main.cpp

00001 #include "mbed.h"
00002 
00003 #include "LinearMotor.h"
00004 
00005 int ItvTable[200]= {5000,3219,2373,1880,1556,1327,1157,1026,921,836,765,706,654,610,572,538,507,480,456,434,414,396,380,364,350,337,325,314,303,293,284,275,267,260,252,246,239,233,227,221,216,211,206,202,197,193,189,185,181,178,174,171,168,165,162,159,156,154,151,149,146,144,142,139,137,135,133,131,129,128,126,124,122,121,119,118,116,115,113,112,110,109,108,107,105,104,103,102,101,100,98,97,96,95,94,93,92,91,91,90,89,88,87,86,85,85,84,83,82,82,81,80,79,79,78,77,77,76,75,75,74,74,73,72,72,71,71,70,70,69,69,68,68,67,67,66,66,65,65,64,64,63,63,62,62,62,61,61,60,60,60,59,59,58,58,58,57,57,57,56,56,56,55,55,54,54,54,54,53,53,53,52,52,52,51,51,51,51,50,50,50,49,49,49,49,48,48,48,48,47,47,47,47,46,46,46,46,45,45,45};
00006 int stepTable[200]= {2,5,9,14,20,28,37,47,58,70,83,97,112,128,145,164,184,205,227,250,274,299,325,352,381,411,442,474,507,541,576,612,649,687,727,768,810,853,897,942,988,1035,1084,1134,1185,1237,1290,1344,1399,1455,1512,1570,1630,1691,1753,1816,1880,1945,2011,2078,2146,2215,2285,2357,2430,2504,2579,2655,2733,2811,2890,2971,3053,3136,3220,3305,3391,3478,3566,3655,3746,3838,3931,4024,4119,4215,4312,4410,4509,4609,4711,4814,4918,5023,5129,5237,5346,5456,5566,5677,5789,5903,6018,6134,6252,6370,6489,6609,6731,6853,6976,7101,7228,7355,7483,7613,7743,7875,8008,8141,8276,8411,8548,8687,8826,8967,9108,9251,9394,9539,9684,9831,9978,10127,10276,10428,10580,10734,10888,11044,11200,11359,11518,11679,11840,12001,12165,12329,12496,12663,12830,12999,13168,13340,13512,13684,13859,14034,14209,14388,14567,14746,14928,15110,15295,15480,15665,15850,16039,16228,16417,16609,16801,16993,17189,17385,17581,17777,17977,18177,18377,18581,18785,18989,19193,19401,19609,19817,20025,20238,20451,20664,20877,21094,21311,21528,21745,21967,22189,22411};
00007 
00008 
00009 Serial pc(SERIAL_TX, SERIAL_RX);
00010 
00011 //0.00225mm/step
00012 //500usec=4.5mm/sec
00013 //45usec=50mm/sec
00014 LinearMotor lm(PA_7,PA_6,PA_5,PA_0);
00015 void move(double dis, double spd);
00016 void init(void);
00017 
00018 void pause(void);
00019 InterruptIn psw(PA_8);
00020 DigitalIn psw_(PA_8);
00021 int main() {
00022 
00023     psw_.mode(PullUp);
00024     pc.baud(230400);
00025     if(psw_.read()) pc.printf("\n\rPause....                  ");
00026     while(psw_.read());
00027     pc.printf("Start");        
00028     wait_ms(20);
00029     
00030     psw.rise(&pause);
00031     lm.st=1;
00032     wait_ms(500);   
00033     init();
00034     wait_ms(500);
00035     while(1) {
00036         move(50,10);
00037         wait_ms(200);
00038         move(-50,10);
00039         wait_ms(200);
00040     }
00041 }
00042 
00043 
00044 void move(double dis, double spd){//spd mm/sec
00045     pc.printf("Moving %10fmm at %10fmm/sec...    ",dis,spd);
00046     int j=0;
00047     int crntDly=5000;
00048     int i;
00049     
00050     if (dis>0)lm.dir=1;
00051     else{ 
00052         lm.dir=0;
00053         dis=-dis;
00054     }
00055     
00056     int stepDly=(int)(0.5+2250/spd);
00057     int step=(int)(0.5+dis/0.00225);
00058     if (stepDly>=ItvTable[0]){
00059         for(i=0;i<step;i++){
00060             lm.pulse=!lm.pulse;
00061             wait_us(stepDly);           
00062         }
00063     }
00064     else{
00065         int ihigh=0;
00066         for(i=0;i<(int)(step/2);i++){
00067             lm.pulse=!lm.pulse;
00068             if(j>=200 || crntDly<=stepDly){crntDly=stepDly;}
00069             else if(i<stepTable[j]){crntDly=ItvTable[j];}
00070             else {j++;ihigh=i;}
00071             wait_us(crntDly);           
00072         }  
00073         for(i=(int)(step/2);i>0;i--){
00074             lm.pulse=!lm.pulse;
00075             if(i>=ihigh){crntDly=stepDly;}
00076             else if(j<=0 || crntDly>=ItvTable[0]){crntDly=ItvTable[0];}
00077             else if(i>=stepTable[j]){crntDly=ItvTable[j];}
00078             else {j--;}
00079             wait_us(crntDly);     
00080         }     
00081     }  
00082     pc.printf("Complete\n\r");
00083 }
00084 
00085 
00086 void init(void){
00087     lm.dir=0;
00088     int i=0;
00089     int j=0;
00090     int crntDly=5000;
00091     int stepDly=(int)(0.5+2250/10);
00092     pc.printf("\n\rInitializing...                               ");
00093     while(lm.limit==0){
00094         lm.pulse=!lm.pulse;
00095         if(j>=200 || crntDly<=stepDly){crntDly=stepDly;}
00096         else if(i<stepTable[j]){crntDly=ItvTable[j];}
00097         else {j++;}
00098         wait_us(crntDly);  
00099         i++;
00100     }
00101     pc.printf("Complete\n\r");
00102 }
00103 
00104 void pause(void){
00105     psw.disable_irq();
00106     wait_ms(20);
00107     pc.printf("\n\rPause....");
00108     while(psw_.read());
00109     pc.printf("                  Resume\n\r");
00110     psw.enable_irq();
00111 }