aircord
test2017-1-13
Dependencies: AT24C1024 DMX-STM32 mbed
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main.cpp
00001 #include "mbed.h" 00002 #include "AT24C1024.h" 00003 #include "AccelStepper.h" 00004 #include "DMX.h" 00005 00006 //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。 00007 #define BoardNumber 1 00008 00009 //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 00010 #define StepSize1 7 00011 #define StepSize2 7 00012 00013 00014 Ticker to; 00015 00016 Timer t; 00017 DigitalOut dmxEnable(D8); //基本L（レシーブ）に固定します 00018 DMX dmx(PA_9, PA_10); 00019 00020 I2C i2c(D4, D5); // SDA, SCL 00021 AT24C1024 at24c1024(i2c); // Atmel 1Mbit EE-PROM 00022 const int addr = 0x70; 00023 00024 AccelStepper stepper1(1, D9, D6); // step, direction 00025 AccelStepper stepper2(1, D10, D7); // step, direction 00026 00027 //モーター１ CN0とCN1を使用 00028 DigitalOut stepper1Enable(D2); 00029 DigitalOut stepper1MS1(D11); 00030 DigitalOut stepper1MS2(D12); 00031 DigitalOut stepper1MS3(A4); 00032 00033 //モーター２ CN2とCN3を使用 00034 DigitalOut stepper2Enable(D3); 00035 DigitalOut stepper2MS1(A5); 00036 DigitalOut stepper2MS2(A6); 00037 DigitalOut stepper2MS3(A7); 00038 00039 DigitalIn EndSW1(A0); //CN4 //３端子エンドスイッチ１ 予備 00040 DigitalIn EndSW2(A1); //CN5 //３端子エンドスイッチ２ 予備 00041 DigitalIn EndSW3(A2); //CN6 //２端子エンドスイッチ１ モーター１用にする 00042 DigitalIn EndSW4(A3); //CN7 //２端子エンドスイッチ２ モーター２用にする 00043 00044 DigitalOut myLED(LED3); //動作確認用LED 00045 00046 unsigned long position1, position2; //モーター１の設定位置 00047 unsigned long max1, max2; 00048 unsigned long speed1, speed2; 00049 unsigned long Acceleration1, Acceleration2; 00050 unsigned long param1, param2; 00051 unsigned long dmxInHighBit, dmxInLowBit; 00052 unsigned long HighBit, LowBit; 00053 00054 bool manipulateMode1 = false; //0:手動 1:自動 00055 bool manipulateMode2 = false; //0:手動 1:自動 00056 00057 00058 //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 00059 #define CH_Origin BoardNumber * 32 - 32 00060 00061 #define DMX_Position1_H CH_Origin //モーター１制御用のDMX信号の始まりの値 00062 #define DMX_Position1_L CH_Origin + 1 00063 #define DMX_Speed1_H CH_Origin + 2 00064 #define DMX_Speed1_L CH_Origin + 3 00065 #define DMX_Acceleration1_H CH_Origin + 4 00066 #define DMX_Acceleration1_L CH_Origin + 5 00067 #define DMX_Max1_H CH_Origin + 6 00068 #define DMX_Max1_L CH_Origin + 7 00069 #define DMX_Offset1_H CH_Origin + 8 00070 #define DMX_Offset1_L CH_Origin + 9 00071 #define DMX_SaveValue1_H CH_Origin + 10 00072 #define DMX_SaveValue1_L CH_Origin + 11 00073 #define DMX_ParmSetMode1_H CH_Origin + 12 00074 #define DMX_ParmSetMode1_L CH_Origin + 13 00075 #define DMX_Initialize1_H CH_Origin + 14 00076 #define DMX_Initialize1_L CH_Origin + 15 00077 00078 //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 00079 #define DMX_Position2_H CH_Origin + 16 00080 #define DMX_Position2_L CH_Origin + 17 00081 #define DMX_Speed2_H CH_Origin + 18 00082 #define DMX_Speed2_L CH_Origin + 19 00083 #define DMX_Acceleration2_H CH_Origin + 20 00084 #define DMX_Acceleration2_L CH_Origin + 21 00085 #define DMX_Max2_H CH_Origin + 22 00086 #define DMX_Max2_L CH_Origin + 23 00087 #define DMX_Offset2_H CH_Origin + 24 00088 #define DMX_Offset2_L CH_Origin + 25 00089 #define DMX_SaveValue2_H CH_Origin + 26 00090 #define DMX_SaveValue2_L CH_Origin + 27 00091 #define DMX_ParmSetMode2_H CH_Origin + 28 00092 #define DMX_ParmSetMode2_L CH_Origin + 29 00093 #define DMX_Initialize2_H CH_Origin + 30 00094 #define DMX_Initialize2_L CH_Origin + 31 00095 00096 //モーターの回転方向 TMCは1 DRVは-1に設定すること 00097 //未実装（実装予定） 00098 00099 //ステップ数の調整用の係数 00100 float StepAdj1 = 1; 00101 float StepAdj2 = 1; 00102 00103 00104 //未実装 00105 void sendDataToLPC() 00106 { 00107 char cmd[2]; 00108 cmd[0] = 0x51; 00109 cmd[1] = 0x51; 00110 i2c.write(addr, cmd, 2); 00111 00112 //stepper1.newSpeed(); 00113 } 00114 00115 //map 00116 long map(long x, long in_min, long in_max, long out_min, long out_max) 00117 { 00118 return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min; 00119 } 00120 00121 void blink() 00122 { 00123 for(int i=0; i<5; i++) { 00124 myLED=0; 00125 wait_ms(60); 00126 myLED=1; 00127 wait_ms(60); 00128 } 00129 } 00130 00131 void checkSW() 00132 { 00133 //モーター１用エンドスイッチのチェック 00134 if(EndSW3.read() == 1) { 00135 stepper1.stop(); 00136 stepper1.setCurrentPosition(0); 00137 } 00138 00139 //モーター２用エンドスイッチのチェック 00140 if(EndSW4.read() == 1) { 00141 stepper2.stop(); 00142 stepper2.setCurrentPosition(0); 00143 } 00144 } 00145 00146 00147 //モーター１のみの往復テスト 00148 void testMove1() 00149 { 00150 //initなしの場合 00151 stepper1.setCurrentPosition(0); 00152 stepper1.setMaxSpeed(4000 / StepAdj1); 00153 stepper1.setAcceleration(20000 / StepAdj1); 00154 00155 stepper1.setMaxSpeed(180000); 00156 while(1) { 00157 stepper1.moveTo(6200); 00158 //stepper1.moveTo(800 / StepAdj1); 00159 while(stepper1.distanceToGo() != 0) { 00160 stepper1.run(); 00161 } 00162 wait(0.5); 00163 //stepper1.moveTo(0 / StepAdj1); 00164 stepper1.moveTo(200); 00165 while(stepper1.distanceToGo() != 0) { 00166 stepper1.run(); 00167 } 00168 wait(0.5); 00169 } 00170 } 00171 00172 00173 //モーター２個同時の往復テスト 00174 void testMove2() 00175 { 00176 stepper1.setMaxSpeed(10000 / StepAdj1); 00177 stepper2.setMaxSpeed(10000 / StepAdj2); 00178 00179 //stepper1.setMaxSpeed(180000); 00180 00181 while(1) { 00182 stepper1.moveTo(20000 / StepAdj1); 00183 stepper2.moveTo(20000 / StepAdj2); 00184 while(stepper1.distanceToGo() != 0) { 00185 stepper1.run(); 00186 stepper2.run(); 00187 } 00188 while(stepper2.distanceToGo() != 0) { 00189 stepper1.run(); 00190 stepper2.run(); 00191 } 00192 00193 stepper1.moveTo(500 / StepAdj1); 00194 stepper2.moveTo(500 / StepAdj2); 00195 while(stepper1.distanceToGo() != 0) { 00196 stepper1.run(); 00197 stepper2.run(); 00198 } 00199 while(stepper2.distanceToGo() != 0) { 00200 stepper2.run(); 00201 stepper1.run(); 00202 } 00203 } 00204 } 00205 00206 00207 void interuptInit1() 00208 { 00209 //stepper1.setMaxSpeed(1000); 00210 //stepper1.setAcceleration(5000); 00211 00212 00213 //まずとにかく原点を目指す 00214 stepper1.moveTo(1); 00215 while(stepper1.distanceToGo() != 0) { 00216 stepper1.run(); 00217 } 00218 00219 //15度程度の時計回り動作 00220 stepper1.moveTo(200); 00221 while(stepper1.distanceToGo() != 0) { 00222 stepper1.run(); 00223 } 00224 00225 //原点復帰動作、反時計回り 00226 stepper1.setCurrentPosition(-1); 00227 stepper1.moveTo(-30000 / StepAdj1); 00228 while(stepper1.currentPosition() != 0) { 00229 stepper1.run(); 00230 checkSW(); 00231 } 00232 //初期位置へ移動 00233 //something 00234 } 00235 00236 void interuptInit2() 00237 { 00238 stepper2.setMaxSpeed(4000 / StepAdj2); 00239 stepper2.setAcceleration(20000 / StepAdj2); 00240 00241 //まず原点を目指す 00242 00243 00244 //15度程度の後退動作 00245 stepper2.setCurrentPosition(1); 00246 stepper2.moveTo(100); 00247 while(stepper2.distanceToGo() != 0) { 00248 stepper2.run(); 00249 } 00250 00251 //原点復帰動作 00252 stepper2.setCurrentPosition(-1); 00253 stepper2.moveTo(-30000 / StepAdj2); 00254 while(stepper2.currentPosition() != 0) { 00255 stepper2.run(); 00256 checkSW(); 00257 } 00258 //初期位置へ移動 00259 //something 00260 } 00261 00262 00263 void init1() 00264 { 00265 stepper1.setMaxSpeed(4000 / StepAdj1); 00266 stepper1.setAcceleration(20000 / StepAdj1); 00267 00268 //30度程度の後退動作 00269 stepper1.moveTo(200); 00270 while(stepper1.distanceToGo() != 0) { 00271 stepper1.run(); 00272 } 00273 stepper1.setCurrentPosition(-1); 00274 00275 //反時計回りに回転、エンドスイッチで停止 00276 stepper1.moveTo(-30000 / StepAdj1); 00277 while(stepper1.currentPosition() != 0) { 00278 stepper1.run(); 00279 checkSW(); 00280 } 00281 // stepper1.moveTo(500 / StepAdj1); 00282 // while(stepper1.distanceToGo() != 0) stepper1.run(); 00283 } 00284 00285 void init2() 00286 { 00287 00288 stepper2.setMaxSpeed(4000 / StepAdj2); 00289 stepper2.setAcceleration(20000 / StepAdj2); 00290 00291 //３０度程度時計回りに回転動作 00292 stepper2.moveTo(200); 00293 while(stepper2.distanceToGo() != 0) { 00294 stepper2.run(); 00295 } 00296 00297 stepper2.setCurrentPosition(-1); 00298 00299 //反時計回りに回転、エンドスイッチで停止 00300 stepper2.moveTo(-30000 / StepAdj2); 00301 while(stepper2.currentPosition() != 0) { 00302 stepper2.run(); 00303 checkSW(); 00304 } 00305 } 00306 00307 void initBoth() 00308 { 00309 stepper1.setCurrentPosition(-1); 00310 stepper1.setMaxSpeed(4000 / StepAdj1); 00311 stepper1.setAcceleration(20000 / StepAdj1); 00312 stepper1.moveTo(-30000 / StepAdj1); 00313 00314 stepper2.setCurrentPosition(-1); 00315 stepper2.setMaxSpeed(4000 / StepAdj2); 00316 stepper2.setAcceleration(20000 / StepAdj2); 00317 stepper2.moveTo(-30000 / StepAdj2); 00318 00319 while((stepper1.distanceToGo() != 0)||(stepper2.distanceToGo() != 0)) { 00320 if (stepper1.distanceToGo() != 0) stepper1.run(); 00321 if (stepper2.distanceToGo() != 0) stepper2.run(); 00322 checkSW(); 00323 } 00324 stepper1.moveTo(500 / StepAdj1); 00325 stepper2.moveTo(500 / StepAdj2); 00326 while((stepper1.distanceToGo() != 0)||(stepper2.distanceToGo() != 0)) { 00327 if (stepper1.distanceToGo() != 0) stepper1.run(); 00328 if (stepper2.distanceToGo() != 0) stepper2.run(); 00329 } 00330 stepper1.setCurrentPosition(-1); 00331 stepper2.setCurrentPosition(-1); 00332 00333 } 00334 00335 00336 void checkSafeBreak() 00337 { 00338 //モーター１用エンドスイッチのチェック 00339 if(EndSW3.read() == 1) { 00340 stepper1.stop(); 00341 while(1) { 00342 blink(); 00343 } 00344 } 00345 00346 //モーター２用エンドスイッチのチェック 00347 if(EndSW4.read() == 1) { 00348 stepper2.stop(); 00349 while(1) { 00350 blink(); 00351 } 00352 } 00353 } 00354 00355 00356 //モーター１のパラメータ保存 00357 void paramStore1() 00358 { 00359 //速度 00360 uint8_t dt = dmx.get(DMX_Speed1_H); 00361 at24c1024.write(DMX_Speed1_H, dt); 00362 wait_ms(2); 00363 dt = dmx.get(DMX_Speed1_L); 00364 at24c1024.write(DMX_Speed1_L, dt); 00365 wait_ms(2); 00366 00367 //加速度 00368 dt = dmx.get(DMX_Acceleration1_H); 00369 at24c1024.write(DMX_Acceleration1_H, dt); 00370 wait_ms(2); 00371 dt = dmx.get(DMX_Acceleration1_L); 00372 at24c1024.write(DMX_Acceleration1_L, dt); 00373 wait_ms(2); 00374 00375 //最大値 00376 dt = dmx.get(DMX_Max1_H); 00377 at24c1024.write(DMX_Max1_H, dt); 00378 wait_ms(2); 00379 dt = dmx.get(DMX_Max1_L); 00380 at24c1024.write(DMX_Max1_L, dt); 00381 00382 wait_ms(5); 00383 } 00384 00385 //モーター２のパラメータ保存 00386 void paramStore2() 00387 { 00388 //速度 00389 uint8_t dt = dmx.get(DMX_Speed2_H); 00390 at24c1024.write(DMX_Speed2_H, dt); 00391 wait_ms(2); 00392 dt = dmx.get(DMX_Speed2_L); 00393 at24c1024.write(DMX_Speed2_L, dt); 00394 wait_ms(2); 00395 00396 //加速度 00397 dt = dmx.get(DMX_Acceleration2_H); 00398 at24c1024.write(DMX_Acceleration2_H, dt); 00399 wait_ms(2); 00400 dt = dmx.get(DMX_Acceleration2_L); 00401 at24c1024.write(DMX_Acceleration2_L, dt); 00402 wait_ms(2); 00403 00404 //最大値 00405 dt = dmx.get(DMX_Max2_H); 00406 at24c1024.write(DMX_Max2_H, dt); 00407 wait_ms(2); 00408 dt = dmx.get(DMX_Max2_L); 00409 at24c1024.write(DMX_Max2_L, dt); 00410 00411 wait_ms(2); 00412 } 00413 00414 00415 //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 00416 void captureSliderValue() 00417 { 00418 dmxInHighBit = dmx.get(DMX_Speed1_H); 00419 dmxInLowBit = dmx.get(DMX_Speed1_L); 00420 dmxInHighBit = dmxInHighBit << 8; 00421 speed1 = (long)(dmxInHighBit + dmxInLowBit); 00422 00423 //（動作） 00424 dmxInHighBit = dmx.get(DMX_Speed2_H); 00425 dmxInLowBit = dmx.get(DMX_Speed2_L); 00426 dmxInHighBit = dmxInHighBit << 8; 00427 speed2 = (long)(dmxInHighBit + dmxInLowBit); 00428 00429 dmxInHighBit = dmx.get(DMX_Acceleration1_H); 00430 dmxInLowBit = dmx.get(DMX_Acceleration1_L); 00431 dmxInHighBit = dmxInHighBit << 8; 00432 Acceleration1 = (long)(dmxInHighBit + dmxInLowBit); 00433 00434 //（動作） 00435 dmxInHighBit = dmx.get(DMX_Acceleration2_H); 00436 dmxInLowBit = dmx.get(DMX_Acceleration2_L); 00437 dmxInHighBit = dmxInHighBit << 8; 00438 Acceleration2 = (long)(dmxInHighBit + dmxInLowBit); 00439 00440 dmxInHighBit = dmx.get(DMX_Max1_H); 00441 dmxInLowBit = dmx.get(DMX_Max1_L); 00442 dmxInHighBit = dmxInHighBit << 8; 00443 max1 = (long)(dmxInHighBit + dmxInLowBit); 00444 00445 //（動作） 00446 dmxInHighBit = dmx.get(DMX_Max2_H); 00447 dmxInLowBit = dmx.get(DMX_Max2_L); 00448 dmxInHighBit = dmxInHighBit << 8; 00449 max2 = (long)(dmxInHighBit + dmxInLowBit); 00450 } 00451 00452 00453 //モーター１の 速度・加速度・オフセットの値をEEPROMから取得 00454 void readROMValue1() 00455 { 00456 //速度 00457 HighBit = at24c1024.read(DMX_Speed1_H); 00458 LowBit = at24c1024.read(DMX_Speed1_L); 00459 HighBit = HighBit << 8; 00460 speed1 = (long)(HighBit + LowBit); 00461 00462 //加速度 00463 HighBit = at24c1024.read(DMX_Acceleration1_H); 00464 LowBit = at24c1024.read(DMX_Acceleration1_L); 00465 HighBit = HighBit << 8; 00466 Acceleration1 = (long)(HighBit + LowBit); 00467 00468 //最大値 00469 HighBit = at24c1024.read(DMX_Max1_H); 00470 LowBit = at24c1024.read(DMX_Max1_L); 00471 HighBit = HighBit << 8; 00472 max1 = (long)(HighBit + LowBit); 00473 } 00474 00475 00476 //モーター2の 速度・加速度・オフセットの値をEEPROMから取得 00477 void readROMValue2() 00478 { 00479 //速度 00480 HighBit = at24c1024.read(DMX_Speed2_H); 00481 LowBit = at24c1024.read(DMX_Speed2_L); 00482 HighBit = HighBit << 8; 00483 speed2 = (long)(HighBit + LowBit); 00484 00485 //加速度 00486 HighBit = at24c1024.read(DMX_Acceleration2_H); 00487 LowBit = at24c1024.read(DMX_Acceleration2_L); 00488 HighBit = HighBit << 8; 00489 Acceleration2 = (long)(HighBit + LowBit); 00490 00491 //最大値 00492 HighBit = at24c1024.read(DMX_Max2_H); 00493 LowBit = at24c1024.read(DMX_Max2_L); 00494 HighBit = HighBit << 8; 00495 max2 = (long)(HighBit + LowBit); 00496 } 00497 00498 00499 //操作モード切り替えボタンのチェック 00500 void checkManipulateButton() 00501 { 00502 dmxInHighBit = dmx.get(DMX_ParmSetMode1_H); 00503 dmxInLowBit = dmx.get(DMX_ParmSetMode1_L); 00504 if(dmxInHighBit == 102 && dmxInLowBit == 255) { 00505 manipulateMode1 = !manipulateMode1; 00506 blink(); 00507 } 00508 00509 dmxInHighBit = dmx.get(DMX_ParmSetMode2_H); 00510 dmxInLowBit = dmx.get(DMX_ParmSetMode2_L); 00511 if(dmxInHighBit == 102 && dmxInLowBit == 255) { 00512 manipulateMode2 = !manipulateMode2; 00513 blink(); 00514 } 00515 } 00516 00517 //書き込みボタンのチェック 00518 void checkWriteButton() 00519 { 00520 dmxInHighBit = dmx.get(DMX_SaveValue1_H); 00521 dmxInLowBit = dmx.get(DMX_SaveValue1_L); 00522 dmxInHighBit = dmxInHighBit << 8; 00523 param1 = (long)(dmxInHighBit + dmxInLowBit); 00524 00525 dmxInHighBit = dmx.get(DMX_SaveValue2_H); 00526 dmxInLowBit = dmx.get(DMX_SaveValue2_L); 00527 dmxInHighBit = dmxInHighBit << 8; 00528 param2 = (long)(dmxInHighBit + dmxInLowBit); 00529 00530 if(param1 == 24932) { 00531 paramStore1(); 00532 blink(); 00533 } else; 00534 00535 if(param2 == 24932) { 00536 paramStore2(); 00537 blink(); 00538 } else; 00539 } 00540 00541 //原点復帰命令のチェック 00542 void checkInitCommand1() 00543 { 00544 dmxInHighBit = dmx.get(DMX_Initialize1_H); 00545 dmxInLowBit = dmx.get(DMX_Initialize1_L); 00546 00547 if(dmxInHighBit == 75 && dmxInLowBit == 255) { 00548 interuptInit1(); 00549 } 00550 } 00551 00552 void checkInitCommand2() 00553 { 00554 dmxInHighBit = dmx.get(DMX_Initialize2_H); 00555 dmxInLowBit = dmx.get(DMX_Initialize2_L); 00556 00557 if(dmxInHighBit == 75 && dmxInLowBit == 255) { 00558 interuptInit2(); 00559 } 00560 } 00561 00562 00563 //モータードライバの設定 00564 void conf1() 00565 { 00566 switch (StepSize1) { 00567 case 1: //DRV8825 full steps 00568 stepper1MS1 = 0; 00569 stepper1MS2 = 0; 00570 stepper1MS3 = 0; 00571 StepAdj1 = 16; 00572 break; 00573 00574 case 2: //DRV8825 1/2 steps 00575 stepper1MS1 = 1; 00576 stepper1MS2 = 0; 00577 stepper1MS3 = 0; 00578 StepAdj1 = 8; 00579 break; 00580 00581 case 3: //DRV8825 1/4 steps 00582 stepper1MS1 = 0; 00583 stepper1MS2 = 1; 00584 stepper1MS3 = 0; 00585 StepAdj1 = 4; 00586 break; 00587 00588 case 4: //DRV8825 1/8 steps 00589 stepper1MS1 = 1; 00590 stepper1MS2 = 1; 00591 stepper1MS3 = 0; 00592 StepAdj1 = 2; 00593 break; 00594 00595 case 5: //DRV8825 1/16 steps 00596 stepper1MS1 = 0; 00597 stepper1MS2 = 0; 00598 stepper1MS3 = 1; 00599 StepAdj1 = 1; 00600 break; 00601 00602 case 6: //DRV8825 1/32 steps 00603 stepper1MS1 = 1; 00604 stepper1MS2 = 1; 00605 stepper1MS3 = 1; 00606 StepAdj1 = 0.5; 00607 break; 00608 00609 case 7: //TMC StealthChop µ16 steps 00610 DigitalIn stepper1MS1(A5); 00611 DigitalIn stepper1MS2(A6); 00612 StepAdj1 = 1; 00613 break; 00614 } 00615 stepper1Enable = 0; 00616 } 00617 00618 void conf2() 00619 { 00620 switch (StepSize2) { 00621 case 1: //DRV8825 full steps 00622 stepper2MS1 = 0; 00623 stepper2MS2 = 0; 00624 stepper2MS3 = 0; 00625 StepAdj2 = 16; 00626 break; 00627 00628 case 2: //DRV8825 1/2 steps 00629 stepper2MS1 = 1; 00630 stepper2MS2 = 0; 00631 stepper2MS3 = 0; 00632 StepAdj2 = 8; 00633 break; 00634 00635 case 3: //DRV8825 1/4 steps 00636 stepper2MS1 = 0; 00637 stepper2MS2 = 1; 00638 stepper2MS3 = 0; 00639 StepAdj2 = 4; 00640 break; 00641 00642 case 4: //DRV8825 1/8 steps 00643 stepper2MS1 = 1; 00644 stepper2MS2 = 1; 00645 stepper2MS3 = 0; 00646 StepAdj2 = 2; 00647 break; 00648 00649 case 5: //DRV8825 1/16 steps 00650 stepper2MS1 = 0; 00651 stepper2MS2 = 0; 00652 stepper2MS3 = 1; 00653 StepAdj2 = 1; 00654 break; 00655 00656 case 6: //DRV8825 1/32 steps 00657 stepper2MS1 = 1; 00658 stepper2MS2 = 1; 00659 stepper2MS3 = 1; 00660 StepAdj2 = 0.5; 00661 break; 00662 00663 case 7: //TMC StealthChop µ16 steps 00664 DigitalIn stepper2MS1(D11); 00665 DigitalIn stepper2MS2(D12); 00666 StepAdj2 = 1; 00667 break; 00668 } 00669 stepper2Enable = 0; 00670 } 00671 00672 00673 int main() 00674 { 00675 wait(1); 00676 00677 //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） 00678 // dmxEnable = 0; //0:receiver 1:sender 00679 00680 conf1(); //motor1 config ドライバの設定 00681 conf2(); //motor2 config 00682 00683 t.start(); 00684 //to.attach(&sendDataToLPC, 1); 00685 00686 stepper1.setCurrentPosition(-1); 00687 stepper2.setCurrentPosition(-1); 00688 00689 //モーターの初期化シーケンス 00690 // init1(); 00691 // init2(); 00692 initBoth(); 00693 00694 //往復運動を繰り返すテストシーケンス（無限ループ） 00695 // testMove2(); 00696 00697 myLED =1; 00698 00699 readROMValue1(); 00700 readROMValue2(); 00701 00702 stepper1.setMaxSpeed(10000 / StepAdj1); 00703 stepper2.setMaxSpeed(10000 / StepAdj2); 00704 00705 while(1) { 00706 //操作モード切り替えボタンのチェック 00707 checkManipulateButton(); 00708 00709 //書き込みボタンチェック 00710 checkWriteButton(); 00711 00712 //モーター１の目標位置をDMXから取得 00713 dmxInHighBit = dmx.get(DMX_Position1_H); 00714 dmxInLowBit = dmx.get(DMX_Position1_L); 00715 dmxInHighBit = dmxInHighBit << 8; 00716 position1 = (long)(dmxInHighBit + dmxInLowBit); 00717 00718 //モーター２の目標位置をスライダーから取得（停止中） 00719 dmxInHighBit = dmx.get(DMX_Position2_H); 00720 dmxInLowBit = dmx.get(DMX_Position2_L); 00721 dmxInHighBit = dmxInHighBit << 8; 00722 position2 = (long)(dmxInHighBit + dmxInLowBit); 00723 00724 //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 00725 if(manipulateMode1 == false) { 00726 captureSliderValue(); 00727 myLED = 0; 00728 } 00729 00730 //自動モードの場合、EEPROMから値を取得、パラメーターを設定 00731 else { 00732 myLED = 1; 00733 } 00734 00735 //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） 00736 // if(manipulateMode2 == false) { 00737 // captureSliderValue(); 00738 // myLED = 0; 00739 // } 00740 00741 //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） 00742 // else { 00743 // myLED = 1; 00744 // } 00745 00746 00747 //モーター１のパラメーター設定 00748 position1 = map(position1, 0, 0xFFFF, 0, max1); 00749 stepper1.setMaxSpeed(speed1); 00750 stepper1.setAcceleration(Acceleration1); 00751 00752 00753 //モーター２のパラメーター設定（停止中） 00754 position2 = map(position2, 0, 0xFFFF, 0, max2); 00755 stepper2.setMaxSpeed(speed2); 00756 stepper2.setAcceleration(Acceleration2); 00757 00758 00759 //モーター１の目標位置設定 00760 stepper1.moveTo(position1); 00761 00762 //モーター２の目標位置設定（） 00763 stepper2.moveTo(position2); 00764 00765 00766 //安全エンドスイッチの監視（停止中） 00767 //checkSafeBreak(); 00768 00769 //モーター１への原点復帰命令のチェック 00770 checkInitCommand1(); 00771 00772 //モーター２への原点復帰命令のチェック（） 00773 checkInitCommand2(); 00774 00775 //モーター１の走行 00776 if(stepper1.distanceToGo() != 0) { 00777 //checkInitCommand1(); 00778 stepper1.run(); 00779 } 00780 //モーター２の走行 00781 if(stepper2.distanceToGo() != 0) stepper2.run(); 00782 } 00783 }
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