윤 인재
test
Revision 0:87fed0658150, committed 2020-09-19
- Comitter:
- injaeyoon
- Date:
- Sat Sep 19 10:44:35 2020 +0000
- Commit message:
- thread
Changed in this revision
diff -r 000000000000 -r 87fed0658150 DRV8825/DRV8825.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/DRV8825/DRV8825.h Sat Sep 19 10:44:35 2020 +0000
@@ -0,0 +1,88 @@
+///////////설정값//////////////////////
+#define Pulley_radius 7 //풀리의 반지름
+#define MOTOR_STEP_ANGLE 1.8 //스텝각
+#define MICRO_STEP_DIV 2 // 마이크로스텝 분할수
+#define STEP_CYCLE 1.25//스텝주기, 단위 : ms (스텝모터의 속도 설정)
+///////////설정값//////////////////////
+
+#define DESIRED_STEPS_PER_SEC (1000/STEP_CYCLE) //1000ms / 20ms(1step주기) ,50, 초당 스텝수
+#define MOTOR_STEPS_PER_REV 360/MOTOR_STEP_ANGLE // 모터 1회전 스텝수
+#define MICRO_STEP_PER_REV (MOTOR_STEPS_PER_REV*MICRO_STEP_DIV)//1회전당 총 마이크로 스텝수
+#define DESIRED_MICRO_STEPS_PER_SEC (MICRO_STEP_DIV*DESIRED_STEPS_PER_SEC) // 1600 , 초당 마이크로 스텝수
+#define SAMPLE_TIME (1000000L/DESIRED_MICRO_STEPS_PER_SEC) //625 , 샘플타임
+
+class DRV8825
+{
+
+ BusOut _bus;
+ Timer tmr;
+
+private:
+ void step();
+ int Calculation(double distance);
+
+ int32_t _steps;
+ enum {CW=0,CCW=1} _dir;
+ int InputStep;
+ bool start;
+ double radian, degree;
+ int micro_step;
+
+
+public:
+ DRV8825(PinName pin1, PinName pin2);
+ void Move(double distance);
+};
+
+////////////////////////////////////Private////////////////////////////////////
+void DRV8825::step()
+ {
+ _bus= _dir ? 0b11:0b01; //_dir이 1면 11반환 , _dir이 거짓이면 01반환
+ wait_us(1); //minimum pulse width
+ _bus= _dir ? 0b10:0b00;
+ _steps+= _dir? -1: 1; // updating current steps
+ }
+
+int DRV8825::Calculation(double distance)
+ {
+ radian=0, degree = 0;
+ radian = distance / Pulley_radius; //theta값을 구한다
+ //pc.printf("radian= %f\n", radian);
+ degree = radian * (180/ 3.141592); //회전할 각도를 구한다
+ //pc.printf("degree= %f\n", degree);
+ micro_step = int(degree / (MOTOR_STEP_ANGLE / MICRO_STEP_DIV)); //돌아가야할 마이크로스텝수를 구한다.
+
+ return micro_step;
+ }
+
+
+////////////////////////////////////Public////////////////////////////////////
+DRV8825::DRV8825(PinName pin1, PinName pin2): _bus(pin1,pin2)
+{
+ _dir =CW;
+ _steps=0;
+}
+
+
+void DRV8825::Move(double distance)
+{
+
+ InputStep = Calculation(distance);
+ start = true; //회전 시작 flag
+
+ if(InputStep>0) _dir = CW;
+ else if(InputStep<0) _dir = CCW;
+ tmr.start();
+ while(start) {
+ if(tmr.read_us()>SAMPLE_TIME) {
+ tmr.reset();
+ step(); //1step 이동
+
+
+ if(_steps*_steps >= InputStep*InputStep) { //특정 스텝수만큼 이동하면 stop
+ start = false;
+ _steps = 0;
+ }
+ }
+ }
+};
\ No newline at end of file
diff -r 000000000000 -r 87fed0658150 main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Sat Sep 19 10:44:35 2020 +0000
@@ -0,0 +1,21 @@
+#include "mbed.h"
+#include "DRV8825.h"
+#include <Thread.h>
+DigitalOut led1(LED1);
+DigitalOut led2(D7);
+Thread thread;
+void led1_thread(){
+ while(1)
+ {
+ led1 = !led1;
+ wait(0.1);
+ }
+}
+int main()
+{
+ thread.start(led1.thread);
+ while(1) {
+ led2 = !led2;
+ wait(0.5);
+ }
+}
\ No newline at end of file
diff -r 000000000000 -r 87fed0658150 mbed-rtos.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed-rtos.lib Sat Sep 19 10:44:35 2020 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/teams/ST/code/mbed-rtos/#83895f30f8f2
diff -r 000000000000 -r 87fed0658150 mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Sat Sep 19 10:44:35 2020 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400 \ No newline at end of file