aircord / Mbed 2 deprecated dmx_to_stepper

test2017-1-13

Dependencies:   AT24C1024 DMX-STM32 mbed

main.cpp@3:dd2305e50390, 2017-03-02 (annotated)

Committer:
tomo370
Date:
Thu Mar 02 09:03:40 2017 +0000
Revision:
3:dd2305e50390
Parent:
2:198becff12f4
Child:
4:c3f3fdde7eee
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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 2:198becff12f4 41 unsigned long HighBit, LowBit;
tomo370 1:cf2f5992241c 42
tomo370 1:cf2f5992241c 43 bool manipulateMode1 = true; //0:手動 1:自動
tomo370 1:cf2f5992241c 44 bool manipulateMode2 = true; //0:手動 1:自動
tomo370 1:cf2f5992241c 45
tomo370 1:cf2f5992241c 46
tomo370 1:cf2f5992241c 47 //モーター１のパラメーター　DMXチャンネルリスト　チャンネル数：１２個
tomo370 1:cf2f5992241c 48 #define CH_Origin 0
tomo370 0:d94213e24c2e 49
tomo370 1:cf2f5992241c 50 #define DMX_Position1_H CH_Origin //モーター１制御用のDMX信号の始まりの値
tomo370 1:cf2f5992241c 51 #define DMX_Position1_L CH_Origin + 1
tomo370 1:cf2f5992241c 52 #define DMX_Speed1_H CH_Origin + 2
tomo370 1:cf2f5992241c 53 #define DMX_Speed1_L CH_Origin + 3
tomo370 1:cf2f5992241c 54 #define DMX_Acceleration1_H CH_Origin + 4
tomo370 1:cf2f5992241c 55 #define DMX_Acceleration1_L CH_Origin + 5
tomo370 1:cf2f5992241c 56 #define DMX_Max1_H CH_Origin + 6
tomo370 1:cf2f5992241c 57 #define DMX_Max1_L CH_Origin + 7
tomo370 1:cf2f5992241c 58 #define DMX_Offset1_H CH_Origin + 8
tomo370 1:cf2f5992241c 59 #define DMX_Offset1_L CH_Origin + 9
tomo370 1:cf2f5992241c 60 #define DMX_SaveValue1_H CH_Origin + 10
tomo370 1:cf2f5992241c 61 #define DMX_SaveValue1_L CH_Origin + 11
tomo370 1:cf2f5992241c 62 #define DMX_ParmSetMode1_H CH_Origin + 12
tomo370 1:cf2f5992241c 63 #define DMX_ParmSetMode1_L CH_Origin + 13
tomo370 0:d94213e24c2e 64
tomo370 1:cf2f5992241c 65 //モーター２のパラメーター　DMXチャンネルリスト　チャンネル数：１２個
tomo370 1:cf2f5992241c 66 #define DMX_Position2_H CH_Origin + 16
tomo370 1:cf2f5992241c 67 #define DMX_Position2_L CH_Origin + 17
tomo370 1:cf2f5992241c 68 #define DMX_Speed2_H CH_Origin + 18
tomo370 1:cf2f5992241c 69 #define DMX_Speed2_L CH_Origin + 19
tomo370 1:cf2f5992241c 70 #define DMX_Acceleration2_H CH_Origin + 20
tomo370 1:cf2f5992241c 71 #define DMX_Acceleration2_L CH_Origin + 21
tomo370 1:cf2f5992241c 72 #define DMX_Max2_H CH_Origin + 22
tomo370 1:cf2f5992241c 73 #define DMX_Max2_L CH_Origin + 23
tomo370 1:cf2f5992241c 74 #define DMX_Offset2_H CH_Origin + 24
tomo370 1:cf2f5992241c 75 #define DMX_Offset2_L CH_Origin + 25
tomo370 1:cf2f5992241c 76 #define DMX_SaveValue2_H CH_Origin + 26
tomo370 1:cf2f5992241c 77 #define DMX_SaveValue2_L CH_Origin + 27
tomo370 1:cf2f5992241c 78 #define DMX_ParmSetMode2_H CH_Origin + 28
tomo370 1:cf2f5992241c 79 #define DMX_ParmSetMode2_L CH_Origin + 29
tomo370 1:cf2f5992241c 80
tomo370 1:cf2f5992241c 81 //map
tomo370 0:d94213e24c2e 82 long map(long x, long in_min, long in_max, long out_min, long out_max)
tomo370 0:d94213e24c2e 83 {
tomo370 0:d94213e24c2e 84 return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
tomo370 0:d94213e24c2e 85 }
tomo370 0:d94213e24c2e 86
tomo370 1:cf2f5992241c 87 void blink()
tomo370 1:cf2f5992241c 88 {
tomo370 1:cf2f5992241c 89 for(int i=0; i<5; i++) {
tomo370 1:cf2f5992241c 90 myLED=0;
tomo370 1:cf2f5992241c 91 wait_ms(60);
tomo370 1:cf2f5992241c 92 myLED=1;
tomo370 1:cf2f5992241c 93 wait_ms(60);
tomo370 1:cf2f5992241c 94 }
tomo370 1:cf2f5992241c 95 }
tomo370 1:cf2f5992241c 96
tomo370 0:d94213e24c2e 97 void checkSW()
tomo370 0:d94213e24c2e 98 {
tomo370 1:cf2f5992241c 99 //モーター１用エンドスイッチのチェック
tomo370 2:198becff12f4 100 if(EndSW3.read() == 1) {
tomo370 0:d94213e24c2e 101 stepper1.stop();
tomo370 0:d94213e24c2e 102 stepper1.setCurrentPosition(0);
tomo370 0:d94213e24c2e 103 }
tomo370 1:cf2f5992241c 104
tomo370 1:cf2f5992241c 105 //モーター２用エンドスイッチのチェック
tomo370 2:198becff12f4 106 if(EndSW4.read() == 1) {
tomo370 1:cf2f5992241c 107 stepper2.stop();
tomo370 1:cf2f5992241c 108 stepper2.setCurrentPosition(0);
tomo370 1:cf2f5992241c 109 }
tomo370 0:d94213e24c2e 110 }
tomo370 0:d94213e24c2e 111
tomo370 0:d94213e24c2e 112 void silence()
tomo370 0:d94213e24c2e 113 {
tomo370 0:d94213e24c2e 114 DigitalIn stepper1MS1(D11);
tomo370 0:d94213e24c2e 115 DigitalIn stepper1MS2(D12);
tomo370 1:cf2f5992241c 116
tomo370 1:cf2f5992241c 117 DigitalIn stepper2MS1(A5);
tomo370 1:cf2f5992241c 118 DigitalIn stepper2MS2(A6);
tomo370 0:d94213e24c2e 119 }
tomo370 0:d94213e24c2e 120
tomo370 0:d94213e24c2e 121 void run()
tomo370 0:d94213e24c2e 122 {
tomo370 0:d94213e24c2e 123 DigitalOut stepper1MS1(D11);
tomo370 0:d94213e24c2e 124 DigitalOut stepper1MS2(D12);
tomo370 0:d94213e24c2e 125 stepper1MS1 = 1;
tomo370 0:d94213e24c2e 126 stepper1MS2 = 1;
tomo370 1:cf2f5992241c 127
tomo370 1:cf2f5992241c 128 DigitalOut stepper2MS1(A5);
tomo370 1:cf2f5992241c 129 DigitalOut stepper2MS2(A6);
tomo370 1:cf2f5992241c 130 stepper2MS1 = 1;
tomo370 1:cf2f5992241c 131 stepper2MS2 = 1;
tomo370 0:d94213e24c2e 132 }
tomo370 0:d94213e24c2e 133
tomo370 3:dd2305e50390 134
tomo370 3:dd2305e50390 135 void init1()
tomo370 0:d94213e24c2e 136 {
tomo370 3:dd2305e50390 137 stepper1.setMaxSpeed(2000);
tomo370 0:d94213e24c2e 138 stepper1.setAcceleration(20000);
tomo370 3:dd2305e50390 139 stepper1.moveTo(-30000);
tomo370 0:d94213e24c2e 140
tomo370 0:d94213e24c2e 141 while(stepper1.currentPosition() != 0) {
tomo370 0:d94213e24c2e 142 stepper1.run();
tomo370 0:d94213e24c2e 143 checkSW();
tomo370 0:d94213e24c2e 144 }
tomo370 0:d94213e24c2e 145 stepper1.moveTo(500);
tomo370 0:d94213e24c2e 146 while(stepper1.distanceToGo() != 0) {
tomo370 0:d94213e24c2e 147 stepper1.run();
tomo370 0:d94213e24c2e 148 }
tomo370 1:cf2f5992241c 149
tomo370 3:dd2305e50390 150 stepper1.setMaxSpeed(4500);
tomo370 3:dd2305e50390 151
tomo370 3:dd2305e50390 152 while(1) {
tomo370 3:dd2305e50390 153 stepper1.moveTo(20000);
tomo370 3:dd2305e50390 154 while(stepper1.distanceToGo() != 0) {
tomo370 3:dd2305e50390 155 stepper1.run();
tomo370 3:dd2305e50390 156
tomo370 3:dd2305e50390 157 }
tomo370 3:dd2305e50390 158 stepper1.moveTo(500);
tomo370 3:dd2305e50390 159 while(stepper1.distanceToGo() != 0) {
tomo370 3:dd2305e50390 160 stepper1.run();
tomo370 3:dd2305e50390 161 }
tomo370 3:dd2305e50390 162 }
tomo370 3:dd2305e50390 163
tomo370 3:dd2305e50390 164 }
tomo370 3:dd2305e50390 165
tomo370 3:dd2305e50390 166 void init2()
tomo370 3:dd2305e50390 167 {
tomo370 3:dd2305e50390 168
tomo370 2:198becff12f4 169 stepper2.setMaxSpeed(4000);
tomo370 1:cf2f5992241c 170 stepper2.setAcceleration(20000);
tomo370 2:198becff12f4 171 stepper2.moveTo(-20000);
tomo370 1:cf2f5992241c 172
tomo370 1:cf2f5992241c 173 while(stepper2.currentPosition() != 0) {
tomo370 1:cf2f5992241c 174 stepper2.run();
tomo370 1:cf2f5992241c 175 checkSW();
tomo370 1:cf2f5992241c 176 }
tomo370 1:cf2f5992241c 177 stepper2.moveTo(500);
tomo370 1:cf2f5992241c 178 while(stepper2.distanceToGo() != 0) {
tomo370 1:cf2f5992241c 179 stepper2.run();
tomo370 1:cf2f5992241c 180 }
tomo370 1:cf2f5992241c 181 }
tomo370 1:cf2f5992241c 182
tomo370 3:dd2305e50390 183
tomo370 1:cf2f5992241c 184 void checkSafeBreak()
tomo370 1:cf2f5992241c 185 {
tomo370 2:198becff12f4 186 if(EndSW3.read() == 1) {
tomo370 1:cf2f5992241c 187 stepper1.stop();
tomo370 1:cf2f5992241c 188 while(1) {
tomo370 1:cf2f5992241c 189 blink();
tomo370 1:cf2f5992241c 190 }
tomo370 1:cf2f5992241c 191 }
tomo370 1:cf2f5992241c 192
tomo370 1:cf2f5992241c 193 //モーター２用エンドスイッチのチェック
tomo370 2:198becff12f4 194 if(EndSW4.read() == 1) {
tomo370 1:cf2f5992241c 195 stepper2.stop();
tomo370 1:cf2f5992241c 196 while(1) {
tomo370 1:cf2f5992241c 197 blink();
tomo370 1:cf2f5992241c 198 }
tomo370 1:cf2f5992241c 199 }
tomo370 1:cf2f5992241c 200 }
tomo370 1:cf2f5992241c 201
tomo370 1:cf2f5992241c 202 //モーター１のパラメータ保存
tomo370 1:cf2f5992241c 203 void paramStore1()
tomo370 1:cf2f5992241c 204 {
tomo370 1:cf2f5992241c 205 //速度
tomo370 2:198becff12f4 206 uint8_t dt = dmx.get(DMX_Speed1_H);
tomo370 2:198becff12f4 207 at24c1024.write(DMX_Speed1_H, dt);
tomo370 2:198becff12f4 208 wait_ms(2);
tomo370 2:198becff12f4 209 dt = dmx.get(DMX_Speed1_L);
tomo370 2:198becff12f4 210 at24c1024.write(DMX_Speed1_L, dt);
tomo370 1:cf2f5992241c 211 wait_ms(2);
tomo370 1:cf2f5992241c 212
tomo370 1:cf2f5992241c 213 //加速度
tomo370 1:cf2f5992241c 214 dt = dmx.get(DMX_Acceleration1_H);
tomo370 1:cf2f5992241c 215 at24c1024.write(DMX_Acceleration1_H, dt);
tomo370 2:198becff12f4 216 wait_ms(2);
tomo370 1:cf2f5992241c 217 dt = dmx.get(DMX_Acceleration1_L);
tomo370 1:cf2f5992241c 218 at24c1024.write(DMX_Acceleration1_L, dt);
tomo370 2:198becff12f4 219 wait_ms(2);
tomo370 1:cf2f5992241c 220
tomo370 1:cf2f5992241c 221 //最大値
tomo370 1:cf2f5992241c 222 dt = dmx.get(DMX_Max1_H);
tomo370 1:cf2f5992241c 223 at24c1024.write(DMX_Max1_H, dt);
tomo370 2:198becff12f4 224 wait_ms(2);
tomo370 1:cf2f5992241c 225 dt = dmx.get(DMX_Max1_L);
tomo370 1:cf2f5992241c 226 at24c1024.write(DMX_Max1_L, dt);
tomo370 1:cf2f5992241c 227
tomo370 1:cf2f5992241c 228 wait_ms(5);
tomo370 1:cf2f5992241c 229 }
tomo370 1:cf2f5992241c 230
tomo370 2:198becff12f4 231 //モーター２のパラメータ保存
tomo370 2:198becff12f4 232 void paramStore2()
tomo370 2:198becff12f4 233 {
tomo370 2:198becff12f4 234 //速度
tomo370 2:198becff12f4 235 uint8_t dt = dmx.get(DMX_Speed2_H);
tomo370 2:198becff12f4 236 at24c1024.write(DMX_Speed2_H, dt);
tomo370 2:198becff12f4 237 wait_ms(2);
tomo370 2:198becff12f4 238 dt = dmx.get(DMX_Speed2_L);
tomo370 2:198becff12f4 239 at24c1024.write(DMX_Speed2_L, dt);
tomo370 2:198becff12f4 240 wait_ms(2);
tomo370 2:198becff12f4 241
tomo370 2:198becff12f4 242 //加速度
tomo370 2:198becff12f4 243 dt = dmx.get(DMX_Acceleration2_H);
tomo370 2:198becff12f4 244 at24c1024.write(DMX_Acceleration2_H, dt);
tomo370 2:198becff12f4 245 wait_ms(2);
tomo370 2:198becff12f4 246 dt = dmx.get(DMX_Acceleration2_L);
tomo370 2:198becff12f4 247 at24c1024.write(DMX_Acceleration2_L, dt);
tomo370 2:198becff12f4 248 wait_ms(2);
tomo370 2:198becff12f4 249
tomo370 2:198becff12f4 250 //最大値
tomo370 2:198becff12f4 251 dt = dmx.get(DMX_Max2_H);
tomo370 2:198becff12f4 252 at24c1024.write(DMX_Max2_H, dt);
tomo370 2:198becff12f4 253 wait_ms(2);
tomo370 2:198becff12f4 254 dt = dmx.get(DMX_Max2_L);
tomo370 2:198becff12f4 255 at24c1024.write(DMX_Max2_L, dt);
tomo370 2:198becff12f4 256
tomo370 2:198becff12f4 257 wait_ms(2);
tomo370 2:198becff12f4 258 }
tomo370 2:198becff12f4 259
tomo370 2:198becff12f4 260
tomo370 1:cf2f5992241c 261 //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 262 void captureSliderValue()
tomo370 1:cf2f5992241c 263 {
tomo370 1:cf2f5992241c 264 dmxInHighBit = dmx.get(DMX_Speed1_H);
tomo370 1:cf2f5992241c 265 dmxInLowBit = dmx.get(DMX_Speed1_L);
tomo370 1:cf2f5992241c 266 dmxInHighBit = dmxInHighBit << 8;
tomo370 1:cf2f5992241c 267 speed1 = (long)(dmxInHighBit + dmxInLowBit);
tomo370 1:cf2f5992241c 268
tomo370 1:cf2f5992241c 269 dmxInHighBit = dmx.get(DMX_Speed2_H);
tomo370 1:cf2f5992241c 270 dmxInLowBit = dmx.get(DMX_Speed2_L);
tomo370 1:cf2f5992241c 271 dmxInHighBit = dmxInHighBit << 8;
tomo370 1:cf2f5992241c 272 speed2 = (long)(dmxInHighBit + dmxInLowBit);
tomo370 1:cf2f5992241c 273
tomo370 1:cf2f5992241c 274 dmxInHighBit = dmx.get(DMX_Acceleration1_H);
tomo370 1:cf2f5992241c 275 dmxInLowBit = dmx.get(DMX_Acceleration1_L);
tomo370 1:cf2f5992241c 276 dmxInHighBit = dmxInHighBit << 8;
tomo370 1:cf2f5992241c 277 Acceleration1 = (long)(dmxInHighBit + dmxInLowBit);
tomo370 1:cf2f5992241c 278
tomo370 1:cf2f5992241c 279 dmxInHighBit = dmx.get(DMX_Acceleration2_H);
tomo370 1:cf2f5992241c 280 dmxInLowBit = dmx.get(DMX_Acceleration2_L);
tomo370 1:cf2f5992241c 281 dmxInHighBit = dmxInHighBit << 8;
tomo370 1:cf2f5992241c 282 Acceleration2 = (long)(dmxInHighBit + dmxInLowBit);
tomo370 1:cf2f5992241c 283
tomo370 1:cf2f5992241c 284 dmxInHighBit = dmx.get(DMX_Max1_H);
tomo370 1:cf2f5992241c 285 dmxInLowBit = dmx.get(DMX_Max1_L);
tomo370 1:cf2f5992241c 286 dmxInHighBit = dmxInHighBit << 8;
tomo370 1:cf2f5992241c 287 max1 = (long)(dmxInHighBit + dmxInLowBit);
tomo370 1:cf2f5992241c 288
tomo370 1:cf2f5992241c 289 dmxInHighBit = dmx.get(DMX_Max2_H);
tomo370 1:cf2f5992241c 290 dmxInLowBit = dmx.get(DMX_Max2_L);
tomo370 1:cf2f5992241c 291 dmxInHighBit = dmxInHighBit << 8;
tomo370 1:cf2f5992241c 292 max2 = (long)(dmxInHighBit + dmxInLowBit);
tomo370 1:cf2f5992241c 293 }
tomo370 0:d94213e24c2e 294
tomo370 0:d94213e24c2e 295
tomo370 1:cf2f5992241c 296 //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 297 void readROMValue1()
tomo370 1:cf2f5992241c 298 {
tomo370 1:cf2f5992241c 299 //速度
tomo370 2:198becff12f4 300 HighBit = at24c1024.read(DMX_Speed1_H);
tomo370 2:198becff12f4 301 LowBit = at24c1024.read(DMX_Speed1_L);
tomo370 1:cf2f5992241c 302 HighBit = HighBit << 8;
tomo370 2:198becff12f4 303 speed1 = (long)(HighBit + LowBit);
tomo370 1:cf2f5992241c 304
tomo370 1:cf2f5992241c 305 //加速度
tomo370 1:cf2f5992241c 306 HighBit = at24c1024.read(DMX_Acceleration1_H);
tomo370 1:cf2f5992241c 307 LowBit = at24c1024.read(DMX_Acceleration1_L);
tomo370 1:cf2f5992241c 308 HighBit = HighBit << 8;
tomo370 2:198becff12f4 309 Acceleration1 = (long)(HighBit + LowBit);
tomo370 1:cf2f5992241c 310
tomo370 1:cf2f5992241c 311 //最大値
tomo370 1:cf2f5992241c 312 HighBit = at24c1024.read(DMX_Max1_H);
tomo370 1:cf2f5992241c 313 LowBit = at24c1024.read(DMX_Max1_L);
tomo370 1:cf2f5992241c 314 HighBit = HighBit << 8;
tomo370 2:198becff12f4 315 max1 = (long)(HighBit + LowBit);
tomo370 1:cf2f5992241c 316 }
tomo370 1:cf2f5992241c 317
tomo370 1:cf2f5992241c 318
tomo370 1:cf2f5992241c 319 //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 320 void readROMValue2()
tomo370 1:cf2f5992241c 321 {
tomo370 2:198becff12f4 322 //速度
tomo370 2:198becff12f4 323 HighBit = at24c1024.read(DMX_Speed2_H);
tomo370 2:198becff12f4 324 LowBit = at24c1024.read(DMX_Speed2_L);
tomo370 2:198becff12f4 325 HighBit = HighBit << 8;
tomo370 2:198becff12f4 326 speed2 = (long)(HighBit + LowBit);
tomo370 2:198becff12f4 327
tomo370 2:198becff12f4 328 //加速度
tomo370 2:198becff12f4 329 HighBit = at24c1024.read(DMX_Acceleration2_H);
tomo370 2:198becff12f4 330 LowBit = at24c1024.read(DMX_Acceleration2_L);
tomo370 2:198becff12f4 331 HighBit = HighBit << 8;
tomo370 2:198becff12f4 332 Acceleration2 = (long)(HighBit + LowBit);
tomo370 2:198becff12f4 333
tomo370 2:198becff12f4 334 //最大値
tomo370 2:198becff12f4 335 HighBit = at24c1024.read(DMX_Max2_H);
tomo370 2:198becff12f4 336 LowBit = at24c1024.read(DMX_Max2_L);
tomo370 2:198becff12f4 337 HighBit = HighBit << 8;
tomo370 2:198becff12f4 338 max2 = (long)(HighBit + LowBit);
tomo370 0:d94213e24c2e 339 }
tomo370 0:d94213e24c2e 340
tomo370 0:d94213e24c2e 341
tomo370 1:cf2f5992241c 342 //操作モード切り替えボタンのチェック
tomo370 1:cf2f5992241c 343 void checkManipulateButton()
tomo370 1:cf2f5992241c 344 {
tomo370 1:cf2f5992241c 345 dmxInHighBit = dmx.get(DMX_ParmSetMode1_H);
tomo370 1:cf2f5992241c 346 dmxInLowBit = dmx.get(DMX_ParmSetMode1_L);
tomo370 1:cf2f5992241c 347 if(dmxInHighBit == 102 && dmxInLowBit == 255) {
tomo370 1:cf2f5992241c 348 manipulateMode1 = !manipulateMode1;
tomo370 1:cf2f5992241c 349 blink();
tomo370 1:cf2f5992241c 350 }
tomo370 1:cf2f5992241c 351
tomo370 1:cf2f5992241c 352 dmxInHighBit = dmx.get(DMX_ParmSetMode2_H);
tomo370 1:cf2f5992241c 353 dmxInLowBit = dmx.get(DMX_ParmSetMode2_L);
tomo370 1:cf2f5992241c 354 if(dmxInHighBit == 102 && dmxInLowBit == 255) {
tomo370 1:cf2f5992241c 355 manipulateMode2 = !manipulateMode2;
tomo370 1:cf2f5992241c 356 blink();
tomo370 1:cf2f5992241c 357 }
tomo370 1:cf2f5992241c 358 }
tomo370 1:cf2f5992241c 359
tomo370 1:cf2f5992241c 360 //書き込みボタンのチェック
tomo370 1:cf2f5992241c 361 void checkWriteButton()
tomo370 1:cf2f5992241c 362 {
tomo370 1:cf2f5992241c 363 dmxInHighBit = dmx.get(DMX_SaveValue1_H);
tomo370 1:cf2f5992241c 364 dmxInLowBit = dmx.get(DMX_SaveValue1_L);
tomo370 1:cf2f5992241c 365 dmxInHighBit = dmxInHighBit << 8;
tomo370 1:cf2f5992241c 366 param1 = (long)(dmxInHighBit + dmxInLowBit);
tomo370 1:cf2f5992241c 367
tomo370 1:cf2f5992241c 368 dmxInHighBit = dmx.get(DMX_SaveValue2_H);
tomo370 1:cf2f5992241c 369 dmxInLowBit = dmx.get(DMX_SaveValue2_L);
tomo370 1:cf2f5992241c 370 dmxInHighBit = dmxInHighBit << 8;
tomo370 1:cf2f5992241c 371 param2 = (long)(dmxInHighBit + dmxInLowBit);
tomo370 1:cf2f5992241c 372
tomo370 1:cf2f5992241c 373 if(param1 == 24932) {
tomo370 1:cf2f5992241c 374 paramStore1();
tomo370 1:cf2f5992241c 375 blink();
tomo370 1:cf2f5992241c 376 } else;
tomo370 1:cf2f5992241c 377
tomo370 1:cf2f5992241c 378 if(param2 == 24932) {
tomo370 2:198becff12f4 379 paramStore2();
tomo370 2:198becff12f4 380 blink();
tomo370 1:cf2f5992241c 381 } else;
tomo370 1:cf2f5992241c 382 }
tomo370 1:cf2f5992241c 383
tomo370 1:cf2f5992241c 384
tomo370 0:d94213e24c2e 385 int main()
tomo370 0:d94213e24c2e 386 {
tomo370 1:cf2f5992241c 387 //モーター１と２のコンフィギュレーション
tomo370 0:d94213e24c2e 388 stepper1MS1 = 1;
tomo370 0:d94213e24c2e 389 stepper1MS2 = 1;
tomo370 0:d94213e24c2e 390 stepper1Enable = 0;
tomo370 0:d94213e24c2e 391
tomo370 1:cf2f5992241c 392 stepper2MS1 = 1;
tomo370 1:cf2f5992241c 393 stepper2MS2 = 1;
tomo370 1:cf2f5992241c 394 stepper2Enable = 0;
tomo370 1:cf2f5992241c 395
tomo370 0:d94213e24c2e 396 t.start();
tomo370 0:d94213e24c2e 397
tomo370 0:d94213e24c2e 398 dmxEnable = 0; //0:receiver 1:sender
tomo370 0:d94213e24c2e 399
tomo370 0:d94213e24c2e 400 stepper1.setCurrentPosition(-1);
tomo370 1:cf2f5992241c 401 stepper2.setCurrentPosition(-1);
tomo370 0:d94213e24c2e 402
tomo370 3:dd2305e50390 403 silence();
tomo370 3:dd2305e50390 404 init1();
tomo370 3:dd2305e50390 405 // init2();
tomo370 3:dd2305e50390 406
tomo370 0:d94213e24c2e 407
tomo370 0:d94213e24c2e 408 stepper1.setMaxSpeed(25000);
tomo370 0:d94213e24c2e 409 stepper1.setAcceleration(30000);
tomo370 0:d94213e24c2e 410 stepper1.setCurrentPosition(0);
tomo370 0:d94213e24c2e 411
tomo370 1:cf2f5992241c 412 stepper2.setMaxSpeed(25000);
tomo370 1:cf2f5992241c 413 stepper2.setAcceleration(30000);
tomo370 1:cf2f5992241c 414 stepper2.setCurrentPosition(0);
tomo370 1:cf2f5992241c 415
tomo370 1:cf2f5992241c 416 myLED =1;
tomo370 1:cf2f5992241c 417
tomo370 3:dd2305e50390 418
tomo370 2:198becff12f4 419 readROMValue1();
tomo370 2:198becff12f4 420 readROMValue2();
tomo370 0:d94213e24c2e 421
tomo370 0:d94213e24c2e 422 while(1) {
tomo370 0:d94213e24c2e 423
tomo370 1:cf2f5992241c 424 //操作モード切り替えボタンのチェック
tomo370 1:cf2f5992241c 425 checkManipulateButton();
tomo370 1:cf2f5992241c 426
tomo370 1:cf2f5992241c 427 //書き込みボタンチェック
tomo370 1:cf2f5992241c 428 checkWriteButton();
tomo370 0:d94213e24c2e 429
tomo370 1:cf2f5992241c 430 //モーター１の目標位置をスライダーから取得
tomo370 1:cf2f5992241c 431 dmxInHighBit = dmx.get(DMX_Position1_H);
tomo370 1:cf2f5992241c 432 dmxInLowBit = dmx.get(DMX_Position1_L);
tomo370 1:cf2f5992241c 433 dmxInHighBit = dmxInHighBit << 8;
tomo370 1:cf2f5992241c 434 position1 = (long)(dmxInHighBit + dmxInLowBit);
tomo370 0:d94213e24c2e 435
tomo370 1:cf2f5992241c 436 //モーター１の目標位置をスライダーから取得
tomo370 1:cf2f5992241c 437 dmxInHighBit = dmx.get(DMX_Position2_H);
tomo370 1:cf2f5992241c 438 dmxInLowBit = dmx.get(DMX_Position2_L);
tomo370 1:cf2f5992241c 439 dmxInHighBit = dmxInHighBit << 8;
tomo370 1:cf2f5992241c 440 position2 = (long)(dmxInHighBit + dmxInLowBit);
tomo370 0:d94213e24c2e 441
tomo370 0:d94213e24c2e 442
tomo370 1:cf2f5992241c 443 //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 444 if(manipulateMode1 == false) {
tomo370 1:cf2f5992241c 445 captureSliderValue();
tomo370 2:198becff12f4 446 myLED = 0;
tomo370 1:cf2f5992241c 447 }
tomo370 0:d94213e24c2e 448
tomo370 1:cf2f5992241c 449 //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 450 else {
tomo370 2:198becff12f4 451 myLED = 1;
tomo370 2:198becff12f4 452
tomo370 1:cf2f5992241c 453 }
tomo370 0:d94213e24c2e 454
tomo370 2:198becff12f4 455 //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 456 if(manipulateMode2 == false) {
tomo370 2:198becff12f4 457 captureSliderValue();
tomo370 2:198becff12f4 458 myLED = 0;
tomo370 2:198becff12f4 459 }
tomo370 2:198becff12f4 460
tomo370 2:198becff12f4 461 //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 462 else {
tomo370 2:198becff12f4 463 myLED = 1;
tomo370 2:198becff12f4 464 }
tomo370 1:cf2f5992241c 465
tomo370 1:cf2f5992241c 466 position1 = map(position1, 0, 0xFFFF, 0, max1);
tomo370 1:cf2f5992241c 467 stepper1.setMaxSpeed(speed1);
tomo370 1:cf2f5992241c 468 stepper1.setAcceleration(Acceleration1);
tomo370 1:cf2f5992241c 469
tomo370 2:198becff12f4 470 position2 = map(position2, 0, 0xFFFF, 0, max2);
tomo370 2:198becff12f4 471 stepper2.setMaxSpeed(speed2);
tomo370 2:198becff12f4 472 stepper2.setAcceleration(Acceleration2);
tomo370 1:cf2f5992241c 473
tomo370 1:cf2f5992241c 474 stepper1.moveTo(position1);
tomo370 2:198becff12f4 475 stepper2.moveTo(position2);
tomo370 1:cf2f5992241c 476
tomo370 1:cf2f5992241c 477 checkSafeBreak();
tomo370 1:cf2f5992241c 478 stepper1.run();
tomo370 2:198becff12f4 479 stepper2.run();
tomo370 1:cf2f5992241c 480 }
tomo370 1:cf2f5992241c 481 }