Melchior Pau / Mbed 2 deprecated lazysteppercontrol

Simple pulse direction program for testing stepper motors.

Dependencies:   mbed

main.cpp@0:999962b66e03, 2011-04-29 (annotated)

Committer:
OTBsolar
Date:
Fri Apr 29 09:15:32 2011 +0000
Revision:
0:999962b66e03

        

        
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#include "mbed.h"





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Timeout timer;





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Ticker ticker;





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DigitalOut stepled(LED1);   // Toggles on step





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DigitalOut ccled(LED2);     // Counterclockwise, =Dir





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DigitalOut correct(LED3);   // Checks if nr. of steps made = equal to index





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DigitalOut toggle(LED4);    // Proves life exists





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// MS1 MS2 MS3     Microstep Resolution 





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// Low Low Low     Full step 





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// Hig Low Low     Half step 





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// Low Hig Low     Quarter step 





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// Hig Hig Low     Eighth step 





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// Hig Hig Hig     Sixteenth step 





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DigitalOut MS1(p11);





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DigitalOut MS2(p12);





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DigitalOut MS3(p13);





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//Sleep and Reset not connected.





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DigitalOut enable(p20);





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DigitalOut Step(p21);





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DigitalOut Dir(p22);





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// Motor has 200 steps per rotation and is driven Sixteenth step in comment.





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// So 3200 microsteps per rotation





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int accel=30;       // steps/s^2





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int speed=32000;    // steps/s  /3200   = 10 Rounds/s *60    = 600RPM





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int index=12800;    // steps            = 4 rotations





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int count;





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void timeout() {





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    stepled=!stepled;





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    Step=1;                 // Rising edge





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    wait_us(5);             // Short high time





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    Step=0;





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    if(count<(index/2)) {   // Start accelerating untill the top speed is reached





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        if(accel*count<speed) {





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            timer.attach_us(&timeout,((1000000/((accel*count)+10))-5)); // decreasing time until next step





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        }                           // the +10 is to avoid dividing by 0 and boosts initial speed





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        else {      // don't go over the top speed





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            timer.attach_us(&timeout,((1000000/speed))-5);





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        }                           // the -5 is to compensate for the 5us high time :p





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    }





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    else if(count<index) {  // Halfway to the target, start decelerating





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        if(accel*(index-count)<speed) {





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            timer.attach_us(&timeout,((1000000/((accel*(index-count))+10))-5)); // increasing time until next stil





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        }





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        else {      // stay at top speed if needed





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            timer.attach_us(&timeout,((1000000/speed))-5); 





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        }





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    }





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    else {          // target reached





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        timer.detach();





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        stepled=0;





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        Step=0;





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        if(count==index) {  // Check if the right number of steps were made





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            correct=1;





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        }





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        else {





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            correct=0;





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        }





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    }





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    count++;        // ***INC STEPCOUNT***





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}





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void toggler() {    // It toggles





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    toggle=!toggle;        





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}





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int main() {





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    // Initialize pololu drive





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    enable=0;   // Low active





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    MS1=1;      // Sixteenth





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    MS2=1;





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    MS3=1;





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    // Initialize for movement





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    stepled=0;





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    count=0;





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    correct=0;





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    timer.attach(&timeout,1);   // Initiate a movement





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    ticker.attach(&toggler,1);  // Toggle the live led on interrupt





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    while(1) {





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        wait(10); // Simulate some 10sec delay between commands





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        // Initialize for next movement





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        Dir=!Dir;   // Toggle Direction





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        ccled=Dir;  // Make it obvious





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        count=0;    // Reset count





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        correct=0;  // Reset count=index check





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        timer.attach(&timeout,1);   // Initiate a movement





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    }  





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}