test2017-1-13
Dependencies: AT24C1024 DMX-STM32 mbed
main.cpp@2:198becff12f4, 2017-02-15 (annotated)
- Committer:
- tomo370
- Date:
- Wed Feb 15 11:52:10 2017 +0000
- Revision:
- 2:198becff12f4
- Parent:
- 1:cf2f5992241c
- Child:
- 3:dd2305e50390
2017_2_15_test
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
tomo370 | 0:d94213e24c2e | 1 | #include "mbed.h" |
tomo370 | 0:d94213e24c2e | 2 | #include "AT24C1024.h" |
tomo370 | 0:d94213e24c2e | 3 | #include "AccelStepper.h" |
tomo370 | 0:d94213e24c2e | 4 | #include "DMX.h" |
tomo370 | 0:d94213e24c2e | 5 | |
tomo370 | 0:d94213e24c2e | 6 | Timer t; |
tomo370 | 1:cf2f5992241c | 7 | DigitalOut dmxEnable(D8); //基本L(レシーブ)に固定します |
tomo370 | 0:d94213e24c2e | 8 | DMX dmx(PA_9, PA_10); |
tomo370 | 0:d94213e24c2e | 9 | |
tomo370 | 1:cf2f5992241c | 10 | I2C i2c(D4, D5); // SDA, SCL |
tomo370 | 1:cf2f5992241c | 11 | AT24C1024 at24c1024(i2c); // Atmel 1Mbit EE-PROM |
tomo370 | 0:d94213e24c2e | 12 | |
tomo370 | 1:cf2f5992241c | 13 | AccelStepper stepper1(1, D9, D6); // step, direction |
tomo370 | 1:cf2f5992241c | 14 | AccelStepper stepper2(1, D10, D7); // step, direction |
tomo370 | 1:cf2f5992241c | 15 | |
tomo370 | 1:cf2f5992241c | 16 | //モーター1 CN0とCN1を使用 |
tomo370 | 0:d94213e24c2e | 17 | DigitalOut stepper1Enable(D2); |
tomo370 | 0:d94213e24c2e | 18 | DigitalOut stepper1MS1(D11); |
tomo370 | 0:d94213e24c2e | 19 | DigitalOut stepper1MS2(D12); |
tomo370 | 0:d94213e24c2e | 20 | DigitalIn stepper1MS3(A4); |
tomo370 | 0:d94213e24c2e | 21 | |
tomo370 | 1:cf2f5992241c | 22 | //モーター2 CN2とCN3を使用 |
tomo370 | 0:d94213e24c2e | 23 | DigitalOut stepper2Enable(D3); |
tomo370 | 0:d94213e24c2e | 24 | DigitalOut stepper2MS1(A5); |
tomo370 | 0:d94213e24c2e | 25 | DigitalOut stepper2MS2(A6); |
tomo370 | 0:d94213e24c2e | 26 | DigitalOut stepper2MS3(A7); |
tomo370 | 0:d94213e24c2e | 27 | |
tomo370 | 1:cf2f5992241c | 28 | DigitalIn EndSW1(A0); //CN4 //3端子エンドスイッチ1 予備 |
tomo370 | 1:cf2f5992241c | 29 | DigitalIn EndSW2(A1); //CN5 //3端子エンドスイッチ2 予備 |
tomo370 | 1:cf2f5992241c | 30 | DigitalIn EndSW3(A2); //CN6 //2端子エンドスイッチ1 モーター1用にする |
tomo370 | 1:cf2f5992241c | 31 | DigitalIn EndSW4(A3); //CN7 //2端子エンドスイッチ2 モーター2用にする |
tomo370 | 1:cf2f5992241c | 32 | |
tomo370 | 1:cf2f5992241c | 33 | DigitalOut myLED(LED3); //動作確認用LED |
tomo370 | 1:cf2f5992241c | 34 | |
tomo370 | 1:cf2f5992241c | 35 | unsigned long position1, position2; //モーター1の設定位置 |
tomo370 | 1:cf2f5992241c | 36 | unsigned long max1, max2; |
tomo370 | 1:cf2f5992241c | 37 | unsigned long speed1, speed2; |
tomo370 | 1:cf2f5992241c | 38 | unsigned long Acceleration1, Acceleration2; |
tomo370 | 1:cf2f5992241c | 39 | unsigned long param1, param2; |
tomo370 | 1:cf2f5992241c | 40 | unsigned long dmxInHighBit, dmxInLowBit; |
tomo370 | 2:198becff12f4 | 41 | unsigned long HighBit, LowBit; |
tomo370 | 1:cf2f5992241c | 42 | |
tomo370 | 1:cf2f5992241c | 43 | bool manipulateMode1 = true; //0:手動 1:自動 |
tomo370 | 1:cf2f5992241c | 44 | bool manipulateMode2 = true; //0:手動 1:自動 |
tomo370 | 1:cf2f5992241c | 45 | |
tomo370 | 1:cf2f5992241c | 46 | |
tomo370 | 1:cf2f5992241c | 47 | //モーター1のパラメーター DMXチャンネルリスト チャンネル数:12個 |
tomo370 | 1:cf2f5992241c | 48 | #define CH_Origin 0 |
tomo370 | 0:d94213e24c2e | 49 | |
tomo370 | 1:cf2f5992241c | 50 | #define DMX_Position1_H CH_Origin //モーター1制御用のDMX信号の始まりの値 |
tomo370 | 1:cf2f5992241c | 51 | #define DMX_Position1_L CH_Origin + 1 |
tomo370 | 1:cf2f5992241c | 52 | #define DMX_Speed1_H CH_Origin + 2 |
tomo370 | 1:cf2f5992241c | 53 | #define DMX_Speed1_L CH_Origin + 3 |
tomo370 | 1:cf2f5992241c | 54 | #define DMX_Acceleration1_H CH_Origin + 4 |
tomo370 | 1:cf2f5992241c | 55 | #define DMX_Acceleration1_L CH_Origin + 5 |
tomo370 | 1:cf2f5992241c | 56 | #define DMX_Max1_H CH_Origin + 6 |
tomo370 | 1:cf2f5992241c | 57 | #define DMX_Max1_L CH_Origin + 7 |
tomo370 | 1:cf2f5992241c | 58 | #define DMX_Offset1_H CH_Origin + 8 |
tomo370 | 1:cf2f5992241c | 59 | #define DMX_Offset1_L CH_Origin + 9 |
tomo370 | 1:cf2f5992241c | 60 | #define DMX_SaveValue1_H CH_Origin + 10 |
tomo370 | 1:cf2f5992241c | 61 | #define DMX_SaveValue1_L CH_Origin + 11 |
tomo370 | 1:cf2f5992241c | 62 | #define DMX_ParmSetMode1_H CH_Origin + 12 |
tomo370 | 1:cf2f5992241c | 63 | #define DMX_ParmSetMode1_L CH_Origin + 13 |
tomo370 | 0:d94213e24c2e | 64 | |
tomo370 | 1:cf2f5992241c | 65 | //モーター2のパラメーター DMXチャンネルリスト チャンネル数:12個 |
tomo370 | 1:cf2f5992241c | 66 | #define DMX_Position2_H CH_Origin + 16 |
tomo370 | 1:cf2f5992241c | 67 | #define DMX_Position2_L CH_Origin + 17 |
tomo370 | 1:cf2f5992241c | 68 | #define DMX_Speed2_H CH_Origin + 18 |
tomo370 | 1:cf2f5992241c | 69 | #define DMX_Speed2_L CH_Origin + 19 |
tomo370 | 1:cf2f5992241c | 70 | #define DMX_Acceleration2_H CH_Origin + 20 |
tomo370 | 1:cf2f5992241c | 71 | #define DMX_Acceleration2_L CH_Origin + 21 |
tomo370 | 1:cf2f5992241c | 72 | #define DMX_Max2_H CH_Origin + 22 |
tomo370 | 1:cf2f5992241c | 73 | #define DMX_Max2_L CH_Origin + 23 |
tomo370 | 1:cf2f5992241c | 74 | #define DMX_Offset2_H CH_Origin + 24 |
tomo370 | 1:cf2f5992241c | 75 | #define DMX_Offset2_L CH_Origin + 25 |
tomo370 | 1:cf2f5992241c | 76 | #define DMX_SaveValue2_H CH_Origin + 26 |
tomo370 | 1:cf2f5992241c | 77 | #define DMX_SaveValue2_L CH_Origin + 27 |
tomo370 | 1:cf2f5992241c | 78 | #define DMX_ParmSetMode2_H CH_Origin + 28 |
tomo370 | 1:cf2f5992241c | 79 | #define DMX_ParmSetMode2_L CH_Origin + 29 |
tomo370 | 1:cf2f5992241c | 80 | |
tomo370 | 1:cf2f5992241c | 81 | //map |
tomo370 | 0:d94213e24c2e | 82 | long map(long x, long in_min, long in_max, long out_min, long out_max) |
tomo370 | 0:d94213e24c2e | 83 | { |
tomo370 | 0:d94213e24c2e | 84 | return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min; |
tomo370 | 0:d94213e24c2e | 85 | } |
tomo370 | 0:d94213e24c2e | 86 | |
tomo370 | 1:cf2f5992241c | 87 | void blink() |
tomo370 | 1:cf2f5992241c | 88 | { |
tomo370 | 1:cf2f5992241c | 89 | for(int i=0; i<5; i++) { |
tomo370 | 1:cf2f5992241c | 90 | myLED=0; |
tomo370 | 1:cf2f5992241c | 91 | wait_ms(60); |
tomo370 | 1:cf2f5992241c | 92 | myLED=1; |
tomo370 | 1:cf2f5992241c | 93 | wait_ms(60); |
tomo370 | 1:cf2f5992241c | 94 | } |
tomo370 | 1:cf2f5992241c | 95 | } |
tomo370 | 1:cf2f5992241c | 96 | |
tomo370 | 0:d94213e24c2e | 97 | void checkSW() |
tomo370 | 0:d94213e24c2e | 98 | { |
tomo370 | 1:cf2f5992241c | 99 | //モーター1用エンドスイッチのチェック |
tomo370 | 2:198becff12f4 | 100 | if(EndSW3.read() == 1) { |
tomo370 | 0:d94213e24c2e | 101 | stepper1.stop(); |
tomo370 | 0:d94213e24c2e | 102 | stepper1.setCurrentPosition(0); |
tomo370 | 0:d94213e24c2e | 103 | } |
tomo370 | 1:cf2f5992241c | 104 | |
tomo370 | 1:cf2f5992241c | 105 | //モーター2用エンドスイッチのチェック |
tomo370 | 2:198becff12f4 | 106 | if(EndSW4.read() == 1) { |
tomo370 | 1:cf2f5992241c | 107 | stepper2.stop(); |
tomo370 | 1:cf2f5992241c | 108 | stepper2.setCurrentPosition(0); |
tomo370 | 1:cf2f5992241c | 109 | } |
tomo370 | 0:d94213e24c2e | 110 | } |
tomo370 | 0:d94213e24c2e | 111 | |
tomo370 | 0:d94213e24c2e | 112 | void silence() |
tomo370 | 0:d94213e24c2e | 113 | { |
tomo370 | 0:d94213e24c2e | 114 | DigitalIn stepper1MS1(D11); |
tomo370 | 0:d94213e24c2e | 115 | DigitalIn stepper1MS2(D12); |
tomo370 | 1:cf2f5992241c | 116 | |
tomo370 | 1:cf2f5992241c | 117 | DigitalIn stepper2MS1(A5); |
tomo370 | 1:cf2f5992241c | 118 | DigitalIn stepper2MS2(A6); |
tomo370 | 0:d94213e24c2e | 119 | } |
tomo370 | 0:d94213e24c2e | 120 | |
tomo370 | 0:d94213e24c2e | 121 | void run() |
tomo370 | 0:d94213e24c2e | 122 | { |
tomo370 | 0:d94213e24c2e | 123 | DigitalOut stepper1MS1(D11); |
tomo370 | 0:d94213e24c2e | 124 | DigitalOut stepper1MS2(D12); |
tomo370 | 0:d94213e24c2e | 125 | stepper1MS1 = 1; |
tomo370 | 0:d94213e24c2e | 126 | stepper1MS2 = 1; |
tomo370 | 1:cf2f5992241c | 127 | |
tomo370 | 1:cf2f5992241c | 128 | DigitalOut stepper2MS1(A5); |
tomo370 | 1:cf2f5992241c | 129 | DigitalOut stepper2MS2(A6); |
tomo370 | 1:cf2f5992241c | 130 | stepper2MS1 = 1; |
tomo370 | 1:cf2f5992241c | 131 | stepper2MS2 = 1; |
tomo370 | 0:d94213e24c2e | 132 | } |
tomo370 | 0:d94213e24c2e | 133 | |
tomo370 | 0:d94213e24c2e | 134 | void init() |
tomo370 | 0:d94213e24c2e | 135 | { |
tomo370 | 2:198becff12f4 | 136 | stepper1.setMaxSpeed(4000); |
tomo370 | 0:d94213e24c2e | 137 | stepper1.setAcceleration(20000); |
tomo370 | 2:198becff12f4 | 138 | stepper1.moveTo(-20000); |
tomo370 | 0:d94213e24c2e | 139 | |
tomo370 | 0:d94213e24c2e | 140 | while(stepper1.currentPosition() != 0) { |
tomo370 | 0:d94213e24c2e | 141 | stepper1.run(); |
tomo370 | 0:d94213e24c2e | 142 | checkSW(); |
tomo370 | 0:d94213e24c2e | 143 | } |
tomo370 | 0:d94213e24c2e | 144 | stepper1.moveTo(500); |
tomo370 | 0:d94213e24c2e | 145 | while(stepper1.distanceToGo() != 0) { |
tomo370 | 0:d94213e24c2e | 146 | stepper1.run(); |
tomo370 | 0:d94213e24c2e | 147 | } |
tomo370 | 1:cf2f5992241c | 148 | |
tomo370 | 2:198becff12f4 | 149 | stepper2.setMaxSpeed(4000); |
tomo370 | 1:cf2f5992241c | 150 | stepper2.setAcceleration(20000); |
tomo370 | 2:198becff12f4 | 151 | stepper2.moveTo(-20000); |
tomo370 | 1:cf2f5992241c | 152 | |
tomo370 | 1:cf2f5992241c | 153 | while(stepper2.currentPosition() != 0) { |
tomo370 | 1:cf2f5992241c | 154 | stepper2.run(); |
tomo370 | 1:cf2f5992241c | 155 | checkSW(); |
tomo370 | 1:cf2f5992241c | 156 | } |
tomo370 | 1:cf2f5992241c | 157 | stepper2.moveTo(500); |
tomo370 | 1:cf2f5992241c | 158 | while(stepper2.distanceToGo() != 0) { |
tomo370 | 1:cf2f5992241c | 159 | stepper2.run(); |
tomo370 | 1:cf2f5992241c | 160 | } |
tomo370 | 2:198becff12f4 | 161 | silence(); |
tomo370 | 1:cf2f5992241c | 162 | } |
tomo370 | 1:cf2f5992241c | 163 | |
tomo370 | 1:cf2f5992241c | 164 | void checkSafeBreak() |
tomo370 | 1:cf2f5992241c | 165 | { |
tomo370 | 2:198becff12f4 | 166 | if(EndSW3.read() == 1) { |
tomo370 | 1:cf2f5992241c | 167 | stepper1.stop(); |
tomo370 | 1:cf2f5992241c | 168 | while(1) { |
tomo370 | 1:cf2f5992241c | 169 | blink(); |
tomo370 | 1:cf2f5992241c | 170 | } |
tomo370 | 1:cf2f5992241c | 171 | } |
tomo370 | 1:cf2f5992241c | 172 | |
tomo370 | 1:cf2f5992241c | 173 | //モーター2用エンドスイッチのチェック |
tomo370 | 2:198becff12f4 | 174 | if(EndSW4.read() == 1) { |
tomo370 | 1:cf2f5992241c | 175 | stepper2.stop(); |
tomo370 | 1:cf2f5992241c | 176 | while(1) { |
tomo370 | 1:cf2f5992241c | 177 | blink(); |
tomo370 | 1:cf2f5992241c | 178 | } |
tomo370 | 1:cf2f5992241c | 179 | } |
tomo370 | 1:cf2f5992241c | 180 | } |
tomo370 | 1:cf2f5992241c | 181 | |
tomo370 | 1:cf2f5992241c | 182 | //モーター1のパラメータ保存 |
tomo370 | 1:cf2f5992241c | 183 | void paramStore1() |
tomo370 | 1:cf2f5992241c | 184 | { |
tomo370 | 1:cf2f5992241c | 185 | //速度 |
tomo370 | 2:198becff12f4 | 186 | uint8_t dt = dmx.get(DMX_Speed1_H); |
tomo370 | 2:198becff12f4 | 187 | at24c1024.write(DMX_Speed1_H, dt); |
tomo370 | 2:198becff12f4 | 188 | wait_ms(2); |
tomo370 | 2:198becff12f4 | 189 | dt = dmx.get(DMX_Speed1_L); |
tomo370 | 2:198becff12f4 | 190 | at24c1024.write(DMX_Speed1_L, dt); |
tomo370 | 1:cf2f5992241c | 191 | wait_ms(2); |
tomo370 | 1:cf2f5992241c | 192 | |
tomo370 | 1:cf2f5992241c | 193 | //加速度 |
tomo370 | 1:cf2f5992241c | 194 | dt = dmx.get(DMX_Acceleration1_H); |
tomo370 | 1:cf2f5992241c | 195 | at24c1024.write(DMX_Acceleration1_H, dt); |
tomo370 | 2:198becff12f4 | 196 | wait_ms(2); |
tomo370 | 1:cf2f5992241c | 197 | dt = dmx.get(DMX_Acceleration1_L); |
tomo370 | 1:cf2f5992241c | 198 | at24c1024.write(DMX_Acceleration1_L, dt); |
tomo370 | 2:198becff12f4 | 199 | wait_ms(2); |
tomo370 | 1:cf2f5992241c | 200 | |
tomo370 | 1:cf2f5992241c | 201 | //最大値 |
tomo370 | 1:cf2f5992241c | 202 | dt = dmx.get(DMX_Max1_H); |
tomo370 | 1:cf2f5992241c | 203 | at24c1024.write(DMX_Max1_H, dt); |
tomo370 | 2:198becff12f4 | 204 | wait_ms(2); |
tomo370 | 1:cf2f5992241c | 205 | dt = dmx.get(DMX_Max1_L); |
tomo370 | 1:cf2f5992241c | 206 | at24c1024.write(DMX_Max1_L, dt); |
tomo370 | 1:cf2f5992241c | 207 | |
tomo370 | 1:cf2f5992241c | 208 | wait_ms(5); |
tomo370 | 1:cf2f5992241c | 209 | } |
tomo370 | 1:cf2f5992241c | 210 | |
tomo370 | 2:198becff12f4 | 211 | //モーター2のパラメータ保存 |
tomo370 | 2:198becff12f4 | 212 | void paramStore2() |
tomo370 | 2:198becff12f4 | 213 | { |
tomo370 | 2:198becff12f4 | 214 | //速度 |
tomo370 | 2:198becff12f4 | 215 | uint8_t dt = dmx.get(DMX_Speed2_H); |
tomo370 | 2:198becff12f4 | 216 | at24c1024.write(DMX_Speed2_H, dt); |
tomo370 | 2:198becff12f4 | 217 | wait_ms(2); |
tomo370 | 2:198becff12f4 | 218 | dt = dmx.get(DMX_Speed2_L); |
tomo370 | 2:198becff12f4 | 219 | at24c1024.write(DMX_Speed2_L, dt); |
tomo370 | 2:198becff12f4 | 220 | wait_ms(2); |
tomo370 | 2:198becff12f4 | 221 | |
tomo370 | 2:198becff12f4 | 222 | //加速度 |
tomo370 | 2:198becff12f4 | 223 | dt = dmx.get(DMX_Acceleration2_H); |
tomo370 | 2:198becff12f4 | 224 | at24c1024.write(DMX_Acceleration2_H, dt); |
tomo370 | 2:198becff12f4 | 225 | wait_ms(2); |
tomo370 | 2:198becff12f4 | 226 | dt = dmx.get(DMX_Acceleration2_L); |
tomo370 | 2:198becff12f4 | 227 | at24c1024.write(DMX_Acceleration2_L, dt); |
tomo370 | 2:198becff12f4 | 228 | wait_ms(2); |
tomo370 | 2:198becff12f4 | 229 | |
tomo370 | 2:198becff12f4 | 230 | //最大値 |
tomo370 | 2:198becff12f4 | 231 | dt = dmx.get(DMX_Max2_H); |
tomo370 | 2:198becff12f4 | 232 | at24c1024.write(DMX_Max2_H, dt); |
tomo370 | 2:198becff12f4 | 233 | wait_ms(2); |
tomo370 | 2:198becff12f4 | 234 | dt = dmx.get(DMX_Max2_L); |
tomo370 | 2:198becff12f4 | 235 | at24c1024.write(DMX_Max2_L, dt); |
tomo370 | 2:198becff12f4 | 236 | |
tomo370 | 2:198becff12f4 | 237 | wait_ms(2); |
tomo370 | 2:198becff12f4 | 238 | } |
tomo370 | 2:198becff12f4 | 239 | |
tomo370 | 2:198becff12f4 | 240 | |
tomo370 | 1:cf2f5992241c | 241 | //速度・加速度・最大値・オフセットの値をスライダーから取得 |
tomo370 | 1:cf2f5992241c | 242 | void captureSliderValue() |
tomo370 | 1:cf2f5992241c | 243 | { |
tomo370 | 1:cf2f5992241c | 244 | dmxInHighBit = dmx.get(DMX_Speed1_H); |
tomo370 | 1:cf2f5992241c | 245 | dmxInLowBit = dmx.get(DMX_Speed1_L); |
tomo370 | 1:cf2f5992241c | 246 | dmxInHighBit = dmxInHighBit << 8; |
tomo370 | 1:cf2f5992241c | 247 | speed1 = (long)(dmxInHighBit + dmxInLowBit); |
tomo370 | 1:cf2f5992241c | 248 | |
tomo370 | 1:cf2f5992241c | 249 | dmxInHighBit = dmx.get(DMX_Speed2_H); |
tomo370 | 1:cf2f5992241c | 250 | dmxInLowBit = dmx.get(DMX_Speed2_L); |
tomo370 | 1:cf2f5992241c | 251 | dmxInHighBit = dmxInHighBit << 8; |
tomo370 | 1:cf2f5992241c | 252 | speed2 = (long)(dmxInHighBit + dmxInLowBit); |
tomo370 | 1:cf2f5992241c | 253 | |
tomo370 | 1:cf2f5992241c | 254 | dmxInHighBit = dmx.get(DMX_Acceleration1_H); |
tomo370 | 1:cf2f5992241c | 255 | dmxInLowBit = dmx.get(DMX_Acceleration1_L); |
tomo370 | 1:cf2f5992241c | 256 | dmxInHighBit = dmxInHighBit << 8; |
tomo370 | 1:cf2f5992241c | 257 | Acceleration1 = (long)(dmxInHighBit + dmxInLowBit); |
tomo370 | 1:cf2f5992241c | 258 | |
tomo370 | 1:cf2f5992241c | 259 | dmxInHighBit = dmx.get(DMX_Acceleration2_H); |
tomo370 | 1:cf2f5992241c | 260 | dmxInLowBit = dmx.get(DMX_Acceleration2_L); |
tomo370 | 1:cf2f5992241c | 261 | dmxInHighBit = dmxInHighBit << 8; |
tomo370 | 1:cf2f5992241c | 262 | Acceleration2 = (long)(dmxInHighBit + dmxInLowBit); |
tomo370 | 1:cf2f5992241c | 263 | |
tomo370 | 1:cf2f5992241c | 264 | dmxInHighBit = dmx.get(DMX_Max1_H); |
tomo370 | 1:cf2f5992241c | 265 | dmxInLowBit = dmx.get(DMX_Max1_L); |
tomo370 | 1:cf2f5992241c | 266 | dmxInHighBit = dmxInHighBit << 8; |
tomo370 | 1:cf2f5992241c | 267 | max1 = (long)(dmxInHighBit + dmxInLowBit); |
tomo370 | 1:cf2f5992241c | 268 | |
tomo370 | 1:cf2f5992241c | 269 | dmxInHighBit = dmx.get(DMX_Max2_H); |
tomo370 | 1:cf2f5992241c | 270 | dmxInLowBit = dmx.get(DMX_Max2_L); |
tomo370 | 1:cf2f5992241c | 271 | dmxInHighBit = dmxInHighBit << 8; |
tomo370 | 1:cf2f5992241c | 272 | max2 = (long)(dmxInHighBit + dmxInLowBit); |
tomo370 | 1:cf2f5992241c | 273 | } |
tomo370 | 0:d94213e24c2e | 274 | |
tomo370 | 0:d94213e24c2e | 275 | |
tomo370 | 1:cf2f5992241c | 276 | //モーター1の 速度・加速度・オフセットの値をEEPROMから取得 |
tomo370 | 1:cf2f5992241c | 277 | void readROMValue1() |
tomo370 | 1:cf2f5992241c | 278 | { |
tomo370 | 1:cf2f5992241c | 279 | //速度 |
tomo370 | 2:198becff12f4 | 280 | HighBit = at24c1024.read(DMX_Speed1_H); |
tomo370 | 2:198becff12f4 | 281 | LowBit = at24c1024.read(DMX_Speed1_L); |
tomo370 | 1:cf2f5992241c | 282 | HighBit = HighBit << 8; |
tomo370 | 2:198becff12f4 | 283 | speed1 = (long)(HighBit + LowBit); |
tomo370 | 1:cf2f5992241c | 284 | |
tomo370 | 1:cf2f5992241c | 285 | //加速度 |
tomo370 | 1:cf2f5992241c | 286 | HighBit = at24c1024.read(DMX_Acceleration1_H); |
tomo370 | 1:cf2f5992241c | 287 | LowBit = at24c1024.read(DMX_Acceleration1_L); |
tomo370 | 1:cf2f5992241c | 288 | HighBit = HighBit << 8; |
tomo370 | 2:198becff12f4 | 289 | Acceleration1 = (long)(HighBit + LowBit); |
tomo370 | 1:cf2f5992241c | 290 | |
tomo370 | 1:cf2f5992241c | 291 | //最大値 |
tomo370 | 1:cf2f5992241c | 292 | HighBit = at24c1024.read(DMX_Max1_H); |
tomo370 | 1:cf2f5992241c | 293 | LowBit = at24c1024.read(DMX_Max1_L); |
tomo370 | 1:cf2f5992241c | 294 | HighBit = HighBit << 8; |
tomo370 | 2:198becff12f4 | 295 | max1 = (long)(HighBit + LowBit); |
tomo370 | 1:cf2f5992241c | 296 | } |
tomo370 | 1:cf2f5992241c | 297 | |
tomo370 | 1:cf2f5992241c | 298 | |
tomo370 | 1:cf2f5992241c | 299 | //モーター2の 速度・加速度・オフセットの値をEEPROMから取得 |
tomo370 | 1:cf2f5992241c | 300 | void readROMValue2() |
tomo370 | 1:cf2f5992241c | 301 | { |
tomo370 | 2:198becff12f4 | 302 | //速度 |
tomo370 | 2:198becff12f4 | 303 | HighBit = at24c1024.read(DMX_Speed2_H); |
tomo370 | 2:198becff12f4 | 304 | LowBit = at24c1024.read(DMX_Speed2_L); |
tomo370 | 2:198becff12f4 | 305 | HighBit = HighBit << 8; |
tomo370 | 2:198becff12f4 | 306 | speed2 = (long)(HighBit + LowBit); |
tomo370 | 2:198becff12f4 | 307 | |
tomo370 | 2:198becff12f4 | 308 | //加速度 |
tomo370 | 2:198becff12f4 | 309 | HighBit = at24c1024.read(DMX_Acceleration2_H); |
tomo370 | 2:198becff12f4 | 310 | LowBit = at24c1024.read(DMX_Acceleration2_L); |
tomo370 | 2:198becff12f4 | 311 | HighBit = HighBit << 8; |
tomo370 | 2:198becff12f4 | 312 | Acceleration2 = (long)(HighBit + LowBit); |
tomo370 | 2:198becff12f4 | 313 | |
tomo370 | 2:198becff12f4 | 314 | //最大値 |
tomo370 | 2:198becff12f4 | 315 | HighBit = at24c1024.read(DMX_Max2_H); |
tomo370 | 2:198becff12f4 | 316 | LowBit = at24c1024.read(DMX_Max2_L); |
tomo370 | 2:198becff12f4 | 317 | HighBit = HighBit << 8; |
tomo370 | 2:198becff12f4 | 318 | max2 = (long)(HighBit + LowBit); |
tomo370 | 0:d94213e24c2e | 319 | } |
tomo370 | 0:d94213e24c2e | 320 | |
tomo370 | 0:d94213e24c2e | 321 | |
tomo370 | 1:cf2f5992241c | 322 | //操作モード切り替えボタンのチェック |
tomo370 | 1:cf2f5992241c | 323 | void checkManipulateButton() |
tomo370 | 1:cf2f5992241c | 324 | { |
tomo370 | 1:cf2f5992241c | 325 | dmxInHighBit = dmx.get(DMX_ParmSetMode1_H); |
tomo370 | 1:cf2f5992241c | 326 | dmxInLowBit = dmx.get(DMX_ParmSetMode1_L); |
tomo370 | 1:cf2f5992241c | 327 | if(dmxInHighBit == 102 && dmxInLowBit == 255) { |
tomo370 | 1:cf2f5992241c | 328 | manipulateMode1 = !manipulateMode1; |
tomo370 | 1:cf2f5992241c | 329 | blink(); |
tomo370 | 1:cf2f5992241c | 330 | } |
tomo370 | 1:cf2f5992241c | 331 | |
tomo370 | 1:cf2f5992241c | 332 | dmxInHighBit = dmx.get(DMX_ParmSetMode2_H); |
tomo370 | 1:cf2f5992241c | 333 | dmxInLowBit = dmx.get(DMX_ParmSetMode2_L); |
tomo370 | 1:cf2f5992241c | 334 | if(dmxInHighBit == 102 && dmxInLowBit == 255) { |
tomo370 | 1:cf2f5992241c | 335 | manipulateMode2 = !manipulateMode2; |
tomo370 | 1:cf2f5992241c | 336 | blink(); |
tomo370 | 1:cf2f5992241c | 337 | } |
tomo370 | 1:cf2f5992241c | 338 | } |
tomo370 | 1:cf2f5992241c | 339 | |
tomo370 | 1:cf2f5992241c | 340 | //書き込みボタンのチェック |
tomo370 | 1:cf2f5992241c | 341 | void checkWriteButton() |
tomo370 | 1:cf2f5992241c | 342 | { |
tomo370 | 1:cf2f5992241c | 343 | dmxInHighBit = dmx.get(DMX_SaveValue1_H); |
tomo370 | 1:cf2f5992241c | 344 | dmxInLowBit = dmx.get(DMX_SaveValue1_L); |
tomo370 | 1:cf2f5992241c | 345 | dmxInHighBit = dmxInHighBit << 8; |
tomo370 | 1:cf2f5992241c | 346 | param1 = (long)(dmxInHighBit + dmxInLowBit); |
tomo370 | 1:cf2f5992241c | 347 | |
tomo370 | 1:cf2f5992241c | 348 | dmxInHighBit = dmx.get(DMX_SaveValue2_H); |
tomo370 | 1:cf2f5992241c | 349 | dmxInLowBit = dmx.get(DMX_SaveValue2_L); |
tomo370 | 1:cf2f5992241c | 350 | dmxInHighBit = dmxInHighBit << 8; |
tomo370 | 1:cf2f5992241c | 351 | param2 = (long)(dmxInHighBit + dmxInLowBit); |
tomo370 | 1:cf2f5992241c | 352 | |
tomo370 | 1:cf2f5992241c | 353 | if(param1 == 24932) { |
tomo370 | 1:cf2f5992241c | 354 | paramStore1(); |
tomo370 | 1:cf2f5992241c | 355 | blink(); |
tomo370 | 1:cf2f5992241c | 356 | } else; |
tomo370 | 1:cf2f5992241c | 357 | |
tomo370 | 1:cf2f5992241c | 358 | if(param2 == 24932) { |
tomo370 | 2:198becff12f4 | 359 | paramStore2(); |
tomo370 | 2:198becff12f4 | 360 | blink(); |
tomo370 | 1:cf2f5992241c | 361 | } else; |
tomo370 | 1:cf2f5992241c | 362 | } |
tomo370 | 1:cf2f5992241c | 363 | |
tomo370 | 1:cf2f5992241c | 364 | |
tomo370 | 0:d94213e24c2e | 365 | int main() |
tomo370 | 0:d94213e24c2e | 366 | { |
tomo370 | 1:cf2f5992241c | 367 | //モーター1と2のコンフィギュレーション |
tomo370 | 0:d94213e24c2e | 368 | stepper1MS1 = 1; |
tomo370 | 0:d94213e24c2e | 369 | stepper1MS2 = 1; |
tomo370 | 0:d94213e24c2e | 370 | stepper1Enable = 0; |
tomo370 | 0:d94213e24c2e | 371 | |
tomo370 | 1:cf2f5992241c | 372 | stepper2MS1 = 1; |
tomo370 | 1:cf2f5992241c | 373 | stepper2MS2 = 1; |
tomo370 | 1:cf2f5992241c | 374 | stepper2Enable = 0; |
tomo370 | 1:cf2f5992241c | 375 | |
tomo370 | 0:d94213e24c2e | 376 | t.start(); |
tomo370 | 0:d94213e24c2e | 377 | |
tomo370 | 0:d94213e24c2e | 378 | dmxEnable = 0; //0:receiver 1:sender |
tomo370 | 0:d94213e24c2e | 379 | |
tomo370 | 0:d94213e24c2e | 380 | stepper1.setCurrentPosition(-1); |
tomo370 | 1:cf2f5992241c | 381 | stepper2.setCurrentPosition(-1); |
tomo370 | 0:d94213e24c2e | 382 | |
tomo370 | 0:d94213e24c2e | 383 | init(); |
tomo370 | 0:d94213e24c2e | 384 | |
tomo370 | 0:d94213e24c2e | 385 | stepper1.setMaxSpeed(25000); |
tomo370 | 0:d94213e24c2e | 386 | stepper1.setAcceleration(30000); |
tomo370 | 0:d94213e24c2e | 387 | stepper1.setCurrentPosition(0); |
tomo370 | 0:d94213e24c2e | 388 | |
tomo370 | 1:cf2f5992241c | 389 | stepper2.setMaxSpeed(25000); |
tomo370 | 1:cf2f5992241c | 390 | stepper2.setAcceleration(30000); |
tomo370 | 1:cf2f5992241c | 391 | stepper2.setCurrentPosition(0); |
tomo370 | 1:cf2f5992241c | 392 | |
tomo370 | 1:cf2f5992241c | 393 | myLED =1; |
tomo370 | 1:cf2f5992241c | 394 | |
tomo370 | 2:198becff12f4 | 395 | readROMValue1(); |
tomo370 | 2:198becff12f4 | 396 | readROMValue2(); |
tomo370 | 0:d94213e24c2e | 397 | |
tomo370 | 0:d94213e24c2e | 398 | while(1) { |
tomo370 | 0:d94213e24c2e | 399 | |
tomo370 | 1:cf2f5992241c | 400 | //操作モード切り替えボタンのチェック |
tomo370 | 1:cf2f5992241c | 401 | checkManipulateButton(); |
tomo370 | 1:cf2f5992241c | 402 | |
tomo370 | 1:cf2f5992241c | 403 | //書き込みボタンチェック |
tomo370 | 1:cf2f5992241c | 404 | checkWriteButton(); |
tomo370 | 0:d94213e24c2e | 405 | |
tomo370 | 1:cf2f5992241c | 406 | //モーター1の目標位置をスライダーから取得 |
tomo370 | 1:cf2f5992241c | 407 | dmxInHighBit = dmx.get(DMX_Position1_H); |
tomo370 | 1:cf2f5992241c | 408 | dmxInLowBit = dmx.get(DMX_Position1_L); |
tomo370 | 1:cf2f5992241c | 409 | dmxInHighBit = dmxInHighBit << 8; |
tomo370 | 1:cf2f5992241c | 410 | position1 = (long)(dmxInHighBit + dmxInLowBit); |
tomo370 | 0:d94213e24c2e | 411 | |
tomo370 | 1:cf2f5992241c | 412 | //モーター1の目標位置をスライダーから取得 |
tomo370 | 1:cf2f5992241c | 413 | dmxInHighBit = dmx.get(DMX_Position2_H); |
tomo370 | 1:cf2f5992241c | 414 | dmxInLowBit = dmx.get(DMX_Position2_L); |
tomo370 | 1:cf2f5992241c | 415 | dmxInHighBit = dmxInHighBit << 8; |
tomo370 | 1:cf2f5992241c | 416 | position2 = (long)(dmxInHighBit + dmxInLowBit); |
tomo370 | 0:d94213e24c2e | 417 | |
tomo370 | 0:d94213e24c2e | 418 | |
tomo370 | 1:cf2f5992241c | 419 | //手動モードの場合、現在のスライダーの値を取得、パラメーターを設定 |
tomo370 | 2:198becff12f4 | 420 | if(manipulateMode1 == false) { |
tomo370 | 1:cf2f5992241c | 421 | captureSliderValue(); |
tomo370 | 2:198becff12f4 | 422 | myLED = 0; |
tomo370 | 1:cf2f5992241c | 423 | } |
tomo370 | 0:d94213e24c2e | 424 | |
tomo370 | 1:cf2f5992241c | 425 | //自動モードの場合、EEPROMから値を取得、パラメーターを設定 |
tomo370 | 1:cf2f5992241c | 426 | else { |
tomo370 | 2:198becff12f4 | 427 | myLED = 1; |
tomo370 | 2:198becff12f4 | 428 | |
tomo370 | 1:cf2f5992241c | 429 | } |
tomo370 | 0:d94213e24c2e | 430 | |
tomo370 | 2:198becff12f4 | 431 | //手動モードの場合、現在のスライダーの値を取得、パラメーターを設定 |
tomo370 | 2:198becff12f4 | 432 | if(manipulateMode2 == false) { |
tomo370 | 2:198becff12f4 | 433 | captureSliderValue(); |
tomo370 | 2:198becff12f4 | 434 | myLED = 0; |
tomo370 | 2:198becff12f4 | 435 | } |
tomo370 | 2:198becff12f4 | 436 | |
tomo370 | 2:198becff12f4 | 437 | //自動モードの場合、EEPROMから値を取得、パラメータを設定 |
tomo370 | 2:198becff12f4 | 438 | else { |
tomo370 | 2:198becff12f4 | 439 | myLED = 1; |
tomo370 | 2:198becff12f4 | 440 | } |
tomo370 | 1:cf2f5992241c | 441 | |
tomo370 | 1:cf2f5992241c | 442 | position1 = map(position1, 0, 0xFFFF, 0, max1); |
tomo370 | 1:cf2f5992241c | 443 | stepper1.setMaxSpeed(speed1); |
tomo370 | 1:cf2f5992241c | 444 | stepper1.setAcceleration(Acceleration1); |
tomo370 | 1:cf2f5992241c | 445 | |
tomo370 | 2:198becff12f4 | 446 | position2 = map(position2, 0, 0xFFFF, 0, max2); |
tomo370 | 2:198becff12f4 | 447 | stepper2.setMaxSpeed(speed2); |
tomo370 | 2:198becff12f4 | 448 | stepper2.setAcceleration(Acceleration2); |
tomo370 | 1:cf2f5992241c | 449 | |
tomo370 | 1:cf2f5992241c | 450 | stepper1.moveTo(position1); |
tomo370 | 2:198becff12f4 | 451 | stepper2.moveTo(position2); |
tomo370 | 1:cf2f5992241c | 452 | |
tomo370 | 1:cf2f5992241c | 453 | checkSafeBreak(); |
tomo370 | 1:cf2f5992241c | 454 | stepper1.run(); |
tomo370 | 2:198becff12f4 | 455 | stepper2.run(); |
tomo370 | 1:cf2f5992241c | 456 | } |
tomo370 | 1:cf2f5992241c | 457 | } |