aircord
test2017-1-13
Dependencies: AT24C1024 DMX-STM32 mbed
Diff: main.cpp
- Revision:
- 2:198becff12f4
- Parent:
- 1:cf2f5992241c
- Child:
- 3:dd2305e50390
--- a/main.cpp Tue Feb 14 12:58:24 2017 +0000
+++ b/main.cpp Wed Feb 15 11:52:10 2017 +0000
@@ -38,6 +38,7 @@
unsigned long Acceleration1, Acceleration2;
unsigned long param1, param2;
unsigned long dmxInHighBit, dmxInLowBit;
+unsigned long HighBit, LowBit;
bool manipulateMode1 = true; //0:手動 1:自動
bool manipulateMode2 = true; //0:手動 1:自動
@@ -96,19 +97,15 @@
void checkSW()
{
//モーター１用エンドスイッチのチェック
- if(EndSW3.read() == 0) myLED = 1;
- else {
+ if(EndSW3.read() == 1) {
stepper1.stop();
stepper1.setCurrentPosition(0);
- myLED =0;
}
//モーター２用エンドスイッチのチェック
- if(EndSW4.read() == 0) myLED = 1;
- else {
+ if(EndSW4.read() == 1) {
stepper2.stop();
stepper2.setCurrentPosition(0);
- myLED =0;
}
}
@@ -136,9 +133,9 @@
void init()
{
- stepper1.setMaxSpeed(2000);
+ stepper1.setMaxSpeed(4000);
stepper1.setAcceleration(20000);
- stepper1.moveTo(-16000);
+ stepper1.moveTo(-20000);
while(stepper1.currentPosition() != 0) {
stepper1.run();
@@ -149,9 +146,9 @@
stepper1.run();
}
- stepper2.setMaxSpeed(2000);
+ stepper2.setMaxSpeed(4000);
stepper2.setAcceleration(20000);
- stepper2.moveTo(-16000);
+ stepper2.moveTo(-20000);
while(stepper2.currentPosition() != 0) {
stepper2.run();
@@ -161,13 +158,12 @@
while(stepper2.distanceToGo() != 0) {
stepper2.run();
}
- //silence();
+ silence();
}
void checkSafeBreak()
{
- if(EndSW3.read() == 0) myLED = 1;
- else {
+ if(EndSW3.read() == 1) {
stepper1.stop();
while(1) {
blink();
@@ -175,8 +171,7 @@
}
//モーター２用エンドスイッチのチェック
- if(EndSW4.read() == 0) myLED = 1;
- else {
+ if(EndSW4.read() == 1) {
stepper2.stop();
while(1) {
blink();
@@ -188,28 +183,61 @@
void paramStore1()
{
//速度
- uint8_t dt = dmx.get(2);
- at24c1024.write(2, dt);
- dt = dmx.get(3);
- at24c1024.write(3, dt);
- at24c1024.write(2, 0xf5);
+ uint8_t dt = dmx.get(DMX_Speed1_H);
+ at24c1024.write(DMX_Speed1_H, dt);
+ wait_ms(2);
+ dt = dmx.get(DMX_Speed1_L);
+ at24c1024.write(DMX_Speed1_L, dt);
wait_ms(2);
//加速度
dt = dmx.get(DMX_Acceleration1_H);
at24c1024.write(DMX_Acceleration1_H, dt);
+ wait_ms(2);
dt = dmx.get(DMX_Acceleration1_L);
at24c1024.write(DMX_Acceleration1_L, dt);
+ wait_ms(2);
//最大値
dt = dmx.get(DMX_Max1_H);
at24c1024.write(DMX_Max1_H, dt);
+ wait_ms(2);
dt = dmx.get(DMX_Max1_L);
at24c1024.write(DMX_Max1_L, dt);
wait_ms(5);
}
+//モーター２のパラメータ保存
+void paramStore2()
+{
+ //速度
+ uint8_t dt = dmx.get(DMX_Speed2_H);
+ at24c1024.write(DMX_Speed2_H, dt);
+ wait_ms(2);
+ dt = dmx.get(DMX_Speed2_L);
+ at24c1024.write(DMX_Speed2_L, dt);
+ wait_ms(2);
+
+ //加速度
+ dt = dmx.get(DMX_Acceleration2_H);
+ at24c1024.write(DMX_Acceleration2_H, dt);
+ wait_ms(2);
+ dt = dmx.get(DMX_Acceleration2_L);
+ at24c1024.write(DMX_Acceleration2_L, dt);
+ wait_ms(2);
+
+ //最大値
+ dt = dmx.get(DMX_Max2_H);
+ at24c1024.write(DMX_Max2_H, dt);
+ wait_ms(2);
+ dt = dmx.get(DMX_Max2_L);
+ at24c1024.write(DMX_Max2_L, dt);
+
+ wait_ms(2);
+}
+
+
//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
void captureSliderValue()
{
@@ -249,33 +277,48 @@
void readROMValue1()
{
//速度
- unsigned long HighBit = at24c1024.read(DMX_Speed1_H);
- uint8_t LowBit = at24c1024.read(DMX_Speed1_L);
+ HighBit = at24c1024.read(DMX_Speed1_H);
+ LowBit = at24c1024.read(DMX_Speed1_L);
HighBit = HighBit << 8;
- speed1 = (unsigned long)(HighBit + LowBit);
-
+ speed1 = (long)(HighBit + LowBit);
//加速度
HighBit = at24c1024.read(DMX_Acceleration1_H);
LowBit = at24c1024.read(DMX_Acceleration1_L);
HighBit = HighBit << 8;
- Acceleration1 = (unsigned long)(HighBit + LowBit);
+ Acceleration1 = (long)(HighBit + LowBit);
//最大値
HighBit = at24c1024.read(DMX_Max1_H);
LowBit = at24c1024.read(DMX_Max1_L);
HighBit = HighBit << 8;
- max1 = (unsigned long)(HighBit + LowBit);
+ max1 = (long)(HighBit + LowBit);
}
//モーター2の 速度・加速度・オフセットの値をEEPROMから取得
void readROMValue2()
{
+ //速度
+ HighBit = at24c1024.read(DMX_Speed2_H);
+ LowBit = at24c1024.read(DMX_Speed2_L);
+ HighBit = HighBit << 8;
+ speed2 = (long)(HighBit + LowBit);
+
+ //加速度
+ HighBit = at24c1024.read(DMX_Acceleration2_H);
+ LowBit = at24c1024.read(DMX_Acceleration2_L);
+ HighBit = HighBit << 8;
+ Acceleration2 = (long)(HighBit + LowBit);
+
+ //最大値
+ HighBit = at24c1024.read(DMX_Max2_H);
+ LowBit = at24c1024.read(DMX_Max2_L);
+ HighBit = HighBit << 8;
+ max2 = (long)(HighBit + LowBit);
}
-
//操作モード切り替えボタンのチェック
void checkManipulateButton()
{
@@ -313,8 +356,8 @@
} else;
if(param2 == 24932) {
- //paramStore2();
- //blink();
+ paramStore2();
+ blink();
} else;
}
@@ -349,9 +392,8 @@
myLED =1;
- at24c1024.write(2, 0xf5);
- wait_ms(2);
-
+ readROMValue1();
+ readROMValue2();
while(1) {
@@ -375,38 +417,41 @@
//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
- if(manipulateMode1 == true) {
+ if(manipulateMode1 == false) {
captureSliderValue();
+ myLED = 0;
}
//自動モードの場合、EEPROMから値を取得、パラメーターを設定
else {
- readROMValue1();
+ myLED = 1;
+
}
-// //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
-// if(manipulateMode2 == true) {
-// captureSliderValue();
-// }
-//
-// //自動モードの場合、EEPROMから値を取得、パラメーターを設定
-// else {
-// readROMValue2();
-// }
+ //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
+ if(manipulateMode2 == false) {
+ captureSliderValue();
+ myLED = 0;
+ }
+
+ //自動モードの場合、EEPROMから値を取得、パラメータを設定
+ else {
+ myLED = 1;
+ }
position1 = map(position1, 0, 0xFFFF, 0, max1);
stepper1.setMaxSpeed(speed1);
stepper1.setAcceleration(Acceleration1);
-// position2 = map(position2, 0, 0xFFFF, 0, max2);
-// stepper2.setMaxSpeed(speed2);
-// stepper2.setAcceleration(Acceleration2);
+ position2 = map(position2, 0, 0xFFFF, 0, max2);
+ stepper2.setMaxSpeed(speed2);
+ stepper2.setAcceleration(Acceleration2);
stepper1.moveTo(position1);
- //stepper2.moveTo(position2);
+ stepper2.moveTo(position2);
checkSafeBreak();
stepper1.run();
- //stepper2.run();
+ stepper2.run();
}
}
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