PES_4_Spleisser / Mbed 2 deprecated SpleisserProgramm_V9

Update

Dependencies:   mbed mbed-rtos X_NUCLEO_IHM02A1

STEPPER.cpp@36:ba2e7eddbafa, 2019-05-08 (annotated)

Committer:
hagenrap
Date:
Wed May 08 09:35:40 2019 +0000
Revision:
36:ba2e7eddbafa
Parent:
35:758191d5c6e1
Child:
37:a74d377d8f74
v4;

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 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 36:ba2e7eddbafa 34 /* --------------------------- Stop ----------------------------------------- */
hagenrap 36:ba2e7eddbafa 35 void Stepper_1_Stop()
hagenrap 36:ba2e7eddbafa 36 {
hagenrap 36:ba2e7eddbafa 37 motors[0]->hard_stop();
hagenrap 36:ba2e7eddbafa 38 motors[0]->wait_while_active();
hagenrap 36:ba2e7eddbafa 39 }
hagenrap 36:ba2e7eddbafa 40 void Stepper_2_Stop()
hagenrap 36:ba2e7eddbafa 41 {
hagenrap 36:ba2e7eddbafa 42 motors[1]->hard_stop();
hagenrap 36:ba2e7eddbafa 43 motors[1]->wait_while_active();
hagenrap 36:ba2e7eddbafa 44 }
hagenrap 36:ba2e7eddbafa 45 void Stepper_3_Stop()
hagenrap 36:ba2e7eddbafa 46 {
hagenrap 36:ba2e7eddbafa 47 motors2[0]->hard_stop();
hagenrap 36:ba2e7eddbafa 48 motors2[0]->wait_while_active();
hagenrap 36:ba2e7eddbafa 49 }
hagenrap 36:ba2e7eddbafa 50 void Stepper_4_Stop()
hagenrap 36:ba2e7eddbafa 51 {
hagenrap 36:ba2e7eddbafa 52 motors2[1]->hard_stop();
hagenrap 36:ba2e7eddbafa 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 ------------------------------- */
hagenrap 35:758191d5c6e1 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 }
hagenrap 35:758191d5c6e1 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 36:ba2e7eddbafa 231 if( direction == 'V')
hagenrap 36:ba2e7eddbafa 232 {
hagenrap 36:ba2e7eddbafa 233 motors[0]->move(StepperMotor::FWD, steps);
hagenrap 36:ba2e7eddbafa 234 motors[0]->wait_while_active();
hagenrap 36:ba2e7eddbafa 235 }
hagenrap 36:ba2e7eddbafa 236 else if ( direction == 'R')
hagenrap 36:ba2e7eddbafa 237 {
hagenrap 36:ba2e7eddbafa 238 motors[0]->move(StepperMotor::BWD, steps);
hagenrap 36:ba2e7eddbafa 239 motors[0]->wait_while_active();
hagenrap 36:ba2e7eddbafa 240 }
hagenrap 36:ba2e7eddbafa 241
hagenrap 36:ba2e7eddbafa 242 }
hagenrap 36:ba2e7eddbafa 243 void Stepper_2_Move(char direction, unsigned int steps)
hagenrap 36:ba2e7eddbafa 244 {
hagenrap 36:ba2e7eddbafa 245 if( direction == 'V')
hagenrap 36:ba2e7eddbafa 246 {
hagenrap 36:ba2e7eddbafa 247 motors[1]->move(StepperMotor::FWD, steps);
hagenrap 36:ba2e7eddbafa 248 motors[1]->wait_while_active();
hagenrap 36:ba2e7eddbafa 249 }
hagenrap 36:ba2e7eddbafa 250 else if ( direction == 'R')
hagenrap 36:ba2e7eddbafa 251 {
hagenrap 36:ba2e7eddbafa 252 motors[1]->move(StepperMotor::BWD, steps);
hagenrap 36:ba2e7eddbafa 253 motors[1]->wait_while_active();
hagenrap 36:ba2e7eddbafa 254 }
hagenrap 36:ba2e7eddbafa 255 }
hagenrap 36:ba2e7eddbafa 256 void Stepper_3_Move(char direction, unsigned int steps)
hagenrap 36:ba2e7eddbafa 257 {
hagenrap 36:ba2e7eddbafa 258 if( direction == 'V')
hagenrap 36:ba2e7eddbafa 259 {
hagenrap 36:ba2e7eddbafa 260 motors2[0]->move(StepperMotor::FWD, steps);
hagenrap 36:ba2e7eddbafa 261 motors2[0]->wait_while_active();
hagenrap 36:ba2e7eddbafa 262 }
hagenrap 36:ba2e7eddbafa 263 else if ( direction == 'R')
hagenrap 36:ba2e7eddbafa 264 {
hagenrap 36:ba2e7eddbafa 265 motors2[0]->move(StepperMotor::BWD, steps);
hagenrap 36:ba2e7eddbafa 266 motors2[0]->wait_while_active();
hagenrap 36:ba2e7eddbafa 267 }
hagenrap 36:ba2e7eddbafa 268 }
hagenrap 36:ba2e7eddbafa 269 void Stepper_4_Move(char direction, unsigned int steps)
hagenrap 36:ba2e7eddbafa 270 {
hagenrap 36:ba2e7eddbafa 271 if( direction == 'V')
hagenrap 36:ba2e7eddbafa 272 {
hagenrap 36:ba2e7eddbafa 273 motors2[1]->move(StepperMotor::FWD, steps);
hagenrap 36:ba2e7eddbafa 274 motors2[1]->wait_while_active();
hagenrap 36:ba2e7eddbafa 275 }
hagenrap 36:ba2e7eddbafa 276 else if ( direction == 'R')
hagenrap 36:ba2e7eddbafa 277 {
hagenrap 36:ba2e7eddbafa 278 motors2[1]->move(StepperMotor::BWD, steps);
hagenrap 36:ba2e7eddbafa 279 motors2[1]->wait_while_active();
hagenrap 36:ba2e7eddbafa 280 }
hagenrap 36:ba2e7eddbafa 281 }
hagenrap 36:ba2e7eddbafa 282 /* ---------------------------- END ----------------------------------------- */
hagenrap 36:ba2e7eddbafa 283
hagenrap 36:ba2e7eddbafa 284
hagenrap 36:ba2e7eddbafa 285
hagenrap 36:ba2e7eddbafa 286 /* --------------------------------- RUN ------------------------------------ */
hagenrap 36:ba2e7eddbafa 287 void Stepper_1_Run(char direction, unsigned int speed)
hagenrap 36:ba2e7eddbafa 288 {
hagenrap 36:ba2e7eddbafa 289 if( direction == 'V')
hagenrap 36:ba2e7eddbafa 290 {
hagenrap 36:ba2e7eddbafa 291 motors[0]->run(StepperMotor::FWD, speed);
hagenrap 36:ba2e7eddbafa 292 motors[0]->wait_while_active();
hagenrap 36:ba2e7eddbafa 293 }
hagenrap 36:ba2e7eddbafa 294 else if ( direction == 'R')
hagenrap 36:ba2e7eddbafa 295 {
hagenrap 36:ba2e7eddbafa 296 motors[0]->run(StepperMotor::BWD, speed);
hagenrap 36:ba2e7eddbafa 297 motors[0]->wait_while_active();
hagenrap 36:ba2e7eddbafa 298 }
hagenrap 36:ba2e7eddbafa 299
hagenrap 36:ba2e7eddbafa 300 }
hagenrap 36:ba2e7eddbafa 301 void Stepper_2_Run(char direction, unsigned int speed)
hagenrap 36:ba2e7eddbafa 302 {
hagenrap 36:ba2e7eddbafa 303 if( direction == 'V')
hagenrap 36:ba2e7eddbafa 304 {
hagenrap 36:ba2e7eddbafa 305 motors[1]->run(StepperMotor::FWD, speed);
hagenrap 36:ba2e7eddbafa 306 motors[1]->wait_while_active();
hagenrap 36:ba2e7eddbafa 307 }
hagenrap 36:ba2e7eddbafa 308 else if ( direction == 'R')
hagenrap 36:ba2e7eddbafa 309 {
hagenrap 36:ba2e7eddbafa 310 motors[1]->run(StepperMotor::BWD, speed);
hagenrap 36:ba2e7eddbafa 311 motors[1]->wait_while_active();
hagenrap 36:ba2e7eddbafa 312 }
hagenrap 36:ba2e7eddbafa 313 }
hagenrap 36:ba2e7eddbafa 314 void Stepper_3_Run(char direction, unsigned int speed)
hagenrap 36:ba2e7eddbafa 315 {
hagenrap 36:ba2e7eddbafa 316 if( direction == 'V')
hagenrap 36:ba2e7eddbafa 317 {
hagenrap 36:ba2e7eddbafa 318 motors2[0]->run(StepperMotor::FWD, speed);
hagenrap 36:ba2e7eddbafa 319 motors2[0]->wait_while_active();
hagenrap 36:ba2e7eddbafa 320 }
hagenrap 36:ba2e7eddbafa 321 else if ( direction == 'R')
hagenrap 36:ba2e7eddbafa 322 {
hagenrap 36:ba2e7eddbafa 323 motors2[0]->run(StepperMotor::BWD, speed);
hagenrap 36:ba2e7eddbafa 324 motors2[0]->wait_while_active();
hagenrap 36:ba2e7eddbafa 325 }
hagenrap 36:ba2e7eddbafa 326 }
hagenrap 36:ba2e7eddbafa 327 void Stepper_4_Run(char direction, unsigned int speed)
hagenrap 36:ba2e7eddbafa 328 {
hagenrap 36:ba2e7eddbafa 329 if( direction == 'V')
hagenrap 36:ba2e7eddbafa 330 {
hagenrap 36:ba2e7eddbafa 331 motors2[1]->run(StepperMotor::FWD, speed);
hagenrap 36:ba2e7eddbafa 332 motors2[1]->wait_while_active();
hagenrap 36:ba2e7eddbafa 333 }
hagenrap 36:ba2e7eddbafa 334 else if ( direction == 'R')
hagenrap 36:ba2e7eddbafa 335 {
hagenrap 36:ba2e7eddbafa 336 motors2[1]->run(StepperMotor::BWD, speed);
hagenrap 36:ba2e7eddbafa 337 motors2[1]->wait_while_active();
hagenrap 36:ba2e7eddbafa 338 }
hagenrap 36:ba2e7eddbafa 339 }
hagenrap 36:ba2e7eddbafa 340 /* ---------------------------- END ----------------------------------------- */