Diff: main.cpp

Revision:

0:603f010c2f1a

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Dec 18 07:04:58 2015 +0000
@@ -0,0 +1,135 @@
+#include "mbed.h"
+
+/*
+通过IO口直接控制ULN2003来驱动电机正反转,这是测试程序.
+运行后,电机先开始:正向加速->然后正向匀速转动一段时间->正向减速直到停止;-> 反向加速->然后反向匀速转动一段时间->反向减速直到停止;如此不断往复.
+*/
+
+DigitalOut STEP_A(A2);
+DigitalOut STEP_B(A3);
+DigitalOut STEP_C(A4);
+DigitalOut STEP_D(A5);
+
+unsigned char FFZ[8]={0x01,0x03,0x02,0x06,0x04,0x0c,0x08,0x09}; //正转
+unsigned char FFW[8]={0x09,0x08,0x0c,0x04,0x06,0x02,0x03,0x01}; //反转
+
+unsigned char index = 0;
+
+void  motor_ff(unsigned char dir, float dly)
+{ 
+    unsigned char status;
+    
+    index %= 8;
+    
+    if (dir == 0)
+    {
+        status = FFZ[index] & 0x1f;
+    }
+    else
+    {
+        status = FFW[index] & 0x1f;
+    }
+
+    index++;
+    
+    ((status & 0x01) == 0) ? (STEP_A = 0): (STEP_A = 1);
+    ((status & 0x02) == 0) ? (STEP_B = 0): (STEP_B = 1);
+    ((status & 0x04) == 0) ? (STEP_C = 0): (STEP_C = 1);
+    ((status & 0x08) == 0) ? (STEP_D = 0): (STEP_D = 1);
+    
+    wait(dly);
+} 
+
+void dyl()
+{
+    wait(0.03);//1/8起始频率 0.08,0.01,0.009,0.008,0.004,0.002,0.001,0.0009极限(5V); (10V)0.0008
+}
+
+//float cycles_5v[] = {0.08, 0.07, 0.06, 0.05, 0.04, 0.03,};//0.08->...->0.01->...->0.001->...->0.0009->0.0009->...->0.001->...->0.08
+double cycles_5v;
+double cycles_5v_start = 0.01;//0.08;
+double cycles_5v_avg = 0.0009;
+double cycles_5v_step = 0.0001;
+
+/*
+通过IO口直接控制ULN2003来驱动电机正反转,这是测试程序.
+运行后,电机先开始:正向加速->然后正向匀速转动一段时间->正向减速直到停止;-> 反向加速->然后反向匀速转动一段时间->反向减速直到停止;如此不断往复.
+*/
+int main()
+{
+        cycles_5v = cycles_5v_start;
+    
+        unsigned int count = 0;
+    
+    while(1)
+    {
+            /* 正转 */
+            //加速
+            do
+            {
+                count = 10;
+                do
+                {
+                    motor_ff(0, cycles_5v);
+                    count--;
+                }while(count>1);
+                cycles_5v = cycles_5v - cycles_5v_step;
+            }while(cycles_5v > (cycles_5v_avg + cycles_5v_step));
+        
+            //匀速
+            cycles_5v = cycles_5v_avg;
+            count = 65535;
+            do
+            {
+                motor_ff(0, cycles_5v);
+                count--;
+            }while(count>1);
+            
+            //减速
+            do
+            {
+                count = 10;
+                do
+                {
+                    motor_ff(0, cycles_5v);
+                    count--;
+                }while(count>1);
+                cycles_5v = cycles_5v + cycles_5v_step;
+            }while(cycles_5v < (cycles_5v_start - cycles_5v_step));
+            
+            
+            /* 反转 */
+            //加速
+            do
+            {
+                count = 10;
+                do
+                {
+                    motor_ff(1, cycles_5v);
+                    count--;
+                }while(count>1);
+                cycles_5v = cycles_5v - cycles_5v_step;
+            }while(cycles_5v > (cycles_5v_avg + cycles_5v_step));
+        
+            //匀速
+            cycles_5v = cycles_5v_avg;
+            count = 65535;
+            do
+            {
+                motor_ff(1, cycles_5v);
+                count--;
+            }while(count>1);
+            
+            //减速
+            do
+            {
+                count = 10;
+                do
+                {
+                    motor_ff(1, cycles_5v);
+                    count--;
+                }while(count>1);
+                cycles_5v = cycles_5v + cycles_5v_step;
+            }while(cycles_5v < (cycles_5v_start - cycles_5v_step));
+    }
+}