Marlon Daniel Quiroga
/
Entrega2crte5
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Revision 3:aa9cafc61475, committed 2019-04-12
- Comitter:
- MarlonQ
- Date:
- Fri Apr 12 02:06:11 2019 +0000
- Parent:
- 2:0cc71fa2f3fd
- Commit message:
- Entrega segundo corte;
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Thu Apr 04 23:38:54 2019 +0000
+++ b/main.cpp Fri Apr 12 02:06:11 2019 +0000
@@ -29,8 +29,8 @@
Serial command(USBTX, USBRX);
DigitalOut stepper_step(PB_4);
DigitalOut steppeer_dir(PB_5);
-DigitalOut stepper_step1(PB_6);
-DigitalOut steppeer_dir1(PB_7);
+DigitalOut stepper_step2(PB_6);
+DigitalOut steppeer_dir2(PB_7);
/*INGRESE LA CONFIGURACION DE LOS MOTORES*/
@@ -38,10 +38,10 @@
// definición de las variables globales
-uint32_t VELOCITY = 500 ; // Tiempo enmicro segundos
+uint32_t VELOCITY = 2500 ; // Tiempo enmicro segundos
uint8_t N_pasos ; // varable almacena el numero de pasos que se mueve el motor en leer_datos()
uint8_t Coman ; //variable que nosindica el movimiento del motor
-
+int8_t Lectura [ ] = {} ;
// definición de las funciones
void setup_uart();
@@ -55,7 +55,7 @@
//command.printf("inicio de programa");
while(1){
leer_datos();
- mover_steper_nema( N_pasos , Coman );
+ mover_steper_nema( Lectura [ 1 ] , Lectura [ 0 ] );
}
}
@@ -66,74 +66,135 @@
void leer_datos(){
+
while(command.getc()!= INITCMD) ;
- Coman = command.getc() ;
- N_pasos = command.getc() ;
+ uint8_t i ;
+ for ( i = 0 ; i < 2 ; i++){
+
+ Lectura [ i ] = command.getc();
+ printf ( " %4d ", Lectura [ i ]);
+ }
}
void mover_steper_nema( uint8_t num_pasos , uint8_t Coman ){
uint8_t i = 0;
- switch (Coman){
+ uint8_t j = 1;
+
+ switch ( Coman ){
case 5:
- steppeer_dir = 1;
+ steppeer_dir = 1 ;
+ steppeer_dir2 = 0 ;
wait_us( 1 );
- for ( i= 0 ; i <= num_pasos ; i++ ){
+ for ( j ; j <= num_pasos ; j++){
+
+ for ( i= 0 ; i <= 200 ; i++ ){
- stepper_step=1;
- wait_us(VELOCITY);
- stepper_step=0;
- wait_us(VELOCITY);
+ stepper_step = 1 ;
+ stepper_step2 = 1;
+ wait_us(VELOCITY);
+ stepper_step = 0;
+ stepper_step2 = 1;
+ wait_us(VELOCITY);
- }
+ }
+
+ }
+
break;
case 6:
steppeer_dir = 0;
+ steppeer_dir2 = 1;
wait_us( 1 );
- for ( i= 0 ; i <= num_pasos ; i++ ){
+ for ( j ; j <= num_pasos ; j++){
+
+ for ( i= 0 ; i <= 200 ; i++ ){
- stepper_step=1;
- wait_us(VELOCITY);
- stepper_step=0;
- wait_us(VELOCITY);
+ stepper_step = 1 ;
+ stepper_step2 = 1;
+ wait_us(VELOCITY);
+ stepper_step = 0;
+ stepper_step2 = 1;
+ wait_us(VELOCITY);
- }
+ }
+
+ }
+
break;
case 7:
+
steppeer_dir = 1;
wait_us( 1 );
- for ( i= 0 ; i <= 64 ; i++ ){
+ for ( j ; j <= num_pasos ; j++){
+
+ for ( i= 0 ; i <= 50 ; i++ ){
- stepper_step=1;
- wait_us(VELOCITY);
- stepper_step=0;
- wait_us(VELOCITY);
- }
+ stepper_step = 1 ;
+ stepper_step2 = 1;
+ wait_us(VELOCITY);
+ stepper_step = 0;
+ stepper_step2 = 1;
+ wait_us(VELOCITY);
+
+ }
+
+ }
+
break;
case 8:
steppeer_dir = 0;
wait_us( 1 );
- for ( i= 0 ; i <= 64 ; i++ ){
+ for ( j ; j <= num_pasos ; j++){
+
+ for ( i= 0 ; i <= 50 ; i++ ){
- stepper_step=1;
- wait_us(VELOCITY);
- stepper_step=0;
- wait_us(VELOCITY);
- }
+ stepper_step = 1 ;
+ stepper_step2 = 1;
+ wait_us(VELOCITY);
+ stepper_step = 0;
+ stepper_step2 = 1;
+ wait_us(VELOCITY);
+
+ }
+
+ }
+
break;
case 9:
- //VELOCITY = VELOCITY * num_pasos ;
+
+ switch ( num_pasos ){
+
+ case 1:
+
+ VELOCITY = 400 ;
+
+ break;
+
+ case 2:
+
+ VELOCITY = 2500 ;
+
+ break;
+
+ case 3:
+
+ VELOCITY = 5000 ;
+
+ break;
+
+ }
+
break;
}
-
}