hidaka sato
this receive i2cmaster 's data(reg, int) it move Stepping Motor. for WRS2019
Revision 0:831a6764c8cf, committed 2019-12-17
- Comitter:
- sgrsn
- Date:
- Tue Dec 17 07:16:39 2019 +0000
- Commit message:
- First Commit
Changed in this revision
diff -r 000000000000 -r 831a6764c8cf define.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/define.h Tue Dec 17 07:16:39 2019 +0000
@@ -0,0 +1,23 @@
+
+// Motor Position
+typedef enum
+{
+ RightForward = 1,
+ LeftForward = 2,
+ RightBack = 3,
+ LeftBack = 4,
+};
+
+// Motor
+typedef enum
+{
+ COAST = 0,
+ BRAKE = 1,
+ CW = 2,
+ CCW = 3,
+};
+
+#define WHO_AM_I 0x00
+#define MY_IIC_ADDR 0x01
+#define MOTOR_DIR 0x04
+#define PWM_FREQUENCY 0x05
\ No newline at end of file
diff -r 000000000000 -r 831a6764c8cf i2cslave.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/i2cslave.lib Tue Dec 17 07:16:39 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/sgrsn/code/i2cslave/#6e9ecf7b83e3
diff -r 000000000000 -r 831a6764c8cf main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Tue Dec 17 07:16:39 2019 +0000
@@ -0,0 +1,76 @@
+#include "mbed.h"
+#include "i2cslave.h"
+#include "define.h"
+
+
+// define IIC_ADDR 1:0xB0, 2:0xC0, 3:0xD0 or 4:0xD0
+// define I_AM but it not used.
+#define IIC_ADDR 0xB0
+#define I_AM RightForward
+
+int32_t Register[0x20] = {};
+i2cslave i2c(dp5, dp27, Register);
+
+int main()
+{
+ Register[WHO_AM_I] = I_AM;
+ Register[MY_IIC_ADDR] = IIC_ADDR;
+
+ Register[MOTOR_DIR] = COAST;
+
+ PwmOut PWM_PIN(dp24);
+ DigitalOut PWM_ENABLE(dp14);
+ DigitalOut DIR_PIN(dp18);
+ DigitalOut CON_PIN(dp17);
+
+ DIR_PIN = 0;
+ CON_PIN = 0;
+
+ i2c.address(IIC_ADDR);
+
+ float f = 1000;
+ float T = 0.05;
+ float T_last = T;
+ PWM_PIN = 0;
+ int dir = COAST;
+ int last_dir = 0;
+
+ while(1)
+ {
+ T_last = T;
+ f = float(Register[PWM_FREQUENCY]);
+ if(f > 0 && f <= 1000000) T = 1.0 / f;
+ if(T_last != T) PWM_PIN.period(T);
+
+ last_dir = dir;
+ dir = Register[MOTOR_DIR];
+
+ if(dir != last_dir)
+ {
+ switch(dir)
+ {
+ case COAST:
+ PWM_ENABLE = 0;
+ CON_PIN = 0;
+ break;
+ case BRAKE:
+ CON_PIN = 1;
+ PWM_ENABLE = 1;
+ PWM_PIN = 0;
+ break;
+ case CW:
+ CON_PIN = 1;
+ DIR_PIN = 0;
+ PWM_ENABLE = 1;
+ PWM_PIN = 0.5;
+ break;
+ case CCW:
+ CON_PIN = 1;
+ DIR_PIN = 1;
+ PWM_ENABLE = 1;
+ PWM_PIN = 0.5;
+ break;
+ }
+ }
+ }
+}
\ No newline at end of file
diff -r 000000000000 -r 831a6764c8cf mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Tue Dec 17 07:16:39 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400 \ No newline at end of file