Diff: main.cpp

Revision:

0:3bdd295c3b0e

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Apr 08 02:30:52 2020 +0000
@@ -0,0 +1,123 @@
+#include "mbed.h"
+#include "AccelStepper.h"
+#include <avr/wdt.h>
+
+Serial pc(USBTX, USBRX);
+
+//Pins
+#define STP_PIN 4 // AnalogOut STP_PIN(nome do pino da placa) ##DESCOMENTAR ESSE BLOCO##
+#define DIR_PIN 3 // AnalogOut DIR_PIN(nome do pino da placa)
+#define ENA_PIN 2 // DigitalOut ENA_PIN(nome do pino da placa)
+#define HOM_PIN 12 // DigitalIn HOM_PIN(nome do pino da placa)
+
+//Max
+#define MAX_ACCEL_mms2 500.0
+#define MAX_SPEED_mms  75.0
+#define MAX_POS_mm 100.0
+
+//Stepper Motor parameters
+#define STEPS_by_REV  400.0
+#define mm_by_REV 25.0
+
+//Home Parameters
+#define HOME_SPEED_mms  10.0
+#define HOME_INCREMENT_mm  1.0
+#define HOME_PRESS_POSITION_mm  2.0
+
+//Consts
+const unsigned int MAX_ACCEL_STEPS2 = (MAX_ACCEL_mms2 *  STEPS_by_REV) / mm_by_REV;
+unsigned int MAX_SPEED_STEPS = (MAX_SPEED_mms *  STEPS_by_REV) / mm_by_REV;
+const unsigned int HOME_SPEED_STEPS = (HOME_SPEED_mms *  STEPS_by_REV) / mm_by_REV;
+const unsigned int HOME_INCREMENT_STEP = (HOME_INCREMENT_mm  *  STEPS_by_REV) / mm_by_REV;
+const unsigned int HOME_PRESS_POSITION_STEP = (HOME_PRESS_POSITION_mm  *  STEPS_by_REV) / mm_by_REV;
+
+//vars
+unsigned int MaxPos_step =  (MAX_POS_mm *  STEPS_by_REV) / mm_by_REV;
+bool CycleOn = true;
+bool HomeDone = false;
+
+public void MotorGoHome(AccelStepper *stpr)
+{
+  int CurrentPos = 0;
+  pc.printf("Finding Home...");
+  stepper.setCurrentPosition(0);
+  stepper.setMaxSpeed(HOME_SPEED_STEPS);
+  while (digitalRead(HOM_PIN) == HIGH)
+  {
+    CurrentPos = CurrentPos - HOME_INCREMENT_STEP;
+    stepper.runToNewPosition(CurrentPos);
+  }
+  stepper.setCurrentPosition(0);
+  stepper.runToNewPosition(HOME_PRESS_POSITION_STEP);
+  stepper.setCurrentPosition(0);
+  HomeDone = true;
+  pc.printf("Finding Home...");
+}
+
+public void setup(AccelStepper *stpr)
+{
+  pc.baud(250000) descomentar se tiver certo
+  //pinMode(10  , OUTPUT); ###OS COMENTÁRIOS ABAIXO SÃO PRA APAGAR ESSAS DECLARAÇÕES (SÓ FAZEM SENTIDO EM ARDUINO)
+  //pinMode(STP_PIN  , OUTPUT);
+  //pinMode(DIR_PIN    , OUTPUT);
+  //pinMode(ENA_PIN    , OUTPUT);
+  DigitalWrite(ENA_PIN , HIGH); 
+  stepper.setMaxSpeed(MAX_SPEED_STEPS);
+  stepper.setAcceleration(MAX_ACCEL_STEPS2);
+  MotorGoHome(&stpr);
+  stepper.setMaxSpeed(MAX_SPEED_STEPS);
+  stepper.setAcceleration(MAX_ACCEL_STEPS2);
+  wdt_enable(WDTO_2S);
+}
+
+int main(){
+    
+    AccelStepper stepper(AccelStepper::DRIVER, STP_PIN, DIR_PIN );
+    
+    setup(&stepper);
+    
+    while(1){
+        wdt_reset();
+        if (CycleOn)
+        {
+            if (stepper.currentPosition() == 0)
+            {
+                delay(500);
+                stepper.moveTo(MaxPos_step);
+            }
+            else if (stepper.currentPosition() == MaxPos_step)
+            {
+                delay(500);
+                stepper.moveTo(0);
+            }
+        }
+        analogWrite(10, map(stepper.currentPosition(), 0, MaxPos_step, 0, 250));
+        stepper.run();
+        if((digitalRead(HOM_PIN) == LOW) && (HomeDone)) while(1);
+
+        if (pc.readable())
+        {
+            char Option = pc.getc();
+            if (Option == 'P')
+            {
+                float NewPos = Serial.parseFloat();
+                stepper.moveTo((NewPos *  STEPS_by_REV) / mm_by_REV);
+            }
+            else if (Option == 'C')
+            {
+                CycleOn = !CycleOn ;
+            }
+            else if (Option == 'S')
+            {
+                float NewSpeed= Serial.parseFloat(); //pc.??
+                stepper.setMaxSpeed((NewSpeed *  STEPS_by_REV) / mm_by_REV);
+            }
+            else if (Option == 'H')
+            {
+                MotorGoHome(&stepper);
+            }
+        }         
+    }
+    return 0;    
+}
+    
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