aircord / Mbed 2 deprecated dmx_to_stepper

test2017-1-13

Dependencies:   AT24C1024 DMX-STM32 mbed

main.cpp@1:cf2f5992241c, 2017-02-14 (annotated)

Committer:
tomo370
Date:
Tue Feb 14 12:58:24 2017 +0000
Revision:
1:cf2f5992241c
Parent:
0:d94213e24c2e
Child:
2:198becff12f4
test2017_2_14

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 0:d94213e24c2e 6 Timer t;
tomo370 1:cf2f5992241c 7 DigitalOut dmxEnable(D8); //基本L（レシーブ）に固定します
tomo370 0:d94213e24c2e 8 DMX dmx(PA_9, PA_10);
tomo370 0:d94213e24c2e 9
tomo370 1:cf2f5992241c 10 I2C i2c(D4, D5); // SDA, SCL
tomo370 1:cf2f5992241c 11 AT24C1024 at24c1024(i2c); // Atmel 1Mbit EE-PROM
tomo370 0:d94213e24c2e 12
tomo370 1:cf2f5992241c 13 AccelStepper stepper1(1, D9, D6); // step, direction
tomo370 1:cf2f5992241c 14 AccelStepper stepper2(1, D10, D7); // step, direction
tomo370 1:cf2f5992241c 15
tomo370 1:cf2f5992241c 16 //モーター１ CN0とCN1を使用
tomo370 0:d94213e24c2e 17 DigitalOut stepper1Enable(D2);
tomo370 0:d94213e24c2e 18 DigitalOut stepper1MS1(D11);
tomo370 0:d94213e24c2e 19 DigitalOut stepper1MS2(D12);
tomo370 0:d94213e24c2e 20 DigitalIn stepper1MS3(A4);
tomo370 0:d94213e24c2e 21
tomo370 1:cf2f5992241c 22 //モーター２ CN2とCN3を使用
tomo370 0:d94213e24c2e 23 DigitalOut stepper2Enable(D3);
tomo370 0:d94213e24c2e 24 DigitalOut stepper2MS1(A5);
tomo370 0:d94213e24c2e 25 DigitalOut stepper2MS2(A6);
tomo370 0:d94213e24c2e 26 DigitalOut stepper2MS3(A7);
tomo370 0:d94213e24c2e 27
tomo370 1:cf2f5992241c 28 DigitalIn EndSW1(A0); //CN4 //３端子エンドスイッチ１ 予備
tomo370 1:cf2f5992241c 29 DigitalIn EndSW2(A1); //CN5 //３端子エンドスイッチ２ 予備
tomo370 1:cf2f5992241c 30 DigitalIn EndSW3(A2); //CN6 //２端子エンドスイッチ１　モーター１用にする
tomo370 1:cf2f5992241c 31 DigitalIn EndSW4(A3); //CN7 //２端子エンドスイッチ２　モーター２用にする
tomo370 1:cf2f5992241c 32
tomo370 1:cf2f5992241c 33 DigitalOut myLED(LED3); //動作確認用LED
tomo370 1:cf2f5992241c 34
tomo370 1:cf2f5992241c 35 unsigned long position1, position2; //モーター１の設定位置
tomo370 1:cf2f5992241c 36 unsigned long max1, max2;
tomo370 1:cf2f5992241c 37 unsigned long speed1, speed2;
tomo370 1:cf2f5992241c 38 unsigned long Acceleration1, Acceleration2;
tomo370 1:cf2f5992241c 39 unsigned long param1, param2;
tomo370 1:cf2f5992241c 40 unsigned long dmxInHighBit, dmxInLowBit;
tomo370 1:cf2f5992241c 41
tomo370 1:cf2f5992241c 42 bool manipulateMode1 = true; //0:手動 1:自動
tomo370 1:cf2f5992241c 43 bool manipulateMode2 = true; //0:手動 1:自動
tomo370 1:cf2f5992241c 44
tomo370 1:cf2f5992241c 45
tomo370 1:cf2f5992241c 46 //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 47 #define CH_Origin 0
tomo370 0:d94213e24c2e 48
tomo370 1:cf2f5992241c 49 #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 50 #define DMX_Position1_L CH_Origin + 1
tomo370 1:cf2f5992241c 51 #define DMX_Speed1_H CH_Origin + 2
tomo370 1:cf2f5992241c 52 #define DMX_Speed1_L CH_Origin + 3
tomo370 1:cf2f5992241c 53 #define DMX_Acceleration1_H CH_Origin + 4
tomo370 1:cf2f5992241c 54 #define DMX_Acceleration1_L CH_Origin + 5
tomo370 1:cf2f5992241c 55 #define DMX_Max1_H CH_Origin + 6
tomo370 1:cf2f5992241c 56 #define DMX_Max1_L CH_Origin + 7
tomo370 1:cf2f5992241c 57 #define DMX_Offset1_H CH_Origin + 8
tomo370 1:cf2f5992241c 58 #define DMX_Offset1_L CH_Origin + 9
tomo370 1:cf2f5992241c 59 #define DMX_SaveValue1_H CH_Origin + 10
tomo370 1:cf2f5992241c 60 #define DMX_SaveValue1_L CH_Origin + 11
tomo370 1:cf2f5992241c 61 #define DMX_ParmSetMode1_H CH_Origin + 12
tomo370 1:cf2f5992241c 62 #define DMX_ParmSetMode1_L CH_Origin + 13
tomo370 0:d94213e24c2e 63
tomo370 1:cf2f5992241c 64 //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 65 #define DMX_Position2_H CH_Origin + 16
tomo370 1:cf2f5992241c 66 #define DMX_Position2_L CH_Origin + 17
tomo370 1:cf2f5992241c 67 #define DMX_Speed2_H CH_Origin + 18
tomo370 1:cf2f5992241c 68 #define DMX_Speed2_L CH_Origin + 19
tomo370 1:cf2f5992241c 69 #define DMX_Acceleration2_H CH_Origin + 20
tomo370 1:cf2f5992241c 70 #define DMX_Acceleration2_L CH_Origin + 21
tomo370 1:cf2f5992241c 71 #define DMX_Max2_H CH_Origin + 22
tomo370 1:cf2f5992241c 72 #define DMX_Max2_L CH_Origin + 23
tomo370 1:cf2f5992241c 73 #define DMX_Offset2_H CH_Origin + 24
tomo370 1:cf2f5992241c 74 #define DMX_Offset2_L CH_Origin + 25
tomo370 1:cf2f5992241c 75 #define DMX_SaveValue2_H CH_Origin + 26
tomo370 1:cf2f5992241c 76 #define DMX_SaveValue2_L CH_Origin + 27
tomo370 1:cf2f5992241c 77 #define DMX_ParmSetMode2_H CH_Origin + 28
tomo370 1:cf2f5992241c 78 #define DMX_ParmSetMode2_L CH_Origin + 29
tomo370 1:cf2f5992241c 79
tomo370 1:cf2f5992241c 80 //map
tomo370 0:d94213e24c2e 81 long map(long x, long in_min, long in_max, long out_min, long out_max)
tomo370 0:d94213e24c2e 82 {
tomo370 0:d94213e24c2e 83 return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
tomo370 0:d94213e24c2e 84 }
tomo370 0:d94213e24c2e 85
tomo370 1:cf2f5992241c 86 void blink()
tomo370 1:cf2f5992241c 87 {
tomo370 1:cf2f5992241c 88 for(int i=0; i<5; i++) {
tomo370 1:cf2f5992241c 89 myLED=0;
tomo370 1:cf2f5992241c 90 wait_ms(60);
tomo370 1:cf2f5992241c 91 myLED=1;
tomo370 1:cf2f5992241c 92 wait_ms(60);
tomo370 1:cf2f5992241c 93 }
tomo370 1:cf2f5992241c 94 }
tomo370 1:cf2f5992241c 95
tomo370 0:d94213e24c2e 96 void checkSW()
tomo370 0:d94213e24c2e 97 {
tomo370 1:cf2f5992241c 98 //モーター１用エンドスイッチのチェック
tomo370 1:cf2f5992241c 99 if(EndSW3.read() == 0) myLED = 1;
tomo370 0:d94213e24c2e 100 else {
tomo370 0:d94213e24c2e 101 stepper1.stop();
tomo370 0:d94213e24c2e 102 stepper1.setCurrentPosition(0);
tomo370 0:d94213e24c2e 103 myLED =0;
tomo370 0:d94213e24c2e 104 }
tomo370 1:cf2f5992241c 105
tomo370 1:cf2f5992241c 106 //モーター２用エンドスイッチのチェック
tomo370 1:cf2f5992241c 107 if(EndSW4.read() == 0) myLED = 1;
tomo370 1:cf2f5992241c 108 else {
tomo370 1:cf2f5992241c 109 stepper2.stop();
tomo370 1:cf2f5992241c 110 stepper2.setCurrentPosition(0);
tomo370 1:cf2f5992241c 111 myLED =0;
tomo370 1:cf2f5992241c 112 }
tomo370 0:d94213e24c2e 113 }
tomo370 0:d94213e24c2e 114
tomo370 0:d94213e24c2e 115 void silence()
tomo370 0:d94213e24c2e 116 {
tomo370 0:d94213e24c2e 117 DigitalIn stepper1MS1(D11);
tomo370 0:d94213e24c2e 118 DigitalIn stepper1MS2(D12);
tomo370 1:cf2f5992241c 119
tomo370 1:cf2f5992241c 120 DigitalIn stepper2MS1(A5);
tomo370 1:cf2f5992241c 121 DigitalIn stepper2MS2(A6);
tomo370 0:d94213e24c2e 122 }
tomo370 0:d94213e24c2e 123
tomo370 0:d94213e24c2e 124 void run()
tomo370 0:d94213e24c2e 125 {
tomo370 0:d94213e24c2e 126 DigitalOut stepper1MS1(D11);
tomo370 0:d94213e24c2e 127 DigitalOut stepper1MS2(D12);
tomo370 0:d94213e24c2e 128 stepper1MS1 = 1;
tomo370 0:d94213e24c2e 129 stepper1MS2 = 1;
tomo370 1:cf2f5992241c 130
tomo370 1:cf2f5992241c 131 DigitalOut stepper2MS1(A5);
tomo370 1:cf2f5992241c 132 DigitalOut stepper2MS2(A6);
tomo370 1:cf2f5992241c 133 stepper2MS1 = 1;
tomo370 1:cf2f5992241c 134 stepper2MS2 = 1;
tomo370 0:d94213e24c2e 135 }
tomo370 0:d94213e24c2e 136
tomo370 0:d94213e24c2e 137 void init()
tomo370 0:d94213e24c2e 138 {
tomo370 0:d94213e24c2e 139 stepper1.setMaxSpeed(2000);
tomo370 0:d94213e24c2e 140 stepper1.setAcceleration(20000);
tomo370 0:d94213e24c2e 141 stepper1.moveTo(-16000);
tomo370 0:d94213e24c2e 142
tomo370 0:d94213e24c2e 143 while(stepper1.currentPosition() != 0) {
tomo370 0:d94213e24c2e 144 stepper1.run();
tomo370 0:d94213e24c2e 145 checkSW();
tomo370 0:d94213e24c2e 146 }
tomo370 0:d94213e24c2e 147 stepper1.moveTo(500);
tomo370 0:d94213e24c2e 148 while(stepper1.distanceToGo() != 0) {
tomo370 0:d94213e24c2e 149 stepper1.run();
tomo370 0:d94213e24c2e 150 }
tomo370 1:cf2f5992241c 151
tomo370 1:cf2f5992241c 152 stepper2.setMaxSpeed(2000);
tomo370 1:cf2f5992241c 153 stepper2.setAcceleration(20000);
tomo370 1:cf2f5992241c 154 stepper2.moveTo(-16000);
tomo370 1:cf2f5992241c 155
tomo370 1:cf2f5992241c 156 while(stepper2.currentPosition() != 0) {
tomo370 1:cf2f5992241c 157 stepper2.run();
tomo370 1:cf2f5992241c 158 checkSW();
tomo370 1:cf2f5992241c 159 }
tomo370 1:cf2f5992241c 160 stepper2.moveTo(500);
tomo370 1:cf2f5992241c 161 while(stepper2.distanceToGo() != 0) {
tomo370 1:cf2f5992241c 162 stepper2.run();
tomo370 1:cf2f5992241c 163 }
tomo370 1:cf2f5992241c 164 //silence();
tomo370 1:cf2f5992241c 165 }
tomo370 1:cf2f5992241c 166
tomo370 1:cf2f5992241c 167 void checkSafeBreak()
tomo370 1:cf2f5992241c 168 {
tomo370 1:cf2f5992241c 169 if(EndSW3.read() == 0) myLED = 1;
tomo370 1:cf2f5992241c 170 else {
tomo370 1:cf2f5992241c 171 stepper1.stop();
tomo370 1:cf2f5992241c 172 while(1) {
tomo370 1:cf2f5992241c 173 blink();
tomo370 1:cf2f5992241c 174 }
tomo370 1:cf2f5992241c 175 }
tomo370 1:cf2f5992241c 176
tomo370 1:cf2f5992241c 177 //モーター２用エンドスイッチのチェック
tomo370 1:cf2f5992241c 178 if(EndSW4.read() == 0) myLED = 1;
tomo370 1:cf2f5992241c 179 else {
tomo370 1:cf2f5992241c 180 stepper2.stop();
tomo370 1:cf2f5992241c 181 while(1) {
tomo370 1:cf2f5992241c 182 blink();
tomo370 1:cf2f5992241c 183 }
tomo370 1:cf2f5992241c 184 }
tomo370 1:cf2f5992241c 185 }
tomo370 1:cf2f5992241c 186
tomo370 1:cf2f5992241c 187 //モーター１のパラメータ保存
tomo370 1:cf2f5992241c 188 void paramStore1()
tomo370 1:cf2f5992241c 189 {
tomo370 1:cf2f5992241c 190 //速度
tomo370 1:cf2f5992241c 191 uint8_t dt = dmx.get(2);
tomo370 1:cf2f5992241c 192 at24c1024.write(2, dt);
tomo370 1:cf2f5992241c 193 dt = dmx.get(3);
tomo370 1:cf2f5992241c 194 at24c1024.write(3, dt);
tomo370 1:cf2f5992241c 195 at24c1024.write(2, 0xf5);
tomo370 1:cf2f5992241c 196 wait_ms(2);
tomo370 1:cf2f5992241c 197
tomo370 1:cf2f5992241c 198 //加速度
tomo370 1:cf2f5992241c 199 dt = dmx.get(DMX_Acceleration1_H);
tomo370 1:cf2f5992241c 200 at24c1024.write(DMX_Acceleration1_H, dt);
tomo370 1:cf2f5992241c 201 dt = dmx.get(DMX_Acceleration1_L);
tomo370 1:cf2f5992241c 202 at24c1024.write(DMX_Acceleration1_L, dt);
tomo370 1:cf2f5992241c 203
tomo370 1:cf2f5992241c 204 //最大値
tomo370 1:cf2f5992241c 205 dt = dmx.get(DMX_Max1_H);
tomo370 1:cf2f5992241c 206 at24c1024.write(DMX_Max1_H, dt);
tomo370 1:cf2f5992241c 207 dt = dmx.get(DMX_Max1_L);
tomo370 1:cf2f5992241c 208 at24c1024.write(DMX_Max1_L, dt);
tomo370 1:cf2f5992241c 209
tomo370 1:cf2f5992241c 210 wait_ms(5);
tomo370 1:cf2f5992241c 211 }
tomo370 1:cf2f5992241c 212
tomo370 1:cf2f5992241c 213 //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 214 void captureSliderValue()
tomo370 1:cf2f5992241c 215 {
tomo370 1:cf2f5992241c 216 dmxInHighBit = dmx.get(DMX_Speed1_H);
tomo370 1:cf2f5992241c 217 dmxInLowBit = dmx.get(DMX_Speed1_L);
tomo370 1:cf2f5992241c 218 dmxInHighBit = dmxInHighBit << 8;
tomo370 1:cf2f5992241c 219 speed1 = (long)(dmxInHighBit + dmxInLowBit);
tomo370 1:cf2f5992241c 220
tomo370 1:cf2f5992241c 221 dmxInHighBit = dmx.get(DMX_Speed2_H);
tomo370 1:cf2f5992241c 222 dmxInLowBit = dmx.get(DMX_Speed2_L);
tomo370 1:cf2f5992241c 223 dmxInHighBit = dmxInHighBit << 8;
tomo370 1:cf2f5992241c 224 speed2 = (long)(dmxInHighBit + dmxInLowBit);
tomo370 1:cf2f5992241c 225
tomo370 1:cf2f5992241c 226 dmxInHighBit = dmx.get(DMX_Acceleration1_H);
tomo370 1:cf2f5992241c 227 dmxInLowBit = dmx.get(DMX_Acceleration1_L);
tomo370 1:cf2f5992241c 228 dmxInHighBit = dmxInHighBit << 8;
tomo370 1:cf2f5992241c 229 Acceleration1 = (long)(dmxInHighBit + dmxInLowBit);
tomo370 1:cf2f5992241c 230
tomo370 1:cf2f5992241c 231 dmxInHighBit = dmx.get(DMX_Acceleration2_H);
tomo370 1:cf2f5992241c 232 dmxInLowBit = dmx.get(DMX_Acceleration2_L);
tomo370 1:cf2f5992241c 233 dmxInHighBit = dmxInHighBit << 8;
tomo370 1:cf2f5992241c 234 Acceleration2 = (long)(dmxInHighBit + dmxInLowBit);
tomo370 1:cf2f5992241c 235
tomo370 1:cf2f5992241c 236 dmxInHighBit = dmx.get(DMX_Max1_H);
tomo370 1:cf2f5992241c 237 dmxInLowBit = dmx.get(DMX_Max1_L);
tomo370 1:cf2f5992241c 238 dmxInHighBit = dmxInHighBit << 8;
tomo370 1:cf2f5992241c 239 max1 = (long)(dmxInHighBit + dmxInLowBit);
tomo370 1:cf2f5992241c 240
tomo370 1:cf2f5992241c 241 dmxInHighBit = dmx.get(DMX_Max2_H);
tomo370 1:cf2f5992241c 242 dmxInLowBit = dmx.get(DMX_Max2_L);
tomo370 1:cf2f5992241c 243 dmxInHighBit = dmxInHighBit << 8;
tomo370 1:cf2f5992241c 244 max2 = (long)(dmxInHighBit + dmxInLowBit);
tomo370 1:cf2f5992241c 245 }
tomo370 0:d94213e24c2e 246
tomo370 0:d94213e24c2e 247
tomo370 1:cf2f5992241c 248 //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 249 void readROMValue1()
tomo370 1:cf2f5992241c 250 {
tomo370 1:cf2f5992241c 251 //速度
tomo370 1:cf2f5992241c 252 unsigned long HighBit = at24c1024.read(DMX_Speed1_H);
tomo370 1:cf2f5992241c 253 uint8_t LowBit = at24c1024.read(DMX_Speed1_L);
tomo370 1:cf2f5992241c 254 HighBit = HighBit << 8;
tomo370 1:cf2f5992241c 255 speed1 = (unsigned long)(HighBit + LowBit);
tomo370 1:cf2f5992241c 256
tomo370 1:cf2f5992241c 257
tomo370 1:cf2f5992241c 258 //加速度
tomo370 1:cf2f5992241c 259 HighBit = at24c1024.read(DMX_Acceleration1_H);
tomo370 1:cf2f5992241c 260 LowBit = at24c1024.read(DMX_Acceleration1_L);
tomo370 1:cf2f5992241c 261 HighBit = HighBit << 8;
tomo370 1:cf2f5992241c 262 Acceleration1 = (unsigned long)(HighBit + LowBit);
tomo370 1:cf2f5992241c 263
tomo370 1:cf2f5992241c 264 //最大値
tomo370 1:cf2f5992241c 265 HighBit = at24c1024.read(DMX_Max1_H);
tomo370 1:cf2f5992241c 266 LowBit = at24c1024.read(DMX_Max1_L);
tomo370 1:cf2f5992241c 267 HighBit = HighBit << 8;
tomo370 1:cf2f5992241c 268 max1 = (unsigned long)(HighBit + LowBit);
tomo370 1:cf2f5992241c 269 }
tomo370 1:cf2f5992241c 270
tomo370 1:cf2f5992241c 271
tomo370 1:cf2f5992241c 272 //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 273 void readROMValue2()
tomo370 1:cf2f5992241c 274 {
tomo370 0:d94213e24c2e 275 }
tomo370 0:d94213e24c2e 276
tomo370 0:d94213e24c2e 277
tomo370 0:d94213e24c2e 278
tomo370 1:cf2f5992241c 279 //操作モード切り替えボタンのチェック
tomo370 1:cf2f5992241c 280 void checkManipulateButton()
tomo370 1:cf2f5992241c 281 {
tomo370 1:cf2f5992241c 282 dmxInHighBit = dmx.get(DMX_ParmSetMode1_H);
tomo370 1:cf2f5992241c 283 dmxInLowBit = dmx.get(DMX_ParmSetMode1_L);
tomo370 1:cf2f5992241c 284 if(dmxInHighBit == 102 && dmxInLowBit == 255) {
tomo370 1:cf2f5992241c 285 manipulateMode1 = !manipulateMode1;
tomo370 1:cf2f5992241c 286 blink();
tomo370 1:cf2f5992241c 287 }
tomo370 1:cf2f5992241c 288
tomo370 1:cf2f5992241c 289 dmxInHighBit = dmx.get(DMX_ParmSetMode2_H);
tomo370 1:cf2f5992241c 290 dmxInLowBit = dmx.get(DMX_ParmSetMode2_L);
tomo370 1:cf2f5992241c 291 if(dmxInHighBit == 102 && dmxInLowBit == 255) {
tomo370 1:cf2f5992241c 292 manipulateMode2 = !manipulateMode2;
tomo370 1:cf2f5992241c 293 blink();
tomo370 1:cf2f5992241c 294 }
tomo370 1:cf2f5992241c 295 }
tomo370 1:cf2f5992241c 296
tomo370 1:cf2f5992241c 297 //書き込みボタンのチェック
tomo370 1:cf2f5992241c 298 void checkWriteButton()
tomo370 1:cf2f5992241c 299 {
tomo370 1:cf2f5992241c 300 dmxInHighBit = dmx.get(DMX_SaveValue1_H);
tomo370 1:cf2f5992241c 301 dmxInLowBit = dmx.get(DMX_SaveValue1_L);
tomo370 1:cf2f5992241c 302 dmxInHighBit = dmxInHighBit << 8;
tomo370 1:cf2f5992241c 303 param1 = (long)(dmxInHighBit + dmxInLowBit);
tomo370 1:cf2f5992241c 304
tomo370 1:cf2f5992241c 305 dmxInHighBit = dmx.get(DMX_SaveValue2_H);
tomo370 1:cf2f5992241c 306 dmxInLowBit = dmx.get(DMX_SaveValue2_L);
tomo370 1:cf2f5992241c 307 dmxInHighBit = dmxInHighBit << 8;
tomo370 1:cf2f5992241c 308 param2 = (long)(dmxInHighBit + dmxInLowBit);
tomo370 1:cf2f5992241c 309
tomo370 1:cf2f5992241c 310 if(param1 == 24932) {
tomo370 1:cf2f5992241c 311 paramStore1();
tomo370 1:cf2f5992241c 312 blink();
tomo370 1:cf2f5992241c 313 } else;
tomo370 1:cf2f5992241c 314
tomo370 1:cf2f5992241c 315 if(param2 == 24932) {
tomo370 1:cf2f5992241c 316 //paramStore2();
tomo370 1:cf2f5992241c 317 //blink();
tomo370 1:cf2f5992241c 318 } else;
tomo370 1:cf2f5992241c 319 }
tomo370 1:cf2f5992241c 320
tomo370 1:cf2f5992241c 321
tomo370 0:d94213e24c2e 322 int main()
tomo370 0:d94213e24c2e 323 {
tomo370 1:cf2f5992241c 324 //モーター１と２のコンフィギュレーション
tomo370 0:d94213e24c2e 325 stepper1MS1 = 1;
tomo370 0:d94213e24c2e 326 stepper1MS2 = 1;
tomo370 0:d94213e24c2e 327 stepper1Enable = 0;
tomo370 0:d94213e24c2e 328
tomo370 1:cf2f5992241c 329 stepper2MS1 = 1;
tomo370 1:cf2f5992241c 330 stepper2MS2 = 1;
tomo370 1:cf2f5992241c 331 stepper2Enable = 0;
tomo370 1:cf2f5992241c 332
tomo370 0:d94213e24c2e 333 t.start();
tomo370 0:d94213e24c2e 334
tomo370 0:d94213e24c2e 335 dmxEnable = 0; //0:receiver 1:sender
tomo370 0:d94213e24c2e 336
tomo370 0:d94213e24c2e 337 stepper1.setCurrentPosition(-1);
tomo370 1:cf2f5992241c 338 stepper2.setCurrentPosition(-1);
tomo370 0:d94213e24c2e 339
tomo370 0:d94213e24c2e 340 init();
tomo370 0:d94213e24c2e 341
tomo370 0:d94213e24c2e 342 stepper1.setMaxSpeed(25000);
tomo370 0:d94213e24c2e 343 stepper1.setAcceleration(30000);
tomo370 0:d94213e24c2e 344 stepper1.setCurrentPosition(0);
tomo370 0:d94213e24c2e 345
tomo370 1:cf2f5992241c 346 stepper2.setMaxSpeed(25000);
tomo370 1:cf2f5992241c 347 stepper2.setAcceleration(30000);
tomo370 1:cf2f5992241c 348 stepper2.setCurrentPosition(0);
tomo370 1:cf2f5992241c 349
tomo370 1:cf2f5992241c 350 myLED =1;
tomo370 1:cf2f5992241c 351
tomo370 1:cf2f5992241c 352 at24c1024.write(2, 0xf5);
tomo370 1:cf2f5992241c 353 wait_ms(2);
tomo370 1:cf2f5992241c 354
tomo370 0:d94213e24c2e 355
tomo370 0:d94213e24c2e 356 while(1) {
tomo370 0:d94213e24c2e 357
tomo370 1:cf2f5992241c 358 //操作モード切り替えボタンのチェック
tomo370 1:cf2f5992241c 359 checkManipulateButton();
tomo370 1:cf2f5992241c 360
tomo370 1:cf2f5992241c 361 //書き込みボタンチェック
tomo370 1:cf2f5992241c 362 checkWriteButton();
tomo370 0:d94213e24c2e 363
tomo370 1:cf2f5992241c 364 //モーター１の目標位置をスライダーから取得
tomo370 1:cf2f5992241c 365 dmxInHighBit = dmx.get(DMX_Position1_H);
tomo370 1:cf2f5992241c 366 dmxInLowBit = dmx.get(DMX_Position1_L);
tomo370 1:cf2f5992241c 367 dmxInHighBit = dmxInHighBit << 8;
tomo370 1:cf2f5992241c 368 position1 = (long)(dmxInHighBit + dmxInLowBit);
tomo370 0:d94213e24c2e 369
tomo370 1:cf2f5992241c 370 //モーター１の目標位置をスライダーから取得
tomo370 1:cf2f5992241c 371 dmxInHighBit = dmx.get(DMX_Position2_H);
tomo370 1:cf2f5992241c 372 dmxInLowBit = dmx.get(DMX_Position2_L);
tomo370 1:cf2f5992241c 373 dmxInHighBit = dmxInHighBit << 8;
tomo370 1:cf2f5992241c 374 position2 = (long)(dmxInHighBit + dmxInLowBit);
tomo370 0:d94213e24c2e 375
tomo370 0:d94213e24c2e 376
tomo370 1:cf2f5992241c 377 //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 1:cf2f5992241c 378 if(manipulateMode1 == true) {
tomo370 1:cf2f5992241c 379 captureSliderValue();
tomo370 1:cf2f5992241c 380 }
tomo370 0:d94213e24c2e 381
tomo370 1:cf2f5992241c 382 //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 383 else {
tomo370 1:cf2f5992241c 384 readROMValue1();
tomo370 1:cf2f5992241c 385 }
tomo370 0:d94213e24c2e 386
tomo370 1:cf2f5992241c 387 // //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 1:cf2f5992241c 388 // if(manipulateMode2 == true) {
tomo370 1:cf2f5992241c 389 // captureSliderValue();
tomo370 1:cf2f5992241c 390 // }
tomo370 0:d94213e24c2e 391 //
tomo370 1:cf2f5992241c 392 // //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 393 // else {
tomo370 1:cf2f5992241c 394 // readROMValue2();
tomo370 1:cf2f5992241c 395 // }
tomo370 1:cf2f5992241c 396
tomo370 1:cf2f5992241c 397 position1 = map(position1, 0, 0xFFFF, 0, max1);
tomo370 1:cf2f5992241c 398 stepper1.setMaxSpeed(speed1);
tomo370 1:cf2f5992241c 399 stepper1.setAcceleration(Acceleration1);
tomo370 1:cf2f5992241c 400
tomo370 1:cf2f5992241c 401 // position2 = map(position2, 0, 0xFFFF, 0, max2);
tomo370 1:cf2f5992241c 402 // stepper2.setMaxSpeed(speed2);
tomo370 1:cf2f5992241c 403 // stepper2.setAcceleration(Acceleration2);
tomo370 1:cf2f5992241c 404
tomo370 1:cf2f5992241c 405 stepper1.moveTo(position1);
tomo370 1:cf2f5992241c 406 //stepper2.moveTo(position2);
tomo370 1:cf2f5992241c 407
tomo370 1:cf2f5992241c 408 checkSafeBreak();
tomo370 1:cf2f5992241c 409 stepper1.run();
tomo370 1:cf2f5992241c 410 //stepper2.run();
tomo370 1:cf2f5992241c 411 }
tomo370 1:cf2f5992241c 412 }