Keven Gomes / Mbed 2 deprecated 199_TESTER

This is a remote control tester, it uses a CNC, Ethernet Communication with a JAVAFX interface and a PLC in order to control some valves.

Dependencies:   EthernetInterface mbed-rtos mbed

Fork of CNC_CONTROLLER by Lahis Almeida

EixoController.cpp@0:7cedfb720712, 2017-06-07 (annotated)

Committer:
waspSalander
Date:
Wed Jun 07 13:31:02 2017 +0000
Revision:
0:7cedfb720712
Child:
1:ef18c260ce02
CNC_Controller (2 mechanical axis)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
waspSalander 0:7cedfb720712 1 #include "EixoController.h"
waspSalander 0:7cedfb720712 2
waspSalander 0:7cedfb720712 3
waspSalander 0:7cedfb720712 4 EixoController::EixoController(float totalPathPulse, float totalPathCm, Stepp *motor, PinName pinOrigin, PinName pinEnd): swOrigin(pinOrigin), swEnd(pinEnd) {
waspSalander 0:7cedfb720712 5
waspSalander 0:7cedfb720712 6 this->totalPathPulse = totalPathPulse;
waspSalander 0:7cedfb720712 7 this->totalPathCm = totalPathCm;
waspSalander 0:7cedfb720712 8 this->motor = motor;
waspSalander 0:7cedfb720712 9
waspSalander 0:7cedfb720712 10 debug = new Debug();
waspSalander 0:7cedfb720712 11 }
waspSalander 0:7cedfb720712 12
waspSalander 0:7cedfb720712 13
waspSalander 0:7cedfb720712 14 bool EixoController:: goToOrigem(DigitalIn swOrigem, int dirOrigem){
waspSalander 0:7cedfb720712 15 if(swOrigem == 1){ // já está na origem ?
waspSalander 0:7cedfb720712 16 return true;
waspSalander 0:7cedfb720712 17 }
waspSalander 0:7cedfb720712 18 else{ // vá para a origem
waspSalander 0:7cedfb720712 19 return motor->findLimits(50000, dirOrigem, swOrigem);
waspSalander 0:7cedfb720712 20 }
waspSalander 0:7cedfb720712 21 }
waspSalander 0:7cedfb720712 22
waspSalander 0:7cedfb720712 23 void EixoController:: calibragem(int startDirection){
waspSalander 0:7cedfb720712 24 int teste1 = 0;
waspSalander 0:7cedfb720712 25 int teste2 = 0;
waspSalander 0:7cedfb720712 26
waspSalander 0:7cedfb720712 27 while (1){ // repita até calibragem correta
waspSalander 0:7cedfb720712 28 teste1 = motor->step(totalPathPulse, startDirection);
waspSalander 0:7cedfb720712 29 wait(0.2);
waspSalander 0:7cedfb720712 30 teste2 = motor->step(totalPathPulse, !startDirection);
waspSalander 0:7cedfb720712 31
waspSalander 0:7cedfb720712 32 if(teste1 == teste2){
waspSalander 0:7cedfb720712 33 // Passos iguais
waspSalander 0:7cedfb720712 34 break;
waspSalander 0:7cedfb720712 35 }
waspSalander 0:7cedfb720712 36 else{
waspSalander 0:7cedfb720712 37 // Passos Diferentes
waspSalander 0:7cedfb720712 38 break;
waspSalander 0:7cedfb720712 39 }
waspSalander 0:7cedfb720712 40 }
waspSalander 0:7cedfb720712 41
waspSalander 0:7cedfb720712 42 }
waspSalander 0:7cedfb720712 43
waspSalander 0:7cedfb720712 44
waspSalander 0:7cedfb720712 45 int EixoController::conversao(int posCm){ // 38cm == 30000 passos
waspSalander 0:7cedfb720712 46 float pulses = (totalPathPulse*posCm)/totalPathCm; // regra de três
waspSalander 0:7cedfb720712 47 return (int)pulses;
waspSalander 0:7cedfb720712 48 }
waspSalander 0:7cedfb720712 49
waspSalander 0:7cedfb720712 50 void EixoController:: goToPosition(int posCm, int dir){
waspSalander 0:7cedfb720712 51
waspSalander 0:7cedfb720712 52 int pulses = conversao(posCm);
waspSalander 0:7cedfb720712 53 motor->step(pulses, dir);
waspSalander 0:7cedfb720712 54
waspSalander 0:7cedfb720712 55 }
waspSalander 0:7cedfb720712 56