test2017-1-13
Dependencies: AT24C1024 DMX-STM32 mbed
main.cpp@4:c3f3fdde7eee, 2017-03-24 (annotated)
- Committer:
- tomo370
- Date:
- Fri Mar 24 13:00:34 2017 +0000
- Revision:
- 4:c3f3fdde7eee
- Parent:
- 3:dd2305e50390
- Child:
- 5:fd097a259856
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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 | 4:c3f3fdde7eee | 6 | Ticker to; |
tomo370 | 4:c3f3fdde7eee | 7 | |
tomo370 | 0:d94213e24c2e | 8 | Timer t; |
tomo370 | 1:cf2f5992241c | 9 | DigitalOut dmxEnable(D8); //基本L(レシーブ)に固定します |
tomo370 | 0:d94213e24c2e | 10 | DMX dmx(PA_9, PA_10); |
tomo370 | 0:d94213e24c2e | 11 | |
tomo370 | 1:cf2f5992241c | 12 | I2C i2c(D4, D5); // SDA, SCL |
tomo370 | 1:cf2f5992241c | 13 | AT24C1024 at24c1024(i2c); // Atmel 1Mbit EE-PROM |
tomo370 | 0:d94213e24c2e | 14 | |
tomo370 | 1:cf2f5992241c | 15 | AccelStepper stepper1(1, D9, D6); // step, direction |
tomo370 | 1:cf2f5992241c | 16 | AccelStepper stepper2(1, D10, D7); // step, direction |
tomo370 | 1:cf2f5992241c | 17 | |
tomo370 | 1:cf2f5992241c | 18 | //モーター1 CN0とCN1を使用 |
tomo370 | 0:d94213e24c2e | 19 | DigitalOut stepper1Enable(D2); |
tomo370 | 0:d94213e24c2e | 20 | DigitalOut stepper1MS1(D11); |
tomo370 | 0:d94213e24c2e | 21 | DigitalOut stepper1MS2(D12); |
tomo370 | 4:c3f3fdde7eee | 22 | DigitalOut stepper1MS3(A4); |
tomo370 | 0:d94213e24c2e | 23 | |
tomo370 | 1:cf2f5992241c | 24 | //モーター2 CN2とCN3を使用 |
tomo370 | 0:d94213e24c2e | 25 | DigitalOut stepper2Enable(D3); |
tomo370 | 0:d94213e24c2e | 26 | DigitalOut stepper2MS1(A5); |
tomo370 | 0:d94213e24c2e | 27 | DigitalOut stepper2MS2(A6); |
tomo370 | 0:d94213e24c2e | 28 | DigitalOut stepper2MS3(A7); |
tomo370 | 0:d94213e24c2e | 29 | |
tomo370 | 1:cf2f5992241c | 30 | DigitalIn EndSW1(A0); //CN4 //3端子エンドスイッチ1 予備 |
tomo370 | 1:cf2f5992241c | 31 | DigitalIn EndSW2(A1); //CN5 //3端子エンドスイッチ2 予備 |
tomo370 | 1:cf2f5992241c | 32 | 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 | 33 | 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 | 34 | |
tomo370 | 1:cf2f5992241c | 35 | DigitalOut myLED(LED3); //動作確認用LED |
tomo370 | 1:cf2f5992241c | 36 | |
tomo370 | 1:cf2f5992241c | 37 | unsigned long position1, position2; //モーター1の設定位置 |
tomo370 | 1:cf2f5992241c | 38 | unsigned long max1, max2; |
tomo370 | 1:cf2f5992241c | 39 | unsigned long speed1, speed2; |
tomo370 | 1:cf2f5992241c | 40 | unsigned long Acceleration1, Acceleration2; |
tomo370 | 1:cf2f5992241c | 41 | unsigned long param1, param2; |
tomo370 | 1:cf2f5992241c | 42 | unsigned long dmxInHighBit, dmxInLowBit; |
tomo370 | 2:198becff12f4 | 43 | unsigned long HighBit, LowBit; |
tomo370 | 1:cf2f5992241c | 44 | |
tomo370 | 4:c3f3fdde7eee | 45 | bool manipulateMode1 = false; //0:手動 1:自動 |
tomo370 | 4:c3f3fdde7eee | 46 | bool manipulateMode2 = false; //0:手動 1:自動 |
tomo370 | 1:cf2f5992241c | 47 | |
tomo370 | 1:cf2f5992241c | 48 | |
tomo370 | 1:cf2f5992241c | 49 | //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 | 50 | #define CH_Origin 0 |
tomo370 | 0:d94213e24c2e | 51 | |
tomo370 | 1:cf2f5992241c | 52 | #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 | 53 | #define DMX_Position1_L CH_Origin + 1 |
tomo370 | 1:cf2f5992241c | 54 | #define DMX_Speed1_H CH_Origin + 2 |
tomo370 | 1:cf2f5992241c | 55 | #define DMX_Speed1_L CH_Origin + 3 |
tomo370 | 1:cf2f5992241c | 56 | #define DMX_Acceleration1_H CH_Origin + 4 |
tomo370 | 1:cf2f5992241c | 57 | #define DMX_Acceleration1_L CH_Origin + 5 |
tomo370 | 1:cf2f5992241c | 58 | #define DMX_Max1_H CH_Origin + 6 |
tomo370 | 1:cf2f5992241c | 59 | #define DMX_Max1_L CH_Origin + 7 |
tomo370 | 1:cf2f5992241c | 60 | #define DMX_Offset1_H CH_Origin + 8 |
tomo370 | 1:cf2f5992241c | 61 | #define DMX_Offset1_L CH_Origin + 9 |
tomo370 | 1:cf2f5992241c | 62 | #define DMX_SaveValue1_H CH_Origin + 10 |
tomo370 | 1:cf2f5992241c | 63 | #define DMX_SaveValue1_L CH_Origin + 11 |
tomo370 | 1:cf2f5992241c | 64 | #define DMX_ParmSetMode1_H CH_Origin + 12 |
tomo370 | 1:cf2f5992241c | 65 | #define DMX_ParmSetMode1_L CH_Origin + 13 |
tomo370 | 0:d94213e24c2e | 66 | |
tomo370 | 1:cf2f5992241c | 67 | //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 | 68 | #define DMX_Position2_H CH_Origin + 16 |
tomo370 | 1:cf2f5992241c | 69 | #define DMX_Position2_L CH_Origin + 17 |
tomo370 | 1:cf2f5992241c | 70 | #define DMX_Speed2_H CH_Origin + 18 |
tomo370 | 1:cf2f5992241c | 71 | #define DMX_Speed2_L CH_Origin + 19 |
tomo370 | 1:cf2f5992241c | 72 | #define DMX_Acceleration2_H CH_Origin + 20 |
tomo370 | 1:cf2f5992241c | 73 | #define DMX_Acceleration2_L CH_Origin + 21 |
tomo370 | 1:cf2f5992241c | 74 | #define DMX_Max2_H CH_Origin + 22 |
tomo370 | 1:cf2f5992241c | 75 | #define DMX_Max2_L CH_Origin + 23 |
tomo370 | 1:cf2f5992241c | 76 | #define DMX_Offset2_H CH_Origin + 24 |
tomo370 | 1:cf2f5992241c | 77 | #define DMX_Offset2_L CH_Origin + 25 |
tomo370 | 1:cf2f5992241c | 78 | #define DMX_SaveValue2_H CH_Origin + 26 |
tomo370 | 1:cf2f5992241c | 79 | #define DMX_SaveValue2_L CH_Origin + 27 |
tomo370 | 1:cf2f5992241c | 80 | #define DMX_ParmSetMode2_H CH_Origin + 28 |
tomo370 | 1:cf2f5992241c | 81 | #define DMX_ParmSetMode2_L CH_Origin + 29 |
tomo370 | 1:cf2f5992241c | 82 | |
tomo370 | 4:c3f3fdde7eee | 83 | //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 | 84 | //未実装(実装予定) |
tomo370 | 4:c3f3fdde7eee | 85 | |
tomo370 | 4:c3f3fdde7eee | 86 | //ステップ数の調整用の係数 |
tomo370 | 4:c3f3fdde7eee | 87 | float StepAdj1 = 1; |
tomo370 | 4:c3f3fdde7eee | 88 | float StepAdj2 = 1; |
tomo370 | 4:c3f3fdde7eee | 89 | |
tomo370 | 4:c3f3fdde7eee | 90 | //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 | 91 | #define StepSize1 3 |
tomo370 | 4:c3f3fdde7eee | 92 | #define StepSize2 4 |
tomo370 | 4:c3f3fdde7eee | 93 | |
tomo370 | 4:c3f3fdde7eee | 94 | |
tomo370 | 4:c3f3fdde7eee | 95 | void calc() |
tomo370 | 4:c3f3fdde7eee | 96 | { |
tomo370 | 4:c3f3fdde7eee | 97 | stepper1.newSpeed(); |
tomo370 | 4:c3f3fdde7eee | 98 | } |
tomo370 | 4:c3f3fdde7eee | 99 | |
tomo370 | 1:cf2f5992241c | 100 | //map |
tomo370 | 0:d94213e24c2e | 101 | long map(long x, long in_min, long in_max, long out_min, long out_max) |
tomo370 | 0:d94213e24c2e | 102 | { |
tomo370 | 0:d94213e24c2e | 103 | return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min; |
tomo370 | 0:d94213e24c2e | 104 | } |
tomo370 | 0:d94213e24c2e | 105 | |
tomo370 | 1:cf2f5992241c | 106 | void blink() |
tomo370 | 1:cf2f5992241c | 107 | { |
tomo370 | 1:cf2f5992241c | 108 | for(int i=0; i<5; i++) { |
tomo370 | 1:cf2f5992241c | 109 | myLED=0; |
tomo370 | 1:cf2f5992241c | 110 | wait_ms(60); |
tomo370 | 1:cf2f5992241c | 111 | myLED=1; |
tomo370 | 1:cf2f5992241c | 112 | wait_ms(60); |
tomo370 | 1:cf2f5992241c | 113 | } |
tomo370 | 1:cf2f5992241c | 114 | } |
tomo370 | 1:cf2f5992241c | 115 | |
tomo370 | 0:d94213e24c2e | 116 | void checkSW() |
tomo370 | 0:d94213e24c2e | 117 | { |
tomo370 | 1:cf2f5992241c | 118 | //モーター1用エンドスイッチのチェック |
tomo370 | 2:198becff12f4 | 119 | if(EndSW3.read() == 1) { |
tomo370 | 0:d94213e24c2e | 120 | stepper1.stop(); |
tomo370 | 0:d94213e24c2e | 121 | stepper1.setCurrentPosition(0); |
tomo370 | 0:d94213e24c2e | 122 | } |
tomo370 | 1:cf2f5992241c | 123 | |
tomo370 | 1:cf2f5992241c | 124 | //モーター2用エンドスイッチのチェック |
tomo370 | 2:198becff12f4 | 125 | if(EndSW4.read() == 1) { |
tomo370 | 1:cf2f5992241c | 126 | stepper2.stop(); |
tomo370 | 1:cf2f5992241c | 127 | stepper2.setCurrentPosition(0); |
tomo370 | 1:cf2f5992241c | 128 | } |
tomo370 | 0:d94213e24c2e | 129 | } |
tomo370 | 0:d94213e24c2e | 130 | |
tomo370 | 4:c3f3fdde7eee | 131 | |
tomo370 | 4:c3f3fdde7eee | 132 | //モーター1のみの往復テスト |
tomo370 | 4:c3f3fdde7eee | 133 | void testMove1() |
tomo370 | 0:d94213e24c2e | 134 | { |
tomo370 | 4:c3f3fdde7eee | 135 | //initなしの場合 |
tomo370 | 4:c3f3fdde7eee | 136 | stepper1.setCurrentPosition(0); |
tomo370 | 4:c3f3fdde7eee | 137 | stepper1.setMaxSpeed(4000 / StepAdj1); |
tomo370 | 4:c3f3fdde7eee | 138 | stepper1.setAcceleration(20000 / StepAdj1); |
tomo370 | 0:d94213e24c2e | 139 | |
tomo370 | 4:c3f3fdde7eee | 140 | stepper1.setMaxSpeed(180000); |
tomo370 | 4:c3f3fdde7eee | 141 | while(1) { |
tomo370 | 4:c3f3fdde7eee | 142 | stepper1.moveTo(3200); |
tomo370 | 4:c3f3fdde7eee | 143 | //stepper1.moveTo(800 / StepAdj1); |
tomo370 | 4:c3f3fdde7eee | 144 | while(stepper1.distanceToGo() != 0) { |
tomo370 | 4:c3f3fdde7eee | 145 | stepper1.run(); |
tomo370 | 4:c3f3fdde7eee | 146 | } |
tomo370 | 4:c3f3fdde7eee | 147 | wait(0.5); |
tomo370 | 4:c3f3fdde7eee | 148 | //stepper1.moveTo(0 / StepAdj1); |
tomo370 | 4:c3f3fdde7eee | 149 | stepper1.moveTo(0); |
tomo370 | 4:c3f3fdde7eee | 150 | while(stepper1.distanceToGo() != 0) { |
tomo370 | 4:c3f3fdde7eee | 151 | stepper1.run(); |
tomo370 | 4:c3f3fdde7eee | 152 | } |
tomo370 | 4:c3f3fdde7eee | 153 | wait(0.5); |
tomo370 | 4:c3f3fdde7eee | 154 | } |
tomo370 | 0:d94213e24c2e | 155 | } |
tomo370 | 0:d94213e24c2e | 156 | |
tomo370 | 3:dd2305e50390 | 157 | |
tomo370 | 4:c3f3fdde7eee | 158 | void testMove2() |
tomo370 | 4:c3f3fdde7eee | 159 | { |
tomo370 | 4:c3f3fdde7eee | 160 | stepper1.setMaxSpeed(10000 / StepAdj1); |
tomo370 | 4:c3f3fdde7eee | 161 | stepper2.setMaxSpeed(10000 / StepAdj2); |
tomo370 | 4:c3f3fdde7eee | 162 | |
tomo370 | 4:c3f3fdde7eee | 163 | stepper1.setMaxSpeed(180000); |
tomo370 | 4:c3f3fdde7eee | 164 | |
tomo370 | 4:c3f3fdde7eee | 165 | while(1) { |
tomo370 | 4:c3f3fdde7eee | 166 | stepper1.moveTo(20000 / StepAdj1); |
tomo370 | 4:c3f3fdde7eee | 167 | stepper2.moveTo(20000 / StepAdj2); |
tomo370 | 4:c3f3fdde7eee | 168 | while(stepper1.distanceToGo() != 0) { |
tomo370 | 4:c3f3fdde7eee | 169 | stepper1.run(); |
tomo370 | 4:c3f3fdde7eee | 170 | // stepper2.run(); |
tomo370 | 4:c3f3fdde7eee | 171 | } |
tomo370 | 4:c3f3fdde7eee | 172 | //while(stepper2.distanceToGo() != 0) { |
tomo370 | 4:c3f3fdde7eee | 173 | // stepper2.run(); |
tomo370 | 4:c3f3fdde7eee | 174 | // } |
tomo370 | 4:c3f3fdde7eee | 175 | |
tomo370 | 4:c3f3fdde7eee | 176 | stepper1.moveTo(500 / StepAdj1); |
tomo370 | 4:c3f3fdde7eee | 177 | //stepper2.moveTo(500 / StepAdj2); |
tomo370 | 4:c3f3fdde7eee | 178 | while(stepper1.distanceToGo() != 0) { |
tomo370 | 4:c3f3fdde7eee | 179 | stepper1.run(); |
tomo370 | 4:c3f3fdde7eee | 180 | // stepper2.run(); |
tomo370 | 4:c3f3fdde7eee | 181 | } |
tomo370 | 4:c3f3fdde7eee | 182 | while(stepper2.distanceToGo() != 0) { |
tomo370 | 4:c3f3fdde7eee | 183 | // stepper2.run(); |
tomo370 | 4:c3f3fdde7eee | 184 | stepper1.run(); |
tomo370 | 4:c3f3fdde7eee | 185 | } |
tomo370 | 4:c3f3fdde7eee | 186 | } |
tomo370 | 4:c3f3fdde7eee | 187 | } |
tomo370 | 4:c3f3fdde7eee | 188 | |
tomo370 | 3:dd2305e50390 | 189 | void init1() |
tomo370 | 0:d94213e24c2e | 190 | { |
tomo370 | 4:c3f3fdde7eee | 191 | stepper1.setCurrentPosition(-1); |
tomo370 | 4:c3f3fdde7eee | 192 | stepper1.setMaxSpeed(4000 / StepAdj1); |
tomo370 | 4:c3f3fdde7eee | 193 | stepper1.setAcceleration(20000 / StepAdj1); |
tomo370 | 4:c3f3fdde7eee | 194 | stepper1.moveTo(-30000 / StepAdj1); |
tomo370 | 0:d94213e24c2e | 195 | |
tomo370 | 0:d94213e24c2e | 196 | while(stepper1.currentPosition() != 0) { |
tomo370 | 0:d94213e24c2e | 197 | stepper1.run(); |
tomo370 | 0:d94213e24c2e | 198 | checkSW(); |
tomo370 | 0:d94213e24c2e | 199 | } |
tomo370 | 4:c3f3fdde7eee | 200 | stepper1.moveTo(500 / StepAdj1); |
tomo370 | 4:c3f3fdde7eee | 201 | while(stepper1.distanceToGo() != 0) stepper1.run(); |
tomo370 | 3:dd2305e50390 | 202 | } |
tomo370 | 3:dd2305e50390 | 203 | |
tomo370 | 3:dd2305e50390 | 204 | void init2() |
tomo370 | 3:dd2305e50390 | 205 | { |
tomo370 | 4:c3f3fdde7eee | 206 | stepper2.setCurrentPosition(-1); |
tomo370 | 4:c3f3fdde7eee | 207 | stepper2.setMaxSpeed(4000 / StepAdj2); |
tomo370 | 4:c3f3fdde7eee | 208 | stepper2.setAcceleration(20000 / StepAdj2); |
tomo370 | 4:c3f3fdde7eee | 209 | stepper2.moveTo(-30000 / StepAdj2); |
tomo370 | 1:cf2f5992241c | 210 | |
tomo370 | 1:cf2f5992241c | 211 | while(stepper2.currentPosition() != 0) { |
tomo370 | 1:cf2f5992241c | 212 | stepper2.run(); |
tomo370 | 1:cf2f5992241c | 213 | checkSW(); |
tomo370 | 1:cf2f5992241c | 214 | } |
tomo370 | 4:c3f3fdde7eee | 215 | stepper2.moveTo(500 / StepAdj2); |
tomo370 | 4:c3f3fdde7eee | 216 | while(stepper2.distanceToGo() != 0) stepper2.run(); |
tomo370 | 4:c3f3fdde7eee | 217 | } |
tomo370 | 4:c3f3fdde7eee | 218 | |
tomo370 | 4:c3f3fdde7eee | 219 | void initBoth() |
tomo370 | 4:c3f3fdde7eee | 220 | { |
tomo370 | 4:c3f3fdde7eee | 221 | stepper1.setCurrentPosition(-1); |
tomo370 | 4:c3f3fdde7eee | 222 | stepper1.setMaxSpeed(4000 / StepAdj1); |
tomo370 | 4:c3f3fdde7eee | 223 | stepper1.setAcceleration(20000 / StepAdj1); |
tomo370 | 4:c3f3fdde7eee | 224 | stepper1.moveTo(-30000 / StepAdj1); |
tomo370 | 4:c3f3fdde7eee | 225 | |
tomo370 | 4:c3f3fdde7eee | 226 | stepper2.setCurrentPosition(-1); |
tomo370 | 4:c3f3fdde7eee | 227 | stepper2.setMaxSpeed(4000 / StepAdj2); |
tomo370 | 4:c3f3fdde7eee | 228 | stepper2.setAcceleration(20000 / StepAdj2); |
tomo370 | 4:c3f3fdde7eee | 229 | stepper2.moveTo(-30000 / StepAdj2); |
tomo370 | 4:c3f3fdde7eee | 230 | |
tomo370 | 4:c3f3fdde7eee | 231 | while((stepper1.distanceToGo() != 0)||(stepper2.distanceToGo() != 0)) { |
tomo370 | 4:c3f3fdde7eee | 232 | if (stepper1.distanceToGo() != 0) stepper1.run(); |
tomo370 | 4:c3f3fdde7eee | 233 | if (stepper2.distanceToGo() != 0) stepper2.run(); |
tomo370 | 4:c3f3fdde7eee | 234 | checkSW(); |
tomo370 | 4:c3f3fdde7eee | 235 | } |
tomo370 | 4:c3f3fdde7eee | 236 | stepper1.moveTo(500 / StepAdj1); |
tomo370 | 4:c3f3fdde7eee | 237 | stepper2.moveTo(500 / StepAdj2); |
tomo370 | 4:c3f3fdde7eee | 238 | while((stepper1.distanceToGo() != 0)||(stepper2.distanceToGo() != 0)) { |
tomo370 | 4:c3f3fdde7eee | 239 | if (stepper1.distanceToGo() != 0) stepper1.run(); |
tomo370 | 4:c3f3fdde7eee | 240 | if (stepper2.distanceToGo() != 0) stepper2.run(); |
tomo370 | 1:cf2f5992241c | 241 | } |
tomo370 | 1:cf2f5992241c | 242 | } |
tomo370 | 1:cf2f5992241c | 243 | |
tomo370 | 3:dd2305e50390 | 244 | |
tomo370 | 1:cf2f5992241c | 245 | void checkSafeBreak() |
tomo370 | 1:cf2f5992241c | 246 | { |
tomo370 | 2:198becff12f4 | 247 | if(EndSW3.read() == 1) { |
tomo370 | 1:cf2f5992241c | 248 | stepper1.stop(); |
tomo370 | 1:cf2f5992241c | 249 | while(1) { |
tomo370 | 1:cf2f5992241c | 250 | blink(); |
tomo370 | 1:cf2f5992241c | 251 | } |
tomo370 | 1:cf2f5992241c | 252 | } |
tomo370 | 1:cf2f5992241c | 253 | |
tomo370 | 1:cf2f5992241c | 254 | //モーター2用エンドスイッチのチェック |
tomo370 | 2:198becff12f4 | 255 | if(EndSW4.read() == 1) { |
tomo370 | 1:cf2f5992241c | 256 | stepper2.stop(); |
tomo370 | 1:cf2f5992241c | 257 | while(1) { |
tomo370 | 1:cf2f5992241c | 258 | blink(); |
tomo370 | 1:cf2f5992241c | 259 | } |
tomo370 | 1:cf2f5992241c | 260 | } |
tomo370 | 1:cf2f5992241c | 261 | } |
tomo370 | 1:cf2f5992241c | 262 | |
tomo370 | 1:cf2f5992241c | 263 | //モーター1のパラメータ保存 |
tomo370 | 1:cf2f5992241c | 264 | void paramStore1() |
tomo370 | 1:cf2f5992241c | 265 | { |
tomo370 | 1:cf2f5992241c | 266 | //速度 |
tomo370 | 2:198becff12f4 | 267 | uint8_t dt = dmx.get(DMX_Speed1_H); |
tomo370 | 2:198becff12f4 | 268 | at24c1024.write(DMX_Speed1_H, dt); |
tomo370 | 2:198becff12f4 | 269 | wait_ms(2); |
tomo370 | 2:198becff12f4 | 270 | dt = dmx.get(DMX_Speed1_L); |
tomo370 | 2:198becff12f4 | 271 | at24c1024.write(DMX_Speed1_L, dt); |
tomo370 | 1:cf2f5992241c | 272 | wait_ms(2); |
tomo370 | 1:cf2f5992241c | 273 | |
tomo370 | 1:cf2f5992241c | 274 | //加速度 |
tomo370 | 1:cf2f5992241c | 275 | dt = dmx.get(DMX_Acceleration1_H); |
tomo370 | 1:cf2f5992241c | 276 | at24c1024.write(DMX_Acceleration1_H, dt); |
tomo370 | 2:198becff12f4 | 277 | wait_ms(2); |
tomo370 | 1:cf2f5992241c | 278 | dt = dmx.get(DMX_Acceleration1_L); |
tomo370 | 1:cf2f5992241c | 279 | at24c1024.write(DMX_Acceleration1_L, dt); |
tomo370 | 2:198becff12f4 | 280 | wait_ms(2); |
tomo370 | 1:cf2f5992241c | 281 | |
tomo370 | 1:cf2f5992241c | 282 | //最大値 |
tomo370 | 1:cf2f5992241c | 283 | dt = dmx.get(DMX_Max1_H); |
tomo370 | 1:cf2f5992241c | 284 | at24c1024.write(DMX_Max1_H, dt); |
tomo370 | 2:198becff12f4 | 285 | wait_ms(2); |
tomo370 | 1:cf2f5992241c | 286 | dt = dmx.get(DMX_Max1_L); |
tomo370 | 1:cf2f5992241c | 287 | at24c1024.write(DMX_Max1_L, dt); |
tomo370 | 1:cf2f5992241c | 288 | |
tomo370 | 1:cf2f5992241c | 289 | wait_ms(5); |
tomo370 | 1:cf2f5992241c | 290 | } |
tomo370 | 1:cf2f5992241c | 291 | |
tomo370 | 2:198becff12f4 | 292 | //モーター2のパラメータ保存 |
tomo370 | 2:198becff12f4 | 293 | void paramStore2() |
tomo370 | 2:198becff12f4 | 294 | { |
tomo370 | 2:198becff12f4 | 295 | //速度 |
tomo370 | 2:198becff12f4 | 296 | uint8_t dt = dmx.get(DMX_Speed2_H); |
tomo370 | 2:198becff12f4 | 297 | at24c1024.write(DMX_Speed2_H, dt); |
tomo370 | 2:198becff12f4 | 298 | wait_ms(2); |
tomo370 | 2:198becff12f4 | 299 | dt = dmx.get(DMX_Speed2_L); |
tomo370 | 2:198becff12f4 | 300 | at24c1024.write(DMX_Speed2_L, dt); |
tomo370 | 2:198becff12f4 | 301 | wait_ms(2); |
tomo370 | 2:198becff12f4 | 302 | |
tomo370 | 2:198becff12f4 | 303 | //加速度 |
tomo370 | 2:198becff12f4 | 304 | dt = dmx.get(DMX_Acceleration2_H); |
tomo370 | 2:198becff12f4 | 305 | at24c1024.write(DMX_Acceleration2_H, dt); |
tomo370 | 2:198becff12f4 | 306 | wait_ms(2); |
tomo370 | 2:198becff12f4 | 307 | dt = dmx.get(DMX_Acceleration2_L); |
tomo370 | 2:198becff12f4 | 308 | at24c1024.write(DMX_Acceleration2_L, dt); |
tomo370 | 2:198becff12f4 | 309 | wait_ms(2); |
tomo370 | 2:198becff12f4 | 310 | |
tomo370 | 2:198becff12f4 | 311 | //最大値 |
tomo370 | 2:198becff12f4 | 312 | dt = dmx.get(DMX_Max2_H); |
tomo370 | 2:198becff12f4 | 313 | at24c1024.write(DMX_Max2_H, dt); |
tomo370 | 2:198becff12f4 | 314 | wait_ms(2); |
tomo370 | 2:198becff12f4 | 315 | dt = dmx.get(DMX_Max2_L); |
tomo370 | 2:198becff12f4 | 316 | at24c1024.write(DMX_Max2_L, dt); |
tomo370 | 2:198becff12f4 | 317 | |
tomo370 | 2:198becff12f4 | 318 | wait_ms(2); |
tomo370 | 2:198becff12f4 | 319 | } |
tomo370 | 2:198becff12f4 | 320 | |
tomo370 | 2:198becff12f4 | 321 | |
tomo370 | 1:cf2f5992241c | 322 | //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 | 323 | void captureSliderValue() |
tomo370 | 1:cf2f5992241c | 324 | { |
tomo370 | 1:cf2f5992241c | 325 | dmxInHighBit = dmx.get(DMX_Speed1_H); |
tomo370 | 1:cf2f5992241c | 326 | dmxInLowBit = dmx.get(DMX_Speed1_L); |
tomo370 | 1:cf2f5992241c | 327 | dmxInHighBit = dmxInHighBit << 8; |
tomo370 | 1:cf2f5992241c | 328 | speed1 = (long)(dmxInHighBit + dmxInLowBit); |
tomo370 | 1:cf2f5992241c | 329 | |
tomo370 | 1:cf2f5992241c | 330 | dmxInHighBit = dmx.get(DMX_Speed2_H); |
tomo370 | 1:cf2f5992241c | 331 | dmxInLowBit = dmx.get(DMX_Speed2_L); |
tomo370 | 1:cf2f5992241c | 332 | dmxInHighBit = dmxInHighBit << 8; |
tomo370 | 1:cf2f5992241c | 333 | speed2 = (long)(dmxInHighBit + dmxInLowBit); |
tomo370 | 1:cf2f5992241c | 334 | |
tomo370 | 1:cf2f5992241c | 335 | dmxInHighBit = dmx.get(DMX_Acceleration1_H); |
tomo370 | 1:cf2f5992241c | 336 | dmxInLowBit = dmx.get(DMX_Acceleration1_L); |
tomo370 | 1:cf2f5992241c | 337 | dmxInHighBit = dmxInHighBit << 8; |
tomo370 | 1:cf2f5992241c | 338 | Acceleration1 = (long)(dmxInHighBit + dmxInLowBit); |
tomo370 | 1:cf2f5992241c | 339 | |
tomo370 | 1:cf2f5992241c | 340 | dmxInHighBit = dmx.get(DMX_Acceleration2_H); |
tomo370 | 1:cf2f5992241c | 341 | dmxInLowBit = dmx.get(DMX_Acceleration2_L); |
tomo370 | 1:cf2f5992241c | 342 | dmxInHighBit = dmxInHighBit << 8; |
tomo370 | 1:cf2f5992241c | 343 | Acceleration2 = (long)(dmxInHighBit + dmxInLowBit); |
tomo370 | 1:cf2f5992241c | 344 | |
tomo370 | 1:cf2f5992241c | 345 | dmxInHighBit = dmx.get(DMX_Max1_H); |
tomo370 | 1:cf2f5992241c | 346 | dmxInLowBit = dmx.get(DMX_Max1_L); |
tomo370 | 1:cf2f5992241c | 347 | dmxInHighBit = dmxInHighBit << 8; |
tomo370 | 1:cf2f5992241c | 348 | max1 = (long)(dmxInHighBit + dmxInLowBit); |
tomo370 | 1:cf2f5992241c | 349 | |
tomo370 | 1:cf2f5992241c | 350 | dmxInHighBit = dmx.get(DMX_Max2_H); |
tomo370 | 1:cf2f5992241c | 351 | dmxInLowBit = dmx.get(DMX_Max2_L); |
tomo370 | 1:cf2f5992241c | 352 | dmxInHighBit = dmxInHighBit << 8; |
tomo370 | 1:cf2f5992241c | 353 | max2 = (long)(dmxInHighBit + dmxInLowBit); |
tomo370 | 1:cf2f5992241c | 354 | } |
tomo370 | 0:d94213e24c2e | 355 | |
tomo370 | 0:d94213e24c2e | 356 | |
tomo370 | 1:cf2f5992241c | 357 | //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 | 358 | void readROMValue1() |
tomo370 | 1:cf2f5992241c | 359 | { |
tomo370 | 1:cf2f5992241c | 360 | //速度 |
tomo370 | 2:198becff12f4 | 361 | HighBit = at24c1024.read(DMX_Speed1_H); |
tomo370 | 2:198becff12f4 | 362 | LowBit = at24c1024.read(DMX_Speed1_L); |
tomo370 | 1:cf2f5992241c | 363 | HighBit = HighBit << 8; |
tomo370 | 2:198becff12f4 | 364 | speed1 = (long)(HighBit + LowBit); |
tomo370 | 1:cf2f5992241c | 365 | |
tomo370 | 1:cf2f5992241c | 366 | //加速度 |
tomo370 | 1:cf2f5992241c | 367 | HighBit = at24c1024.read(DMX_Acceleration1_H); |
tomo370 | 1:cf2f5992241c | 368 | LowBit = at24c1024.read(DMX_Acceleration1_L); |
tomo370 | 1:cf2f5992241c | 369 | HighBit = HighBit << 8; |
tomo370 | 2:198becff12f4 | 370 | Acceleration1 = (long)(HighBit + LowBit); |
tomo370 | 1:cf2f5992241c | 371 | |
tomo370 | 1:cf2f5992241c | 372 | //最大値 |
tomo370 | 1:cf2f5992241c | 373 | HighBit = at24c1024.read(DMX_Max1_H); |
tomo370 | 1:cf2f5992241c | 374 | LowBit = at24c1024.read(DMX_Max1_L); |
tomo370 | 1:cf2f5992241c | 375 | HighBit = HighBit << 8; |
tomo370 | 2:198becff12f4 | 376 | max1 = (long)(HighBit + LowBit); |
tomo370 | 1:cf2f5992241c | 377 | } |
tomo370 | 1:cf2f5992241c | 378 | |
tomo370 | 1:cf2f5992241c | 379 | |
tomo370 | 1:cf2f5992241c | 380 | //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 | 381 | void readROMValue2() |
tomo370 | 1:cf2f5992241c | 382 | { |
tomo370 | 2:198becff12f4 | 383 | //速度 |
tomo370 | 2:198becff12f4 | 384 | HighBit = at24c1024.read(DMX_Speed2_H); |
tomo370 | 2:198becff12f4 | 385 | LowBit = at24c1024.read(DMX_Speed2_L); |
tomo370 | 2:198becff12f4 | 386 | HighBit = HighBit << 8; |
tomo370 | 2:198becff12f4 | 387 | speed2 = (long)(HighBit + LowBit); |
tomo370 | 2:198becff12f4 | 388 | |
tomo370 | 2:198becff12f4 | 389 | //加速度 |
tomo370 | 2:198becff12f4 | 390 | HighBit = at24c1024.read(DMX_Acceleration2_H); |
tomo370 | 2:198becff12f4 | 391 | LowBit = at24c1024.read(DMX_Acceleration2_L); |
tomo370 | 2:198becff12f4 | 392 | HighBit = HighBit << 8; |
tomo370 | 2:198becff12f4 | 393 | Acceleration2 = (long)(HighBit + LowBit); |
tomo370 | 2:198becff12f4 | 394 | |
tomo370 | 2:198becff12f4 | 395 | //最大値 |
tomo370 | 2:198becff12f4 | 396 | HighBit = at24c1024.read(DMX_Max2_H); |
tomo370 | 2:198becff12f4 | 397 | LowBit = at24c1024.read(DMX_Max2_L); |
tomo370 | 2:198becff12f4 | 398 | HighBit = HighBit << 8; |
tomo370 | 2:198becff12f4 | 399 | max2 = (long)(HighBit + LowBit); |
tomo370 | 0:d94213e24c2e | 400 | } |
tomo370 | 0:d94213e24c2e | 401 | |
tomo370 | 0:d94213e24c2e | 402 | |
tomo370 | 1:cf2f5992241c | 403 | //操作モード切り替えボタンのチェック |
tomo370 | 1:cf2f5992241c | 404 | void checkManipulateButton() |
tomo370 | 1:cf2f5992241c | 405 | { |
tomo370 | 1:cf2f5992241c | 406 | dmxInHighBit = dmx.get(DMX_ParmSetMode1_H); |
tomo370 | 1:cf2f5992241c | 407 | dmxInLowBit = dmx.get(DMX_ParmSetMode1_L); |
tomo370 | 1:cf2f5992241c | 408 | if(dmxInHighBit == 102 && dmxInLowBit == 255) { |
tomo370 | 1:cf2f5992241c | 409 | manipulateMode1 = !manipulateMode1; |
tomo370 | 1:cf2f5992241c | 410 | blink(); |
tomo370 | 1:cf2f5992241c | 411 | } |
tomo370 | 1:cf2f5992241c | 412 | |
tomo370 | 1:cf2f5992241c | 413 | dmxInHighBit = dmx.get(DMX_ParmSetMode2_H); |
tomo370 | 1:cf2f5992241c | 414 | dmxInLowBit = dmx.get(DMX_ParmSetMode2_L); |
tomo370 | 1:cf2f5992241c | 415 | if(dmxInHighBit == 102 && dmxInLowBit == 255) { |
tomo370 | 1:cf2f5992241c | 416 | manipulateMode2 = !manipulateMode2; |
tomo370 | 1:cf2f5992241c | 417 | blink(); |
tomo370 | 1:cf2f5992241c | 418 | } |
tomo370 | 1:cf2f5992241c | 419 | } |
tomo370 | 1:cf2f5992241c | 420 | |
tomo370 | 1:cf2f5992241c | 421 | //書き込みボタンのチェック |
tomo370 | 1:cf2f5992241c | 422 | void checkWriteButton() |
tomo370 | 1:cf2f5992241c | 423 | { |
tomo370 | 1:cf2f5992241c | 424 | dmxInHighBit = dmx.get(DMX_SaveValue1_H); |
tomo370 | 1:cf2f5992241c | 425 | dmxInLowBit = dmx.get(DMX_SaveValue1_L); |
tomo370 | 1:cf2f5992241c | 426 | dmxInHighBit = dmxInHighBit << 8; |
tomo370 | 1:cf2f5992241c | 427 | param1 = (long)(dmxInHighBit + dmxInLowBit); |
tomo370 | 1:cf2f5992241c | 428 | |
tomo370 | 1:cf2f5992241c | 429 | dmxInHighBit = dmx.get(DMX_SaveValue2_H); |
tomo370 | 1:cf2f5992241c | 430 | dmxInLowBit = dmx.get(DMX_SaveValue2_L); |
tomo370 | 1:cf2f5992241c | 431 | dmxInHighBit = dmxInHighBit << 8; |
tomo370 | 1:cf2f5992241c | 432 | param2 = (long)(dmxInHighBit + dmxInLowBit); |
tomo370 | 1:cf2f5992241c | 433 | |
tomo370 | 1:cf2f5992241c | 434 | if(param1 == 24932) { |
tomo370 | 1:cf2f5992241c | 435 | paramStore1(); |
tomo370 | 1:cf2f5992241c | 436 | blink(); |
tomo370 | 1:cf2f5992241c | 437 | } else; |
tomo370 | 1:cf2f5992241c | 438 | |
tomo370 | 1:cf2f5992241c | 439 | if(param2 == 24932) { |
tomo370 | 2:198becff12f4 | 440 | paramStore2(); |
tomo370 | 2:198becff12f4 | 441 | blink(); |
tomo370 | 1:cf2f5992241c | 442 | } else; |
tomo370 | 1:cf2f5992241c | 443 | } |
tomo370 | 1:cf2f5992241c | 444 | |
tomo370 | 4:c3f3fdde7eee | 445 | //モータードライバの設定 |
tomo370 | 4:c3f3fdde7eee | 446 | void conf1() |
tomo370 | 4:c3f3fdde7eee | 447 | { |
tomo370 | 4:c3f3fdde7eee | 448 | switch (StepSize1) { |
tomo370 | 4:c3f3fdde7eee | 449 | case 1: //DRV8825 full steps |
tomo370 | 4:c3f3fdde7eee | 450 | stepper1MS1 = 0; |
tomo370 | 4:c3f3fdde7eee | 451 | stepper1MS2 = 0; |
tomo370 | 4:c3f3fdde7eee | 452 | stepper1MS3 = 0; |
tomo370 | 4:c3f3fdde7eee | 453 | StepAdj1 = 16; |
tomo370 | 4:c3f3fdde7eee | 454 | break; |
tomo370 | 4:c3f3fdde7eee | 455 | |
tomo370 | 4:c3f3fdde7eee | 456 | case 2: //DRV8825 1/2 steps |
tomo370 | 4:c3f3fdde7eee | 457 | stepper1MS1 = 1; |
tomo370 | 4:c3f3fdde7eee | 458 | stepper1MS2 = 0; |
tomo370 | 4:c3f3fdde7eee | 459 | stepper1MS3 = 0; |
tomo370 | 4:c3f3fdde7eee | 460 | StepAdj1 = 8; |
tomo370 | 4:c3f3fdde7eee | 461 | break; |
tomo370 | 4:c3f3fdde7eee | 462 | |
tomo370 | 4:c3f3fdde7eee | 463 | case 3: //DRV8825 1/4 steps |
tomo370 | 4:c3f3fdde7eee | 464 | stepper1MS1 = 0; |
tomo370 | 4:c3f3fdde7eee | 465 | stepper1MS2 = 1; |
tomo370 | 4:c3f3fdde7eee | 466 | stepper1MS3 = 0; |
tomo370 | 4:c3f3fdde7eee | 467 | StepAdj1 = 4; |
tomo370 | 4:c3f3fdde7eee | 468 | break; |
tomo370 | 4:c3f3fdde7eee | 469 | |
tomo370 | 4:c3f3fdde7eee | 470 | case 4: //DRV8825 1/8 steps |
tomo370 | 4:c3f3fdde7eee | 471 | stepper1MS1 = 1; |
tomo370 | 4:c3f3fdde7eee | 472 | stepper1MS2 = 1; |
tomo370 | 4:c3f3fdde7eee | 473 | stepper1MS3 = 0; |
tomo370 | 4:c3f3fdde7eee | 474 | StepAdj1 = 2; |
tomo370 | 4:c3f3fdde7eee | 475 | break; |
tomo370 | 4:c3f3fdde7eee | 476 | |
tomo370 | 4:c3f3fdde7eee | 477 | case 5: //DRV8825 1/16 steps |
tomo370 | 4:c3f3fdde7eee | 478 | stepper1MS1 = 0; |
tomo370 | 4:c3f3fdde7eee | 479 | stepper1MS2 = 0; |
tomo370 | 4:c3f3fdde7eee | 480 | stepper1MS3 = 1; |
tomo370 | 4:c3f3fdde7eee | 481 | StepAdj1 = 1; |
tomo370 | 4:c3f3fdde7eee | 482 | break; |
tomo370 | 4:c3f3fdde7eee | 483 | |
tomo370 | 4:c3f3fdde7eee | 484 | case 6: //DRV8825 1/32 steps |
tomo370 | 4:c3f3fdde7eee | 485 | stepper1MS1 = 1; |
tomo370 | 4:c3f3fdde7eee | 486 | stepper1MS2 = 1; |
tomo370 | 4:c3f3fdde7eee | 487 | stepper1MS3 = 1; |
tomo370 | 4:c3f3fdde7eee | 488 | StepAdj1 = 0.5; |
tomo370 | 4:c3f3fdde7eee | 489 | break; |
tomo370 | 4:c3f3fdde7eee | 490 | |
tomo370 | 4:c3f3fdde7eee | 491 | case 7: //TMC StealthChop µ16 steps |
tomo370 | 4:c3f3fdde7eee | 492 | DigitalIn stepper1MS1(D11); |
tomo370 | 4:c3f3fdde7eee | 493 | DigitalIn stepper1MS2(D12); |
tomo370 | 4:c3f3fdde7eee | 494 | StepAdj1 = 1; |
tomo370 | 4:c3f3fdde7eee | 495 | break; |
tomo370 | 4:c3f3fdde7eee | 496 | } |
tomo370 | 4:c3f3fdde7eee | 497 | stepper1Enable = 0; |
tomo370 | 4:c3f3fdde7eee | 498 | } |
tomo370 | 4:c3f3fdde7eee | 499 | |
tomo370 | 4:c3f3fdde7eee | 500 | void conf2() |
tomo370 | 4:c3f3fdde7eee | 501 | { |
tomo370 | 4:c3f3fdde7eee | 502 | switch (StepSize2) { |
tomo370 | 4:c3f3fdde7eee | 503 | case 1: //DRV8825 full steps |
tomo370 | 4:c3f3fdde7eee | 504 | stepper2MS1 = 0; |
tomo370 | 4:c3f3fdde7eee | 505 | stepper2MS2 = 0; |
tomo370 | 4:c3f3fdde7eee | 506 | stepper2MS3 = 0; |
tomo370 | 4:c3f3fdde7eee | 507 | StepAdj2 = 16; |
tomo370 | 4:c3f3fdde7eee | 508 | break; |
tomo370 | 4:c3f3fdde7eee | 509 | |
tomo370 | 4:c3f3fdde7eee | 510 | case 2: //DRV8825 1/2 steps |
tomo370 | 4:c3f3fdde7eee | 511 | stepper2MS1 = 1; |
tomo370 | 4:c3f3fdde7eee | 512 | stepper2MS2 = 0; |
tomo370 | 4:c3f3fdde7eee | 513 | stepper2MS3 = 0; |
tomo370 | 4:c3f3fdde7eee | 514 | StepAdj2 = 8; |
tomo370 | 4:c3f3fdde7eee | 515 | break; |
tomo370 | 4:c3f3fdde7eee | 516 | |
tomo370 | 4:c3f3fdde7eee | 517 | case 3: //DRV8825 1/4 steps |
tomo370 | 4:c3f3fdde7eee | 518 | stepper2MS1 = 0; |
tomo370 | 4:c3f3fdde7eee | 519 | stepper2MS2 = 1; |
tomo370 | 4:c3f3fdde7eee | 520 | stepper2MS3 = 0; |
tomo370 | 4:c3f3fdde7eee | 521 | StepAdj2 = 4; |
tomo370 | 4:c3f3fdde7eee | 522 | break; |
tomo370 | 4:c3f3fdde7eee | 523 | |
tomo370 | 4:c3f3fdde7eee | 524 | case 4: //DRV8825 1/8 steps |
tomo370 | 4:c3f3fdde7eee | 525 | stepper2MS1 = 1; |
tomo370 | 4:c3f3fdde7eee | 526 | stepper2MS2 = 1; |
tomo370 | 4:c3f3fdde7eee | 527 | stepper2MS3 = 0; |
tomo370 | 4:c3f3fdde7eee | 528 | StepAdj2 = 2; |
tomo370 | 4:c3f3fdde7eee | 529 | break; |
tomo370 | 4:c3f3fdde7eee | 530 | |
tomo370 | 4:c3f3fdde7eee | 531 | case 5: //DRV8825 1/16 steps |
tomo370 | 4:c3f3fdde7eee | 532 | stepper2MS1 = 0; |
tomo370 | 4:c3f3fdde7eee | 533 | stepper2MS2 = 0; |
tomo370 | 4:c3f3fdde7eee | 534 | stepper2MS3 = 1; |
tomo370 | 4:c3f3fdde7eee | 535 | StepAdj2 = 1; |
tomo370 | 4:c3f3fdde7eee | 536 | break; |
tomo370 | 4:c3f3fdde7eee | 537 | |
tomo370 | 4:c3f3fdde7eee | 538 | case 6: //DRV8825 1/32 steps |
tomo370 | 4:c3f3fdde7eee | 539 | stepper2MS1 = 1; |
tomo370 | 4:c3f3fdde7eee | 540 | stepper2MS2 = 1; |
tomo370 | 4:c3f3fdde7eee | 541 | stepper2MS3 = 1; |
tomo370 | 4:c3f3fdde7eee | 542 | StepAdj2 = 0.5; |
tomo370 | 4:c3f3fdde7eee | 543 | break; |
tomo370 | 4:c3f3fdde7eee | 544 | |
tomo370 | 4:c3f3fdde7eee | 545 | case 7: //TMC StealthChop µ16 steps |
tomo370 | 4:c3f3fdde7eee | 546 | DigitalIn stepper2MS1(D11); |
tomo370 | 4:c3f3fdde7eee | 547 | DigitalIn stepper2MS2(D12); |
tomo370 | 4:c3f3fdde7eee | 548 | StepAdj2 = 1; |
tomo370 | 4:c3f3fdde7eee | 549 | break; |
tomo370 | 4:c3f3fdde7eee | 550 | } |
tomo370 | 4:c3f3fdde7eee | 551 | stepper2Enable = 0; |
tomo370 | 4:c3f3fdde7eee | 552 | } |
tomo370 | 4:c3f3fdde7eee | 553 | |
tomo370 | 1:cf2f5992241c | 554 | |
tomo370 | 0:d94213e24c2e | 555 | int main() |
tomo370 | 0:d94213e24c2e | 556 | { |
tomo370 | 4:c3f3fdde7eee | 557 | |
tomo370 | 4:c3f3fdde7eee | 558 | dmxEnable = 0; //0:receiver 1:sender |
tomo370 | 0:d94213e24c2e | 559 | |
tomo370 | 4:c3f3fdde7eee | 560 | conf1(); //motor1 config ドライバの設定 |
tomo370 | 4:c3f3fdde7eee | 561 | conf2(); //motor2 config |
tomo370 | 1:cf2f5992241c | 562 | |
tomo370 | 0:d94213e24c2e | 563 | t.start(); |
tomo370 | 4:c3f3fdde7eee | 564 | // to.attach(&calc, 0.001); |
tomo370 | 0:d94213e24c2e | 565 | |
tomo370 | 0:d94213e24c2e | 566 | stepper1.setCurrentPosition(-1); |
tomo370 | 1:cf2f5992241c | 567 | stepper2.setCurrentPosition(-1); |
tomo370 | 0:d94213e24c2e | 568 | |
tomo370 | 4:c3f3fdde7eee | 569 | //モーターの初期化シーケンス |
tomo370 | 4:c3f3fdde7eee | 570 | // init1(); |
tomo370 | 3:dd2305e50390 | 571 | // init2(); |
tomo370 | 4:c3f3fdde7eee | 572 | // initBoth(); |
tomo370 | 0:d94213e24c2e | 573 | |
tomo370 | 4:c3f3fdde7eee | 574 | //往復運動を繰り返すテストシーケンス(無限ループ) |
tomo370 | 4:c3f3fdde7eee | 575 | testMove1(); |
tomo370 | 1:cf2f5992241c | 576 | |
tomo370 | 1:cf2f5992241c | 577 | myLED =1; |
tomo370 | 1:cf2f5992241c | 578 | |
tomo370 | 2:198becff12f4 | 579 | readROMValue1(); |
tomo370 | 2:198becff12f4 | 580 | readROMValue2(); |
tomo370 | 0:d94213e24c2e | 581 | |
tomo370 | 4:c3f3fdde7eee | 582 | stepper1.setMaxSpeed(10000 / StepAdj1); |
tomo370 | 4:c3f3fdde7eee | 583 | stepper2.setMaxSpeed(10000 / StepAdj2); |
tomo370 | 4:c3f3fdde7eee | 584 | |
tomo370 | 0:d94213e24c2e | 585 | while(1) { |
tomo370 | 1:cf2f5992241c | 586 | //操作モード切り替えボタンのチェック |
tomo370 | 1:cf2f5992241c | 587 | checkManipulateButton(); |
tomo370 | 1:cf2f5992241c | 588 | |
tomo370 | 1:cf2f5992241c | 589 | //書き込みボタンチェック |
tomo370 | 1:cf2f5992241c | 590 | checkWriteButton(); |
tomo370 | 0:d94213e24c2e | 591 | |
tomo370 | 1:cf2f5992241c | 592 | //モーター1の目標位置をスライダーから取得 |
tomo370 | 1:cf2f5992241c | 593 | dmxInHighBit = dmx.get(DMX_Position1_H); |
tomo370 | 1:cf2f5992241c | 594 | dmxInLowBit = dmx.get(DMX_Position1_L); |
tomo370 | 1:cf2f5992241c | 595 | dmxInHighBit = dmxInHighBit << 8; |
tomo370 | 1:cf2f5992241c | 596 | position1 = (long)(dmxInHighBit + dmxInLowBit); |
tomo370 | 0:d94213e24c2e | 597 | |
tomo370 | 1:cf2f5992241c | 598 | //モーター1の目標位置をスライダーから取得 |
tomo370 | 1:cf2f5992241c | 599 | dmxInHighBit = dmx.get(DMX_Position2_H); |
tomo370 | 1:cf2f5992241c | 600 | dmxInLowBit = dmx.get(DMX_Position2_L); |
tomo370 | 1:cf2f5992241c | 601 | dmxInHighBit = dmxInHighBit << 8; |
tomo370 | 1:cf2f5992241c | 602 | position2 = (long)(dmxInHighBit + dmxInLowBit); |
tomo370 | 0:d94213e24c2e | 603 | |
tomo370 | 1:cf2f5992241c | 604 | //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 | 605 | if(manipulateMode1 == false) { |
tomo370 | 1:cf2f5992241c | 606 | captureSliderValue(); |
tomo370 | 2:198becff12f4 | 607 | myLED = 0; |
tomo370 | 1:cf2f5992241c | 608 | } |
tomo370 | 0:d94213e24c2e | 609 | |
tomo370 | 1:cf2f5992241c | 610 | //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 | 611 | else { |
tomo370 | 2:198becff12f4 | 612 | myLED = 1; |
tomo370 | 1:cf2f5992241c | 613 | } |
tomo370 | 0:d94213e24c2e | 614 | |
tomo370 | 2:198becff12f4 | 615 | //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 | 616 | if(manipulateMode2 == false) { |
tomo370 | 2:198becff12f4 | 617 | captureSliderValue(); |
tomo370 | 2:198becff12f4 | 618 | myLED = 0; |
tomo370 | 2:198becff12f4 | 619 | } |
tomo370 | 2:198becff12f4 | 620 | |
tomo370 | 2:198becff12f4 | 621 | //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 | 622 | else { |
tomo370 | 2:198becff12f4 | 623 | myLED = 1; |
tomo370 | 2:198becff12f4 | 624 | } |
tomo370 | 1:cf2f5992241c | 625 | |
tomo370 | 1:cf2f5992241c | 626 | position1 = map(position1, 0, 0xFFFF, 0, max1); |
tomo370 | 1:cf2f5992241c | 627 | stepper1.setMaxSpeed(speed1); |
tomo370 | 1:cf2f5992241c | 628 | stepper1.setAcceleration(Acceleration1); |
tomo370 | 1:cf2f5992241c | 629 | |
tomo370 | 2:198becff12f4 | 630 | position2 = map(position2, 0, 0xFFFF, 0, max2); |
tomo370 | 2:198becff12f4 | 631 | stepper2.setMaxSpeed(speed2); |
tomo370 | 2:198becff12f4 | 632 | stepper2.setAcceleration(Acceleration2); |
tomo370 | 1:cf2f5992241c | 633 | |
tomo370 | 1:cf2f5992241c | 634 | stepper1.moveTo(position1); |
tomo370 | 2:198becff12f4 | 635 | stepper2.moveTo(position2); |
tomo370 | 1:cf2f5992241c | 636 | |
tomo370 | 4:c3f3fdde7eee | 637 | |
tomo370 | 1:cf2f5992241c | 638 | checkSafeBreak(); |
tomo370 | 4:c3f3fdde7eee | 639 | stepper1.newSpeed(); |
tomo370 | 4:c3f3fdde7eee | 640 | |
tomo370 | 4:c3f3fdde7eee | 641 | //モーター1の走行 |
tomo370 | 4:c3f3fdde7eee | 642 | if(stepper1.distanceToGo() != 0) stepper1.run(); |
tomo370 | 4:c3f3fdde7eee | 643 | //モーター2の走行(停止中) |
tomo370 | 4:c3f3fdde7eee | 644 | // if(stepper2.distanceToGo() != 0) stepper2.run(); |
tomo370 | 4:c3f3fdde7eee | 645 | |
tomo370 | 1:cf2f5992241c | 646 | } |
tomo370 | 1:cf2f5992241c | 647 | } |