Diff: main.cpp

Revision:

0:999962b66e03

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Apr 29 09:15:32 2011 +0000
@@ -0,0 +1,98 @@
+#include "mbed.h"
+
+Timeout timer;
+Ticker ticker;
+DigitalOut stepled(LED1);   // Toggles on step
+DigitalOut ccled(LED2);     // Counterclockwise, =Dir
+DigitalOut correct(LED3);   // Checks if nr. of steps made = equal to index
+DigitalOut toggle(LED4);    // Proves life exists
+
+// MS1 MS2 MS3     Microstep Resolution 
+// Low Low Low     Full step 
+// Hig Low Low     Half step 
+// Low Hig Low     Quarter step 
+// Hig Hig Low     Eighth step 
+// Hig Hig Hig     Sixteenth step 
+DigitalOut MS1(p11);
+DigitalOut MS2(p12);
+DigitalOut MS3(p13);
+
+//Sleep and Reset not connected.
+DigitalOut enable(p20);
+
+DigitalOut Step(p21);
+DigitalOut Dir(p22);
+
+// Motor has 200 steps per rotation and is driven Sixteenth step in comment.
+// So 3200 microsteps per rotation
+
+int accel=30;       // steps/s^2
+int speed=32000;    // steps/s  /3200   = 10 Rounds/s *60    = 600RPM
+int index=12800;    // steps            = 4 rotations
+int count;
+
+void timeout() {
+    stepled=!stepled;
+    Step=1;                 // Rising edge
+    wait_us(5);             // Short high time
+    Step=0;
+    if(count<(index/2)) {   // Start accelerating untill the top speed is reached
+        if(accel*count<speed) {
+            timer.attach_us(&timeout,((1000000/((accel*count)+10))-5)); // decreasing time until next step
+        }                           // the +10 is to avoid dividing by 0 and boosts initial speed
+        else {      // don't go over the top speed
+            timer.attach_us(&timeout,((1000000/speed))-5);
+        }                           // the -5 is to compensate for the 5us high time :p
+    }
+    else if(count<index) {  // Halfway to the target, start decelerating
+        if(accel*(index-count)<speed) {
+            timer.attach_us(&timeout,((1000000/((accel*(index-count))+10))-5)); // increasing time until next stil
+        }
+        else {      // stay at top speed if needed
+            timer.attach_us(&timeout,((1000000/speed))-5); 
+        }
+    }
+    else {          // target reached
+        timer.detach();
+        stepled=0;
+        Step=0;
+        if(count==index) {  // Check if the right number of steps were made
+            correct=1;
+        }
+        else {
+            correct=0;
+        }
+    }
+    count++;        // ***INC STEPCOUNT***
+}
+        
+void toggler() {    // It toggles
+    toggle=!toggle;        
+}
+
+int main() {
+    // Initialize pololu drive
+    enable=0;   // Low active
+    MS1=1;      // Sixteenth
+    MS2=1;
+    MS3=1;
+    
+    // Initialize for movement
+    stepled=0;
+    count=0;
+    correct=0;
+    
+    timer.attach(&timeout,1);   // Initiate a movement
+    ticker.attach(&toggler,1);  // Toggle the live led on interrupt
+    while(1) {
+        wait(10); // Simulate some 10sec delay between commands
+        
+        // Initialize for next movement
+        Dir=!Dir;   // Toggle Direction
+        ccled=Dir;  // Make it obvious
+        count=0;    // Reset count
+        correct=0;  // Reset count=index check
+        
+        timer.attach(&timeout,1);   // Initiate a movement
+    }  
+}
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