aircord / Mbed 2 deprecated dmx_to_stepper

test2017-1-13

Dependencies:   AT24C1024 DMX-STM32 mbed

main.cpp@6:2a9e0228f81d, 2017-04-05 (annotated)

Committer:
tomo370
Date:
Wed Apr 05 12:40:41 2017 +0000
Revision:
6:2a9e0228f81d
Parent:
5:fd097a259856
Child:
7:813cdaad1200
honban20170405;

Who changed what in which revision?

UserRevisionLine numberNew 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 6:2a9e0228f81d 6 //モータ制御基板の通し番号を設定してください　　初期設定は１です
tomo370 5:fd097a259856 7 #define BoardNumber 1
tomo370 5:fd097a259856 8
tomo370 5:fd097a259856 9 //Ticker to;
tomo370 4:c3f3fdde7eee 10
tomo370 0:d94213e24c2e 11 Timer t;
tomo370 1:cf2f5992241c 12 DigitalOut dmxEnable(D8); //基本L（レシーブ）に固定します
tomo370 0:d94213e24c2e 13 DMX dmx(PA_9, PA_10);
tomo370 0:d94213e24c2e 14
tomo370 1:cf2f5992241c 15 I2C i2c(D4, D5); // SDA, SCL
tomo370 1:cf2f5992241c 16 AT24C1024 at24c1024(i2c); // Atmel 1Mbit EE-PROM
tomo370 0:d94213e24c2e 17
tomo370 1:cf2f5992241c 18 AccelStepper stepper1(1, D9, D6); // step, direction
tomo370 1:cf2f5992241c 19 AccelStepper stepper2(1, D10, D7); // step, direction
tomo370 1:cf2f5992241c 20
tomo370 1:cf2f5992241c 21 //モーター１ CN0とCN1を使用
tomo370 0:d94213e24c2e 22 DigitalOut stepper1Enable(D2);
tomo370 0:d94213e24c2e 23 DigitalOut stepper1MS1(D11);
tomo370 0:d94213e24c2e 24 DigitalOut stepper1MS2(D12);
tomo370 4:c3f3fdde7eee 25 DigitalOut stepper1MS3(A4);
tomo370 0:d94213e24c2e 26
tomo370 1:cf2f5992241c 27 //モーター２ CN2とCN3を使用
tomo370 0:d94213e24c2e 28 DigitalOut stepper2Enable(D3);
tomo370 0:d94213e24c2e 29 DigitalOut stepper2MS1(A5);
tomo370 0:d94213e24c2e 30 DigitalOut stepper2MS2(A6);
tomo370 0:d94213e24c2e 31 DigitalOut stepper2MS3(A7);
tomo370 0:d94213e24c2e 32
tomo370 1:cf2f5992241c 33 DigitalIn EndSW1(A0); //CN4 //３端子エンドスイッチ１ 予備
tomo370 1:cf2f5992241c 34 DigitalIn EndSW2(A1); //CN5 //３端子エンドスイッチ２ 予備
tomo370 1:cf2f5992241c 35 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 36 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 37
tomo370 1:cf2f5992241c 38 DigitalOut myLED(LED3); //動作確認用LED
tomo370 1:cf2f5992241c 39
tomo370 1:cf2f5992241c 40 unsigned long position1, position2; //モーター１の設定位置
tomo370 1:cf2f5992241c 41 unsigned long max1, max2;
tomo370 1:cf2f5992241c 42 unsigned long speed1, speed2;
tomo370 1:cf2f5992241c 43 unsigned long Acceleration1, Acceleration2;
tomo370 1:cf2f5992241c 44 unsigned long param1, param2;
tomo370 1:cf2f5992241c 45 unsigned long dmxInHighBit, dmxInLowBit;
tomo370 2:198becff12f4 46 unsigned long HighBit, LowBit;
tomo370 1:cf2f5992241c 47
tomo370 4:c3f3fdde7eee 48 bool manipulateMode1 = false; //0:手動 1:自動
tomo370 4:c3f3fdde7eee 49 bool manipulateMode2 = false; //0:手動 1:自動
tomo370 1:cf2f5992241c 50
tomo370 1:cf2f5992241c 51
tomo370 5:fd097a259856 52 //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：１６個
tomo370 5:fd097a259856 53 #define CH_Origin BoardNumber * 32 - 32
tomo370 0:d94213e24c2e 54
tomo370 1:cf2f5992241c 55 #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 56 #define DMX_Position1_L CH_Origin + 1
tomo370 1:cf2f5992241c 57 #define DMX_Speed1_H CH_Origin + 2
tomo370 1:cf2f5992241c 58 #define DMX_Speed1_L CH_Origin + 3
tomo370 1:cf2f5992241c 59 #define DMX_Acceleration1_H CH_Origin + 4
tomo370 1:cf2f5992241c 60 #define DMX_Acceleration1_L CH_Origin + 5
tomo370 1:cf2f5992241c 61 #define DMX_Max1_H CH_Origin + 6
tomo370 1:cf2f5992241c 62 #define DMX_Max1_L CH_Origin + 7
tomo370 1:cf2f5992241c 63 #define DMX_Offset1_H CH_Origin + 8
tomo370 1:cf2f5992241c 64 #define DMX_Offset1_L CH_Origin + 9
tomo370 1:cf2f5992241c 65 #define DMX_SaveValue1_H CH_Origin + 10
tomo370 1:cf2f5992241c 66 #define DMX_SaveValue1_L CH_Origin + 11
tomo370 1:cf2f5992241c 67 #define DMX_ParmSetMode1_H CH_Origin + 12
tomo370 1:cf2f5992241c 68 #define DMX_ParmSetMode1_L CH_Origin + 13
tomo370 5:fd097a259856 69 #define DMX_Initialize1_H CH_Origin + 14
tomo370 5:fd097a259856 70 #define DMX_Initialize1_L CH_Origin + 15
tomo370 0:d94213e24c2e 71
tomo370 5:fd097a259856 72 //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：１６個
tomo370 1:cf2f5992241c 73 #define DMX_Position2_H CH_Origin + 16
tomo370 1:cf2f5992241c 74 #define DMX_Position2_L CH_Origin + 17
tomo370 1:cf2f5992241c 75 #define DMX_Speed2_H CH_Origin + 18
tomo370 1:cf2f5992241c 76 #define DMX_Speed2_L CH_Origin + 19
tomo370 1:cf2f5992241c 77 #define DMX_Acceleration2_H CH_Origin + 20
tomo370 1:cf2f5992241c 78 #define DMX_Acceleration2_L CH_Origin + 21
tomo370 1:cf2f5992241c 79 #define DMX_Max2_H CH_Origin + 22
tomo370 1:cf2f5992241c 80 #define DMX_Max2_L CH_Origin + 23
tomo370 1:cf2f5992241c 81 #define DMX_Offset2_H CH_Origin + 24
tomo370 1:cf2f5992241c 82 #define DMX_Offset2_L CH_Origin + 25
tomo370 1:cf2f5992241c 83 #define DMX_SaveValue2_H CH_Origin + 26
tomo370 1:cf2f5992241c 84 #define DMX_SaveValue2_L CH_Origin + 27
tomo370 1:cf2f5992241c 85 #define DMX_ParmSetMode2_H CH_Origin + 28
tomo370 1:cf2f5992241c 86 #define DMX_ParmSetMode2_L CH_Origin + 29
tomo370 5:fd097a259856 87 #define DMX_Initialize2_H CH_Origin + 30
tomo370 5:fd097a259856 88 #define DMX_Initialize2_L CH_Origin + 31
tomo370 1:cf2f5992241c 89
tomo370 4:c3f3fdde7eee 90 //モーターの回転方向　TMCは1 DRVは-1に設定すること
tomo370 4:c3f3fdde7eee 91 //未実装（実装予定）
tomo370 4:c3f3fdde7eee 92
tomo370 4:c3f3fdde7eee 93 //ステップ数の調整用の係数
tomo370 4:c3f3fdde7eee 94 float StepAdj1 = 1;
tomo370 4:c3f3fdde7eee 95 float StepAdj2 = 1;
tomo370 4:c3f3fdde7eee 96
tomo370 4:c3f3fdde7eee 97 //ステップ数設定　1:DRV full, 2:DRV 1/2, 3:DRV 1/4, 4:DRV 1/8, 5:DRV 1/16, 6:DRV 1/32, 7:TMC StealthChop µ16
tomo370 4:c3f3fdde7eee 98 #define StepSize1 3
tomo370 4:c3f3fdde7eee 99 #define StepSize2 4
tomo370 4:c3f3fdde7eee 100
tomo370 4:c3f3fdde7eee 101
tomo370 5:fd097a259856 102 //未実装
tomo370 4:c3f3fdde7eee 103 void calc()
tomo370 4:c3f3fdde7eee 104 {
tomo370 4:c3f3fdde7eee 105 stepper1.newSpeed();
tomo370 4:c3f3fdde7eee 106 }
tomo370 4:c3f3fdde7eee 107
tomo370 1:cf2f5992241c 108 //map
tomo370 0:d94213e24c2e 109 long map(long x, long in_min, long in_max, long out_min, long out_max)
tomo370 0:d94213e24c2e 110 {
tomo370 0:d94213e24c2e 111 return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
tomo370 0:d94213e24c2e 112 }
tomo370 0:d94213e24c2e 113
tomo370 1:cf2f5992241c 114 void blink()
tomo370 1:cf2f5992241c 115 {
tomo370 1:cf2f5992241c 116 for(int i=0; i<5; i++) {
tomo370 1:cf2f5992241c 117 myLED=0;
tomo370 1:cf2f5992241c 118 wait_ms(60);
tomo370 1:cf2f5992241c 119 myLED=1;
tomo370 1:cf2f5992241c 120 wait_ms(60);
tomo370 1:cf2f5992241c 121 }
tomo370 1:cf2f5992241c 122 }
tomo370 1:cf2f5992241c 123
tomo370 0:d94213e24c2e 124 void checkSW()
tomo370 0:d94213e24c2e 125 {
tomo370 1:cf2f5992241c 126 //モーター１用エンドスイッチのチェック
tomo370 5:fd097a259856 127 if(EndSW1.read() == 0) {
tomo370 0:d94213e24c2e 128 stepper1.stop();
tomo370 0:d94213e24c2e 129 stepper1.setCurrentPosition(0);
tomo370 0:d94213e24c2e 130 }
tomo370 1:cf2f5992241c 131
tomo370 1:cf2f5992241c 132 //モーター２用エンドスイッチのチェック
tomo370 5:fd097a259856 133 if(EndSW2.read() == 0) {
tomo370 1:cf2f5992241c 134 stepper2.stop();
tomo370 1:cf2f5992241c 135 stepper2.setCurrentPosition(0);
tomo370 1:cf2f5992241c 136 }
tomo370 0:d94213e24c2e 137 }
tomo370 0:d94213e24c2e 138
tomo370 4:c3f3fdde7eee 139
tomo370 4:c3f3fdde7eee 140 //モーター１のみの往復テスト
tomo370 4:c3f3fdde7eee 141 void testMove1()
tomo370 0:d94213e24c2e 142 {
tomo370 4:c3f3fdde7eee 143 //initなしの場合
tomo370 4:c3f3fdde7eee 144 stepper1.setCurrentPosition(0);
tomo370 4:c3f3fdde7eee 145 stepper1.setMaxSpeed(4000 / StepAdj1);
tomo370 4:c3f3fdde7eee 146 stepper1.setAcceleration(20000 / StepAdj1);
tomo370 0:d94213e24c2e 147
tomo370 4:c3f3fdde7eee 148 stepper1.setMaxSpeed(180000);
tomo370 4:c3f3fdde7eee 149 while(1) {
tomo370 4:c3f3fdde7eee 150 stepper1.moveTo(3200);
tomo370 4:c3f3fdde7eee 151 //stepper1.moveTo(800 / StepAdj1);
tomo370 4:c3f3fdde7eee 152 while(stepper1.distanceToGo() != 0) {
tomo370 4:c3f3fdde7eee 153 stepper1.run();
tomo370 4:c3f3fdde7eee 154 }
tomo370 4:c3f3fdde7eee 155 wait(0.5);
tomo370 4:c3f3fdde7eee 156 //stepper1.moveTo(0 / StepAdj1);
tomo370 4:c3f3fdde7eee 157 stepper1.moveTo(0);
tomo370 4:c3f3fdde7eee 158 while(stepper1.distanceToGo() != 0) {
tomo370 4:c3f3fdde7eee 159 stepper1.run();
tomo370 4:c3f3fdde7eee 160 }
tomo370 4:c3f3fdde7eee 161 wait(0.5);
tomo370 4:c3f3fdde7eee 162 }
tomo370 0:d94213e24c2e 163 }
tomo370 0:d94213e24c2e 164
tomo370 3:dd2305e50390 165
tomo370 5:fd097a259856 166 //モーター２個同時の往復テスト
tomo370 4:c3f3fdde7eee 167 void testMove2()
tomo370 4:c3f3fdde7eee 168 {
tomo370 4:c3f3fdde7eee 169 stepper1.setMaxSpeed(10000 / StepAdj1);
tomo370 4:c3f3fdde7eee 170 stepper2.setMaxSpeed(10000 / StepAdj2);
tomo370 4:c3f3fdde7eee 171
tomo370 4:c3f3fdde7eee 172 stepper1.setMaxSpeed(180000);
tomo370 4:c3f3fdde7eee 173
tomo370 4:c3f3fdde7eee 174 while(1) {
tomo370 4:c3f3fdde7eee 175 stepper1.moveTo(20000 / StepAdj1);
tomo370 4:c3f3fdde7eee 176 stepper2.moveTo(20000 / StepAdj2);
tomo370 4:c3f3fdde7eee 177 while(stepper1.distanceToGo() != 0) {
tomo370 4:c3f3fdde7eee 178 stepper1.run();
tomo370 5:fd097a259856 179 stepper2.run();
tomo370 4:c3f3fdde7eee 180 }
tomo370 5:fd097a259856 181 while(stepper2.distanceToGo() != 0) {
tomo370 5:fd097a259856 182 stepper1.run();
tomo370 5:fd097a259856 183 stepper2.run();
tomo370 5:fd097a259856 184 }
tomo370 4:c3f3fdde7eee 185
tomo370 4:c3f3fdde7eee 186 stepper1.moveTo(500 / StepAdj1);
tomo370 5:fd097a259856 187 stepper2.moveTo(500 / StepAdj2);
tomo370 4:c3f3fdde7eee 188 while(stepper1.distanceToGo() != 0) {
tomo370 4:c3f3fdde7eee 189 stepper1.run();
tomo370 5:fd097a259856 190 stepper2.run();
tomo370 4:c3f3fdde7eee 191 }
tomo370 4:c3f3fdde7eee 192 while(stepper2.distanceToGo() != 0) {
tomo370 5:fd097a259856 193 stepper2.run();
tomo370 4:c3f3fdde7eee 194 stepper1.run();
tomo370 4:c3f3fdde7eee 195 }
tomo370 4:c3f3fdde7eee 196 }
tomo370 4:c3f3fdde7eee 197 }
tomo370 4:c3f3fdde7eee 198
tomo370 6:2a9e0228f81d 199
tomo370 5:fd097a259856 200 void interuptInit1()
tomo370 5:fd097a259856 201 {
tomo370 5:fd097a259856 202 stepper1.setMaxSpeed(4000 / StepAdj1);
tomo370 5:fd097a259856 203 stepper1.setAcceleration(20000 / StepAdj1);
tomo370 5:fd097a259856 204
tomo370 6:2a9e0228f81d 205 //15度程度の後退動作
tomo370 6:2a9e0228f81d 206 stepper1.moveTo(100);
tomo370 6:2a9e0228f81d 207 while(stepper1.distanceToGo() != 0) {
tomo370 6:2a9e0228f81d 208 stepper1.run();
tomo370 6:2a9e0228f81d 209 }
tomo370 6:2a9e0228f81d 210
tomo370 5:fd097a259856 211 //原点復帰動作
tomo370 6:2a9e0228f81d 212 stepper1.setCurrentPosition(-1);
tomo370 5:fd097a259856 213 stepper1.moveTo(-30000 / StepAdj1);
tomo370 5:fd097a259856 214 while(stepper1.currentPosition() != 0) {
tomo370 5:fd097a259856 215 stepper1.run();
tomo370 5:fd097a259856 216 checkSW();
tomo370 5:fd097a259856 217 }
tomo370 5:fd097a259856 218 //初期位置へ移動
tomo370 5:fd097a259856 219 //something
tomo370 5:fd097a259856 220 }
tomo370 5:fd097a259856 221
tomo370 5:fd097a259856 222 void interuptInit2()
tomo370 5:fd097a259856 223 {
tomo370 5:fd097a259856 224 stepper2.setMaxSpeed(4000 / StepAdj2);
tomo370 5:fd097a259856 225 stepper2.setAcceleration(20000 / StepAdj2);
tomo370 5:fd097a259856 226
tomo370 6:2a9e0228f81d 227 //15度程度の後退動作
tomo370 6:2a9e0228f81d 228 stepper2.moveTo(100);
tomo370 6:2a9e0228f81d 229 while(stepper2.distanceToGo() != 0) {
tomo370 6:2a9e0228f81d 230 stepper2.run();
tomo370 6:2a9e0228f81d 231 }
tomo370 6:2a9e0228f81d 232
tomo370 5:fd097a259856 233 //原点復帰動作
tomo370 6:2a9e0228f81d 234 stepper2.setCurrentPosition(-1);
tomo370 5:fd097a259856 235 stepper2.moveTo(-30000 / StepAdj2);
tomo370 5:fd097a259856 236 while(stepper2.currentPosition() != 0) {
tomo370 5:fd097a259856 237 stepper2.run();
tomo370 5:fd097a259856 238 checkSW();
tomo370 5:fd097a259856 239 }
tomo370 5:fd097a259856 240 //初期位置へ移動
tomo370 5:fd097a259856 241 //something
tomo370 5:fd097a259856 242 }
tomo370 5:fd097a259856 243
tomo370 5:fd097a259856 244
tomo370 3:dd2305e50390 245 void init1()
tomo370 0:d94213e24c2e 246 {
tomo370 4:c3f3fdde7eee 247 stepper1.setMaxSpeed(4000 / StepAdj1);
tomo370 4:c3f3fdde7eee 248 stepper1.setAcceleration(20000 / StepAdj1);
tomo370 6:2a9e0228f81d 249
tomo370 6:2a9e0228f81d 250 //30度程度の後退動作
tomo370 6:2a9e0228f81d 251 stepper1.moveTo(200);
tomo370 6:2a9e0228f81d 252 while(stepper1.distanceToGo() != 0) {
tomo370 6:2a9e0228f81d 253 stepper1.run();
tomo370 6:2a9e0228f81d 254 }
tomo370 6:2a9e0228f81d 255 stepper1.setCurrentPosition(-1);
tomo370 6:2a9e0228f81d 256
tomo370 6:2a9e0228f81d 257 //反時計回りに回転、エンドスイッチで停止
tomo370 4:c3f3fdde7eee 258 stepper1.moveTo(-30000 / StepAdj1);
tomo370 0:d94213e24c2e 259 while(stepper1.currentPosition() != 0) {
tomo370 0:d94213e24c2e 260 stepper1.run();
tomo370 0:d94213e24c2e 261 checkSW();
tomo370 0:d94213e24c2e 262 }
tomo370 5:fd097a259856 263 // stepper1.moveTo(500 / StepAdj1);
tomo370 5:fd097a259856 264 // while(stepper1.distanceToGo() != 0) stepper1.run();
tomo370 3:dd2305e50390 265 }
tomo370 3:dd2305e50390 266
tomo370 3:dd2305e50390 267 void init2()
tomo370 3:dd2305e50390 268 {
tomo370 6:2a9e0228f81d 269
tomo370 4:c3f3fdde7eee 270 stepper2.setMaxSpeed(4000 / StepAdj2);
tomo370 4:c3f3fdde7eee 271 stepper2.setAcceleration(20000 / StepAdj2);
tomo370 6:2a9e0228f81d 272
tomo370 6:2a9e0228f81d 273 //３０度程度時計回りに回転動作
tomo370 6:2a9e0228f81d 274 stepper2.moveTo(200);
tomo370 6:2a9e0228f81d 275 while(stepper2.distanceToGo() != 0) {
tomo370 6:2a9e0228f81d 276 stepper2.run();
tomo370 6:2a9e0228f81d 277 }
tomo370 6:2a9e0228f81d 278
tomo370 6:2a9e0228f81d 279 stepper2.setCurrentPosition(-1);
tomo370 6:2a9e0228f81d 280
tomo370 6:2a9e0228f81d 281 //反時計回りに回転、エンドスイッチで停止
tomo370 4:c3f3fdde7eee 282 stepper2.moveTo(-30000 / StepAdj2);
tomo370 1:cf2f5992241c 283 while(stepper2.currentPosition() != 0) {
tomo370 1:cf2f5992241c 284 stepper2.run();
tomo370 1:cf2f5992241c 285 checkSW();
tomo370 1:cf2f5992241c 286 }
tomo370 4:c3f3fdde7eee 287 }
tomo370 4:c3f3fdde7eee 288
tomo370 4:c3f3fdde7eee 289 void initBoth()
tomo370 4:c3f3fdde7eee 290 {
tomo370 4:c3f3fdde7eee 291 stepper1.setCurrentPosition(-1);
tomo370 4:c3f3fdde7eee 292 stepper1.setMaxSpeed(4000 / StepAdj1);
tomo370 4:c3f3fdde7eee 293 stepper1.setAcceleration(20000 / StepAdj1);
tomo370 4:c3f3fdde7eee 294 stepper1.moveTo(-30000 / StepAdj1);
tomo370 4:c3f3fdde7eee 295
tomo370 4:c3f3fdde7eee 296 stepper2.setCurrentPosition(-1);
tomo370 4:c3f3fdde7eee 297 stepper2.setMaxSpeed(4000 / StepAdj2);
tomo370 4:c3f3fdde7eee 298 stepper2.setAcceleration(20000 / StepAdj2);
tomo370 4:c3f3fdde7eee 299 stepper2.moveTo(-30000 / StepAdj2);
tomo370 4:c3f3fdde7eee 300
tomo370 4:c3f3fdde7eee 301 while((stepper1.distanceToGo() != 0)||(stepper2.distanceToGo() != 0)) {
tomo370 4:c3f3fdde7eee 302 if (stepper1.distanceToGo() != 0) stepper1.run();
tomo370 4:c3f3fdde7eee 303 if (stepper2.distanceToGo() != 0) stepper2.run();
tomo370 4:c3f3fdde7eee 304 checkSW();
tomo370 4:c3f3fdde7eee 305 }
tomo370 4:c3f3fdde7eee 306 stepper1.moveTo(500 / StepAdj1);
tomo370 4:c3f3fdde7eee 307 stepper2.moveTo(500 / StepAdj2);
tomo370 4:c3f3fdde7eee 308 while((stepper1.distanceToGo() != 0)||(stepper2.distanceToGo() != 0)) {
tomo370 4:c3f3fdde7eee 309 if (stepper1.distanceToGo() != 0) stepper1.run();
tomo370 4:c3f3fdde7eee 310 if (stepper2.distanceToGo() != 0) stepper2.run();
tomo370 1:cf2f5992241c 311 }
tomo370 1:cf2f5992241c 312 }
tomo370 1:cf2f5992241c 313
tomo370 3:dd2305e50390 314
tomo370 1:cf2f5992241c 315 void checkSafeBreak()
tomo370 1:cf2f5992241c 316 {
tomo370 5:fd097a259856 317 //モーター１用エンドスイッチのチェック
tomo370 5:fd097a259856 318 if(EndSW1.read() == 1) {
tomo370 1:cf2f5992241c 319 stepper1.stop();
tomo370 1:cf2f5992241c 320 while(1) {
tomo370 1:cf2f5992241c 321 blink();
tomo370 1:cf2f5992241c 322 }
tomo370 1:cf2f5992241c 323 }
tomo370 1:cf2f5992241c 324
tomo370 1:cf2f5992241c 325 //モーター２用エンドスイッチのチェック
tomo370 5:fd097a259856 326 if(EndSW2.read() == 1) {
tomo370 1:cf2f5992241c 327 stepper2.stop();
tomo370 1:cf2f5992241c 328 while(1) {
tomo370 1:cf2f5992241c 329 blink();
tomo370 1:cf2f5992241c 330 }
tomo370 1:cf2f5992241c 331 }
tomo370 1:cf2f5992241c 332 }
tomo370 1:cf2f5992241c 333
tomo370 5:fd097a259856 334
tomo370 1:cf2f5992241c 335 //モーター１のパラメータ保存
tomo370 1:cf2f5992241c 336 void paramStore1()
tomo370 1:cf2f5992241c 337 {
tomo370 1:cf2f5992241c 338 //速度
tomo370 2:198becff12f4 339 uint8_t dt = dmx.get(DMX_Speed1_H);
tomo370 2:198becff12f4 340 at24c1024.write(DMX_Speed1_H, dt);
tomo370 2:198becff12f4 341 wait_ms(2);
tomo370 2:198becff12f4 342 dt = dmx.get(DMX_Speed1_L);
tomo370 2:198becff12f4 343 at24c1024.write(DMX_Speed1_L, dt);
tomo370 1:cf2f5992241c 344 wait_ms(2);
tomo370 1:cf2f5992241c 345
tomo370 1:cf2f5992241c 346 //加速度
tomo370 1:cf2f5992241c 347 dt = dmx.get(DMX_Acceleration1_H);
tomo370 1:cf2f5992241c 348 at24c1024.write(DMX_Acceleration1_H, dt);
tomo370 2:198becff12f4 349 wait_ms(2);
tomo370 1:cf2f5992241c 350 dt = dmx.get(DMX_Acceleration1_L);
tomo370 1:cf2f5992241c 351 at24c1024.write(DMX_Acceleration1_L, dt);
tomo370 2:198becff12f4 352 wait_ms(2);
tomo370 1:cf2f5992241c 353
tomo370 1:cf2f5992241c 354 //最大値
tomo370 1:cf2f5992241c 355 dt = dmx.get(DMX_Max1_H);
tomo370 1:cf2f5992241c 356 at24c1024.write(DMX_Max1_H, dt);
tomo370 2:198becff12f4 357 wait_ms(2);
tomo370 1:cf2f5992241c 358 dt = dmx.get(DMX_Max1_L);
tomo370 1:cf2f5992241c 359 at24c1024.write(DMX_Max1_L, dt);
tomo370 1:cf2f5992241c 360
tomo370 1:cf2f5992241c 361 wait_ms(5);
tomo370 1:cf2f5992241c 362 }
tomo370 1:cf2f5992241c 363
tomo370 2:198becff12f4 364 //モーター２のパラメータ保存
tomo370 2:198becff12f4 365 void paramStore2()
tomo370 2:198becff12f4 366 {
tomo370 2:198becff12f4 367 //速度
tomo370 2:198becff12f4 368 uint8_t dt = dmx.get(DMX_Speed2_H);
tomo370 2:198becff12f4 369 at24c1024.write(DMX_Speed2_H, dt);
tomo370 2:198becff12f4 370 wait_ms(2);
tomo370 2:198becff12f4 371 dt = dmx.get(DMX_Speed2_L);
tomo370 2:198becff12f4 372 at24c1024.write(DMX_Speed2_L, dt);
tomo370 2:198becff12f4 373 wait_ms(2);
tomo370 2:198becff12f4 374
tomo370 2:198becff12f4 375 //加速度
tomo370 2:198becff12f4 376 dt = dmx.get(DMX_Acceleration2_H);
tomo370 2:198becff12f4 377 at24c1024.write(DMX_Acceleration2_H, dt);
tomo370 2:198becff12f4 378 wait_ms(2);
tomo370 2:198becff12f4 379 dt = dmx.get(DMX_Acceleration2_L);
tomo370 2:198becff12f4 380 at24c1024.write(DMX_Acceleration2_L, dt);
tomo370 2:198becff12f4 381 wait_ms(2);
tomo370 2:198becff12f4 382
tomo370 2:198becff12f4 383 //最大値
tomo370 2:198becff12f4 384 dt = dmx.get(DMX_Max2_H);
tomo370 2:198becff12f4 385 at24c1024.write(DMX_Max2_H, dt);
tomo370 2:198becff12f4 386 wait_ms(2);
tomo370 2:198becff12f4 387 dt = dmx.get(DMX_Max2_L);
tomo370 2:198becff12f4 388 at24c1024.write(DMX_Max2_L, dt);
tomo370 2:198becff12f4 389
tomo370 2:198becff12f4 390 wait_ms(2);
tomo370 2:198becff12f4 391 }
tomo370 2:198becff12f4 392
tomo370 2:198becff12f4 393
tomo370 1:cf2f5992241c 394 //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 395 void captureSliderValue()
tomo370 1:cf2f5992241c 396 {
tomo370 1:cf2f5992241c 397 dmxInHighBit = dmx.get(DMX_Speed1_H);
tomo370 1:cf2f5992241c 398 dmxInLowBit = dmx.get(DMX_Speed1_L);
tomo370 1:cf2f5992241c 399 dmxInHighBit = dmxInHighBit << 8;
tomo370 1:cf2f5992241c 400 speed1 = (long)(dmxInHighBit + dmxInLowBit);
tomo370 1:cf2f5992241c 401
tomo370 6:2a9e0228f81d 402 //（停止中）
tomo370 6:2a9e0228f81d 403 // dmxInHighBit = dmx.get(DMX_Speed2_H);
tomo370 6:2a9e0228f81d 404 // dmxInLowBit = dmx.get(DMX_Speed2_L);
tomo370 6:2a9e0228f81d 405 // dmxInHighBit = dmxInHighBit << 8;
tomo370 6:2a9e0228f81d 406 // speed2 = (long)(dmxInHighBit + dmxInLowBit);
tomo370 1:cf2f5992241c 407
tomo370 1:cf2f5992241c 408 dmxInHighBit = dmx.get(DMX_Acceleration1_H);
tomo370 1:cf2f5992241c 409 dmxInLowBit = dmx.get(DMX_Acceleration1_L);
tomo370 1:cf2f5992241c 410 dmxInHighBit = dmxInHighBit << 8;
tomo370 1:cf2f5992241c 411 Acceleration1 = (long)(dmxInHighBit + dmxInLowBit);
tomo370 1:cf2f5992241c 412
tomo370 6:2a9e0228f81d 413 //（停止中）
tomo370 6:2a9e0228f81d 414 // dmxInHighBit = dmx.get(DMX_Acceleration2_H);
tomo370 6:2a9e0228f81d 415 // dmxInLowBit = dmx.get(DMX_Acceleration2_L);
tomo370 6:2a9e0228f81d 416 // dmxInHighBit = dmxInHighBit << 8;
tomo370 6:2a9e0228f81d 417 // Acceleration2 = (long)(dmxInHighBit + dmxInLowBit);
tomo370 1:cf2f5992241c 418
tomo370 1:cf2f5992241c 419 dmxInHighBit = dmx.get(DMX_Max1_H);
tomo370 1:cf2f5992241c 420 dmxInLowBit = dmx.get(DMX_Max1_L);
tomo370 1:cf2f5992241c 421 dmxInHighBit = dmxInHighBit << 8;
tomo370 1:cf2f5992241c 422 max1 = (long)(dmxInHighBit + dmxInLowBit);
tomo370 1:cf2f5992241c 423
tomo370 6:2a9e0228f81d 424 //（停止中）
tomo370 6:2a9e0228f81d 425 // dmxInHighBit = dmx.get(DMX_Max2_H);
tomo370 6:2a9e0228f81d 426 // dmxInLowBit = dmx.get(DMX_Max2_L);
tomo370 6:2a9e0228f81d 427 // dmxInHighBit = dmxInHighBit << 8;
tomo370 6:2a9e0228f81d 428 // max2 = (long)(dmxInHighBit + dmxInLowBit);
tomo370 1:cf2f5992241c 429 }
tomo370 0:d94213e24c2e 430
tomo370 0:d94213e24c2e 431
tomo370 1:cf2f5992241c 432 //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 433 void readROMValue1()
tomo370 1:cf2f5992241c 434 {
tomo370 1:cf2f5992241c 435 //速度
tomo370 2:198becff12f4 436 HighBit = at24c1024.read(DMX_Speed1_H);
tomo370 2:198becff12f4 437 LowBit = at24c1024.read(DMX_Speed1_L);
tomo370 1:cf2f5992241c 438 HighBit = HighBit << 8;
tomo370 2:198becff12f4 439 speed1 = (long)(HighBit + LowBit);
tomo370 1:cf2f5992241c 440
tomo370 1:cf2f5992241c 441 //加速度
tomo370 1:cf2f5992241c 442 HighBit = at24c1024.read(DMX_Acceleration1_H);
tomo370 1:cf2f5992241c 443 LowBit = at24c1024.read(DMX_Acceleration1_L);
tomo370 1:cf2f5992241c 444 HighBit = HighBit << 8;
tomo370 2:198becff12f4 445 Acceleration1 = (long)(HighBit + LowBit);
tomo370 1:cf2f5992241c 446
tomo370 1:cf2f5992241c 447 //最大値
tomo370 1:cf2f5992241c 448 HighBit = at24c1024.read(DMX_Max1_H);
tomo370 1:cf2f5992241c 449 LowBit = at24c1024.read(DMX_Max1_L);
tomo370 1:cf2f5992241c 450 HighBit = HighBit << 8;
tomo370 2:198becff12f4 451 max1 = (long)(HighBit + LowBit);
tomo370 1:cf2f5992241c 452 }
tomo370 1:cf2f5992241c 453
tomo370 1:cf2f5992241c 454
tomo370 1:cf2f5992241c 455 //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 456 void readROMValue2()
tomo370 1:cf2f5992241c 457 {
tomo370 2:198becff12f4 458 //速度
tomo370 2:198becff12f4 459 HighBit = at24c1024.read(DMX_Speed2_H);
tomo370 2:198becff12f4 460 LowBit = at24c1024.read(DMX_Speed2_L);
tomo370 2:198becff12f4 461 HighBit = HighBit << 8;
tomo370 2:198becff12f4 462 speed2 = (long)(HighBit + LowBit);
tomo370 2:198becff12f4 463
tomo370 2:198becff12f4 464 //加速度
tomo370 2:198becff12f4 465 HighBit = at24c1024.read(DMX_Acceleration2_H);
tomo370 2:198becff12f4 466 LowBit = at24c1024.read(DMX_Acceleration2_L);
tomo370 2:198becff12f4 467 HighBit = HighBit << 8;
tomo370 2:198becff12f4 468 Acceleration2 = (long)(HighBit + LowBit);
tomo370 2:198becff12f4 469
tomo370 2:198becff12f4 470 //最大値
tomo370 2:198becff12f4 471 HighBit = at24c1024.read(DMX_Max2_H);
tomo370 2:198becff12f4 472 LowBit = at24c1024.read(DMX_Max2_L);
tomo370 2:198becff12f4 473 HighBit = HighBit << 8;
tomo370 2:198becff12f4 474 max2 = (long)(HighBit + LowBit);
tomo370 0:d94213e24c2e 475 }
tomo370 0:d94213e24c2e 476
tomo370 0:d94213e24c2e 477
tomo370 1:cf2f5992241c 478 //操作モード切り替えボタンのチェック
tomo370 1:cf2f5992241c 479 void checkManipulateButton()
tomo370 1:cf2f5992241c 480 {
tomo370 1:cf2f5992241c 481 dmxInHighBit = dmx.get(DMX_ParmSetMode1_H);
tomo370 1:cf2f5992241c 482 dmxInLowBit = dmx.get(DMX_ParmSetMode1_L);
tomo370 1:cf2f5992241c 483 if(dmxInHighBit == 102 && dmxInLowBit == 255) {
tomo370 1:cf2f5992241c 484 manipulateMode1 = !manipulateMode1;
tomo370 1:cf2f5992241c 485 blink();
tomo370 1:cf2f5992241c 486 }
tomo370 1:cf2f5992241c 487
tomo370 1:cf2f5992241c 488 dmxInHighBit = dmx.get(DMX_ParmSetMode2_H);
tomo370 1:cf2f5992241c 489 dmxInLowBit = dmx.get(DMX_ParmSetMode2_L);
tomo370 1:cf2f5992241c 490 if(dmxInHighBit == 102 && dmxInLowBit == 255) {
tomo370 1:cf2f5992241c 491 manipulateMode2 = !manipulateMode2;
tomo370 1:cf2f5992241c 492 blink();
tomo370 1:cf2f5992241c 493 }
tomo370 1:cf2f5992241c 494 }
tomo370 1:cf2f5992241c 495
tomo370 1:cf2f5992241c 496 //書き込みボタンのチェック
tomo370 1:cf2f5992241c 497 void checkWriteButton()
tomo370 1:cf2f5992241c 498 {
tomo370 1:cf2f5992241c 499 dmxInHighBit = dmx.get(DMX_SaveValue1_H);
tomo370 1:cf2f5992241c 500 dmxInLowBit = dmx.get(DMX_SaveValue1_L);
tomo370 1:cf2f5992241c 501 dmxInHighBit = dmxInHighBit << 8;
tomo370 1:cf2f5992241c 502 param1 = (long)(dmxInHighBit + dmxInLowBit);
tomo370 1:cf2f5992241c 503
tomo370 1:cf2f5992241c 504 dmxInHighBit = dmx.get(DMX_SaveValue2_H);
tomo370 1:cf2f5992241c 505 dmxInLowBit = dmx.get(DMX_SaveValue2_L);
tomo370 1:cf2f5992241c 506 dmxInHighBit = dmxInHighBit << 8;
tomo370 1:cf2f5992241c 507 param2 = (long)(dmxInHighBit + dmxInLowBit);
tomo370 1:cf2f5992241c 508
tomo370 1:cf2f5992241c 509 if(param1 == 24932) {
tomo370 1:cf2f5992241c 510 paramStore1();
tomo370 1:cf2f5992241c 511 blink();
tomo370 1:cf2f5992241c 512 } else;
tomo370 1:cf2f5992241c 513
tomo370 1:cf2f5992241c 514 if(param2 == 24932) {
tomo370 2:198becff12f4 515 paramStore2();
tomo370 2:198becff12f4 516 blink();
tomo370 1:cf2f5992241c 517 } else;
tomo370 1:cf2f5992241c 518 }
tomo370 1:cf2f5992241c 519
tomo370 5:fd097a259856 520 //原点復帰命令のチェック
tomo370 5:fd097a259856 521 void checkInitCommand1()
tomo370 5:fd097a259856 522 {
tomo370 5:fd097a259856 523 dmxInHighBit = dmx.get(DMX_Initialize1_H);
tomo370 5:fd097a259856 524 dmxInLowBit = dmx.get(DMX_Initialize1_L);
tomo370 5:fd097a259856 525
tomo370 5:fd097a259856 526 if(dmxInHighBit == 75 && dmxInLowBit == 255) {
tomo370 5:fd097a259856 527 interuptInit1();
tomo370 5:fd097a259856 528 }
tomo370 5:fd097a259856 529 }
tomo370 5:fd097a259856 530
tomo370 5:fd097a259856 531 void checkInitCommand2()
tomo370 5:fd097a259856 532 {
tomo370 5:fd097a259856 533 dmxInHighBit = dmx.get(DMX_Initialize2_H);
tomo370 5:fd097a259856 534 dmxInLowBit = dmx.get(DMX_Initialize2_L);
tomo370 5:fd097a259856 535
tomo370 5:fd097a259856 536 if(dmxInHighBit == 75 && dmxInLowBit == 255) {
tomo370 5:fd097a259856 537 interuptInit2();
tomo370 5:fd097a259856 538 }
tomo370 5:fd097a259856 539 }
tomo370 5:fd097a259856 540
tomo370 5:fd097a259856 541
tomo370 4:c3f3fdde7eee 542 //モータードライバの設定
tomo370 4:c3f3fdde7eee 543 void conf1()
tomo370 4:c3f3fdde7eee 544 {
tomo370 4:c3f3fdde7eee 545 switch (StepSize1) {
tomo370 4:c3f3fdde7eee 546 case 1: //DRV8825 full steps
tomo370 4:c3f3fdde7eee 547 stepper1MS1 = 0;
tomo370 4:c3f3fdde7eee 548 stepper1MS2 = 0;
tomo370 4:c3f3fdde7eee 549 stepper1MS3 = 0;
tomo370 4:c3f3fdde7eee 550 StepAdj1 = 16;
tomo370 4:c3f3fdde7eee 551 break;
tomo370 4:c3f3fdde7eee 552
tomo370 4:c3f3fdde7eee 553 case 2: //DRV8825 1/2 steps
tomo370 4:c3f3fdde7eee 554 stepper1MS1 = 1;
tomo370 4:c3f3fdde7eee 555 stepper1MS2 = 0;
tomo370 4:c3f3fdde7eee 556 stepper1MS3 = 0;
tomo370 4:c3f3fdde7eee 557 StepAdj1 = 8;
tomo370 4:c3f3fdde7eee 558 break;
tomo370 4:c3f3fdde7eee 559
tomo370 4:c3f3fdde7eee 560 case 3: //DRV8825 1/4 steps
tomo370 4:c3f3fdde7eee 561 stepper1MS1 = 0;
tomo370 4:c3f3fdde7eee 562 stepper1MS2 = 1;
tomo370 4:c3f3fdde7eee 563 stepper1MS3 = 0;
tomo370 4:c3f3fdde7eee 564 StepAdj1 = 4;
tomo370 4:c3f3fdde7eee 565 break;
tomo370 4:c3f3fdde7eee 566
tomo370 4:c3f3fdde7eee 567 case 4: //DRV8825 1/8 steps
tomo370 4:c3f3fdde7eee 568 stepper1MS1 = 1;
tomo370 4:c3f3fdde7eee 569 stepper1MS2 = 1;
tomo370 4:c3f3fdde7eee 570 stepper1MS3 = 0;
tomo370 4:c3f3fdde7eee 571 StepAdj1 = 2;
tomo370 4:c3f3fdde7eee 572 break;
tomo370 4:c3f3fdde7eee 573
tomo370 4:c3f3fdde7eee 574 case 5: //DRV8825 1/16 steps
tomo370 4:c3f3fdde7eee 575 stepper1MS1 = 0;
tomo370 4:c3f3fdde7eee 576 stepper1MS2 = 0;
tomo370 4:c3f3fdde7eee 577 stepper1MS3 = 1;
tomo370 4:c3f3fdde7eee 578 StepAdj1 = 1;
tomo370 4:c3f3fdde7eee 579 break;
tomo370 4:c3f3fdde7eee 580
tomo370 4:c3f3fdde7eee 581 case 6: //DRV8825 1/32 steps
tomo370 4:c3f3fdde7eee 582 stepper1MS1 = 1;
tomo370 4:c3f3fdde7eee 583 stepper1MS2 = 1;
tomo370 4:c3f3fdde7eee 584 stepper1MS3 = 1;
tomo370 4:c3f3fdde7eee 585 StepAdj1 = 0.5;
tomo370 4:c3f3fdde7eee 586 break;
tomo370 4:c3f3fdde7eee 587
tomo370 4:c3f3fdde7eee 588 case 7: //TMC StealthChop µ16 steps
tomo370 4:c3f3fdde7eee 589 DigitalIn stepper1MS1(D11);
tomo370 4:c3f3fdde7eee 590 DigitalIn stepper1MS2(D12);
tomo370 4:c3f3fdde7eee 591 StepAdj1 = 1;
tomo370 4:c3f3fdde7eee 592 break;
tomo370 4:c3f3fdde7eee 593 }
tomo370 4:c3f3fdde7eee 594 stepper1Enable = 0;
tomo370 4:c3f3fdde7eee 595 }
tomo370 4:c3f3fdde7eee 596
tomo370 4:c3f3fdde7eee 597 void conf2()
tomo370 4:c3f3fdde7eee 598 {
tomo370 4:c3f3fdde7eee 599 switch (StepSize2) {
tomo370 4:c3f3fdde7eee 600 case 1: //DRV8825 full steps
tomo370 4:c3f3fdde7eee 601 stepper2MS1 = 0;
tomo370 4:c3f3fdde7eee 602 stepper2MS2 = 0;
tomo370 4:c3f3fdde7eee 603 stepper2MS3 = 0;
tomo370 4:c3f3fdde7eee 604 StepAdj2 = 16;
tomo370 4:c3f3fdde7eee 605 break;
tomo370 4:c3f3fdde7eee 606
tomo370 4:c3f3fdde7eee 607 case 2: //DRV8825 1/2 steps
tomo370 4:c3f3fdde7eee 608 stepper2MS1 = 1;
tomo370 4:c3f3fdde7eee 609 stepper2MS2 = 0;
tomo370 4:c3f3fdde7eee 610 stepper2MS3 = 0;
tomo370 4:c3f3fdde7eee 611 StepAdj2 = 8;
tomo370 4:c3f3fdde7eee 612 break;
tomo370 4:c3f3fdde7eee 613
tomo370 4:c3f3fdde7eee 614 case 3: //DRV8825 1/4 steps
tomo370 4:c3f3fdde7eee 615 stepper2MS1 = 0;
tomo370 4:c3f3fdde7eee 616 stepper2MS2 = 1;
tomo370 4:c3f3fdde7eee 617 stepper2MS3 = 0;
tomo370 4:c3f3fdde7eee 618 StepAdj2 = 4;
tomo370 4:c3f3fdde7eee 619 break;
tomo370 4:c3f3fdde7eee 620
tomo370 4:c3f3fdde7eee 621 case 4: //DRV8825 1/8 steps
tomo370 4:c3f3fdde7eee 622 stepper2MS1 = 1;
tomo370 4:c3f3fdde7eee 623 stepper2MS2 = 1;
tomo370 4:c3f3fdde7eee 624 stepper2MS3 = 0;
tomo370 4:c3f3fdde7eee 625 StepAdj2 = 2;
tomo370 4:c3f3fdde7eee 626 break;
tomo370 4:c3f3fdde7eee 627
tomo370 4:c3f3fdde7eee 628 case 5: //DRV8825 1/16 steps
tomo370 4:c3f3fdde7eee 629 stepper2MS1 = 0;
tomo370 4:c3f3fdde7eee 630 stepper2MS2 = 0;
tomo370 4:c3f3fdde7eee 631 stepper2MS3 = 1;
tomo370 4:c3f3fdde7eee 632 StepAdj2 = 1;
tomo370 4:c3f3fdde7eee 633 break;
tomo370 4:c3f3fdde7eee 634
tomo370 4:c3f3fdde7eee 635 case 6: //DRV8825 1/32 steps
tomo370 4:c3f3fdde7eee 636 stepper2MS1 = 1;
tomo370 4:c3f3fdde7eee 637 stepper2MS2 = 1;
tomo370 4:c3f3fdde7eee 638 stepper2MS3 = 1;
tomo370 4:c3f3fdde7eee 639 StepAdj2 = 0.5;
tomo370 4:c3f3fdde7eee 640 break;
tomo370 4:c3f3fdde7eee 641
tomo370 4:c3f3fdde7eee 642 case 7: //TMC StealthChop µ16 steps
tomo370 4:c3f3fdde7eee 643 DigitalIn stepper2MS1(D11);
tomo370 4:c3f3fdde7eee 644 DigitalIn stepper2MS2(D12);
tomo370 4:c3f3fdde7eee 645 StepAdj2 = 1;
tomo370 4:c3f3fdde7eee 646 break;
tomo370 4:c3f3fdde7eee 647 }
tomo370 4:c3f3fdde7eee 648 stepper2Enable = 0;
tomo370 4:c3f3fdde7eee 649 }
tomo370 4:c3f3fdde7eee 650
tomo370 1:cf2f5992241c 651
tomo370 0:d94213e24c2e 652 int main()
tomo370 0:d94213e24c2e 653 {
tomo370 5:fd097a259856 654 wait(1);
tomo370 4:c3f3fdde7eee 655
tomo370 4:c3f3fdde7eee 656 dmxEnable = 0; //0:receiver 1:sender
tomo370 0:d94213e24c2e 657
tomo370 4:c3f3fdde7eee 658 conf1(); //motor1 config ドライバの設定
tomo370 4:c3f3fdde7eee 659 conf2(); //motor2 config
tomo370 1:cf2f5992241c 660
tomo370 0:d94213e24c2e 661 t.start();
tomo370 4:c3f3fdde7eee 662 // to.attach(&calc, 0.001);
tomo370 0:d94213e24c2e 663
tomo370 0:d94213e24c2e 664 stepper1.setCurrentPosition(-1);
tomo370 1:cf2f5992241c 665 stepper2.setCurrentPosition(-1);
tomo370 0:d94213e24c2e 666
tomo370 4:c3f3fdde7eee 667 //モーターの初期化シーケンス
tomo370 5:fd097a259856 668 init1();
tomo370 3:dd2305e50390 669 // init2();
tomo370 4:c3f3fdde7eee 670 // initBoth();
tomo370 0:d94213e24c2e 671
tomo370 4:c3f3fdde7eee 672 //往復運動を繰り返すテストシーケンス（無限ループ）
tomo370 5:fd097a259856 673 // testMove1();
tomo370 1:cf2f5992241c 674
tomo370 1:cf2f5992241c 675 myLED =1;
tomo370 1:cf2f5992241c 676
tomo370 2:198becff12f4 677 readROMValue1();
tomo370 5:fd097a259856 678 // readROMValue2();
tomo370 0:d94213e24c2e 679
tomo370 4:c3f3fdde7eee 680 stepper1.setMaxSpeed(10000 / StepAdj1);
tomo370 5:fd097a259856 681 // stepper2.setMaxSpeed(10000 / StepAdj2);
tomo370 4:c3f3fdde7eee 682
tomo370 0:d94213e24c2e 683 while(1) {
tomo370 1:cf2f5992241c 684 //操作モード切り替えボタンのチェック
tomo370 1:cf2f5992241c 685 checkManipulateButton();
tomo370 1:cf2f5992241c 686
tomo370 1:cf2f5992241c 687 //書き込みボタンチェック
tomo370 1:cf2f5992241c 688 checkWriteButton();
tomo370 0:d94213e24c2e 689
tomo370 6:2a9e0228f81d 690 //モーター１の目標位置をDMXから取得
tomo370 1:cf2f5992241c 691 dmxInHighBit = dmx.get(DMX_Position1_H);
tomo370 1:cf2f5992241c 692 dmxInLowBit = dmx.get(DMX_Position1_L);
tomo370 1:cf2f5992241c 693 dmxInHighBit = dmxInHighBit << 8;
tomo370 1:cf2f5992241c 694 position1 = (long)(dmxInHighBit + dmxInLowBit);
tomo370 0:d94213e24c2e 695
tomo370 5:fd097a259856 696 //モーター２の目標位置をスライダーから取得（停止中）
tomo370 5:fd097a259856 697 // dmxInHighBit = dmx.get(DMX_Position2_H);
tomo370 5:fd097a259856 698 // dmxInLowBit = dmx.get(DMX_Position2_L);
tomo370 5:fd097a259856 699 // dmxInHighBit = dmxInHighBit << 8;
tomo370 5:fd097a259856 700 // position2 = (long)(dmxInHighBit + dmxInLowBit);
tomo370 0:d94213e24c2e 701
tomo370 1:cf2f5992241c 702 //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 703 if(manipulateMode1 == false) {
tomo370 1:cf2f5992241c 704 captureSliderValue();
tomo370 2:198becff12f4 705 myLED = 0;
tomo370 1:cf2f5992241c 706 }
tomo370 0:d94213e24c2e 707
tomo370 1:cf2f5992241c 708 //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 709 else {
tomo370 2:198becff12f4 710 myLED = 1;
tomo370 1:cf2f5992241c 711 }
tomo370 0:d94213e24c2e 712
tomo370 6:2a9e0228f81d 713 //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（停止中）
tomo370 6:2a9e0228f81d 714 // if(manipulateMode2 == false) {
tomo370 6:2a9e0228f81d 715 // captureSliderValue();
tomo370 6:2a9e0228f81d 716 // myLED = 0;
tomo370 6:2a9e0228f81d 717 // }
tomo370 2:198becff12f4 718
tomo370 6:2a9e0228f81d 719 //自動モードの場合、EEPROMから値を取得、パラメータを設定（停止中）
tomo370 6:2a9e0228f81d 720 // else {
tomo370 6:2a9e0228f81d 721 // myLED = 1;
tomo370 6:2a9e0228f81d 722 // }
tomo370 1:cf2f5992241c 723
tomo370 5:fd097a259856 724
tomo370 5:fd097a259856 725 //モーター１のパラメーター設定
tomo370 1:cf2f5992241c 726 position1 = map(position1, 0, 0xFFFF, 0, max1);
tomo370 1:cf2f5992241c 727 stepper1.setMaxSpeed(speed1);
tomo370 1:cf2f5992241c 728 stepper1.setAcceleration(Acceleration1);
tomo370 1:cf2f5992241c 729
tomo370 5:fd097a259856 730
tomo370 5:fd097a259856 731 //モーター２のパラメーター設定（停止中）
tomo370 5:fd097a259856 732 //position2 = map(position2, 0, 0xFFFF, 0, max2);
tomo370 5:fd097a259856 733 //stepper2.setMaxSpeed(speed2);
tomo370 5:fd097a259856 734 //stepper2.setAcceleration(Acceleration2);
tomo370 1:cf2f5992241c 735
tomo370 5:fd097a259856 736
tomo370 5:fd097a259856 737 //モーター１の目標位置設定
tomo370 1:cf2f5992241c 738 stepper1.moveTo(position1);
tomo370 5:fd097a259856 739
tomo370 5:fd097a259856 740 //モーター２の目標位置設定（停止中）
tomo370 5:fd097a259856 741 //stepper2.moveTo(position2);
tomo370 1:cf2f5992241c 742
tomo370 4:c3f3fdde7eee 743
tomo370 5:fd097a259856 744 //安全エンドスイッチの監視（停止中）
tomo370 5:fd097a259856 745 //checkSafeBreak();
tomo370 5:fd097a259856 746
tomo370 5:fd097a259856 747 //モーター１への原点復帰命令のチェック
tomo370 5:fd097a259856 748 checkInitCommand1();
tomo370 4:c3f3fdde7eee 749
tomo370 5:fd097a259856 750 //モーター２への原点復帰命令のチェック（停止中）
tomo370 5:fd097a259856 751 //checkInitCommand2();
tomo370 5:fd097a259856 752
tomo370 5:fd097a259856 753 //モーター１の走行
tomo370 4:c3f3fdde7eee 754 if(stepper1.distanceToGo() != 0) stepper1.run();
tomo370 5:fd097a259856 755 //モーター２の走行（停止中）
tomo370 5:fd097a259856 756 //if(stepper2.distanceToGo() != 0) stepper2.run();
tomo370 1:cf2f5992241c 757 }
tomo370 1:cf2f5992241c 758 }