Isabelle Murollo
/
Projeto_CCM_Maquinas_MotorPasso
Centro de Controle de Motores
passo.cpp@4:3bc68a7b299d, 17 months ago (annotated)
- Committer:
- isabellemm
- Date:
- Thu Dec 01 19:39:01 2022 +0000
- Revision:
- 4:3bc68a7b299d
SIMPLES
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
isabellemm | 4:3bc68a7b299d | 1 | /******************************************* |
isabellemm | 4:3bc68a7b299d | 2 | Motor de Passo |
isabellemm | 4:3bc68a7b299d | 3 | *******************************************/ |
isabellemm | 4:3bc68a7b299d | 4 | |
isabellemm | 4:3bc68a7b299d | 5 | #include "mbed.h" |
isabellemm | 4:3bc68a7b299d | 6 | |
isabellemm | 4:3bc68a7b299d | 7 | Serial pc(USBTX, USBRX); |
isabellemm | 4:3bc68a7b299d | 8 | |
isabellemm | 4:3bc68a7b299d | 9 | // variáveis |
isabellemm | 4:3bc68a7b299d | 10 | int estado = 0; |
isabellemm | 4:3bc68a7b299d | 11 | float tempo; |
isabellemm | 4:3bc68a7b299d | 12 | char ligado = 'c'; |
isabellemm | 4:3bc68a7b299d | 13 | char desligado = 'd'; |
isabellemm | 4:3bc68a7b299d | 14 | char hor = 'h'; |
isabellemm | 4:3bc68a7b299d | 15 | char antihor = 't'; |
isabellemm | 4:3bc68a7b299d | 16 | |
isabellemm | 4:3bc68a7b299d | 17 | // motor de passo |
isabellemm | 4:3bc68a7b299d | 18 | DigitalOut EN_A(D2); |
isabellemm | 4:3bc68a7b299d | 19 | DigitalOut IN1_A(D5); |
isabellemm | 4:3bc68a7b299d | 20 | DigitalOut IN2_A(D4); |
isabellemm | 4:3bc68a7b299d | 21 | DigitalOut EN_B(A4); |
isabellemm | 4:3bc68a7b299d | 22 | DigitalOut IN1_B(A0); |
isabellemm | 4:3bc68a7b299d | 23 | DigitalOut IN2_B(A1); |
isabellemm | 4:3bc68a7b299d | 24 | |
isabellemm | 4:3bc68a7b299d | 25 | // entradas |
isabellemm | 4:3bc68a7b299d | 26 | InterruptIn ena_all(D11); |
isabellemm | 4:3bc68a7b299d | 27 | InterruptIn enable(PB_6); |
isabellemm | 4:3bc68a7b299d | 28 | DigitalIn dir(D9); |
isabellemm | 4:3bc68a7b299d | 29 | AnalogIn POT(A5); |
isabellemm | 4:3bc68a7b299d | 30 | |
isabellemm | 4:3bc68a7b299d | 31 | // debouncing |
isabellemm | 4:3bc68a7b299d | 32 | Timer debounce; |
isabellemm | 4:3bc68a7b299d | 33 | |
isabellemm | 4:3bc68a7b299d | 34 | |
isabellemm | 4:3bc68a7b299d | 35 | void muda_en(){ |
isabellemm | 4:3bc68a7b299d | 36 | if (debounce.read_ms()>200){ |
isabellemm | 4:3bc68a7b299d | 37 | estado=!estado; |
isabellemm | 4:3bc68a7b299d | 38 | } |
isabellemm | 4:3bc68a7b299d | 39 | debounce.reset(); |
isabellemm | 4:3bc68a7b299d | 40 | } |
isabellemm | 4:3bc68a7b299d | 41 | |
isabellemm | 4:3bc68a7b299d | 42 | |
isabellemm | 4:3bc68a7b299d | 43 | void muda_all(){ |
isabellemm | 4:3bc68a7b299d | 44 | //pc.printf("%c", desligar); |
isabellemm | 4:3bc68a7b299d | 45 | estado = 0; |
isabellemm | 4:3bc68a7b299d | 46 | debounce.reset(); |
isabellemm | 4:3bc68a7b299d | 47 | } |
isabellemm | 4:3bc68a7b299d | 48 | |
isabellemm | 4:3bc68a7b299d | 49 | int main(){ |
isabellemm | 4:3bc68a7b299d | 50 | enable.rise(&muda_en); |
isabellemm | 4:3bc68a7b299d | 51 | ena_all.rise(&muda_all); |
isabellemm | 4:3bc68a7b299d | 52 | debounce.start(); |
isabellemm | 4:3bc68a7b299d | 53 | pc.baud(115200); |
isabellemm | 4:3bc68a7b299d | 54 | |
isabellemm | 4:3bc68a7b299d | 55 | // configurações iniciais |
isabellemm | 4:3bc68a7b299d | 56 | EN_A = 0; |
isabellemm | 4:3bc68a7b299d | 57 | EN_B = 0; |
isabellemm | 4:3bc68a7b299d | 58 | IN1_A = 0; |
isabellemm | 4:3bc68a7b299d | 59 | IN2_A = 0; |
isabellemm | 4:3bc68a7b299d | 60 | IN1_A = 0; |
isabellemm | 4:3bc68a7b299d | 61 | IN1_B = 0; |
isabellemm | 4:3bc68a7b299d | 62 | |
isabellemm | 4:3bc68a7b299d | 63 | while(1) { |
isabellemm | 4:3bc68a7b299d | 64 | |
isabellemm | 4:3bc68a7b299d | 65 | if (estado == 1){ |
isabellemm | 4:3bc68a7b299d | 66 | tempo = 0.002+(0.050*POT.read()); |
isabellemm | 4:3bc68a7b299d | 67 | //pc.printf("%c", ligado); |
isabellemm | 4:3bc68a7b299d | 68 | |
isabellemm | 4:3bc68a7b299d | 69 | //SENTIDO HORÁRIO |
isabellemm | 4:3bc68a7b299d | 70 | if (dir.read() == 0){ |
isabellemm | 4:3bc68a7b299d | 71 | //pc.printf("%c", hor); |
isabellemm | 4:3bc68a7b299d | 72 | |
isabellemm | 4:3bc68a7b299d | 73 | // passo 0 |
isabellemm | 4:3bc68a7b299d | 74 | EN_A = 1; |
isabellemm | 4:3bc68a7b299d | 75 | IN1_A = 1; |
isabellemm | 4:3bc68a7b299d | 76 | IN2_A = 0; |
isabellemm | 4:3bc68a7b299d | 77 | EN_B = 0; |
isabellemm | 4:3bc68a7b299d | 78 | IN1_B = 1; |
isabellemm | 4:3bc68a7b299d | 79 | IN2_B = 0; |
isabellemm | 4:3bc68a7b299d | 80 | wait(tempo); |
isabellemm | 4:3bc68a7b299d | 81 | |
isabellemm | 4:3bc68a7b299d | 82 | // passo 1 |
isabellemm | 4:3bc68a7b299d | 83 | EN_A = 0; |
isabellemm | 4:3bc68a7b299d | 84 | IN1_A = 0; |
isabellemm | 4:3bc68a7b299d | 85 | IN2_A = 1; |
isabellemm | 4:3bc68a7b299d | 86 | EN_B = 1; |
isabellemm | 4:3bc68a7b299d | 87 | IN1_B = 1; |
isabellemm | 4:3bc68a7b299d | 88 | IN2_B = 0; |
isabellemm | 4:3bc68a7b299d | 89 | wait(tempo); |
isabellemm | 4:3bc68a7b299d | 90 | |
isabellemm | 4:3bc68a7b299d | 91 | // passo 2 |
isabellemm | 4:3bc68a7b299d | 92 | EN_A = 1; |
isabellemm | 4:3bc68a7b299d | 93 | IN1_A = 0; |
isabellemm | 4:3bc68a7b299d | 94 | IN2_A = 1; |
isabellemm | 4:3bc68a7b299d | 95 | EN_B = 0; |
isabellemm | 4:3bc68a7b299d | 96 | IN1_B = 0; |
isabellemm | 4:3bc68a7b299d | 97 | IN2_B = 1; |
isabellemm | 4:3bc68a7b299d | 98 | wait(tempo); |
isabellemm | 4:3bc68a7b299d | 99 | |
isabellemm | 4:3bc68a7b299d | 100 | // passo 3 |
isabellemm | 4:3bc68a7b299d | 101 | EN_A = 0; |
isabellemm | 4:3bc68a7b299d | 102 | IN1_A = 1; |
isabellemm | 4:3bc68a7b299d | 103 | IN2_A = 0; |
isabellemm | 4:3bc68a7b299d | 104 | EN_B = 1; |
isabellemm | 4:3bc68a7b299d | 105 | IN1_B = 0; |
isabellemm | 4:3bc68a7b299d | 106 | IN2_B = 1; |
isabellemm | 4:3bc68a7b299d | 107 | wait(tempo); |
isabellemm | 4:3bc68a7b299d | 108 | } |
isabellemm | 4:3bc68a7b299d | 109 | |
isabellemm | 4:3bc68a7b299d | 110 | //SENTIDO ANTI-HORÁRIO |
isabellemm | 4:3bc68a7b299d | 111 | else if (dir.read() == 1){ |
isabellemm | 4:3bc68a7b299d | 112 | //pc.printf("%c", antihor); |
isabellemm | 4:3bc68a7b299d | 113 | |
isabellemm | 4:3bc68a7b299d | 114 | // passo 0 |
isabellemm | 4:3bc68a7b299d | 115 | EN_A = 1; |
isabellemm | 4:3bc68a7b299d | 116 | IN1_A = 1; |
isabellemm | 4:3bc68a7b299d | 117 | IN2_A = 0; |
isabellemm | 4:3bc68a7b299d | 118 | EN_B = 0; |
isabellemm | 4:3bc68a7b299d | 119 | IN1_B = 1; |
isabellemm | 4:3bc68a7b299d | 120 | IN2_B = 0; |
isabellemm | 4:3bc68a7b299d | 121 | wait(tempo); |
isabellemm | 4:3bc68a7b299d | 122 | |
isabellemm | 4:3bc68a7b299d | 123 | // passo 1 ("passo 3") |
isabellemm | 4:3bc68a7b299d | 124 | EN_A = 0; |
isabellemm | 4:3bc68a7b299d | 125 | IN1_A = 1; |
isabellemm | 4:3bc68a7b299d | 126 | IN2_A = 0; |
isabellemm | 4:3bc68a7b299d | 127 | EN_B = 1; |
isabellemm | 4:3bc68a7b299d | 128 | IN1_B = 0; |
isabellemm | 4:3bc68a7b299d | 129 | IN2_B = 1; |
isabellemm | 4:3bc68a7b299d | 130 | wait(tempo); |
isabellemm | 4:3bc68a7b299d | 131 | |
isabellemm | 4:3bc68a7b299d | 132 | // passo 2 |
isabellemm | 4:3bc68a7b299d | 133 | EN_A = 1; |
isabellemm | 4:3bc68a7b299d | 134 | IN1_A = 0; |
isabellemm | 4:3bc68a7b299d | 135 | IN2_A = 1; |
isabellemm | 4:3bc68a7b299d | 136 | EN_B = 0; |
isabellemm | 4:3bc68a7b299d | 137 | IN1_B = 0; |
isabellemm | 4:3bc68a7b299d | 138 | IN2_B = 1; |
isabellemm | 4:3bc68a7b299d | 139 | wait(tempo); |
isabellemm | 4:3bc68a7b299d | 140 | |
isabellemm | 4:3bc68a7b299d | 141 | // passo 3 ("passo 1") |
isabellemm | 4:3bc68a7b299d | 142 | EN_A = 0; |
isabellemm | 4:3bc68a7b299d | 143 | IN1_A = 0; |
isabellemm | 4:3bc68a7b299d | 144 | IN2_A = 1; |
isabellemm | 4:3bc68a7b299d | 145 | EN_B = 1; |
isabellemm | 4:3bc68a7b299d | 146 | IN1_B = 1; |
isabellemm | 4:3bc68a7b299d | 147 | IN2_B = 0; |
isabellemm | 4:3bc68a7b299d | 148 | wait(tempo); |
isabellemm | 4:3bc68a7b299d | 149 | } |
isabellemm | 4:3bc68a7b299d | 150 | } |
isabellemm | 4:3bc68a7b299d | 151 | |
isabellemm | 4:3bc68a7b299d | 152 | else{ |
isabellemm | 4:3bc68a7b299d | 153 | //pc.printf("%c", desligado); |
isabellemm | 4:3bc68a7b299d | 154 | |
isabellemm | 4:3bc68a7b299d | 155 | EN_A = 0; |
isabellemm | 4:3bc68a7b299d | 156 | EN_B = 0; |
isabellemm | 4:3bc68a7b299d | 157 | IN1_A = 0; |
isabellemm | 4:3bc68a7b299d | 158 | IN2_A = 0; |
isabellemm | 4:3bc68a7b299d | 159 | IN1_A = 0; |
isabellemm | 4:3bc68a7b299d | 160 | IN1_B = 0; |
isabellemm | 4:3bc68a7b299d | 161 | } |
isabellemm | 4:3bc68a7b299d | 162 | } |
isabellemm | 4:3bc68a7b299d | 163 | } |