test2017-1-13
Dependencies: AT24C1024 DMX-STM32 mbed
main.cpp@8:2e68b9de685d, 2017-07-28 (annotated)
- Committer:
- tomo370
- Date:
- Fri Jul 28 04:44:42 2017 +0000
- Revision:
- 8:2e68b9de685d
- Parent:
- 7:813cdaad1200
2017_07_28ver
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 | 7:813cdaad1200 | 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 0は使わないでね。 |
tomo370 | 8:2e68b9de685d | 7 | #define BoardNumber 1 |
tomo370 | 8:2e68b9de685d | 8 | |
tomo370 | 8:2e68b9de685d | 9 | //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 | 8:2e68b9de685d | 10 | #define StepSize1 7 |
tomo370 | 8:2e68b9de685d | 11 | #define StepSize2 7 |
tomo370 | 8:2e68b9de685d | 12 | |
tomo370 | 5:fd097a259856 | 13 | |
tomo370 | 7:813cdaad1200 | 14 | Ticker to; |
tomo370 | 4:c3f3fdde7eee | 15 | |
tomo370 | 0:d94213e24c2e | 16 | Timer t; |
tomo370 | 1:cf2f5992241c | 17 | DigitalOut dmxEnable(D8); //基本L(レシーブ)に固定します |
tomo370 | 0:d94213e24c2e | 18 | DMX dmx(PA_9, PA_10); |
tomo370 | 0:d94213e24c2e | 19 | |
tomo370 | 1:cf2f5992241c | 20 | I2C i2c(D4, D5); // SDA, SCL |
tomo370 | 1:cf2f5992241c | 21 | AT24C1024 at24c1024(i2c); // Atmel 1Mbit EE-PROM |
tomo370 | 7:813cdaad1200 | 22 | const int addr = 0x70; |
tomo370 | 0:d94213e24c2e | 23 | |
tomo370 | 1:cf2f5992241c | 24 | AccelStepper stepper1(1, D9, D6); // step, direction |
tomo370 | 1:cf2f5992241c | 25 | AccelStepper stepper2(1, D10, D7); // step, direction |
tomo370 | 1:cf2f5992241c | 26 | |
tomo370 | 1:cf2f5992241c | 27 | //モーター1 CN0とCN1を使用 |
tomo370 | 0:d94213e24c2e | 28 | DigitalOut stepper1Enable(D2); |
tomo370 | 0:d94213e24c2e | 29 | DigitalOut stepper1MS1(D11); |
tomo370 | 0:d94213e24c2e | 30 | DigitalOut stepper1MS2(D12); |
tomo370 | 4:c3f3fdde7eee | 31 | DigitalOut stepper1MS3(A4); |
tomo370 | 0:d94213e24c2e | 32 | |
tomo370 | 1:cf2f5992241c | 33 | //モーター2 CN2とCN3を使用 |
tomo370 | 0:d94213e24c2e | 34 | DigitalOut stepper2Enable(D3); |
tomo370 | 0:d94213e24c2e | 35 | DigitalOut stepper2MS1(A5); |
tomo370 | 0:d94213e24c2e | 36 | DigitalOut stepper2MS2(A6); |
tomo370 | 0:d94213e24c2e | 37 | DigitalOut stepper2MS3(A7); |
tomo370 | 0:d94213e24c2e | 38 | |
tomo370 | 1:cf2f5992241c | 39 | DigitalIn EndSW1(A0); //CN4 //3端子エンドスイッチ1 予備 |
tomo370 | 1:cf2f5992241c | 40 | DigitalIn EndSW2(A1); //CN5 //3端子エンドスイッチ2 予備 |
tomo370 | 1:cf2f5992241c | 41 | 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 | 42 | 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 | 43 | |
tomo370 | 1:cf2f5992241c | 44 | DigitalOut myLED(LED3); //動作確認用LED |
tomo370 | 1:cf2f5992241c | 45 | |
tomo370 | 1:cf2f5992241c | 46 | unsigned long position1, position2; //モーター1の設定位置 |
tomo370 | 1:cf2f5992241c | 47 | unsigned long max1, max2; |
tomo370 | 1:cf2f5992241c | 48 | unsigned long speed1, speed2; |
tomo370 | 1:cf2f5992241c | 49 | unsigned long Acceleration1, Acceleration2; |
tomo370 | 1:cf2f5992241c | 50 | unsigned long param1, param2; |
tomo370 | 1:cf2f5992241c | 51 | unsigned long dmxInHighBit, dmxInLowBit; |
tomo370 | 2:198becff12f4 | 52 | unsigned long HighBit, LowBit; |
tomo370 | 1:cf2f5992241c | 53 | |
tomo370 | 4:c3f3fdde7eee | 54 | bool manipulateMode1 = false; //0:手動 1:自動 |
tomo370 | 4:c3f3fdde7eee | 55 | bool manipulateMode2 = false; //0:手動 1:自動 |
tomo370 | 1:cf2f5992241c | 56 | |
tomo370 | 1:cf2f5992241c | 57 | |
tomo370 | 5:fd097a259856 | 58 | //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 | 59 | #define CH_Origin BoardNumber * 32 - 32 |
tomo370 | 0:d94213e24c2e | 60 | |
tomo370 | 1:cf2f5992241c | 61 | #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 | 62 | #define DMX_Position1_L CH_Origin + 1 |
tomo370 | 1:cf2f5992241c | 63 | #define DMX_Speed1_H CH_Origin + 2 |
tomo370 | 1:cf2f5992241c | 64 | #define DMX_Speed1_L CH_Origin + 3 |
tomo370 | 1:cf2f5992241c | 65 | #define DMX_Acceleration1_H CH_Origin + 4 |
tomo370 | 1:cf2f5992241c | 66 | #define DMX_Acceleration1_L CH_Origin + 5 |
tomo370 | 1:cf2f5992241c | 67 | #define DMX_Max1_H CH_Origin + 6 |
tomo370 | 1:cf2f5992241c | 68 | #define DMX_Max1_L CH_Origin + 7 |
tomo370 | 1:cf2f5992241c | 69 | #define DMX_Offset1_H CH_Origin + 8 |
tomo370 | 1:cf2f5992241c | 70 | #define DMX_Offset1_L CH_Origin + 9 |
tomo370 | 1:cf2f5992241c | 71 | #define DMX_SaveValue1_H CH_Origin + 10 |
tomo370 | 1:cf2f5992241c | 72 | #define DMX_SaveValue1_L CH_Origin + 11 |
tomo370 | 1:cf2f5992241c | 73 | #define DMX_ParmSetMode1_H CH_Origin + 12 |
tomo370 | 1:cf2f5992241c | 74 | #define DMX_ParmSetMode1_L CH_Origin + 13 |
tomo370 | 5:fd097a259856 | 75 | #define DMX_Initialize1_H CH_Origin + 14 |
tomo370 | 5:fd097a259856 | 76 | #define DMX_Initialize1_L CH_Origin + 15 |
tomo370 | 0:d94213e24c2e | 77 | |
tomo370 | 5:fd097a259856 | 78 | //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 | 79 | #define DMX_Position2_H CH_Origin + 16 |
tomo370 | 1:cf2f5992241c | 80 | #define DMX_Position2_L CH_Origin + 17 |
tomo370 | 1:cf2f5992241c | 81 | #define DMX_Speed2_H CH_Origin + 18 |
tomo370 | 1:cf2f5992241c | 82 | #define DMX_Speed2_L CH_Origin + 19 |
tomo370 | 1:cf2f5992241c | 83 | #define DMX_Acceleration2_H CH_Origin + 20 |
tomo370 | 1:cf2f5992241c | 84 | #define DMX_Acceleration2_L CH_Origin + 21 |
tomo370 | 1:cf2f5992241c | 85 | #define DMX_Max2_H CH_Origin + 22 |
tomo370 | 1:cf2f5992241c | 86 | #define DMX_Max2_L CH_Origin + 23 |
tomo370 | 1:cf2f5992241c | 87 | #define DMX_Offset2_H CH_Origin + 24 |
tomo370 | 1:cf2f5992241c | 88 | #define DMX_Offset2_L CH_Origin + 25 |
tomo370 | 1:cf2f5992241c | 89 | #define DMX_SaveValue2_H CH_Origin + 26 |
tomo370 | 1:cf2f5992241c | 90 | #define DMX_SaveValue2_L CH_Origin + 27 |
tomo370 | 1:cf2f5992241c | 91 | #define DMX_ParmSetMode2_H CH_Origin + 28 |
tomo370 | 1:cf2f5992241c | 92 | #define DMX_ParmSetMode2_L CH_Origin + 29 |
tomo370 | 5:fd097a259856 | 93 | #define DMX_Initialize2_H CH_Origin + 30 |
tomo370 | 5:fd097a259856 | 94 | #define DMX_Initialize2_L CH_Origin + 31 |
tomo370 | 1:cf2f5992241c | 95 | |
tomo370 | 4:c3f3fdde7eee | 96 | //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 | 97 | //未実装(実装予定) |
tomo370 | 4:c3f3fdde7eee | 98 | |
tomo370 | 4:c3f3fdde7eee | 99 | //ステップ数の調整用の係数 |
tomo370 | 4:c3f3fdde7eee | 100 | float StepAdj1 = 1; |
tomo370 | 4:c3f3fdde7eee | 101 | float StepAdj2 = 1; |
tomo370 | 4:c3f3fdde7eee | 102 | |
tomo370 | 4:c3f3fdde7eee | 103 | |
tomo370 | 5:fd097a259856 | 104 | //未実装 |
tomo370 | 7:813cdaad1200 | 105 | void sendDataToLPC() |
tomo370 | 4:c3f3fdde7eee | 106 | { |
tomo370 | 7:813cdaad1200 | 107 | char cmd[2]; |
tomo370 | 7:813cdaad1200 | 108 | cmd[0] = 0x51; |
tomo370 | 7:813cdaad1200 | 109 | cmd[1] = 0x51; |
tomo370 | 7:813cdaad1200 | 110 | i2c.write(addr, cmd, 2); |
tomo370 | 7:813cdaad1200 | 111 | |
tomo370 | 7:813cdaad1200 | 112 | //stepper1.newSpeed(); |
tomo370 | 4:c3f3fdde7eee | 113 | } |
tomo370 | 4:c3f3fdde7eee | 114 | |
tomo370 | 1:cf2f5992241c | 115 | //map |
tomo370 | 0:d94213e24c2e | 116 | long map(long x, long in_min, long in_max, long out_min, long out_max) |
tomo370 | 0:d94213e24c2e | 117 | { |
tomo370 | 0:d94213e24c2e | 118 | return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min; |
tomo370 | 0:d94213e24c2e | 119 | } |
tomo370 | 0:d94213e24c2e | 120 | |
tomo370 | 1:cf2f5992241c | 121 | void blink() |
tomo370 | 1:cf2f5992241c | 122 | { |
tomo370 | 1:cf2f5992241c | 123 | for(int i=0; i<5; i++) { |
tomo370 | 1:cf2f5992241c | 124 | myLED=0; |
tomo370 | 1:cf2f5992241c | 125 | wait_ms(60); |
tomo370 | 1:cf2f5992241c | 126 | myLED=1; |
tomo370 | 1:cf2f5992241c | 127 | wait_ms(60); |
tomo370 | 1:cf2f5992241c | 128 | } |
tomo370 | 1:cf2f5992241c | 129 | } |
tomo370 | 1:cf2f5992241c | 130 | |
tomo370 | 0:d94213e24c2e | 131 | void checkSW() |
tomo370 | 0:d94213e24c2e | 132 | { |
tomo370 | 1:cf2f5992241c | 133 | //モーター1用エンドスイッチのチェック |
tomo370 | 8:2e68b9de685d | 134 | if(EndSW3.read() == 1) { |
tomo370 | 0:d94213e24c2e | 135 | stepper1.stop(); |
tomo370 | 0:d94213e24c2e | 136 | stepper1.setCurrentPosition(0); |
tomo370 | 0:d94213e24c2e | 137 | } |
tomo370 | 1:cf2f5992241c | 138 | |
tomo370 | 1:cf2f5992241c | 139 | //モーター2用エンドスイッチのチェック |
tomo370 | 8:2e68b9de685d | 140 | if(EndSW4.read() == 1) { |
tomo370 | 1:cf2f5992241c | 141 | stepper2.stop(); |
tomo370 | 1:cf2f5992241c | 142 | stepper2.setCurrentPosition(0); |
tomo370 | 1:cf2f5992241c | 143 | } |
tomo370 | 0:d94213e24c2e | 144 | } |
tomo370 | 0:d94213e24c2e | 145 | |
tomo370 | 4:c3f3fdde7eee | 146 | |
tomo370 | 4:c3f3fdde7eee | 147 | //モーター1のみの往復テスト |
tomo370 | 4:c3f3fdde7eee | 148 | void testMove1() |
tomo370 | 0:d94213e24c2e | 149 | { |
tomo370 | 4:c3f3fdde7eee | 150 | //initなしの場合 |
tomo370 | 4:c3f3fdde7eee | 151 | stepper1.setCurrentPosition(0); |
tomo370 | 4:c3f3fdde7eee | 152 | stepper1.setMaxSpeed(4000 / StepAdj1); |
tomo370 | 4:c3f3fdde7eee | 153 | stepper1.setAcceleration(20000 / StepAdj1); |
tomo370 | 0:d94213e24c2e | 154 | |
tomo370 | 4:c3f3fdde7eee | 155 | stepper1.setMaxSpeed(180000); |
tomo370 | 4:c3f3fdde7eee | 156 | while(1) { |
tomo370 | 8:2e68b9de685d | 157 | stepper1.moveTo(6200); |
tomo370 | 4:c3f3fdde7eee | 158 | //stepper1.moveTo(800 / StepAdj1); |
tomo370 | 4:c3f3fdde7eee | 159 | while(stepper1.distanceToGo() != 0) { |
tomo370 | 4:c3f3fdde7eee | 160 | stepper1.run(); |
tomo370 | 4:c3f3fdde7eee | 161 | } |
tomo370 | 4:c3f3fdde7eee | 162 | wait(0.5); |
tomo370 | 4:c3f3fdde7eee | 163 | //stepper1.moveTo(0 / StepAdj1); |
tomo370 | 8:2e68b9de685d | 164 | stepper1.moveTo(200); |
tomo370 | 4:c3f3fdde7eee | 165 | while(stepper1.distanceToGo() != 0) { |
tomo370 | 4:c3f3fdde7eee | 166 | stepper1.run(); |
tomo370 | 4:c3f3fdde7eee | 167 | } |
tomo370 | 4:c3f3fdde7eee | 168 | wait(0.5); |
tomo370 | 4:c3f3fdde7eee | 169 | } |
tomo370 | 0:d94213e24c2e | 170 | } |
tomo370 | 0:d94213e24c2e | 171 | |
tomo370 | 3:dd2305e50390 | 172 | |
tomo370 | 5:fd097a259856 | 173 | //モーター2個同時の往復テスト |
tomo370 | 4:c3f3fdde7eee | 174 | void testMove2() |
tomo370 | 4:c3f3fdde7eee | 175 | { |
tomo370 | 4:c3f3fdde7eee | 176 | stepper1.setMaxSpeed(10000 / StepAdj1); |
tomo370 | 4:c3f3fdde7eee | 177 | stepper2.setMaxSpeed(10000 / StepAdj2); |
tomo370 | 4:c3f3fdde7eee | 178 | |
tomo370 | 8:2e68b9de685d | 179 | //stepper1.setMaxSpeed(180000); |
tomo370 | 4:c3f3fdde7eee | 180 | |
tomo370 | 4:c3f3fdde7eee | 181 | while(1) { |
tomo370 | 4:c3f3fdde7eee | 182 | stepper1.moveTo(20000 / StepAdj1); |
tomo370 | 4:c3f3fdde7eee | 183 | stepper2.moveTo(20000 / StepAdj2); |
tomo370 | 4:c3f3fdde7eee | 184 | while(stepper1.distanceToGo() != 0) { |
tomo370 | 4:c3f3fdde7eee | 185 | stepper1.run(); |
tomo370 | 5:fd097a259856 | 186 | stepper2.run(); |
tomo370 | 4:c3f3fdde7eee | 187 | } |
tomo370 | 5:fd097a259856 | 188 | while(stepper2.distanceToGo() != 0) { |
tomo370 | 5:fd097a259856 | 189 | stepper1.run(); |
tomo370 | 5:fd097a259856 | 190 | stepper2.run(); |
tomo370 | 5:fd097a259856 | 191 | } |
tomo370 | 4:c3f3fdde7eee | 192 | |
tomo370 | 4:c3f3fdde7eee | 193 | stepper1.moveTo(500 / StepAdj1); |
tomo370 | 5:fd097a259856 | 194 | stepper2.moveTo(500 / StepAdj2); |
tomo370 | 4:c3f3fdde7eee | 195 | while(stepper1.distanceToGo() != 0) { |
tomo370 | 4:c3f3fdde7eee | 196 | stepper1.run(); |
tomo370 | 5:fd097a259856 | 197 | stepper2.run(); |
tomo370 | 4:c3f3fdde7eee | 198 | } |
tomo370 | 4:c3f3fdde7eee | 199 | while(stepper2.distanceToGo() != 0) { |
tomo370 | 5:fd097a259856 | 200 | stepper2.run(); |
tomo370 | 4:c3f3fdde7eee | 201 | stepper1.run(); |
tomo370 | 4:c3f3fdde7eee | 202 | } |
tomo370 | 4:c3f3fdde7eee | 203 | } |
tomo370 | 4:c3f3fdde7eee | 204 | } |
tomo370 | 4:c3f3fdde7eee | 205 | |
tomo370 | 6:2a9e0228f81d | 206 | |
tomo370 | 5:fd097a259856 | 207 | void interuptInit1() |
tomo370 | 5:fd097a259856 | 208 | { |
tomo370 | 7:813cdaad1200 | 209 | //stepper1.setMaxSpeed(1000); |
tomo370 | 7:813cdaad1200 | 210 | //stepper1.setAcceleration(5000); |
tomo370 | 7:813cdaad1200 | 211 | |
tomo370 | 5:fd097a259856 | 212 | |
tomo370 | 7:813cdaad1200 | 213 | //まずとにかく原点を目指す |
tomo370 | 7:813cdaad1200 | 214 | stepper1.moveTo(1); |
tomo370 | 6:2a9e0228f81d | 215 | while(stepper1.distanceToGo() != 0) { |
tomo370 | 6:2a9e0228f81d | 216 | stepper1.run(); |
tomo370 | 6:2a9e0228f81d | 217 | } |
tomo370 | 6:2a9e0228f81d | 218 | |
tomo370 | 7:813cdaad1200 | 219 | //15度程度の時計回り動作 |
tomo370 | 7:813cdaad1200 | 220 | stepper1.moveTo(200); |
tomo370 | 7:813cdaad1200 | 221 | while(stepper1.distanceToGo() != 0) { |
tomo370 | 7:813cdaad1200 | 222 | stepper1.run(); |
tomo370 | 7:813cdaad1200 | 223 | } |
tomo370 | 7:813cdaad1200 | 224 | |
tomo370 | 7:813cdaad1200 | 225 | //原点復帰動作、反時計回り |
tomo370 | 6:2a9e0228f81d | 226 | stepper1.setCurrentPosition(-1); |
tomo370 | 5:fd097a259856 | 227 | stepper1.moveTo(-30000 / StepAdj1); |
tomo370 | 5:fd097a259856 | 228 | while(stepper1.currentPosition() != 0) { |
tomo370 | 5:fd097a259856 | 229 | stepper1.run(); |
tomo370 | 5:fd097a259856 | 230 | checkSW(); |
tomo370 | 5:fd097a259856 | 231 | } |
tomo370 | 5:fd097a259856 | 232 | //初期位置へ移動 |
tomo370 | 5:fd097a259856 | 233 | //something |
tomo370 | 5:fd097a259856 | 234 | } |
tomo370 | 5:fd097a259856 | 235 | |
tomo370 | 5:fd097a259856 | 236 | void interuptInit2() |
tomo370 | 5:fd097a259856 | 237 | { |
tomo370 | 5:fd097a259856 | 238 | stepper2.setMaxSpeed(4000 / StepAdj2); |
tomo370 | 5:fd097a259856 | 239 | stepper2.setAcceleration(20000 / StepAdj2); |
tomo370 | 5:fd097a259856 | 240 | |
tomo370 | 7:813cdaad1200 | 241 | //まず原点を目指す |
tomo370 | 7:813cdaad1200 | 242 | |
tomo370 | 7:813cdaad1200 | 243 | |
tomo370 | 6:2a9e0228f81d | 244 | //15度程度の後退動作 |
tomo370 | 7:813cdaad1200 | 245 | stepper2.setCurrentPosition(1); |
tomo370 | 6:2a9e0228f81d | 246 | stepper2.moveTo(100); |
tomo370 | 6:2a9e0228f81d | 247 | while(stepper2.distanceToGo() != 0) { |
tomo370 | 6:2a9e0228f81d | 248 | stepper2.run(); |
tomo370 | 6:2a9e0228f81d | 249 | } |
tomo370 | 6:2a9e0228f81d | 250 | |
tomo370 | 5:fd097a259856 | 251 | //原点復帰動作 |
tomo370 | 6:2a9e0228f81d | 252 | stepper2.setCurrentPosition(-1); |
tomo370 | 5:fd097a259856 | 253 | stepper2.moveTo(-30000 / StepAdj2); |
tomo370 | 5:fd097a259856 | 254 | while(stepper2.currentPosition() != 0) { |
tomo370 | 5:fd097a259856 | 255 | stepper2.run(); |
tomo370 | 5:fd097a259856 | 256 | checkSW(); |
tomo370 | 5:fd097a259856 | 257 | } |
tomo370 | 5:fd097a259856 | 258 | //初期位置へ移動 |
tomo370 | 5:fd097a259856 | 259 | //something |
tomo370 | 5:fd097a259856 | 260 | } |
tomo370 | 5:fd097a259856 | 261 | |
tomo370 | 5:fd097a259856 | 262 | |
tomo370 | 3:dd2305e50390 | 263 | void init1() |
tomo370 | 0:d94213e24c2e | 264 | { |
tomo370 | 4:c3f3fdde7eee | 265 | stepper1.setMaxSpeed(4000 / StepAdj1); |
tomo370 | 4:c3f3fdde7eee | 266 | stepper1.setAcceleration(20000 / StepAdj1); |
tomo370 | 6:2a9e0228f81d | 267 | |
tomo370 | 6:2a9e0228f81d | 268 | //30度程度の後退動作 |
tomo370 | 6:2a9e0228f81d | 269 | stepper1.moveTo(200); |
tomo370 | 6:2a9e0228f81d | 270 | while(stepper1.distanceToGo() != 0) { |
tomo370 | 6:2a9e0228f81d | 271 | stepper1.run(); |
tomo370 | 6:2a9e0228f81d | 272 | } |
tomo370 | 6:2a9e0228f81d | 273 | stepper1.setCurrentPosition(-1); |
tomo370 | 6:2a9e0228f81d | 274 | |
tomo370 | 6:2a9e0228f81d | 275 | //反時計回りに回転、エンドスイッチで停止 |
tomo370 | 4:c3f3fdde7eee | 276 | stepper1.moveTo(-30000 / StepAdj1); |
tomo370 | 0:d94213e24c2e | 277 | while(stepper1.currentPosition() != 0) { |
tomo370 | 0:d94213e24c2e | 278 | stepper1.run(); |
tomo370 | 0:d94213e24c2e | 279 | checkSW(); |
tomo370 | 0:d94213e24c2e | 280 | } |
tomo370 | 5:fd097a259856 | 281 | // stepper1.moveTo(500 / StepAdj1); |
tomo370 | 5:fd097a259856 | 282 | // while(stepper1.distanceToGo() != 0) stepper1.run(); |
tomo370 | 3:dd2305e50390 | 283 | } |
tomo370 | 3:dd2305e50390 | 284 | |
tomo370 | 3:dd2305e50390 | 285 | void init2() |
tomo370 | 3:dd2305e50390 | 286 | { |
tomo370 | 6:2a9e0228f81d | 287 | |
tomo370 | 4:c3f3fdde7eee | 288 | stepper2.setMaxSpeed(4000 / StepAdj2); |
tomo370 | 4:c3f3fdde7eee | 289 | stepper2.setAcceleration(20000 / StepAdj2); |
tomo370 | 6:2a9e0228f81d | 290 | |
tomo370 | 6:2a9e0228f81d | 291 | //30度程度時計回りに回転動作 |
tomo370 | 6:2a9e0228f81d | 292 | stepper2.moveTo(200); |
tomo370 | 6:2a9e0228f81d | 293 | while(stepper2.distanceToGo() != 0) { |
tomo370 | 6:2a9e0228f81d | 294 | stepper2.run(); |
tomo370 | 6:2a9e0228f81d | 295 | } |
tomo370 | 6:2a9e0228f81d | 296 | |
tomo370 | 6:2a9e0228f81d | 297 | stepper2.setCurrentPosition(-1); |
tomo370 | 6:2a9e0228f81d | 298 | |
tomo370 | 6:2a9e0228f81d | 299 | //反時計回りに回転、エンドスイッチで停止 |
tomo370 | 4:c3f3fdde7eee | 300 | stepper2.moveTo(-30000 / StepAdj2); |
tomo370 | 1:cf2f5992241c | 301 | while(stepper2.currentPosition() != 0) { |
tomo370 | 1:cf2f5992241c | 302 | stepper2.run(); |
tomo370 | 1:cf2f5992241c | 303 | checkSW(); |
tomo370 | 1:cf2f5992241c | 304 | } |
tomo370 | 4:c3f3fdde7eee | 305 | } |
tomo370 | 4:c3f3fdde7eee | 306 | |
tomo370 | 4:c3f3fdde7eee | 307 | void initBoth() |
tomo370 | 4:c3f3fdde7eee | 308 | { |
tomo370 | 4:c3f3fdde7eee | 309 | stepper1.setCurrentPosition(-1); |
tomo370 | 4:c3f3fdde7eee | 310 | stepper1.setMaxSpeed(4000 / StepAdj1); |
tomo370 | 4:c3f3fdde7eee | 311 | stepper1.setAcceleration(20000 / StepAdj1); |
tomo370 | 4:c3f3fdde7eee | 312 | stepper1.moveTo(-30000 / StepAdj1); |
tomo370 | 4:c3f3fdde7eee | 313 | |
tomo370 | 4:c3f3fdde7eee | 314 | stepper2.setCurrentPosition(-1); |
tomo370 | 4:c3f3fdde7eee | 315 | stepper2.setMaxSpeed(4000 / StepAdj2); |
tomo370 | 4:c3f3fdde7eee | 316 | stepper2.setAcceleration(20000 / StepAdj2); |
tomo370 | 4:c3f3fdde7eee | 317 | stepper2.moveTo(-30000 / StepAdj2); |
tomo370 | 4:c3f3fdde7eee | 318 | |
tomo370 | 4:c3f3fdde7eee | 319 | while((stepper1.distanceToGo() != 0)||(stepper2.distanceToGo() != 0)) { |
tomo370 | 4:c3f3fdde7eee | 320 | if (stepper1.distanceToGo() != 0) stepper1.run(); |
tomo370 | 4:c3f3fdde7eee | 321 | if (stepper2.distanceToGo() != 0) stepper2.run(); |
tomo370 | 4:c3f3fdde7eee | 322 | checkSW(); |
tomo370 | 4:c3f3fdde7eee | 323 | } |
tomo370 | 4:c3f3fdde7eee | 324 | stepper1.moveTo(500 / StepAdj1); |
tomo370 | 4:c3f3fdde7eee | 325 | stepper2.moveTo(500 / StepAdj2); |
tomo370 | 4:c3f3fdde7eee | 326 | while((stepper1.distanceToGo() != 0)||(stepper2.distanceToGo() != 0)) { |
tomo370 | 4:c3f3fdde7eee | 327 | if (stepper1.distanceToGo() != 0) stepper1.run(); |
tomo370 | 4:c3f3fdde7eee | 328 | if (stepper2.distanceToGo() != 0) stepper2.run(); |
tomo370 | 1:cf2f5992241c | 329 | } |
tomo370 | 8:2e68b9de685d | 330 | stepper1.setCurrentPosition(-1); |
tomo370 | 8:2e68b9de685d | 331 | stepper2.setCurrentPosition(-1); |
tomo370 | 8:2e68b9de685d | 332 | |
tomo370 | 1:cf2f5992241c | 333 | } |
tomo370 | 1:cf2f5992241c | 334 | |
tomo370 | 3:dd2305e50390 | 335 | |
tomo370 | 1:cf2f5992241c | 336 | void checkSafeBreak() |
tomo370 | 1:cf2f5992241c | 337 | { |
tomo370 | 5:fd097a259856 | 338 | //モーター1用エンドスイッチのチェック |
tomo370 | 8:2e68b9de685d | 339 | if(EndSW3.read() == 1) { |
tomo370 | 1:cf2f5992241c | 340 | stepper1.stop(); |
tomo370 | 1:cf2f5992241c | 341 | while(1) { |
tomo370 | 1:cf2f5992241c | 342 | blink(); |
tomo370 | 1:cf2f5992241c | 343 | } |
tomo370 | 1:cf2f5992241c | 344 | } |
tomo370 | 1:cf2f5992241c | 345 | |
tomo370 | 1:cf2f5992241c | 346 | //モーター2用エンドスイッチのチェック |
tomo370 | 8:2e68b9de685d | 347 | if(EndSW4.read() == 1) { |
tomo370 | 1:cf2f5992241c | 348 | stepper2.stop(); |
tomo370 | 1:cf2f5992241c | 349 | while(1) { |
tomo370 | 1:cf2f5992241c | 350 | blink(); |
tomo370 | 1:cf2f5992241c | 351 | } |
tomo370 | 1:cf2f5992241c | 352 | } |
tomo370 | 1:cf2f5992241c | 353 | } |
tomo370 | 1:cf2f5992241c | 354 | |
tomo370 | 5:fd097a259856 | 355 | |
tomo370 | 1:cf2f5992241c | 356 | //モーター1のパラメータ保存 |
tomo370 | 1:cf2f5992241c | 357 | void paramStore1() |
tomo370 | 1:cf2f5992241c | 358 | { |
tomo370 | 1:cf2f5992241c | 359 | //速度 |
tomo370 | 2:198becff12f4 | 360 | uint8_t dt = dmx.get(DMX_Speed1_H); |
tomo370 | 2:198becff12f4 | 361 | at24c1024.write(DMX_Speed1_H, dt); |
tomo370 | 2:198becff12f4 | 362 | wait_ms(2); |
tomo370 | 2:198becff12f4 | 363 | dt = dmx.get(DMX_Speed1_L); |
tomo370 | 2:198becff12f4 | 364 | at24c1024.write(DMX_Speed1_L, dt); |
tomo370 | 1:cf2f5992241c | 365 | wait_ms(2); |
tomo370 | 1:cf2f5992241c | 366 | |
tomo370 | 1:cf2f5992241c | 367 | //加速度 |
tomo370 | 1:cf2f5992241c | 368 | dt = dmx.get(DMX_Acceleration1_H); |
tomo370 | 1:cf2f5992241c | 369 | at24c1024.write(DMX_Acceleration1_H, dt); |
tomo370 | 2:198becff12f4 | 370 | wait_ms(2); |
tomo370 | 1:cf2f5992241c | 371 | dt = dmx.get(DMX_Acceleration1_L); |
tomo370 | 1:cf2f5992241c | 372 | at24c1024.write(DMX_Acceleration1_L, dt); |
tomo370 | 2:198becff12f4 | 373 | wait_ms(2); |
tomo370 | 1:cf2f5992241c | 374 | |
tomo370 | 1:cf2f5992241c | 375 | //最大値 |
tomo370 | 1:cf2f5992241c | 376 | dt = dmx.get(DMX_Max1_H); |
tomo370 | 1:cf2f5992241c | 377 | at24c1024.write(DMX_Max1_H, dt); |
tomo370 | 2:198becff12f4 | 378 | wait_ms(2); |
tomo370 | 1:cf2f5992241c | 379 | dt = dmx.get(DMX_Max1_L); |
tomo370 | 1:cf2f5992241c | 380 | at24c1024.write(DMX_Max1_L, dt); |
tomo370 | 1:cf2f5992241c | 381 | |
tomo370 | 1:cf2f5992241c | 382 | wait_ms(5); |
tomo370 | 1:cf2f5992241c | 383 | } |
tomo370 | 1:cf2f5992241c | 384 | |
tomo370 | 2:198becff12f4 | 385 | //モーター2のパラメータ保存 |
tomo370 | 2:198becff12f4 | 386 | void paramStore2() |
tomo370 | 2:198becff12f4 | 387 | { |
tomo370 | 2:198becff12f4 | 388 | //速度 |
tomo370 | 2:198becff12f4 | 389 | uint8_t dt = dmx.get(DMX_Speed2_H); |
tomo370 | 2:198becff12f4 | 390 | at24c1024.write(DMX_Speed2_H, dt); |
tomo370 | 2:198becff12f4 | 391 | wait_ms(2); |
tomo370 | 2:198becff12f4 | 392 | dt = dmx.get(DMX_Speed2_L); |
tomo370 | 2:198becff12f4 | 393 | at24c1024.write(DMX_Speed2_L, dt); |
tomo370 | 2:198becff12f4 | 394 | wait_ms(2); |
tomo370 | 2:198becff12f4 | 395 | |
tomo370 | 2:198becff12f4 | 396 | //加速度 |
tomo370 | 2:198becff12f4 | 397 | dt = dmx.get(DMX_Acceleration2_H); |
tomo370 | 2:198becff12f4 | 398 | at24c1024.write(DMX_Acceleration2_H, dt); |
tomo370 | 2:198becff12f4 | 399 | wait_ms(2); |
tomo370 | 2:198becff12f4 | 400 | dt = dmx.get(DMX_Acceleration2_L); |
tomo370 | 2:198becff12f4 | 401 | at24c1024.write(DMX_Acceleration2_L, dt); |
tomo370 | 2:198becff12f4 | 402 | wait_ms(2); |
tomo370 | 2:198becff12f4 | 403 | |
tomo370 | 2:198becff12f4 | 404 | //最大値 |
tomo370 | 2:198becff12f4 | 405 | dt = dmx.get(DMX_Max2_H); |
tomo370 | 2:198becff12f4 | 406 | at24c1024.write(DMX_Max2_H, dt); |
tomo370 | 2:198becff12f4 | 407 | wait_ms(2); |
tomo370 | 2:198becff12f4 | 408 | dt = dmx.get(DMX_Max2_L); |
tomo370 | 2:198becff12f4 | 409 | at24c1024.write(DMX_Max2_L, dt); |
tomo370 | 2:198becff12f4 | 410 | |
tomo370 | 2:198becff12f4 | 411 | wait_ms(2); |
tomo370 | 2:198becff12f4 | 412 | } |
tomo370 | 2:198becff12f4 | 413 | |
tomo370 | 2:198becff12f4 | 414 | |
tomo370 | 1:cf2f5992241c | 415 | //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 | 416 | void captureSliderValue() |
tomo370 | 1:cf2f5992241c | 417 | { |
tomo370 | 1:cf2f5992241c | 418 | dmxInHighBit = dmx.get(DMX_Speed1_H); |
tomo370 | 1:cf2f5992241c | 419 | dmxInLowBit = dmx.get(DMX_Speed1_L); |
tomo370 | 1:cf2f5992241c | 420 | dmxInHighBit = dmxInHighBit << 8; |
tomo370 | 1:cf2f5992241c | 421 | speed1 = (long)(dmxInHighBit + dmxInLowBit); |
tomo370 | 1:cf2f5992241c | 422 | |
tomo370 | 8:2e68b9de685d | 423 | //(動作) |
tomo370 | 8:2e68b9de685d | 424 | dmxInHighBit = dmx.get(DMX_Speed2_H); |
tomo370 | 8:2e68b9de685d | 425 | dmxInLowBit = dmx.get(DMX_Speed2_L); |
tomo370 | 8:2e68b9de685d | 426 | dmxInHighBit = dmxInHighBit << 8; |
tomo370 | 8:2e68b9de685d | 427 | speed2 = (long)(dmxInHighBit + dmxInLowBit); |
tomo370 | 1:cf2f5992241c | 428 | |
tomo370 | 1:cf2f5992241c | 429 | dmxInHighBit = dmx.get(DMX_Acceleration1_H); |
tomo370 | 1:cf2f5992241c | 430 | dmxInLowBit = dmx.get(DMX_Acceleration1_L); |
tomo370 | 1:cf2f5992241c | 431 | dmxInHighBit = dmxInHighBit << 8; |
tomo370 | 1:cf2f5992241c | 432 | Acceleration1 = (long)(dmxInHighBit + dmxInLowBit); |
tomo370 | 1:cf2f5992241c | 433 | |
tomo370 | 8:2e68b9de685d | 434 | //(動作) |
tomo370 | 8:2e68b9de685d | 435 | dmxInHighBit = dmx.get(DMX_Acceleration2_H); |
tomo370 | 8:2e68b9de685d | 436 | dmxInLowBit = dmx.get(DMX_Acceleration2_L); |
tomo370 | 8:2e68b9de685d | 437 | dmxInHighBit = dmxInHighBit << 8; |
tomo370 | 8:2e68b9de685d | 438 | Acceleration2 = (long)(dmxInHighBit + dmxInLowBit); |
tomo370 | 1:cf2f5992241c | 439 | |
tomo370 | 1:cf2f5992241c | 440 | dmxInHighBit = dmx.get(DMX_Max1_H); |
tomo370 | 1:cf2f5992241c | 441 | dmxInLowBit = dmx.get(DMX_Max1_L); |
tomo370 | 1:cf2f5992241c | 442 | dmxInHighBit = dmxInHighBit << 8; |
tomo370 | 1:cf2f5992241c | 443 | max1 = (long)(dmxInHighBit + dmxInLowBit); |
tomo370 | 1:cf2f5992241c | 444 | |
tomo370 | 8:2e68b9de685d | 445 | //(動作) |
tomo370 | 8:2e68b9de685d | 446 | dmxInHighBit = dmx.get(DMX_Max2_H); |
tomo370 | 8:2e68b9de685d | 447 | dmxInLowBit = dmx.get(DMX_Max2_L); |
tomo370 | 8:2e68b9de685d | 448 | dmxInHighBit = dmxInHighBit << 8; |
tomo370 | 8:2e68b9de685d | 449 | max2 = (long)(dmxInHighBit + dmxInLowBit); |
tomo370 | 1:cf2f5992241c | 450 | } |
tomo370 | 0:d94213e24c2e | 451 | |
tomo370 | 0:d94213e24c2e | 452 | |
tomo370 | 1:cf2f5992241c | 453 | //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 | 454 | void readROMValue1() |
tomo370 | 1:cf2f5992241c | 455 | { |
tomo370 | 1:cf2f5992241c | 456 | //速度 |
tomo370 | 2:198becff12f4 | 457 | HighBit = at24c1024.read(DMX_Speed1_H); |
tomo370 | 2:198becff12f4 | 458 | LowBit = at24c1024.read(DMX_Speed1_L); |
tomo370 | 1:cf2f5992241c | 459 | HighBit = HighBit << 8; |
tomo370 | 2:198becff12f4 | 460 | speed1 = (long)(HighBit + LowBit); |
tomo370 | 1:cf2f5992241c | 461 | |
tomo370 | 1:cf2f5992241c | 462 | //加速度 |
tomo370 | 1:cf2f5992241c | 463 | HighBit = at24c1024.read(DMX_Acceleration1_H); |
tomo370 | 1:cf2f5992241c | 464 | LowBit = at24c1024.read(DMX_Acceleration1_L); |
tomo370 | 1:cf2f5992241c | 465 | HighBit = HighBit << 8; |
tomo370 | 2:198becff12f4 | 466 | Acceleration1 = (long)(HighBit + LowBit); |
tomo370 | 1:cf2f5992241c | 467 | |
tomo370 | 1:cf2f5992241c | 468 | //最大値 |
tomo370 | 1:cf2f5992241c | 469 | HighBit = at24c1024.read(DMX_Max1_H); |
tomo370 | 1:cf2f5992241c | 470 | LowBit = at24c1024.read(DMX_Max1_L); |
tomo370 | 1:cf2f5992241c | 471 | HighBit = HighBit << 8; |
tomo370 | 2:198becff12f4 | 472 | max1 = (long)(HighBit + LowBit); |
tomo370 | 1:cf2f5992241c | 473 | } |
tomo370 | 1:cf2f5992241c | 474 | |
tomo370 | 1:cf2f5992241c | 475 | |
tomo370 | 1:cf2f5992241c | 476 | //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 | 477 | void readROMValue2() |
tomo370 | 1:cf2f5992241c | 478 | { |
tomo370 | 2:198becff12f4 | 479 | //速度 |
tomo370 | 2:198becff12f4 | 480 | HighBit = at24c1024.read(DMX_Speed2_H); |
tomo370 | 2:198becff12f4 | 481 | LowBit = at24c1024.read(DMX_Speed2_L); |
tomo370 | 2:198becff12f4 | 482 | HighBit = HighBit << 8; |
tomo370 | 2:198becff12f4 | 483 | speed2 = (long)(HighBit + LowBit); |
tomo370 | 2:198becff12f4 | 484 | |
tomo370 | 2:198becff12f4 | 485 | //加速度 |
tomo370 | 2:198becff12f4 | 486 | HighBit = at24c1024.read(DMX_Acceleration2_H); |
tomo370 | 2:198becff12f4 | 487 | LowBit = at24c1024.read(DMX_Acceleration2_L); |
tomo370 | 2:198becff12f4 | 488 | HighBit = HighBit << 8; |
tomo370 | 2:198becff12f4 | 489 | Acceleration2 = (long)(HighBit + LowBit); |
tomo370 | 2:198becff12f4 | 490 | |
tomo370 | 2:198becff12f4 | 491 | //最大値 |
tomo370 | 2:198becff12f4 | 492 | HighBit = at24c1024.read(DMX_Max2_H); |
tomo370 | 2:198becff12f4 | 493 | LowBit = at24c1024.read(DMX_Max2_L); |
tomo370 | 2:198becff12f4 | 494 | HighBit = HighBit << 8; |
tomo370 | 2:198becff12f4 | 495 | max2 = (long)(HighBit + LowBit); |
tomo370 | 0:d94213e24c2e | 496 | } |
tomo370 | 0:d94213e24c2e | 497 | |
tomo370 | 0:d94213e24c2e | 498 | |
tomo370 | 1:cf2f5992241c | 499 | //操作モード切り替えボタンのチェック |
tomo370 | 1:cf2f5992241c | 500 | void checkManipulateButton() |
tomo370 | 1:cf2f5992241c | 501 | { |
tomo370 | 1:cf2f5992241c | 502 | dmxInHighBit = dmx.get(DMX_ParmSetMode1_H); |
tomo370 | 1:cf2f5992241c | 503 | dmxInLowBit = dmx.get(DMX_ParmSetMode1_L); |
tomo370 | 1:cf2f5992241c | 504 | if(dmxInHighBit == 102 && dmxInLowBit == 255) { |
tomo370 | 1:cf2f5992241c | 505 | manipulateMode1 = !manipulateMode1; |
tomo370 | 1:cf2f5992241c | 506 | blink(); |
tomo370 | 1:cf2f5992241c | 507 | } |
tomo370 | 1:cf2f5992241c | 508 | |
tomo370 | 1:cf2f5992241c | 509 | dmxInHighBit = dmx.get(DMX_ParmSetMode2_H); |
tomo370 | 1:cf2f5992241c | 510 | dmxInLowBit = dmx.get(DMX_ParmSetMode2_L); |
tomo370 | 1:cf2f5992241c | 511 | if(dmxInHighBit == 102 && dmxInLowBit == 255) { |
tomo370 | 1:cf2f5992241c | 512 | manipulateMode2 = !manipulateMode2; |
tomo370 | 1:cf2f5992241c | 513 | blink(); |
tomo370 | 1:cf2f5992241c | 514 | } |
tomo370 | 1:cf2f5992241c | 515 | } |
tomo370 | 1:cf2f5992241c | 516 | |
tomo370 | 1:cf2f5992241c | 517 | //書き込みボタンのチェック |
tomo370 | 1:cf2f5992241c | 518 | void checkWriteButton() |
tomo370 | 1:cf2f5992241c | 519 | { |
tomo370 | 1:cf2f5992241c | 520 | dmxInHighBit = dmx.get(DMX_SaveValue1_H); |
tomo370 | 1:cf2f5992241c | 521 | dmxInLowBit = dmx.get(DMX_SaveValue1_L); |
tomo370 | 1:cf2f5992241c | 522 | dmxInHighBit = dmxInHighBit << 8; |
tomo370 | 1:cf2f5992241c | 523 | param1 = (long)(dmxInHighBit + dmxInLowBit); |
tomo370 | 1:cf2f5992241c | 524 | |
tomo370 | 1:cf2f5992241c | 525 | dmxInHighBit = dmx.get(DMX_SaveValue2_H); |
tomo370 | 1:cf2f5992241c | 526 | dmxInLowBit = dmx.get(DMX_SaveValue2_L); |
tomo370 | 1:cf2f5992241c | 527 | dmxInHighBit = dmxInHighBit << 8; |
tomo370 | 1:cf2f5992241c | 528 | param2 = (long)(dmxInHighBit + dmxInLowBit); |
tomo370 | 1:cf2f5992241c | 529 | |
tomo370 | 1:cf2f5992241c | 530 | if(param1 == 24932) { |
tomo370 | 1:cf2f5992241c | 531 | paramStore1(); |
tomo370 | 1:cf2f5992241c | 532 | blink(); |
tomo370 | 1:cf2f5992241c | 533 | } else; |
tomo370 | 1:cf2f5992241c | 534 | |
tomo370 | 1:cf2f5992241c | 535 | if(param2 == 24932) { |
tomo370 | 2:198becff12f4 | 536 | paramStore2(); |
tomo370 | 2:198becff12f4 | 537 | blink(); |
tomo370 | 1:cf2f5992241c | 538 | } else; |
tomo370 | 1:cf2f5992241c | 539 | } |
tomo370 | 1:cf2f5992241c | 540 | |
tomo370 | 5:fd097a259856 | 541 | //原点復帰命令のチェック |
tomo370 | 5:fd097a259856 | 542 | void checkInitCommand1() |
tomo370 | 5:fd097a259856 | 543 | { |
tomo370 | 5:fd097a259856 | 544 | dmxInHighBit = dmx.get(DMX_Initialize1_H); |
tomo370 | 5:fd097a259856 | 545 | dmxInLowBit = dmx.get(DMX_Initialize1_L); |
tomo370 | 5:fd097a259856 | 546 | |
tomo370 | 5:fd097a259856 | 547 | if(dmxInHighBit == 75 && dmxInLowBit == 255) { |
tomo370 | 5:fd097a259856 | 548 | interuptInit1(); |
tomo370 | 5:fd097a259856 | 549 | } |
tomo370 | 5:fd097a259856 | 550 | } |
tomo370 | 5:fd097a259856 | 551 | |
tomo370 | 5:fd097a259856 | 552 | void checkInitCommand2() |
tomo370 | 5:fd097a259856 | 553 | { |
tomo370 | 5:fd097a259856 | 554 | dmxInHighBit = dmx.get(DMX_Initialize2_H); |
tomo370 | 5:fd097a259856 | 555 | dmxInLowBit = dmx.get(DMX_Initialize2_L); |
tomo370 | 5:fd097a259856 | 556 | |
tomo370 | 5:fd097a259856 | 557 | if(dmxInHighBit == 75 && dmxInLowBit == 255) { |
tomo370 | 5:fd097a259856 | 558 | interuptInit2(); |
tomo370 | 5:fd097a259856 | 559 | } |
tomo370 | 5:fd097a259856 | 560 | } |
tomo370 | 5:fd097a259856 | 561 | |
tomo370 | 5:fd097a259856 | 562 | |
tomo370 | 4:c3f3fdde7eee | 563 | //モータードライバの設定 |
tomo370 | 4:c3f3fdde7eee | 564 | void conf1() |
tomo370 | 4:c3f3fdde7eee | 565 | { |
tomo370 | 4:c3f3fdde7eee | 566 | switch (StepSize1) { |
tomo370 | 4:c3f3fdde7eee | 567 | case 1: //DRV8825 full steps |
tomo370 | 4:c3f3fdde7eee | 568 | stepper1MS1 = 0; |
tomo370 | 4:c3f3fdde7eee | 569 | stepper1MS2 = 0; |
tomo370 | 4:c3f3fdde7eee | 570 | stepper1MS3 = 0; |
tomo370 | 4:c3f3fdde7eee | 571 | StepAdj1 = 16; |
tomo370 | 4:c3f3fdde7eee | 572 | break; |
tomo370 | 4:c3f3fdde7eee | 573 | |
tomo370 | 4:c3f3fdde7eee | 574 | case 2: //DRV8825 1/2 steps |
tomo370 | 4:c3f3fdde7eee | 575 | stepper1MS1 = 1; |
tomo370 | 4:c3f3fdde7eee | 576 | stepper1MS2 = 0; |
tomo370 | 4:c3f3fdde7eee | 577 | stepper1MS3 = 0; |
tomo370 | 4:c3f3fdde7eee | 578 | StepAdj1 = 8; |
tomo370 | 4:c3f3fdde7eee | 579 | break; |
tomo370 | 4:c3f3fdde7eee | 580 | |
tomo370 | 4:c3f3fdde7eee | 581 | case 3: //DRV8825 1/4 steps |
tomo370 | 4:c3f3fdde7eee | 582 | stepper1MS1 = 0; |
tomo370 | 4:c3f3fdde7eee | 583 | stepper1MS2 = 1; |
tomo370 | 4:c3f3fdde7eee | 584 | stepper1MS3 = 0; |
tomo370 | 4:c3f3fdde7eee | 585 | StepAdj1 = 4; |
tomo370 | 4:c3f3fdde7eee | 586 | break; |
tomo370 | 4:c3f3fdde7eee | 587 | |
tomo370 | 4:c3f3fdde7eee | 588 | case 4: //DRV8825 1/8 steps |
tomo370 | 4:c3f3fdde7eee | 589 | stepper1MS1 = 1; |
tomo370 | 4:c3f3fdde7eee | 590 | stepper1MS2 = 1; |
tomo370 | 4:c3f3fdde7eee | 591 | stepper1MS3 = 0; |
tomo370 | 4:c3f3fdde7eee | 592 | StepAdj1 = 2; |
tomo370 | 4:c3f3fdde7eee | 593 | break; |
tomo370 | 4:c3f3fdde7eee | 594 | |
tomo370 | 4:c3f3fdde7eee | 595 | case 5: //DRV8825 1/16 steps |
tomo370 | 4:c3f3fdde7eee | 596 | stepper1MS1 = 0; |
tomo370 | 4:c3f3fdde7eee | 597 | stepper1MS2 = 0; |
tomo370 | 4:c3f3fdde7eee | 598 | stepper1MS3 = 1; |
tomo370 | 4:c3f3fdde7eee | 599 | StepAdj1 = 1; |
tomo370 | 4:c3f3fdde7eee | 600 | break; |
tomo370 | 4:c3f3fdde7eee | 601 | |
tomo370 | 4:c3f3fdde7eee | 602 | case 6: //DRV8825 1/32 steps |
tomo370 | 4:c3f3fdde7eee | 603 | stepper1MS1 = 1; |
tomo370 | 4:c3f3fdde7eee | 604 | stepper1MS2 = 1; |
tomo370 | 4:c3f3fdde7eee | 605 | stepper1MS3 = 1; |
tomo370 | 4:c3f3fdde7eee | 606 | StepAdj1 = 0.5; |
tomo370 | 4:c3f3fdde7eee | 607 | break; |
tomo370 | 4:c3f3fdde7eee | 608 | |
tomo370 | 4:c3f3fdde7eee | 609 | case 7: //TMC StealthChop µ16 steps |
tomo370 | 8:2e68b9de685d | 610 | DigitalIn stepper1MS1(A5); |
tomo370 | 8:2e68b9de685d | 611 | DigitalIn stepper1MS2(A6); |
tomo370 | 4:c3f3fdde7eee | 612 | StepAdj1 = 1; |
tomo370 | 4:c3f3fdde7eee | 613 | break; |
tomo370 | 4:c3f3fdde7eee | 614 | } |
tomo370 | 4:c3f3fdde7eee | 615 | stepper1Enable = 0; |
tomo370 | 4:c3f3fdde7eee | 616 | } |
tomo370 | 4:c3f3fdde7eee | 617 | |
tomo370 | 4:c3f3fdde7eee | 618 | void conf2() |
tomo370 | 4:c3f3fdde7eee | 619 | { |
tomo370 | 4:c3f3fdde7eee | 620 | switch (StepSize2) { |
tomo370 | 4:c3f3fdde7eee | 621 | case 1: //DRV8825 full steps |
tomo370 | 4:c3f3fdde7eee | 622 | stepper2MS1 = 0; |
tomo370 | 4:c3f3fdde7eee | 623 | stepper2MS2 = 0; |
tomo370 | 4:c3f3fdde7eee | 624 | stepper2MS3 = 0; |
tomo370 | 4:c3f3fdde7eee | 625 | StepAdj2 = 16; |
tomo370 | 4:c3f3fdde7eee | 626 | break; |
tomo370 | 4:c3f3fdde7eee | 627 | |
tomo370 | 4:c3f3fdde7eee | 628 | case 2: //DRV8825 1/2 steps |
tomo370 | 4:c3f3fdde7eee | 629 | stepper2MS1 = 1; |
tomo370 | 4:c3f3fdde7eee | 630 | stepper2MS2 = 0; |
tomo370 | 4:c3f3fdde7eee | 631 | stepper2MS3 = 0; |
tomo370 | 4:c3f3fdde7eee | 632 | StepAdj2 = 8; |
tomo370 | 4:c3f3fdde7eee | 633 | break; |
tomo370 | 4:c3f3fdde7eee | 634 | |
tomo370 | 4:c3f3fdde7eee | 635 | case 3: //DRV8825 1/4 steps |
tomo370 | 4:c3f3fdde7eee | 636 | stepper2MS1 = 0; |
tomo370 | 4:c3f3fdde7eee | 637 | stepper2MS2 = 1; |
tomo370 | 4:c3f3fdde7eee | 638 | stepper2MS3 = 0; |
tomo370 | 4:c3f3fdde7eee | 639 | StepAdj2 = 4; |
tomo370 | 4:c3f3fdde7eee | 640 | break; |
tomo370 | 4:c3f3fdde7eee | 641 | |
tomo370 | 4:c3f3fdde7eee | 642 | case 4: //DRV8825 1/8 steps |
tomo370 | 4:c3f3fdde7eee | 643 | stepper2MS1 = 1; |
tomo370 | 4:c3f3fdde7eee | 644 | stepper2MS2 = 1; |
tomo370 | 4:c3f3fdde7eee | 645 | stepper2MS3 = 0; |
tomo370 | 4:c3f3fdde7eee | 646 | StepAdj2 = 2; |
tomo370 | 4:c3f3fdde7eee | 647 | break; |
tomo370 | 4:c3f3fdde7eee | 648 | |
tomo370 | 4:c3f3fdde7eee | 649 | case 5: //DRV8825 1/16 steps |
tomo370 | 4:c3f3fdde7eee | 650 | stepper2MS1 = 0; |
tomo370 | 4:c3f3fdde7eee | 651 | stepper2MS2 = 0; |
tomo370 | 4:c3f3fdde7eee | 652 | stepper2MS3 = 1; |
tomo370 | 4:c3f3fdde7eee | 653 | StepAdj2 = 1; |
tomo370 | 4:c3f3fdde7eee | 654 | break; |
tomo370 | 4:c3f3fdde7eee | 655 | |
tomo370 | 4:c3f3fdde7eee | 656 | case 6: //DRV8825 1/32 steps |
tomo370 | 4:c3f3fdde7eee | 657 | stepper2MS1 = 1; |
tomo370 | 4:c3f3fdde7eee | 658 | stepper2MS2 = 1; |
tomo370 | 4:c3f3fdde7eee | 659 | stepper2MS3 = 1; |
tomo370 | 4:c3f3fdde7eee | 660 | StepAdj2 = 0.5; |
tomo370 | 4:c3f3fdde7eee | 661 | break; |
tomo370 | 4:c3f3fdde7eee | 662 | |
tomo370 | 4:c3f3fdde7eee | 663 | case 7: //TMC StealthChop µ16 steps |
tomo370 | 4:c3f3fdde7eee | 664 | DigitalIn stepper2MS1(D11); |
tomo370 | 4:c3f3fdde7eee | 665 | DigitalIn stepper2MS2(D12); |
tomo370 | 4:c3f3fdde7eee | 666 | StepAdj2 = 1; |
tomo370 | 4:c3f3fdde7eee | 667 | break; |
tomo370 | 4:c3f3fdde7eee | 668 | } |
tomo370 | 4:c3f3fdde7eee | 669 | stepper2Enable = 0; |
tomo370 | 4:c3f3fdde7eee | 670 | } |
tomo370 | 4:c3f3fdde7eee | 671 | |
tomo370 | 1:cf2f5992241c | 672 | |
tomo370 | 0:d94213e24c2e | 673 | int main() |
tomo370 | 0:d94213e24c2e | 674 | { |
tomo370 | 5:fd097a259856 | 675 | wait(1); |
tomo370 | 4:c3f3fdde7eee | 676 | |
tomo370 | 7:813cdaad1200 | 677 | //DMXの機能をレシーブに固定 (ハードウェア的に固定するため停止中) |
tomo370 | 7:813cdaad1200 | 678 | // dmxEnable = 0; //0:receiver 1:sender |
tomo370 | 0:d94213e24c2e | 679 | |
tomo370 | 4:c3f3fdde7eee | 680 | conf1(); //motor1 config ドライバの設定 |
tomo370 | 4:c3f3fdde7eee | 681 | conf2(); //motor2 config |
tomo370 | 1:cf2f5992241c | 682 | |
tomo370 | 0:d94213e24c2e | 683 | t.start(); |
tomo370 | 7:813cdaad1200 | 684 | //to.attach(&sendDataToLPC, 1); |
tomo370 | 0:d94213e24c2e | 685 | |
tomo370 | 0:d94213e24c2e | 686 | stepper1.setCurrentPosition(-1); |
tomo370 | 1:cf2f5992241c | 687 | stepper2.setCurrentPosition(-1); |
tomo370 | 0:d94213e24c2e | 688 | |
tomo370 | 4:c3f3fdde7eee | 689 | //モーターの初期化シーケンス |
tomo370 | 8:2e68b9de685d | 690 | // init1(); |
tomo370 | 3:dd2305e50390 | 691 | // init2(); |
tomo370 | 8:2e68b9de685d | 692 | initBoth(); |
tomo370 | 0:d94213e24c2e | 693 | |
tomo370 | 4:c3f3fdde7eee | 694 | //往復運動を繰り返すテストシーケンス(無限ループ) |
tomo370 | 8:2e68b9de685d | 695 | // testMove2(); |
tomo370 | 1:cf2f5992241c | 696 | |
tomo370 | 1:cf2f5992241c | 697 | myLED =1; |
tomo370 | 1:cf2f5992241c | 698 | |
tomo370 | 2:198becff12f4 | 699 | readROMValue1(); |
tomo370 | 8:2e68b9de685d | 700 | readROMValue2(); |
tomo370 | 0:d94213e24c2e | 701 | |
tomo370 | 4:c3f3fdde7eee | 702 | stepper1.setMaxSpeed(10000 / StepAdj1); |
tomo370 | 8:2e68b9de685d | 703 | stepper2.setMaxSpeed(10000 / StepAdj2); |
tomo370 | 4:c3f3fdde7eee | 704 | |
tomo370 | 0:d94213e24c2e | 705 | while(1) { |
tomo370 | 1:cf2f5992241c | 706 | //操作モード切り替えボタンのチェック |
tomo370 | 1:cf2f5992241c | 707 | checkManipulateButton(); |
tomo370 | 1:cf2f5992241c | 708 | |
tomo370 | 1:cf2f5992241c | 709 | //書き込みボタンチェック |
tomo370 | 1:cf2f5992241c | 710 | checkWriteButton(); |
tomo370 | 0:d94213e24c2e | 711 | |
tomo370 | 6:2a9e0228f81d | 712 | //モーター1の目標位置をDMXから取得 |
tomo370 | 1:cf2f5992241c | 713 | dmxInHighBit = dmx.get(DMX_Position1_H); |
tomo370 | 1:cf2f5992241c | 714 | dmxInLowBit = dmx.get(DMX_Position1_L); |
tomo370 | 1:cf2f5992241c | 715 | dmxInHighBit = dmxInHighBit << 8; |
tomo370 | 1:cf2f5992241c | 716 | position1 = (long)(dmxInHighBit + dmxInLowBit); |
tomo370 | 0:d94213e24c2e | 717 | |
tomo370 | 5:fd097a259856 | 718 | //モーター2の目標位置をスライダーから取得(停止中) |
tomo370 | 8:2e68b9de685d | 719 | dmxInHighBit = dmx.get(DMX_Position2_H); |
tomo370 | 8:2e68b9de685d | 720 | dmxInLowBit = dmx.get(DMX_Position2_L); |
tomo370 | 8:2e68b9de685d | 721 | dmxInHighBit = dmxInHighBit << 8; |
tomo370 | 8:2e68b9de685d | 722 | position2 = (long)(dmxInHighBit + dmxInLowBit); |
tomo370 | 0:d94213e24c2e | 723 | |
tomo370 | 1:cf2f5992241c | 724 | //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 | 725 | if(manipulateMode1 == false) { |
tomo370 | 1:cf2f5992241c | 726 | captureSliderValue(); |
tomo370 | 2:198becff12f4 | 727 | myLED = 0; |
tomo370 | 1:cf2f5992241c | 728 | } |
tomo370 | 0:d94213e24c2e | 729 | |
tomo370 | 1:cf2f5992241c | 730 | //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 | 731 | else { |
tomo370 | 2:198becff12f4 | 732 | myLED = 1; |
tomo370 | 1:cf2f5992241c | 733 | } |
tomo370 | 0:d94213e24c2e | 734 | |
tomo370 | 6:2a9e0228f81d | 735 | //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 | 736 | // if(manipulateMode2 == false) { |
tomo370 | 6:2a9e0228f81d | 737 | // captureSliderValue(); |
tomo370 | 6:2a9e0228f81d | 738 | // myLED = 0; |
tomo370 | 6:2a9e0228f81d | 739 | // } |
tomo370 | 2:198becff12f4 | 740 | |
tomo370 | 6:2a9e0228f81d | 741 | //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 | 742 | // else { |
tomo370 | 6:2a9e0228f81d | 743 | // myLED = 1; |
tomo370 | 6:2a9e0228f81d | 744 | // } |
tomo370 | 1:cf2f5992241c | 745 | |
tomo370 | 5:fd097a259856 | 746 | |
tomo370 | 5:fd097a259856 | 747 | //モーター1のパラメーター設定 |
tomo370 | 1:cf2f5992241c | 748 | position1 = map(position1, 0, 0xFFFF, 0, max1); |
tomo370 | 1:cf2f5992241c | 749 | stepper1.setMaxSpeed(speed1); |
tomo370 | 1:cf2f5992241c | 750 | stepper1.setAcceleration(Acceleration1); |
tomo370 | 1:cf2f5992241c | 751 | |
tomo370 | 5:fd097a259856 | 752 | |
tomo370 | 5:fd097a259856 | 753 | //モーター2のパラメーター設定(停止中) |
tomo370 | 8:2e68b9de685d | 754 | position2 = map(position2, 0, 0xFFFF, 0, max2); |
tomo370 | 8:2e68b9de685d | 755 | stepper2.setMaxSpeed(speed2); |
tomo370 | 8:2e68b9de685d | 756 | stepper2.setAcceleration(Acceleration2); |
tomo370 | 1:cf2f5992241c | 757 | |
tomo370 | 5:fd097a259856 | 758 | |
tomo370 | 5:fd097a259856 | 759 | //モーター1の目標位置設定 |
tomo370 | 1:cf2f5992241c | 760 | stepper1.moveTo(position1); |
tomo370 | 5:fd097a259856 | 761 | |
tomo370 | 8:2e68b9de685d | 762 | //モーター2の目標位置設定() |
tomo370 | 8:2e68b9de685d | 763 | stepper2.moveTo(position2); |
tomo370 | 1:cf2f5992241c | 764 | |
tomo370 | 4:c3f3fdde7eee | 765 | |
tomo370 | 5:fd097a259856 | 766 | //安全エンドスイッチの監視(停止中) |
tomo370 | 5:fd097a259856 | 767 | //checkSafeBreak(); |
tomo370 | 5:fd097a259856 | 768 | |
tomo370 | 5:fd097a259856 | 769 | //モーター1への原点復帰命令のチェック |
tomo370 | 5:fd097a259856 | 770 | checkInitCommand1(); |
tomo370 | 4:c3f3fdde7eee | 771 | |
tomo370 | 8:2e68b9de685d | 772 | //モーター2への原点復帰命令のチェック() |
tomo370 | 8:2e68b9de685d | 773 | checkInitCommand2(); |
tomo370 | 5:fd097a259856 | 774 | |
tomo370 | 5:fd097a259856 | 775 | //モーター1の走行 |
tomo370 | 7:813cdaad1200 | 776 | if(stepper1.distanceToGo() != 0) { |
tomo370 | 7:813cdaad1200 | 777 | //checkInitCommand1(); |
tomo370 | 7:813cdaad1200 | 778 | stepper1.run(); |
tomo370 | 7:813cdaad1200 | 779 | } |
tomo370 | 8:2e68b9de685d | 780 | //モーター2の走行 |
tomo370 | 8:2e68b9de685d | 781 | if(stepper2.distanceToGo() != 0) stepper2.run(); |
tomo370 | 1:cf2f5992241c | 782 | } |
tomo370 | 1:cf2f5992241c | 783 | } |