Diogo Cintra / Mbed 2 deprecated APS3

Controlador de motor-de-passo

Dependencies:   mbed

JOG.cpp@2:0da2d336090f, 2021-04-25 (annotated)

Committer:
diogonac
Date:
Sun Apr 25 12:13:32 2021 +0000
Revision:
2:0da2d336090f
Parent:
1:fbb2f440794e 
v1

Who changed what in which revision?

UserRevisionLine numberNew contents of line
diogonac 0:3674c9e06d98 1 #include "mbed.h"
diogonac 0:3674c9e06d98 2
diogonac 0:3674c9e06d98 3 Serial pc (USBTX, USBRX);
diogonac 0:3674c9e06d98 4
diogonac 0:3674c9e06d98 5 AnalogIn eixo_X(A0);
diogonac 0:3674c9e06d98 6 AnalogIn eixo_Y(A1);
diogonac 0:3674c9e06d98 7 InterruptIn botao_in(PA_8);
diogonac 0:3674c9e06d98 8
diogonac 0:3674c9e06d98 9 BusOut motor_x(PA_9, PC_7, PB_6, PA_7);
diogonac 0:3674c9e06d98 10 BusOut motor_y(PA_11, PB_12, PB_11, PB_2);
diogonac 0:3674c9e06d98 11
diogonac 0:3674c9e06d98 12 double frequencia; //Hz
diogonac 0:3674c9e06d98 13 double velocidade = 0.2; //RPM
diogonac 0:3674c9e06d98 14 double tempo; //Segundos
diogonac 0:3674c9e06d98 15 int i;
diogonac 0:3674c9e06d98 16 int X;
diogonac 0:3674c9e06d98 17 int Y;
diogonac 0:3674c9e06d98 18 int botao_estado;
diogonac 0:3674c9e06d98 19 bool rotacao;
diogonac 0:3674c9e06d98 20
diogonac 0:3674c9e06d98 21
diogonac 0:3674c9e06d98 22 void SW()
diogonac 0:3674c9e06d98 23 {
diogonac 0:3674c9e06d98 24 if(botao_estado == 0) {
diogonac 0:3674c9e06d98 25
diogonac 0:3674c9e06d98 26 rotacao = !rotacao;
diogonac 0:3674c9e06d98 27 }
diogonac 0:3674c9e06d98 28 }
diogonac 0:3674c9e06d98 29
diogonac 0:3674c9e06d98 30
diogonac 0:3674c9e06d98 31 int main()
diogonac 0:3674c9e06d98 32 {
diogonac 0:3674c9e06d98 33 motor_x = 0x00;
diogonac 0:3674c9e06d98 34 motor_y = 0x00;
diogonac 0:3674c9e06d98 35 pc.baud(115200);
diogonac 0:3674c9e06d98 36 rotacao = 0;
diogonac 0:3674c9e06d98 37 botao_in.rise(&SW);
diogonac 0:3674c9e06d98 38 frequencia = (2048*velocidade)/60;
diogonac 0:3674c9e06d98 39 tempo = (1/frequencia);
diogonac 0:3674c9e06d98 40
diogonac 0:3674c9e06d98 41 while(1) {
diogonac 0:3674c9e06d98 42
diogonac 0:3674c9e06d98 43 X = eixo_X.read_u16();
diogonac 0:3674c9e06d98 44 Y = eixo_Y.read_u16();
diogonac 0:3674c9e06d98 45 botao_estado = botao_in.read();
diogonac 0:3674c9e06d98 46
diogonac 0:3674c9e06d98 47 pc.printf("X=%4d, Y=%4d, botao_estado=%d, rotacao_estado=%d \r\n", X, Y, botao_estado, rotacao);
diogonac 0:3674c9e06d98 48
diogonac 0:3674c9e06d98 49 if(31000 <= X & X <= 35000) {
diogonac 0:3674c9e06d98 50
diogonac 0:3674c9e06d98 51 motor_x = 0x00;
diogonac 0:3674c9e06d98 52 } else {
diogonac 0:3674c9e06d98 53 if (rotacao == 0) {
diogonac 0:3674c9e06d98 54 for(i = 0; i < 4; i++) {
diogonac 0:3674c9e06d98 55
diogonac 0:3674c9e06d98 56 motor_x = 1 <<= i;
diogonac 0:3674c9e06d98 57 //motor_x = 1 << i+2;
diogonac 0:3674c9e06d98 58 wait(tempo);
diogonac 0:3674c9e06d98 59 }
diogonac 0:3674c9e06d98 60 }
diogonac 0:3674c9e06d98 61
diogonac 0:3674c9e06d98 62 if(rotacao == 1) {
diogonac 0:3674c9e06d98 63 for(i = 3; i > -1; i--) {
diogonac 0:3674c9e06d98 64 motor_x = 1 << i;
diogonac 0:3674c9e06d98 65 wait(tempo);
diogonac 0:3674c9e06d98 66 }
diogonac 0:3674c9e06d98 67 }
diogonac 0:3674c9e06d98 68 }
diogonac 0:3674c9e06d98 69
diogonac 2:0da2d336090f 70 if(31000 <= Y & Y <= 35000) {
diogonac 2:0da2d336090f 71
diogonac 2:0da2d336090f 72 motor_y = 0x00;
diogonac 2:0da2d336090f 73 }
diogonac 2:0da2d336090f 74
diogonac 2:0da2d336090f 75 else {
diogonac 2:0da2d336090f 76 if (rotacao == 0) {
diogonac 2:0da2d336090f 77 for(i = 0; i < 4; i++) {
diogonac 2:0da2d336090f 78 motor_y = 1 << i;
diogonac 2:0da2d336090f 79 wait(tempo);
diogonac 2:0da2d336090f 80 }
diogonac 2:0da2d336090f 81 }
diogonac 2:0da2d336090f 82
diogonac 2:0da2d336090f 83 if(rotacao == 1) {
diogonac 2:0da2d336090f 84 for(i = 3; i > -1; i--) {
diogonac 2:0da2d336090f 85 motor_y = 1 << i;
diogonac 2:0da2d336090f 86 wait(tempo);
diogonac 2:0da2d336090f 87 }
diogonac 2:0da2d336090f 88 }
diogonac 2:0da2d336090f 89 }
diogonac 0:3674c9e06d98 90 }
diogonac 0:3674c9e06d98 91 }