Jimena Gomez Cuellar / Mbed 2 deprecated Final

Realizamos una PCB para integrar los driver de los motores y el circuito de la matriz 8x8, trabajando ademas el núcleo STM32 f446re

Dependencies:   MAX7219 mbed

main.cpp@0:8180a93bf2dc, 2017-06-09 (annotated)

Committer:
Paxtel
Date:
Fri Jun 09 18:05:53 2017 +0000
Revision:
0:8180a93bf2dc
PROYECTO FINAL PICCOLO

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Paxtel 0:8180a93bf2dc 1 #include "mbed.h"
Paxtel 0:8180a93bf2dc 2 #include "max7219.h" // incluir librerias.
Paxtel 0:8180a93bf2dc 3 #include "vision.h"
Paxtel 0:8180a93bf2dc 4 #include "stdlib.h"
Paxtel 0:8180a93bf2dc 5
Paxtel 0:8180a93bf2dc 6 int motorSpeed; // variable para la velocidad del motor
Paxtel 0:8180a93bf2dc 7 int cuadrante;//variable de cuadrante
Paxtel 0:8180a93bf2dc 8 int pasos;
Paxtel 0:8180a93bf2dc 9
Paxtel 0:8180a93bf2dc 10 //#define DEBUG 1
Paxtel 0:8180a93bf2dc 11
Paxtel 0:8180a93bf2dc 12 //*****************************************************************************
Paxtel 0:8180a93bf2dc 13 // COMANDO MOVER MOTOR
Paxtel 0:8180a93bf2dc 14 // |POS 1|POS 2|POS 3|POS 4| POS 5|
Paxtel 0:8180a93bf2dc 15 // | < | #M | , | #°G | > |
Paxtel 0:8180a93bf2dc 16 //
Paxtel 0:8180a93bf2dc 17 // #M -> indica el motor que se va a mover
Paxtel 0:8180a93bf2dc 18 // #°G -> indica los grados a mover del servomotor
Paxtel 0:8180a93bf2dc 19 // <,> -> inicio, separdor y fin de comando
Paxtel 0:8180a93bf2dc 20 // el inicio de comando no se almacena en el buffer
Paxtel 0:8180a93bf2dc 21 //*****************************************************************************
Paxtel 0:8180a93bf2dc 22
Paxtel 0:8180a93bf2dc 23 // VARIABLES PARA DEFINIR EL COMMANDO
Paxtel 0:8180a93bf2dc 24 #define BUFF_SIZE 4
Paxtel 0:8180a93bf2dc 25 #define COMM_NUM_MOTOR 0
Paxtel 0:8180a93bf2dc 26 #define COMM_SEPARADOR 1
Paxtel 0:8180a93bf2dc 27 #define COMM_GRADOS_MOTOR 2
Paxtel 0:8180a93bf2dc 28
Paxtel 0:8180a93bf2dc 29
Paxtel 0:8180a93bf2dc 30 uint8_t buffer_command[BUFF_SIZE]={0,0,0,0};
Paxtel 0:8180a93bf2dc 31
Paxtel 0:8180a93bf2dc 32
Paxtel 0:8180a93bf2dc 33 void print_num(uint8_t val)
Paxtel 0:8180a93bf2dc 34
Paxtel 0:8180a93bf2dc 35 {
Paxtel 0:8180a93bf2dc 36 if (val <10)
Paxtel 0:8180a93bf2dc 37 command.putc(val+0x30);
Paxtel 0:8180a93bf2dc 38 else
Paxtel 0:8180a93bf2dc 39 command.putc(val-9+0x40);
Paxtel 0:8180a93bf2dc 40
Paxtel 0:8180a93bf2dc 41 }
Paxtel 0:8180a93bf2dc 42 void print_bin2hex (uint8_t val)
Paxtel 0:8180a93bf2dc 43 {
Paxtel 0:8180a93bf2dc 44 command.printf(" 0x");
Paxtel 0:8180a93bf2dc 45 print_num(val>>4);
Paxtel 0:8180a93bf2dc 46 print_num(val&0x0f);
Paxtel 0:8180a93bf2dc 47
Paxtel 0:8180a93bf2dc 48
Paxtel 0:8180a93bf2dc 49 }
Paxtel 0:8180a93bf2dc 50
Paxtel 0:8180a93bf2dc 51 // TODO : TIMEOUT UART SERIAL
Paxtel 0:8180a93bf2dc 52 void Read_command()
Paxtel 0:8180a93bf2dc 53 {
Paxtel 0:8180a93bf2dc 54 for (uint8_t i=0; i<BUFF_SIZE;i++)
Paxtel 0:8180a93bf2dc 55 buffer_command[i]=command.getc();
Paxtel 0:8180a93bf2dc 56
Paxtel 0:8180a93bf2dc 57 }
Paxtel 0:8180a93bf2dc 58
Paxtel 0:8180a93bf2dc 59 void echo_command()
Paxtel 0:8180a93bf2dc 60 {
Paxtel 0:8180a93bf2dc 61 for (uint8_t i=0; i<BUFF_SIZE;i++)
Paxtel 0:8180a93bf2dc 62 print_bin2hex(buffer_command[i]);
Paxtel 0:8180a93bf2dc 63
Paxtel 0:8180a93bf2dc 64 }
Paxtel 0:8180a93bf2dc 65
Paxtel 0:8180a93bf2dc 66
Paxtel 0:8180a93bf2dc 67 uint8_t check_command()
Paxtel 0:8180a93bf2dc 68 { if(buffer_command[BUFF_SIZE-1]== '>' && buffer_command[COMM_NUM_MOTOR]==03){ // seleccion del motor paso a paso
Paxtel 0:8180a93bf2dc 69
Paxtel 0:8180a93bf2dc 70 if(cuadrante >buffer_command[COMM_GRADOS_MOTOR]){ // seleccion direccion del motor paso a paso (derecha)
Paxtel 0:8180a93bf2dc 71 Print_pantalla_tabla(m4right);
Paxtel 0:8180a93bf2dc 72 cuadrante=(cuadrante-buffer_command[COMM_GRADOS_MOTOR]);
Paxtel 0:8180a93bf2dc 73 pasos=(cuadrante*255);
Paxtel 0:8180a93bf2dc 74 stepper(pasos,00);
Paxtel 0:8180a93bf2dc 75 }
Paxtel 0:8180a93bf2dc 76 else if(cuadrante<buffer_command[COMM_GRADOS_MOTOR]){// seleccion direccion del motor paso a paso (izquierda)
Paxtel 0:8180a93bf2dc 77 Print_pantalla_tabla(m4left);
Paxtel 0:8180a93bf2dc 78 cuadrante=(cuadrante-buffer_command[COMM_GRADOS_MOTOR]);
Paxtel 0:8180a93bf2dc 79 cuadrante=(abs(cuadrante));
Paxtel 0:8180a93bf2dc 80 pasos=(cuadrante*255);
Paxtel 0:8180a93bf2dc 81 stepper(pasos,01);
Paxtel 0:8180a93bf2dc 82 }
Paxtel 0:8180a93bf2dc 83 else{
Paxtel 0:8180a93bf2dc 84 return 0;}
Paxtel 0:8180a93bf2dc 85 }
Paxtel 0:8180a93bf2dc 86
Paxtel 0:8180a93bf2dc 87 else if (buffer_command[BUFF_SIZE-1]== '>' && buffer_command[COMM_SEPARADOR]==','){ // seleccion solo servo motores, verifica que la entrada sea correcta
Paxtel 0:8180a93bf2dc 88
Paxtel 0:8180a93bf2dc 89 #if DEBUG
Paxtel 0:8180a93bf2dc 90 command.printf("\nMover Motor:");
Paxtel 0:8180a93bf2dc 91 print_bin2hex(buffer_command[COMM_NUM_MOTOR]);
Paxtel 0:8180a93bf2dc 92 command.printf(" -> ");
Paxtel 0:8180a93bf2dc 93 print_bin2hex(buffer_command[COMM_GRADOS_MOTOR]);
Paxtel 0:8180a93bf2dc 94 command.printf(" grados \n");
Paxtel 0:8180a93bf2dc 95 #endif
Paxtel 0:8180a93bf2dc 96 return 1;
Paxtel 0:8180a93bf2dc 97 }
Paxtel 0:8180a93bf2dc 98 #if DEBUG
Paxtel 0:8180a93bf2dc 99 command.printf("\n ERROR COMANDO -> "); // error si los simbolos de entrada son incorrectos
Paxtel 0:8180a93bf2dc 100 echo_command();
Paxtel 0:8180a93bf2dc 101 #endif
Paxtel 0:8180a93bf2dc 102 return 0;
Paxtel 0:8180a93bf2dc 103
Paxtel 0:8180a93bf2dc 104
Paxtel 0:8180a93bf2dc 105 }
Paxtel 0:8180a93bf2dc 106
Paxtel 0:8180a93bf2dc 107
Paxtel 0:8180a93bf2dc 108
Paxtel 0:8180a93bf2dc 109
Paxtel 0:8180a93bf2dc 110
Paxtel 0:8180a93bf2dc 111
Paxtel 0:8180a93bf2dc 112
Paxtel 0:8180a93bf2dc 113 void command_motor(uint8_t nm,uint8_t grados)
Paxtel 0:8180a93bf2dc 114 {
Paxtel 0:8180a93bf2dc 115 unsigned int k;
Paxtel 0:8180a93bf2dc 116
Paxtel 0:8180a93bf2dc 117 k=((grados*9)+550); // formula para los grados de los servomotores
Paxtel 0:8180a93bf2dc 118
Paxtel 0:8180a93bf2dc 119
Paxtel 0:8180a93bf2dc 120
Paxtel 0:8180a93bf2dc 121
Paxtel 0:8180a93bf2dc 122 switch(nm){ // seleccion del servo a mover
Paxtel 0:8180a93bf2dc 123 case 00:
Paxtel 0:8180a93bf2dc 124 if(grados==0x5a){ //90 grados
Paxtel 0:8180a93bf2dc 125
Paxtel 0:8180a93bf2dc 126 Print_pantalla_tabla(m1up);
Paxtel 0:8180a93bf2dc 127
Paxtel 0:8180a93bf2dc 128
Paxtel 0:8180a93bf2dc 129 mipwm.pulsewidth_us(k);
Paxtel 0:8180a93bf2dc 130
Paxtel 0:8180a93bf2dc 131 }
Paxtel 0:8180a93bf2dc 132 else if (grados<0x5a){ // visualizacion cuando es menor que 90
Paxtel 0:8180a93bf2dc 133 Print_pantalla_tabla(m1right);
Paxtel 0:8180a93bf2dc 134
Paxtel 0:8180a93bf2dc 135 mipwm.pulsewidth_us(k);
Paxtel 0:8180a93bf2dc 136
Paxtel 0:8180a93bf2dc 137 }
Paxtel 0:8180a93bf2dc 138 else{ // visualizacion cuando es mayor que 90
Paxtel 0:8180a93bf2dc 139 Print_pantalla_tabla(m1left);
Paxtel 0:8180a93bf2dc 140
Paxtel 0:8180a93bf2dc 141 mipwm.pulsewidth_us(k);
Paxtel 0:8180a93bf2dc 142
Paxtel 0:8180a93bf2dc 143 }
Paxtel 0:8180a93bf2dc 144
Paxtel 0:8180a93bf2dc 145 mipwm.pulsewidth_us(k);
Paxtel 0:8180a93bf2dc 146
Paxtel 0:8180a93bf2dc 147 break;
Paxtel 0:8180a93bf2dc 148 case 01:if(grados==0x5a){ //90 grados
Paxtel 0:8180a93bf2dc 149
Paxtel 0:8180a93bf2dc 150 Print_pantalla_tabla(m2up);
Paxtel 0:8180a93bf2dc 151
Paxtel 0:8180a93bf2dc 152 }
Paxtel 0:8180a93bf2dc 153 else if (grados<0x5a){ // visualizacion cuando es menor que 90
Paxtel 0:8180a93bf2dc 154 Print_pantalla_tabla(m2right);
Paxtel 0:8180a93bf2dc 155
Paxtel 0:8180a93bf2dc 156 }
Paxtel 0:8180a93bf2dc 157 else{// visualizacion cuando es mayor que 90
Paxtel 0:8180a93bf2dc 158 Print_pantalla_tabla(m2left);
Paxtel 0:8180a93bf2dc 159
Paxtel 0:8180a93bf2dc 160 }
Paxtel 0:8180a93bf2dc 161 mipwm2.pulsewidth_us(k);
Paxtel 0:8180a93bf2dc 162
Paxtel 0:8180a93bf2dc 163 break;
Paxtel 0:8180a93bf2dc 164 case 02:
Paxtel 0:8180a93bf2dc 165 if(grados==0x5a){ //90 grados
Paxtel 0:8180a93bf2dc 166
Paxtel 0:8180a93bf2dc 167 Print_pantalla_tabla(m3up);
Paxtel 0:8180a93bf2dc 168
Paxtel 0:8180a93bf2dc 169 }
Paxtel 0:8180a93bf2dc 170 else if (grados<0x5a){ // visualizacion cuando es menor que 90
Paxtel 0:8180a93bf2dc 171 Print_pantalla_tabla(m3right);
Paxtel 0:8180a93bf2dc 172
Paxtel 0:8180a93bf2dc 173 }
Paxtel 0:8180a93bf2dc 174 else{ // visualizacion cuando es mayor que 90
Paxtel 0:8180a93bf2dc 175 Print_pantalla_tabla(m3left);
Paxtel 0:8180a93bf2dc 176
Paxtel 0:8180a93bf2dc 177 }
Paxtel 0:8180a93bf2dc 178 mipwm3.pulsewidth_us(k);
Paxtel 0:8180a93bf2dc 179
Paxtel 0:8180a93bf2dc 180 break;
Paxtel 0:8180a93bf2dc 181 default:
Paxtel 0:8180a93bf2dc 182 break;
Paxtel 0:8180a93bf2dc 183 }
Paxtel 0:8180a93bf2dc 184
Paxtel 0:8180a93bf2dc 185
Paxtel 0:8180a93bf2dc 186
Paxtel 0:8180a93bf2dc 187 }
Paxtel 0:8180a93bf2dc 188
Paxtel 0:8180a93bf2dc 189
Paxtel 0:8180a93bf2dc 190
Paxtel 0:8180a93bf2dc 191 int main() {
Paxtel 0:8180a93bf2dc 192 cuadrante=0;
Paxtel 0:8180a93bf2dc 193 max7219_configuration_t cfg = {
Paxtel 0:8180a93bf2dc 194 .device_number = 1,
Paxtel 0:8180a93bf2dc 195 .decode_mode = 0, //configuracion del max7219
Paxtel 0:8180a93bf2dc 196 .intensity = Max7219::MAX7219_INTENSITY_5,
Paxtel 0:8180a93bf2dc 197 .scan_limit = Max7219::MAX7219_SCAN_8
Paxtel 0:8180a93bf2dc 198 };
Paxtel 0:8180a93bf2dc 199
Paxtel 0:8180a93bf2dc 200 pantalla.init_device(cfg);
Paxtel 0:8180a93bf2dc 201 pantalla.enable_device(1);
Paxtel 0:8180a93bf2dc 202 pantalla.set_display_test(); //testeo de la matriz
Paxtel 0:8180a93bf2dc 203 wait(1);
Paxtel 0:8180a93bf2dc 204 pantalla.clear_display_test();
Paxtel 0:8180a93bf2dc 205
Paxtel 0:8180a93bf2dc 206
Paxtel 0:8180a93bf2dc 207
Paxtel 0:8180a93bf2dc 208
Paxtel 0:8180a93bf2dc 209
Paxtel 0:8180a93bf2dc 210
Paxtel 0:8180a93bf2dc 211 Print_pantalla_tabla(clear); // limpiar matriz
Paxtel 0:8180a93bf2dc 212 #if DEBUG
Paxtel 0:8180a93bf2dc 213 command.printf("inicio con debug\n");
Paxtel 0:8180a93bf2dc 214 #else
Paxtel 0:8180a93bf2dc 215 command.printf("inicio sin debug\n");
Paxtel 0:8180a93bf2dc 216 #endif
Paxtel 0:8180a93bf2dc 217 uint8_t val;
Paxtel 0:8180a93bf2dc 218 while(1){
Paxtel 0:8180a93bf2dc 219 val=command.getc();
Paxtel 0:8180a93bf2dc 220 if (val== '<'){
Paxtel 0:8180a93bf2dc 221 Read_command();
Paxtel 0:8180a93bf2dc 222 if (check_command()){
Paxtel 0:8180a93bf2dc 223 command_motor(buffer_command[COMM_NUM_MOTOR],buffer_command[COMM_GRADOS_MOTOR]);
Paxtel 0:8180a93bf2dc 224 }
Paxtel 0:8180a93bf2dc 225 }
Paxtel 0:8180a93bf2dc 226
Paxtel 0:8180a93bf2dc 227 }
Paxtel 0:8180a93bf2dc 228 }
Paxtel 0:8180a93bf2dc 229
Paxtel 0:8180a93bf2dc 230
Paxtel 0:8180a93bf2dc 231
Paxtel 0:8180a93bf2dc 232
Paxtel 0:8180a93bf2dc 233 void Print_pantalla_tabla(unsigned char *pValor){
Paxtel 0:8180a93bf2dc 234 int i; //funcion de puntero, impresión de pantalla
Paxtel 0:8180a93bf2dc 235 for (i =0;i<8;i++)
Paxtel 0:8180a93bf2dc 236 pantalla.write_digit(1,i+1,pValor[i]);
Paxtel 0:8180a93bf2dc 237
Paxtel 0:8180a93bf2dc 238 }
Paxtel 0:8180a93bf2dc 239
Paxtel 0:8180a93bf2dc 240
Paxtel 0:8180a93bf2dc 241
Paxtel 0:8180a93bf2dc 242
Paxtel 0:8180a93bf2dc 243 void anticlockwise() { // rotacion del motor paso a paso sentido antihorario
Paxtel 0:8180a93bf2dc 244 for (int i = 0; i < 8; i++) {
Paxtel 0:8180a93bf2dc 245
Paxtel 0:8180a93bf2dc 246 switch (i) { // activar(1) o desactivar(0) las bobinas
Paxtel 0:8180a93bf2dc 247 case 0: {
Paxtel 0:8180a93bf2dc 248 _A0=0;
Paxtel 0:8180a93bf2dc 249 _A1=0;
Paxtel 0:8180a93bf2dc 250 _A2=0;
Paxtel 0:8180a93bf2dc 251 _A3=1;
Paxtel 0:8180a93bf2dc 252 _A4=0;
Paxtel 0:8180a93bf2dc 253 _A5=0;
Paxtel 0:8180a93bf2dc 254 _A6=0;
Paxtel 0:8180a93bf2dc 255 _A7=1;
Paxtel 0:8180a93bf2dc 256 }
Paxtel 0:8180a93bf2dc 257 break;
Paxtel 0:8180a93bf2dc 258 case 1: {
Paxtel 0:8180a93bf2dc 259 _A0=0;
Paxtel 0:8180a93bf2dc 260 _A1=0;
Paxtel 0:8180a93bf2dc 261 _A2=1;
Paxtel 0:8180a93bf2dc 262 _A3=1;
Paxtel 0:8180a93bf2dc 263 _A4=0;
Paxtel 0:8180a93bf2dc 264 _A5=0;
Paxtel 0:8180a93bf2dc 265 _A6=1;
Paxtel 0:8180a93bf2dc 266 _A7=1;
Paxtel 0:8180a93bf2dc 267 }
Paxtel 0:8180a93bf2dc 268 break;
Paxtel 0:8180a93bf2dc 269 case 2: {
Paxtel 0:8180a93bf2dc 270 _A0=0;
Paxtel 0:8180a93bf2dc 271 _A1=0;
Paxtel 0:8180a93bf2dc 272 _A2=1;
Paxtel 0:8180a93bf2dc 273 _A3=0;
Paxtel 0:8180a93bf2dc 274 _A4=0;
Paxtel 0:8180a93bf2dc 275 _A5=0;
Paxtel 0:8180a93bf2dc 276 _A6=1;
Paxtel 0:8180a93bf2dc 277 _A7=0;
Paxtel 0:8180a93bf2dc 278 }
Paxtel 0:8180a93bf2dc 279 break;
Paxtel 0:8180a93bf2dc 280 case 3: {
Paxtel 0:8180a93bf2dc 281 _A0=0;
Paxtel 0:8180a93bf2dc 282 _A1=1;
Paxtel 0:8180a93bf2dc 283 _A2=1;
Paxtel 0:8180a93bf2dc 284 _A3=0;
Paxtel 0:8180a93bf2dc 285 _A4=0;
Paxtel 0:8180a93bf2dc 286 _A5=1;
Paxtel 0:8180a93bf2dc 287 _A6=1;
Paxtel 0:8180a93bf2dc 288 _A7=0;
Paxtel 0:8180a93bf2dc 289 }
Paxtel 0:8180a93bf2dc 290 break;
Paxtel 0:8180a93bf2dc 291 case 4: {
Paxtel 0:8180a93bf2dc 292 _A0=0;
Paxtel 0:8180a93bf2dc 293 _A1=1;
Paxtel 0:8180a93bf2dc 294 _A2=0;
Paxtel 0:8180a93bf2dc 295 _A3=0;
Paxtel 0:8180a93bf2dc 296 _A4=0;
Paxtel 0:8180a93bf2dc 297 _A5=1;
Paxtel 0:8180a93bf2dc 298 _A6=0;
Paxtel 0:8180a93bf2dc 299 _A7=0;
Paxtel 0:8180a93bf2dc 300 }
Paxtel 0:8180a93bf2dc 301 break;
Paxtel 0:8180a93bf2dc 302 case 5: {
Paxtel 0:8180a93bf2dc 303 _A0=1;
Paxtel 0:8180a93bf2dc 304 _A1=1;
Paxtel 0:8180a93bf2dc 305 _A2=0;
Paxtel 0:8180a93bf2dc 306 _A3=0;
Paxtel 0:8180a93bf2dc 307 _A4=1;
Paxtel 0:8180a93bf2dc 308 _A5=1;
Paxtel 0:8180a93bf2dc 309 _A6=0;
Paxtel 0:8180a93bf2dc 310 _A7=0;
Paxtel 0:8180a93bf2dc 311 }
Paxtel 0:8180a93bf2dc 312 break;
Paxtel 0:8180a93bf2dc 313 case 6: {
Paxtel 0:8180a93bf2dc 314 _A0=1;
Paxtel 0:8180a93bf2dc 315 _A1=0;
Paxtel 0:8180a93bf2dc 316 _A2=0;
Paxtel 0:8180a93bf2dc 317 _A3=0;
Paxtel 0:8180a93bf2dc 318 _A4=1;
Paxtel 0:8180a93bf2dc 319 _A5=0;
Paxtel 0:8180a93bf2dc 320 _A6=0;
Paxtel 0:8180a93bf2dc 321 _A7=0;
Paxtel 0:8180a93bf2dc 322 }
Paxtel 0:8180a93bf2dc 323 break;
Paxtel 0:8180a93bf2dc 324 case 7: {
Paxtel 0:8180a93bf2dc 325 _A0=1;
Paxtel 0:8180a93bf2dc 326 _A1=0;
Paxtel 0:8180a93bf2dc 327 _A2=0;
Paxtel 0:8180a93bf2dc 328 _A3=1;
Paxtel 0:8180a93bf2dc 329 _A4=1;
Paxtel 0:8180a93bf2dc 330 _A5=0;
Paxtel 0:8180a93bf2dc 331 _A6=0;
Paxtel 0:8180a93bf2dc 332 _A7=1;
Paxtel 0:8180a93bf2dc 333 }
Paxtel 0:8180a93bf2dc 334 break;
Paxtel 0:8180a93bf2dc 335 }
Paxtel 0:8180a93bf2dc 336
Paxtel 0:8180a93bf2dc 337
Paxtel 0:8180a93bf2dc 338 wait_us(motorSpeed); // velocidad
Paxtel 0:8180a93bf2dc 339 }
Paxtel 0:8180a93bf2dc 340 }
Paxtel 0:8180a93bf2dc 341
Paxtel 0:8180a93bf2dc 342 void clockwise() { // rotacion del motor paso a paso sentido horario
Paxtel 0:8180a93bf2dc 343 for (int i = 7; i >= 0; i--) {
Paxtel 0:8180a93bf2dc 344
Paxtel 0:8180a93bf2dc 345 switch (i) { // activar(1) o desactivar(0) las bobinas
Paxtel 0:8180a93bf2dc 346 case 0: {
Paxtel 0:8180a93bf2dc 347 _A0=0;
Paxtel 0:8180a93bf2dc 348 _A1=0;
Paxtel 0:8180a93bf2dc 349 _A2=0;
Paxtel 0:8180a93bf2dc 350 _A3=1;
Paxtel 0:8180a93bf2dc 351 _A4=0;
Paxtel 0:8180a93bf2dc 352 _A5=0;
Paxtel 0:8180a93bf2dc 353 _A6=0;
Paxtel 0:8180a93bf2dc 354 _A7=1;
Paxtel 0:8180a93bf2dc 355 }
Paxtel 0:8180a93bf2dc 356 break;
Paxtel 0:8180a93bf2dc 357 case 1: {
Paxtel 0:8180a93bf2dc 358 _A0=0;
Paxtel 0:8180a93bf2dc 359 _A1=0;
Paxtel 0:8180a93bf2dc 360 _A2=1;
Paxtel 0:8180a93bf2dc 361 _A3=1;
Paxtel 0:8180a93bf2dc 362 _A4=0;
Paxtel 0:8180a93bf2dc 363 _A5=0;
Paxtel 0:8180a93bf2dc 364 _A6=1;
Paxtel 0:8180a93bf2dc 365 _A7=1;
Paxtel 0:8180a93bf2dc 366 }
Paxtel 0:8180a93bf2dc 367 break;
Paxtel 0:8180a93bf2dc 368 case 2: {
Paxtel 0:8180a93bf2dc 369 _A0=0;
Paxtel 0:8180a93bf2dc 370 _A1=0;
Paxtel 0:8180a93bf2dc 371 _A2=1;
Paxtel 0:8180a93bf2dc 372 _A3=0;
Paxtel 0:8180a93bf2dc 373 _A4=0;
Paxtel 0:8180a93bf2dc 374 _A5=0;
Paxtel 0:8180a93bf2dc 375 _A6=1;
Paxtel 0:8180a93bf2dc 376 _A7=0;
Paxtel 0:8180a93bf2dc 377 }
Paxtel 0:8180a93bf2dc 378 break;
Paxtel 0:8180a93bf2dc 379 case 3: {
Paxtel 0:8180a93bf2dc 380 _A0=0;
Paxtel 0:8180a93bf2dc 381 _A1=1;
Paxtel 0:8180a93bf2dc 382 _A2=1;
Paxtel 0:8180a93bf2dc 383 _A3=0;
Paxtel 0:8180a93bf2dc 384 _A4=0;
Paxtel 0:8180a93bf2dc 385 _A5=1;
Paxtel 0:8180a93bf2dc 386 _A6=1;
Paxtel 0:8180a93bf2dc 387 _A7=0;
Paxtel 0:8180a93bf2dc 388 }
Paxtel 0:8180a93bf2dc 389 break;
Paxtel 0:8180a93bf2dc 390 case 4: {
Paxtel 0:8180a93bf2dc 391 _A0=0;
Paxtel 0:8180a93bf2dc 392 _A1=1;
Paxtel 0:8180a93bf2dc 393 _A2=0;
Paxtel 0:8180a93bf2dc 394 _A3=0;
Paxtel 0:8180a93bf2dc 395 _A4=0;
Paxtel 0:8180a93bf2dc 396 _A5=1;
Paxtel 0:8180a93bf2dc 397 _A6=0;
Paxtel 0:8180a93bf2dc 398 _A7=0;
Paxtel 0:8180a93bf2dc 399 }
Paxtel 0:8180a93bf2dc 400 break;
Paxtel 0:8180a93bf2dc 401 case 5: {
Paxtel 0:8180a93bf2dc 402 _A0=1;
Paxtel 0:8180a93bf2dc 403 _A1=1;
Paxtel 0:8180a93bf2dc 404 _A2=0;
Paxtel 0:8180a93bf2dc 405 _A3=0;
Paxtel 0:8180a93bf2dc 406 _A4=1;
Paxtel 0:8180a93bf2dc 407 _A5=1;
Paxtel 0:8180a93bf2dc 408 _A6=0;
Paxtel 0:8180a93bf2dc 409 _A7=0;
Paxtel 0:8180a93bf2dc 410 }
Paxtel 0:8180a93bf2dc 411 break;
Paxtel 0:8180a93bf2dc 412 case 6: {
Paxtel 0:8180a93bf2dc 413 _A0=1;
Paxtel 0:8180a93bf2dc 414 _A1=0;
Paxtel 0:8180a93bf2dc 415 _A2=0;
Paxtel 0:8180a93bf2dc 416 _A3=0;
Paxtel 0:8180a93bf2dc 417 _A4=1;
Paxtel 0:8180a93bf2dc 418 _A5=0;
Paxtel 0:8180a93bf2dc 419 _A6=0;
Paxtel 0:8180a93bf2dc 420 _A7=0;
Paxtel 0:8180a93bf2dc 421 }
Paxtel 0:8180a93bf2dc 422 break;
Paxtel 0:8180a93bf2dc 423 case 7: {
Paxtel 0:8180a93bf2dc 424 _A0=1;
Paxtel 0:8180a93bf2dc 425 _A1=0;
Paxtel 0:8180a93bf2dc 426 _A2=0;
Paxtel 0:8180a93bf2dc 427 _A3=1;
Paxtel 0:8180a93bf2dc 428 _A4=1;
Paxtel 0:8180a93bf2dc 429 _A5=0;
Paxtel 0:8180a93bf2dc 430 _A6=0;
Paxtel 0:8180a93bf2dc 431 _A7=1;
Paxtel 0:8180a93bf2dc 432 }
Paxtel 0:8180a93bf2dc 433 break;
Paxtel 0:8180a93bf2dc 434 }
Paxtel 0:8180a93bf2dc 435
Paxtel 0:8180a93bf2dc 436
Paxtel 0:8180a93bf2dc 437 wait_us(motorSpeed); // velocidad de giro
Paxtel 0:8180a93bf2dc 438 }
Paxtel 0:8180a93bf2dc 439 }
Paxtel 0:8180a93bf2dc 440
Paxtel 0:8180a93bf2dc 441
Paxtel 0:8180a93bf2dc 442
Paxtel 0:8180a93bf2dc 443 void stepper(uint8_t num_steps, uint8_t direction) {// funcion para el numero de pasos direccion(0-derecha, 1-izquierda)
Paxtel 0:8180a93bf2dc 444 int count=0; //inicializar conteo
Paxtel 0:8180a93bf2dc 445 motorSpeed=1200; //velocidad de giro
Paxtel 0:8180a93bf2dc 446 if (direction==0) // giro hacia la derecha
Paxtel 0:8180a93bf2dc 447 do {
Paxtel 0:8180a93bf2dc 448 clockwise();
Paxtel 0:8180a93bf2dc 449 count++;
Paxtel 0:8180a93bf2dc 450 } while (count<num_steps); // definicion de pasos
Paxtel 0:8180a93bf2dc 451 else if (direction==1)// giro antihorario
Paxtel 0:8180a93bf2dc 452 do {
Paxtel 0:8180a93bf2dc 453 anticlockwise();
Paxtel 0:8180a93bf2dc 454 count++;
Paxtel 0:8180a93bf2dc 455 } while (count<num_steps);// definicion de pasos
Paxtel 0:8180a93bf2dc 456
Paxtel 0:8180a93bf2dc 457 }
Paxtel 0:8180a93bf2dc 458
Paxtel 0:8180a93bf2dc 459
Paxtel 0:8180a93bf2dc 460
Paxtel 0:8180a93bf2dc 461
Paxtel 0:8180a93bf2dc 462
Paxtel 0:8180a93bf2dc 463