Ingmar Loohuis / Mbed 2 deprecated Motor3

controller

Dependencies:   mbed sMotor

main.cpp@0:8dc46da67c9f, 2016-11-01 (annotated)

Committer:
IngmarLoohuis
Date:
Tue Nov 01 13:07:59 2016 +0000
Revision:
0:8dc46da67c9f
Motor 3 controller

Who changed what in which revision?

UserRevisionLine numberNew contents of line
IngmarLoohuis 0:8dc46da67c9f 1 // 28BYJ-48 stepper motor example
IngmarLoohuis 0:8dc46da67c9f 2 // showing how to control a unipolar stepper motor by mbed digital output ports.
IngmarLoohuis 0:8dc46da67c9f 3 // Tested on the Nucleo F103RB Board
IngmarLoohuis 0:8dc46da67c9f 4 // Based on http://www.geeetech.com/wiki/index.php/Stepper_Motor_5V_4-Phase_5-Wire_%26_ULN2003_Driver_Board_for_Arduino
IngmarLoohuis 0:8dc46da67c9f 5 // Using the ULN2003A Driver.
IngmarLoohuis 0:8dc46da67c9f 6
IngmarLoohuis 0:8dc46da67c9f 7 #include "mbed.h"
IngmarLoohuis 0:8dc46da67c9f 8 Serial pc(USBTX,USBRX);
IngmarLoohuis 0:8dc46da67c9f 9 Ticker t0;
IngmarLoohuis 0:8dc46da67c9f 10 Ticker t7;
IngmarLoohuis 0:8dc46da67c9f 11
IngmarLoohuis 0:8dc46da67c9f 12 volatile bool fn0_go = false;
IngmarLoohuis 0:8dc46da67c9f 13 void fn0_activate(){ fn0_go = true; }; //Activates the go−flag
IngmarLoohuis 0:8dc46da67c9f 14 volatile bool fn7_go = false;
IngmarLoohuis 0:8dc46da67c9f 15 void fn7_activate(){ fn7_go = true; }; //Activates the go−flag
IngmarLoohuis 0:8dc46da67c9f 16
IngmarLoohuis 0:8dc46da67c9f 17 BusOut motor_out(D0, D1, D2, D3); // blue - pink - yellow - orange
IngmarLoohuis 0:8dc46da67c9f 18
IngmarLoohuis 0:8dc46da67c9f 19 int up = 1;
IngmarLoohuis 0:8dc46da67c9f 20 int down = 0;
IngmarLoohuis 0:8dc46da67c9f 21
IngmarLoohuis 0:8dc46da67c9f 22 int begin_step = 0;
IngmarLoohuis 0:8dc46da67c9f 23 int teller = 0;
IngmarLoohuis 0:8dc46da67c9f 24
IngmarLoohuis 0:8dc46da67c9f 25 int motor3_direction = up; // direction
IngmarLoohuis 0:8dc46da67c9f 26
IngmarLoohuis 0:8dc46da67c9f 27 void motor3_position()
IngmarLoohuis 0:8dc46da67c9f 28 {
IngmarLoohuis 0:8dc46da67c9f 29 switch(begin_step)
IngmarLoohuis 0:8dc46da67c9f 30 {
IngmarLoohuis 0:8dc46da67c9f 31 case 0: motor_out = 0x1; break; // 0001
IngmarLoohuis 0:8dc46da67c9f 32 case 1: motor_out = 0x3; break; // 0011
IngmarLoohuis 0:8dc46da67c9f 33 case 2: motor_out = 0x2; break; // 0010
IngmarLoohuis 0:8dc46da67c9f 34 case 3: motor_out = 0x6; break; // 0110
IngmarLoohuis 0:8dc46da67c9f 35 case 4: motor_out = 0x4; break; // 0100
IngmarLoohuis 0:8dc46da67c9f 36 case 5: motor_out = 0xC; break; // 1100
IngmarLoohuis 0:8dc46da67c9f 37 case 6: motor_out = 0x8; break; // 1000
IngmarLoohuis 0:8dc46da67c9f 38 case 7: motor_out = 0x9; break; // 1001
IngmarLoohuis 0:8dc46da67c9f 39
IngmarLoohuis 0:8dc46da67c9f 40 default: motor_out = 0x0; break; // 0000
IngmarLoohuis 0:8dc46da67c9f 41 }
IngmarLoohuis 0:8dc46da67c9f 42
IngmarLoohuis 0:8dc46da67c9f 43 if(motor3_direction==1)
IngmarLoohuis 0:8dc46da67c9f 44 {
IngmarLoohuis 0:8dc46da67c9f 45 begin_step++;
IngmarLoohuis 0:8dc46da67c9f 46 teller++;
IngmarLoohuis 0:8dc46da67c9f 47 }
IngmarLoohuis 0:8dc46da67c9f 48 else
IngmarLoohuis 0:8dc46da67c9f 49 {
IngmarLoohuis 0:8dc46da67c9f 50 begin_step--;
IngmarLoohuis 0:8dc46da67c9f 51 teller--;
IngmarLoohuis 0:8dc46da67c9f 52 }
IngmarLoohuis 0:8dc46da67c9f 53 if(begin_step>7)begin_step=0;
IngmarLoohuis 0:8dc46da67c9f 54 if(begin_step<0)begin_step=7;
IngmarLoohuis 0:8dc46da67c9f 55 pc.printf("steps = %i/n/r",teller);
IngmarLoohuis 0:8dc46da67c9f 56
IngmarLoohuis 0:8dc46da67c9f 57 // if(teller<=-10000)//WANNEER DE FUNCTIE VAN RICHTING VERANDERD(MOET NOG STOPPEN WORDEN)
IngmarLoohuis 0:8dc46da67c9f 58 //{
IngmarLoohuis 0:8dc46da67c9f 59 //motor3_direction=1;
IngmarLoohuis 0:8dc46da67c9f 60 // }
IngmarLoohuis 0:8dc46da67c9f 61 }
IngmarLoohuis 0:8dc46da67c9f 62
IngmarLoohuis 0:8dc46da67c9f 63 void motor3_clean()
IngmarLoohuis 0:8dc46da67c9f 64 {
IngmarLoohuis 0:8dc46da67c9f 65 switch(begin_step)
IngmarLoohuis 0:8dc46da67c9f 66 {
IngmarLoohuis 0:8dc46da67c9f 67 case 0: motor_out = 0x1; break; // 0001
IngmarLoohuis 0:8dc46da67c9f 68 case 1: motor_out = 0x3; break; // 0011
IngmarLoohuis 0:8dc46da67c9f 69 case 2: motor_out = 0x2; break; // 0010
IngmarLoohuis 0:8dc46da67c9f 70 case 3: motor_out = 0x6; break; // 0110
IngmarLoohuis 0:8dc46da67c9f 71 case 4: motor_out = 0x4; break; // 0100
IngmarLoohuis 0:8dc46da67c9f 72 case 5: motor_out = 0xC; break; // 1100
IngmarLoohuis 0:8dc46da67c9f 73 case 6: motor_out = 0x8; break; // 1000
IngmarLoohuis 0:8dc46da67c9f 74 case 7: motor_out = 0x9; break; // 1001
IngmarLoohuis 0:8dc46da67c9f 75
IngmarLoohuis 0:8dc46da67c9f 76 default: motor_out = 0x0; break; // 0000
IngmarLoohuis 0:8dc46da67c9f 77 }
IngmarLoohuis 0:8dc46da67c9f 78
IngmarLoohuis 0:8dc46da67c9f 79 if(motor3_direction==1)
IngmarLoohuis 0:8dc46da67c9f 80 {
IngmarLoohuis 0:8dc46da67c9f 81 begin_step++;
IngmarLoohuis 0:8dc46da67c9f 82 teller++;
IngmarLoohuis 0:8dc46da67c9f 83 }
IngmarLoohuis 0:8dc46da67c9f 84 else
IngmarLoohuis 0:8dc46da67c9f 85 {
IngmarLoohuis 0:8dc46da67c9f 86 begin_step--;
IngmarLoohuis 0:8dc46da67c9f 87 teller--;
IngmarLoohuis 0:8dc46da67c9f 88 }
IngmarLoohuis 0:8dc46da67c9f 89 if(begin_step>7)begin_step=0;
IngmarLoohuis 0:8dc46da67c9f 90 if(begin_step<0)begin_step=7;
IngmarLoohuis 0:8dc46da67c9f 91 pc.printf("steps = %i/n/r",teller);
IngmarLoohuis 0:8dc46da67c9f 92
IngmarLoohuis 0:8dc46da67c9f 93 if(teller<=-1000)//WANNEER DE FUNCTIE VAN RICHTING VERANDERD(MOET NOG STOPPEN WORDEN)
IngmarLoohuis 0:8dc46da67c9f 94 {
IngmarLoohuis 0:8dc46da67c9f 95 motor3_direction=up;
IngmarLoohuis 0:8dc46da67c9f 96 }
IngmarLoohuis 0:8dc46da67c9f 97 if(teller>=1000)//WANNEER DE FUNCTIE VAN RICHTING VERANDERD(MOET NOG STOPPEN WORDEN)
IngmarLoohuis 0:8dc46da67c9f 98 {
IngmarLoohuis 0:8dc46da67c9f 99 motor3_direction=down;
IngmarLoohuis 0:8dc46da67c9f 100 }
IngmarLoohuis 0:8dc46da67c9f 101
IngmarLoohuis 0:8dc46da67c9f 102 }
IngmarLoohuis 0:8dc46da67c9f 103
IngmarLoohuis 0:8dc46da67c9f 104 int main()
IngmarLoohuis 0:8dc46da67c9f 105 {
IngmarLoohuis 0:8dc46da67c9f 106 t0.attach(&fn0_activate, 0.0014f);
IngmarLoohuis 0:8dc46da67c9f 107 //t7.attach(&fn7_activate, 0.0014f);
IngmarLoohuis 0:8dc46da67c9f 108 pc.baud(115200);
IngmarLoohuis 0:8dc46da67c9f 109 while(1)
IngmarLoohuis 0:8dc46da67c9f 110 {
IngmarLoohuis 0:8dc46da67c9f 111 if(fn0_go)
IngmarLoohuis 0:8dc46da67c9f 112 {
IngmarLoohuis 0:8dc46da67c9f 113 fn0_go = false;
IngmarLoohuis 0:8dc46da67c9f 114 motor3_position();
IngmarLoohuis 0:8dc46da67c9f 115 }
IngmarLoohuis 0:8dc46da67c9f 116 //if(fn7_go)
IngmarLoohuis 0:8dc46da67c9f 117 //{
IngmarLoohuis 0:8dc46da67c9f 118 //fn7_go = false;
IngmarLoohuis 0:8dc46da67c9f 119 //motor3_clean();
IngmarLoohuis 0:8dc46da67c9f 120 //}
IngmarLoohuis 0:8dc46da67c9f 121 }
IngmarLoohuis 0:8dc46da67c9f 122 }
IngmarLoohuis 0:8dc46da67c9f 123
IngmarLoohuis 0:8dc46da67c9f 124
IngmarLoohuis 0:8dc46da67c9f 125