Diff: main.cpp

Revision:

11:b86aea372744

Parent:

10:a8390614edcc

Child:

12:9f8c7f4da5f6

--- a/main.cpp	Fri Feb 26 10:16:32 2021 +0000
+++ b/main.cpp	Wed Mar 03 14:55:01 2021 +0000
@@ -13,20 +13,29 @@
     /*control codes*/
     wait_ms(2000);   /* keep FPGA in reset for 5s, to let motor stop*/
     enbale_fpga();   /* enable FPGA */ 
-    wait_ms(100);     
+    wait_ms(100);
     led4 = i2c.i2c_window_open();  /*send password 0xd0d0*/
-    //wait_ms(1000);
-    //i2c.i2c_set_position_pulse_width(3,5); /*unsigned int mantisaa_2b, unsigned int exponent_3b*/
-    //wait_ms(1000);
-    //i2c.i2c_set_start_up_pulse_width(2,6); /*(unsigned int mantisaa_3b, unsigned int exponent_3b*/
+    wait_ms(100);
+    i2c.i2c_set_position_pulse_width(1,3); /*unsigned int mantisaa_2b, unsigned int exponent_3b*/
+    wait_ms(100);
+    i2c.i2c_set_start_up_pulse_width(3,5); /*(unsigned int mantisaa_3b, unsigned int exponent_3b*/
+    wait_ms(100);
     //led4 = i2c.i2c_set_soft_start_up(1, 1, 0, 1, 1);
-    wait_ms(1000);
-    i2c.i2c_set_position_anti_cog(1);
-    wait_ms(1000);
-    //i2c.i2c_set_loop_mode(0);
-    wait_ms(1000);
-    i2c.i2c_set_open_loop_duty(0xf000);
-    wait_ms(1000);
+    //wait_ms(1000);
+    i2c.i2c_set_position_anti_cog(0);
+    wait_ms(100);
+    i2c.i2c_clear_spd_ctrl();
+    wait_ms(100);
+    i2c.i2c_set_loop_mode(0);
+    wait_ms(100);
+    i2c.i2c_set_curve_type(3);
+    wait_ms(100);
+    i2c.i2c_set_dc_ini(1);
+    wait_ms(100);
+    i2c.i2c_set_dc_sr(3);
+    wait_ms(100);
+    i2c.i2c_set_open_loop_duty(0xffff);
+    wait_ms(100);
     led4 = i2c.i2c_motor_start();  /*send password 0xcafe*/
     
     /*enter infinite loop, motor should be running*/