Guillaume Chauvon
asser1
Diff: hardware.cpp
- Revision:
- 2:5764f89a27f6
- Parent:
- 0:6ca63d45f0ee
- Child:
- 3:1dba6eca01ad
--- a/hardware.cpp Wed Dec 12 20:03:07 2018 +0000
+++ b/hardware.cpp Wed Apr 17 18:55:22 2019 +0000
@@ -13,27 +13,27 @@
L6470_init_t init[L6470DAISYCHAINSIZE] = {
/* First Motor. */
{
- 9.0, /* Motor supply voltage in V. */
- 400, /* Min number of steps per revolution for the motor. */
- 1.7, /* Max motor phase voltage in A. */
- 3.06, /* Max motor phase voltage in V. */
- 300.0, /* Motor initial speed [step/s]. */
+ 10, /* Motor supply voltage in V. */
+ 200, /* Min number of steps per revolution for the motor. */
+ 4, /* Max motor phase voltage in A. */
+ 7.06, /* Max motor phase voltage in V. */
+ 300, /* Motor initial speed [step/s]. */
500.0, /* Motor acceleration [step/s^2] (comment for infinite acceleration mode). */
1500.0, /* Motor deceleration [step/s^2] (comment for infinite deceleration mode). */
992.0, /* Motor maximum speed [step/s]. */
0.0, /* Motor minimum speed [step/s]. */
602.7, /* Motor full-step speed threshold [step/s]. */
- 3.06, /* Holding kval [V]. */
- 3.06, /* Constant speed kval [V]. */
- 3.06, /* Acceleration starting kval [V]. */
- 3.06, /* Deceleration starting kval [V]. */
+ 4.5, /* Holding kval [V]. */
+ 4.5, /* Constant speed kval [V]. */
+ 4.5, /* Acceleration starting kval [V]. */
+ 4.5, /* Deceleration starting kval [V]. */
61.52, /* Intersect speed for bemf compensation curve slope changing [step/s]. */
392.1569e-6, /* Start slope [s/step]. */
643.1372e-6, /* Acceleration final slope [s/step]. */
643.1372e-6, /* Deceleration final slope [s/step]. */
0, /* Thermal compensation factor (range [0, 15]). */
- 3.06 * 1000 * 1.10, /* Ocd threshold [ma] (range [375 ma, 6000 ma]). */
- 3.06 * 1000 * 1.00, /* Stall threshold [ma] (range [31.25 ma, 4000 ma]). */
+ 4.5*1000*1.10, /* Ocd threshold [ma] (range [375 ma, 6000 ma]). */
+ 32, /* Stall threshold [ma] (range [31.25 ma, 4000 ma]). */
StepperMotor::STEP_MODE_1_128, /* Step mode selection. */
0xFF, /* Alarm conditions enable. */
0x2E88 /* Ic configuration. */
@@ -41,27 +41,27 @@
/* Second Motor. */
{
- 9.0, /* Motor supply voltage in V. */
- 400, /* Min number of steps per revolution for the motor. */
- 1.7, /* Max motor phase voltage in A. */
- 3.06, /* Max motor phase voltage in V. */
- 300.0, /* Motor initial speed [step/s]. */
+ 10, /* Motor supply voltage in V. */
+ 200, /* Min number of steps per revolution for the motor. */
+ 4, /* Max motor phase voltage in A. */
+ 7.06, /* Max motor phase voltage in V. */
+ 300, /* Motor initial speed [step/s]. */
500.0, /* Motor acceleration [step/s^2] (comment for infinite acceleration mode). */
- 1500.0, /* Motor deceleration [step/s^2] (comment for infinite deceleration mode). */
+ 1500.0, /* Motor deceleration [step/s^2] (comment for infinite deceleration mode). */
992.0, /* Motor maximum speed [step/s]. */
0.0, /* Motor minimum speed [step/s]. */
602.7, /* Motor full-step speed threshold [step/s]. */
- 3.06, /* Holding kval [V]. */
- 3.06, /* Constant speed kval [V]. */
- 3.06, /* Acceleration starting kval [V]. */
- 3.06, /* Deceleration starting kval [V]. */
+ 4.5, /* Holding kval [V]. */
+ 4.5, /* Constant speed kval [V]. */
+ 4.5, /* Acceleration starting kval [V]. */
+ 4.5, /* Deceleration starting kval [V]. */
61.52, /* Intersect speed for bemf compensation curve slope changing [step/s]. */
392.1569e-6, /* Start slope [s/step]. */
643.1372e-6, /* Acceleration final slope [s/step]. */
643.1372e-6, /* Deceleration final slope [s/step]. */
0, /* Thermal compensation factor (range [0, 15]). */
- 3.06 * 1000 * 1.10, /* Ocd threshold [ma] (range [375 ma, 6000 ma]). */
- 3.06 * 1000 * 1.00, /* Stall threshold [ma] (range [31.25 ma, 4000 ma]). */
+ 4.5*1000*1.10, /* Ocd threshold [ma] (range [375 ma, 6000 ma]). */
+ 32, /* Stall threshold [ma] (range [31.25 ma, 4000 ma]). */
StepperMotor::STEP_MODE_1_128, /* Step mode selection. */
0xFF, /* Alarm conditions enable. */
0x2E88 /* Ic configuration. */
@@ -76,10 +76,16 @@
//Connections codeuses
-InterruptIn ENCAL(D6);
-InterruptIn ENCAJ(D5);
-InterruptIn ENCBL(D8);
-InterruptIn ENCBJ(D7);
+//Nucleo 401re
+InterruptIn ENCAL(D9);
+InterruptIn ENCAJ(D8);
+InterruptIn ENCBL(D6);
+InterruptIn ENCBJ(D5);
+/*//Nucelo 746zg
+InterruptIn ENCAL(D8);
+InterruptIn ENCAJ(D7);
+InterruptIn ENCBL(D4);
+InterruptIn ENCBJ(D0);*/
volatile long encoderValueA = 0; //nombre de tics sur l'encodeur A
volatile long encoderValueB = 0; //nombre de tics sur l'encodeur B
@@ -150,6 +156,47 @@
x_nucleo_ihm02a1->perform_prepared_actions();
}
+void set_step_moteur_D(int steps)
+{
+ if (!moteurs_arret) {
+ if (1) {
+ motors[0]->prepare_move(StepperMotor::BWD, steps); //BWD = backward , FWD = forward , la vitesse doit etre positive
+ /*} else if (PWM <-PWM_MAX) {
+ motors[0]->prepare_run(StepperMotor::FWD, PWM_MAX);
+ } else if (PWM > 0) {
+ motors[0]->prepare_run(StepperMotor::BWD, PWM);
+ } else if (PWM < 0) {
+ motors[0]->prepare_run(StepperMotor::FWD, -PWM);
+ } else if (PWM == 0) {
+ motors[0]->prepare_run(StepperMotor::BWD, 0);
+ */}
+ /*} else {
+ motors[0]->prepare_hard_hiz(); //mode haute impédence pour pouvoir déplacer le robot à la main*/
+ }
+ x_nucleo_ihm02a1->perform_prepared_actions();
+}
+/*
+void set_step_moteur_G(int PWM)
+{
+
+ if (!moteurs_arret) {
+ if (PWM > PWM_MAX) {
+ motors[1]->prepare_run(StepperMotor::FWD, PWM_MAX);
+ } else if (PWM <-PWM_MAX) {
+ motors[1]->prepare_run(StepperMotor::BWD, PWM_MAX);
+ } else if (PWM > 0) {
+ motors[1]->prepare_run(StepperMotor::FWD, PWM);
+ } else if (PWM < 0) {
+ motors[1]->prepare_run(StepperMotor::BWD, -PWM);
+ } else if (PWM == 0) {
+ motors[1]->prepare_run(StepperMotor::BWD, 0);
+ }
+ } else {
+ motors[1]->prepare_hard_hiz(); //mode haute impédence pour pouvoir déplacer le robot à la main
+ }
+ x_nucleo_ihm02a1->perform_prepared_actions();
+}*/
+
long int get_nbr_tick_D()
{
return encoderValueA;