Program for stepper test.
Dependencies: StepperDriver mbed
main.cpp@2:702fd272a9c8, 2016-12-02 (annotated)
- Committer:
- tbjazic
- Date:
- Fri Dec 02 08:37:14 2016 +0000
- Revision:
- 2:702fd272a9c8
- Parent:
- 1:5d11b66aba85
A lots of functions added, together with their docs. We need to verify this code before moving to speed profile settings.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
tbjazic | 0:98715b9719a6 | 1 | #include "mbed.h" |
tbjazic | 0:98715b9719a6 | 2 | #include "StepperDriver.h" |
tbjazic | 0:98715b9719a6 | 3 | |
tbjazic | 0:98715b9719a6 | 4 | StepperDriver stepper(p26, p29); |
mcmrk | 1:5d11b66aba85 | 5 | DigitalOut CDENBLN(p17); |
mcmrk | 1:5d11b66aba85 | 6 | DigitalOut CDUSM1(p16); |
mcmrk | 1:5d11b66aba85 | 7 | DigitalOut CDUSM0(p28); |
mcmrk | 1:5d11b66aba85 | 8 | DigitalOut CDRESETn(p15); |
mcmrk | 1:5d11b66aba85 | 9 | DigitalOut DECAY(p18); |
mcmrk | 1:5d11b66aba85 | 10 | |
tbjazic | 2:702fd272a9c8 | 11 | float t = 0, period = 2; |
tbjazic | 0:98715b9719a6 | 12 | |
tbjazic | 0:98715b9719a6 | 13 | int main() { |
mcmrk | 1:5d11b66aba85 | 14 | |
mcmrk | 1:5d11b66aba85 | 15 | CDENBLN = 0; //Logicka 0 ukljucuje elektromotor, 1 iskljucuje |
mcmrk | 1:5d11b66aba85 | 16 | CDUSM1 = 0; // 1/8 micro step mode ==1, full step mode == 0 |
mcmrk | 1:5d11b66aba85 | 17 | CDUSM0 = 0; // 1/8 micro step mode ==1, full step mode == 0 |
mcmrk | 1:5d11b66aba85 | 18 | CDRESETn = 1; //Logicka 0 ukljucuje indekser ali gasi H-most |
mcmrk | 1:5d11b66aba85 | 19 | DECAY = 0; //Logicka 0 slow decay, 1 za mixed decay |
mcmrk | 1:5d11b66aba85 | 20 | |
tbjazic | 2:702fd272a9c8 | 21 | stepper.setPosition(720); |
tbjazic | 0:98715b9719a6 | 22 | wait(2); |
tbjazic | 2:702fd272a9c8 | 23 | while(t < 10*period) { |
tbjazic | 2:702fd272a9c8 | 24 | stepper.setPosition(720+360*sin(2*3.14159f/period*t)); |
tbjazic | 0:98715b9719a6 | 25 | t += 0.05; |
tbjazic | 0:98715b9719a6 | 26 | wait(0.05); |
tbjazic | 0:98715b9719a6 | 27 | } |
tbjazic | 2:702fd272a9c8 | 28 | stepper.setPosition(0); |
tbjazic | 2:702fd272a9c8 | 29 | CDENBLN = 1; |
tbjazic | 0:98715b9719a6 | 30 | } |