Revision 1:ff295adcca59, committed 2017-02-24

Comitter:

cws8262

Date:

Fri Feb 24 16:06:21 2017 +0000

Parent:

0:bc6aa7a92c1b

Child:

2:81a944155520

Commit message:

ksk_linear

Changed in this revision

--- a/LinearMotor.cpp	Sun Feb 19 22:09:41 2017 +0000
+++ b/LinearMotor.cpp	Fri Feb 24 16:06:21 2017 +0000
@@ -1,39 +1,11 @@
 #include "LinearMotor.h"
 #include "mbed.h"
+Serial pc1(SERIAL_TX, SERIAL_RX);
 
 LinearMotor::LinearMotor(PinName Dir, PinName Pulse, PinName St, PinName Limit)
-:dir(Dir), pulse(Pulse), st(St), limit(Limit)
+:dir(Dir), pulse(Pulse), st(St), limit(Limit) 
 {
-    spd=1;
-    k=0.005;
-    timer.attach(callback(this,&LinearMotor::step),k/spd);
-    pulse=0;
-    dir=1;
-    st=1;
-}
-
-void LinearMotor::step(void){
-    pulse=!pulse;
-    if(dir) pos++;
-    else pos--;
+    st.write(1);
+    limit.mode(PullUp);
 }
 
-void LinearMotor::move(double Pos){
-    
-    if(Pos-pos>=0) dir=1;
-    else dir=0;
-    while(Pos!=pos) st=0;
-    st=1;
-}
-
-void LinearMotor::spdset(double Spd){
-    spd=Spd;
-    timer.attach(callback(this,&LinearMotor::step),k/spd);
-}
-
-void LinearMotor::init(void){
-    dir=1;
-    st=0;
-    //while();
-    st=1;   
-}
\ No newline at end of file

--- a/LinearMotor.h	Sun Feb 19 22:09:41 2017 +0000
+++ b/LinearMotor.h	Fri Feb 24 16:06:21 2017 +0000
@@ -12,13 +12,10 @@
         DigitalOut pulse;
         DigitalOut st;
         DigitalIn limit;
-        double pos;
-        double spd;
-        double k;//gain for ticker time k/spd=interval
-        void step(void);
-        void move(double Pos);
-        void spdset(double Spd);
+        void move(double dis, double spd);
         void init(void);
-}
+        int ItvTable[200];
+        int stepTable[200];
+};
 
 #endif
\ No newline at end of file

--- a/main.cpp	Sun Feb 19 22:09:41 2017 +0000
+++ b/main.cpp	Fri Feb 24 16:06:21 2017 +0000
@@ -1,11 +1,92 @@
 #include "mbed.h"
 
 #include "LinearMotor.h"
-int main() {
+
+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};
+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};
+
+
+Serial pc(SERIAL_TX, SERIAL_RX);
 
-    LinearMotor lm(PA_7,PA_6,PA_5);
+//0.00225mm/step
+//500usec=4.5mm/sec
+//45usec=50mm/sec
+LinearMotor lm(PA_7,PA_6,PA_5,PA_0);
+void move(double dis, double spd);
+void init(void);
+
+int main() {
+    
+    pc.baud(230400);
+    lm.st=1;
+    wait_ms(500);   
+    init();
+    wait_ms(500);
     while(1) {
-        lm.move(100);
-        wait_ms(500);
+        move(50,10);
+        wait_ms(200);
+        move(-50,10);
+        wait_ms(200);
     }
 }
+
+
+void move(double dis, double spd){//spd mm/sec
+    pc.printf("Moving %10fmm at %10fmm/sec...    ",dis,spd);
+    int j=0;
+    int crntDly=5000;
+    int i;
+    
+    if (dis>0)lm.dir=1;
+    else{ 
+        lm.dir=0;
+        dis=-dis;
+    }
+    
+    int stepDly=(int)(0.5+2250/spd);
+    int step=(int)(0.5+dis/0.00225);
+    if (stepDly>=ItvTable[0]){
+        for(i=0;i<step;i++){
+            lm.pulse=!lm.pulse;
+            wait_us(stepDly);           
+        }
+    }
+    else{
+        int ihigh=0;
+        for(i=0;i<(int)(step/2);i++){
+            lm.pulse=!lm.pulse;
+            if(j>=200 || crntDly<=stepDly){crntDly=stepDly;}
+            else if(i<stepTable[j]){crntDly=ItvTable[j];}
+            else {j++;ihigh=i;}
+            wait_us(crntDly);           
+        }  
+        for(i=(int)(step/2);i>0;i--){
+            lm.pulse=!lm.pulse;
+            if(i>=ihigh){crntDly=stepDly;}
+            else if(j<=0 || crntDly>=ItvTable[0]){crntDly=ItvTable[0];}
+            else if(i>=stepTable[j]){crntDly=ItvTable[j];}
+            else {j--;}
+            wait_us(crntDly);     
+        }     
+    }  
+    pc.printf("Complete\n\r");
+}
+
+
+void init(void){
+    lm.dir=0;
+    int i=0;
+    int j=0;
+    int crntDly=5000;
+    int stepDly=(int)(0.5+2250/10);
+    pc.printf("\n\rInitializing...                               ");
+    while(lm.limit==0){
+        lm.pulse=!lm.pulse;
+        if(j>=200 || crntDly<=stepDly){crntDly=stepDly;}
+        else if(i<stepTable[j]){crntDly=ItvTable[j];}
+        else {j++;}
+        wait_us(crntDly);  
+        i++;
+    }
+    pc.printf("Complete\n\r");
+}
\ No newline at end of file