 motors[1]->move(StepperMotor::BWD, 128*steps);
hagenrap 36:ba2e7eddbafa 247 motors[1]->wait_while_active();
hagenrap 36:ba2e7eddbafa 248 }
hagenrap 36:ba2e7eddbafa 249 }
hagenrap 36:ba2e7eddbafa 250 void Stepper_3_Move(char direction, unsigned int steps)
hagenrap 36:ba2e7eddbafa 251 {
hagenrap 39:6cc9a40bc8a6 252 if( direction == 'V') {
hagenrap 37:a74d377d8f74 253 motors2[0]->move(StepperMotor::FWD, 128*steps);
hagenrap 36:ba2e7eddbafa 254 motors2[0]->wait_while_active();
hagenrap 39:6cc9a40bc8a6 255 } else if ( direction == 'R') {
hagenrap 37:a74d377d8f74 256 motors2[0]->move(StepperMotor::BWD, 128*steps);
hagenrap 36:ba2e7eddbafa 257 motors2[0]->wait_while_active();
hagenrap 36:ba2e7eddbafa 258 }
hagenrap 36:ba2e7eddbafa 259 }
hagenrap 36:ba2e7eddbafa 260 void Stepper_4_Move(char direction, unsigned int steps)
hagenrap 36:ba2e7eddbafa 261 {
hagenrap 39:6cc9a40bc8a6 262 if( direction == 'V') {
hagenrap 37:a74d377d8f74 263 motors2[1]->move(StepperMotor::FWD, 128*steps);
hagenrap 36:ba2e7eddbafa 264 motors2[1]->wait_while_active();
hagenrap 39:6cc9a40bc8a6 265 } else if ( direction == 'R') {
hagenrap 37:a74d377d8f74 266 motors2[1]->move(StepperMotor::BWD, 128*steps);
hagenrap 36:ba2e7eddbafa 267 motors2[1]->wait_while_active();
hagenrap 36:ba2e7eddbafa 268 }
hagenrap 36:ba2e7eddbafa 269 }
hagenrap 36:ba2e7eddbafa 270 /* ---------------------------- END ----------------------------------------- */
hagenrap 36:ba2e7eddbafa 271
hagenrap 36:ba2e7eddbafa 272
hagenrap 36:ba2e7eddbafa 273
hagenrap 36:ba2e7eddbafa 274 /* --------------------------------- RUN ------------------------------------ */
hagenrap 36:ba2e7eddbafa 275 void Stepper_1_Run(char direction, unsigned int speed)
hagenrap 36:ba2e7eddbafa 276 {
hagenrap 39:6cc9a40bc8a6 277 if( direction == 'V') {
hagenrap 36:ba2e7eddbafa 278 motors[0]->run(StepperMotor::FWD, speed);
hagenrap 36:ba2e7eddbafa 279 motors[0]->wait_while_active();
hagenrap 39:6cc9a40bc8a6 280 } else if ( direction == 'R') {
hagenrap 36:ba2e7eddbafa 281 motors[0]->run(StepperMotor::BWD, speed);
hagenrap 36:ba2e7eddbafa 282 motors[0]->wait_while_active();
hagenrap 36:ba2e7eddbafa 283 }
hagenrap 39:6cc9a40bc8a6 284
hagenrap 36:ba2e7eddbafa 285 }
hagenrap 36:ba2e7eddbafa 286 void Stepper_2_Run(char direction, unsigned int speed)
hagenrap 36:ba2e7eddbafa 287 {
hagenrap 39:6cc9a40bc8a6 288 if( direction == 'V') {
hagenrap 36:ba2e7eddbafa 289 motors[1]->run(StepperMotor::FWD, speed);
hagenrap 36:ba2e7eddbafa 290 motors[1]->wait_while_active();
hagenrap 39:6cc9a40bc8a6 291 } else if ( direction == 'R') {
hagenrap 36:ba2e7eddbafa 292 motors[1]->run(StepperMotor::BWD, speed);
hagenrap 36:ba2e7eddbafa 293 motors[1]->wait_while_active();
hagenrap 36:ba2e7eddbafa 294 }
hagenrap 36:ba2e7eddbafa 295 }
hagenrap 36:ba2e7eddbafa 296 void Stepper_3_Run(char direction, unsigned int speed)
hagenrap 36:ba2e7eddbafa 297 {
hagenrap 39:6cc9a40bc8a6 298 if( direction == 'V') {
hagenrap 36:ba2e7eddbafa 299 motors2[0]->run(StepperMotor::FWD, speed);
hagenrap 36:ba2e7eddbafa 300 motors2[0]->wait_while_active();
hagenrap 39:6cc9a40bc8a6 301 } else if ( direction == 'R') {
hagenrap 36:ba2e7eddbafa 302 motors2[0]->run(StepperMotor::BWD, speed);
hagenrap 36:ba2e7eddbafa 303 motors2[0]->wait_while_active();
hagenrap 36:ba2e7eddbafa 304 }
hagenrap 36:ba2e7eddbafa 305 }
hagenrap 36:ba2e7eddbafa 306 void Stepper_4_Run(char direction, unsigned int speed)
hagenrap 36:ba2e7eddbafa 307 {
hagenrap 39:6cc9a40bc8a6 308 if( direction == 'V') {
hagenrap 36:ba2e7eddbafa 309 motors2[1]->run(StepperMotor::FWD, speed);
hagenrap 36:ba2e7eddbafa 310 motors2[1]->wait_while_active();
hagenrap 39:6cc9a40bc8a6 311 } else if ( direction == 'R') {
hagenrap 36:ba2e7eddbafa 312 motors2[1]->run(StepperMotor::BWD, speed);
hagenrap 36:ba2e7eddbafa 313 motors2[1]->wait_while_active();
hagenrap 36:ba2e7eddbafa 314 }
hagenrap 36:ba2e7eddbafa 315 }
hagenrap 39:6cc9a40bc8a6 316 /* ---------------------------- END ----------------------------------------- */
hagenrap 39:6cc9a40bc8a6 317
hagenrap 39:6cc9a40bc8a6 318
hagenrap 39:6cc9a40bc8a6 319
hagenrap 39:6cc9a40bc8a6 320
hagenrap 39:6cc9a40bc8a6 321 /* ------------------------- SET_SPEED_AC ----------------------------------- */
hagenrap 39:6cc9a40bc8a6 322 void Stepper_1_SetPara(int speed, int acc)
hagenrap 39:6cc9a40bc8a6 323 {
hagenrap 39:6cc9a40bc8a6 324 motors[0]->set_max_speed(speed);
hagenrap 39:6cc9a40bc8a6 325 motors[0]->set_acceleration(acc);
hagenrap 39:6cc9a40bc8a6 326 }
hagenrap 39:6cc9a40bc8a6 327 void Stepper_2_SetPara(int speed, int acc)
hagenrap 39:6cc9a40bc8a6 328 {
hagenrap 39:6cc9a40bc8a6 329 motors[1]->set_max_speed(speed);
hagenrap 39:6cc9a40bc8a6 330 motors[1]->set_acceleration(acc);
hagenrap 39:6cc9a40bc8a6 331 }
hagenrap 39:6cc9a40bc8a6 332 void Stepper_3_SetPara(int speed, int acc)
hagenrap 39:6cc9a40bc8a6 333 {
hagenrap 39:6cc9a40bc8a6 334 motors2[0]->set_max_speed(speed);
hagenrap 39:6cc9a40bc8a6 335 motors2[0]->set_acceleration(acc);
hagenrap 39:6cc9a40bc8a6 336 }
hagenrap 39:6cc9a40bc8a6 337 void Stepper_4_SetPara(int speed, int acc)
hagenrap 39:6cc9a40bc8a6 338 {
hagenrap 39:6cc9a40bc8a6 339 motors2[1]->set_max_speed(speed);
hagenrap 39:6cc9a40bc8a6 340 motors2[1]->set_acceleration(acc);
hagenrap 39:6cc9a40bc8a6 341 }
hagenrap 36:ba2e7eddbafa 342 /* ---------------------------- END ----------------------------------------- */