masayuki shindo / Mbed 2 deprecated L6470Stepper_test4

consept_meter

Dependencies:   mbed mbed-rtos

main.cpp@0:134db3267830, 2012-11-06 (annotated)

Committer:
shindo
Date:
Tue Nov 06 10:20:54 2012 +0000
Revision:
0:134db3267830
Child:
1:39b4d6e71f76
conseptmeter_L6470

Who changed what in which revision?

UserRevisionLine numberNew contents of line
shindo 0:134db3267830 1 #include "mbed.h"
shindo 0:134db3267830 2
shindo 0:134db3267830 3 DigitalIn busy1(p26);
shindo 0:134db3267830 4 DigitalIn flag1(p25);
shindo 0:134db3267830 5 DigitalOut cs1(p8);
shindo 0:134db3267830 6 DigitalOut stck1(p28);
shindo 0:134db3267830 7 DigitalOut stby1(p27);
shindo 0:134db3267830 8
shindo 0:134db3267830 9 DigitalIn busy2(p22);
shindo 0:134db3267830 10 DigitalIn flag2(p21);
shindo 0:134db3267830 11 DigitalOut cs2(p19);
shindo 0:134db3267830 12 DigitalOut stck2(p24);
shindo 0:134db3267830 13 DigitalOut stby2(p23);
shindo 0:134db3267830 14
shindo 0:134db3267830 15 DigitalOut led1(LED1);
shindo 0:134db3267830 16 DigitalOut led2(LED2);
shindo 0:134db3267830 17 DigitalOut led3(LED3);
shindo 0:134db3267830 18 DigitalOut led4(LED4);
shindo 0:134db3267830 19
shindo 0:134db3267830 20 SPI spi(p5, p6, p7); // mosi, miso, sclk
shindo 0:134db3267830 21
shindo 0:134db3267830 22 void writeCommand(int port, unsigned char data)
shindo 0:134db3267830 23 {
shindo 0:134db3267830 24 if (port == 1) {
shindo 0:134db3267830 25 cs1 = 0;
shindo 0:134db3267830 26 spi.write(data);
shindo 0:134db3267830 27 cs1 = 1;
shindo 0:134db3267830 28 } else {
shindo 0:134db3267830 29 cs2 = 0;
shindo 0:134db3267830 30 spi.write(data);
shindo 0:134db3267830 31 cs2 = 1;
shindo 0:134db3267830 32 }
shindo 0:134db3267830 33 }
shindo 0:134db3267830 34
shindo 0:134db3267830 35 unsigned char readCommand(int port)
shindo 0:134db3267830 36 {
shindo 0:134db3267830 37 unsigned char result = 0;
shindo 0:134db3267830 38
shindo 0:134db3267830 39 if (port == 1) {
shindo 0:134db3267830 40 cs1 = 0;
shindo 0:134db3267830 41 result = spi.write(0);
shindo 0:134db3267830 42 cs1 = 1;
shindo 0:134db3267830 43 } else {
shindo 0:134db3267830 44 cs2 = 0;
shindo 0:134db3267830 45 result = spi.write(0);
shindo 0:134db3267830 46 cs2 = 1;
shindo 0:134db3267830 47 }
shindo 0:134db3267830 48
shindo 0:134db3267830 49 return result;
shindo 0:134db3267830 50 }
shindo 0:134db3267830 51
shindo 0:134db3267830 52 void initMotor()
shindo 0:134db3267830 53 {
shindo 0:134db3267830 54 spi.format(8,0);
shindo 0:134db3267830 55 busy1.mode(PullUp);
shindo 0:134db3267830 56 flag1.mode(PullUp);
shindo 0:134db3267830 57 busy2.mode(PullUp);
shindo 0:134db3267830 58 flag2.mode(PullUp);
shindo 0:134db3267830 59 stby1 = 1;
shindo 0:134db3267830 60 stby2 = 1;
shindo 0:134db3267830 61 for (int port = 1; port <= 2; port++) {
shindo 0:134db3267830 62
shindo 0:134db3267830 63 writeCommand(port, 0x08);
shindo 0:134db3267830 64 writeCommand(port, 0x00);
shindo 0:134db3267830 65
shindo 0:134db3267830 66 writeCommand(port, 0x09);
shindo 0:134db3267830 67 writeCommand(port, 0xff);
shindo 0:134db3267830 68
shindo 0:134db3267830 69 writeCommand(port, 0x0a);
shindo 0:134db3267830 70 writeCommand(port, 0xff);
shindo 0:134db3267830 71
shindo 0:134db3267830 72 writeCommand(port, 0x0b);
shindo 0:134db3267830 73 writeCommand(port, 0xff);
shindo 0:134db3267830 74
shindo 0:134db3267830 75 writeCommand(port, 0x0c);
shindo 0:134db3267830 76 writeCommand(port, 0xff);
shindo 0:134db3267830 77
shindo 0:134db3267830 78 writeCommand(port, 0x13);
shindo 0:134db3267830 79 writeCommand(port, 0x0f);
shindo 0:134db3267830 80
shindo 0:134db3267830 81 writeCommand(port, 0x14);
shindo 0:134db3267830 82 writeCommand(port, 0x7f);
shindo 0:134db3267830 83 }
shindo 0:134db3267830 84 }
shindo 0:134db3267830 85 void MAXspeed_port_1_A()
shindo 0:134db3267830 86 {
shindo 0:134db3267830 87 writeCommand(1, 0x07);
shindo 0:134db3267830 88 writeCommand(1, 0x00);
shindo 0:134db3267830 89 writeCommand(1, 0x32);
shindo 0:134db3267830 90 }
shindo 0:134db3267830 91 void Step_Startspeed_port_1_A()
shindo 0:134db3267830 92 {
shindo 0:134db3267830 93 writeCommand(1, 0x05);
shindo 0:134db3267830 94 writeCommand(1, 0x00);
shindo 0:134db3267830 95 writeCommand(1, 0x23);
shindo 0:134db3267830 96 }
shindo 0:134db3267830 97 void Step_Stopspeed_port_1_A()
shindo 0:134db3267830 98 {
shindo 0:134db3267830 99 writeCommand(1, 0x06);
shindo 0:134db3267830 100 writeCommand(1, 0x00);
shindo 0:134db3267830 101 writeCommand(1, 0x15);
shindo 0:134db3267830 102 }
shindo 0:134db3267830 103 void CW_port_1_A()
shindo 0:134db3267830 104 {
shindo 0:134db3267830 105 writeCommand(1, 0x51);
shindo 0:134db3267830 106 writeCommand(1, 0x00);
shindo 0:134db3267830 107 writeCommand(1, 0x25);
shindo 0:134db3267830 108 writeCommand(1, 0x00);
shindo 0:134db3267830 109 }
shindo 0:134db3267830 110 void CCW_port_1_A()
shindo 0:134db3267830 111 {
shindo 0:134db3267830 112 writeCommand(1, 0x50);
shindo 0:134db3267830 113 writeCommand(1, 0x00);
shindo 0:134db3267830 114 writeCommand(1, 0x10);
shindo 0:134db3267830 115 writeCommand(1, 0x00);
shindo 0:134db3267830 116 }
shindo 0:134db3267830 117 void CCW_port_1_A2()
shindo 0:134db3267830 118 {
shindo 0:134db3267830 119 writeCommand(1, 0x50);
shindo 0:134db3267830 120 writeCommand(1, 0x00);
shindo 0:134db3267830 121 writeCommand(1, 0x40);
shindo 0:134db3267830 122 writeCommand(1, 0x00);
shindo 0:134db3267830 123 }
shindo 0:134db3267830 124 //----------------------------------------------
shindo 0:134db3267830 125 void MAXspeed_port_2_A()
shindo 0:134db3267830 126 {
shindo 0:134db3267830 127 writeCommand(2, 0x07);
shindo 0:134db3267830 128 writeCommand(2, 0x00);
shindo 0:134db3267830 129 writeCommand(2, 0x32);
shindo 0:134db3267830 130 }
shindo 0:134db3267830 131 void Step_Startspeed_port_2_A()
shindo 0:134db3267830 132 {
shindo 0:134db3267830 133 writeCommand(2, 0x05);
shindo 0:134db3267830 134 writeCommand(2, 0x00);
shindo 0:134db3267830 135 writeCommand(2, 0x23);
shindo 0:134db3267830 136 }
shindo 0:134db3267830 137 void Step_Stopspeed_port_2_A()
shindo 0:134db3267830 138 {
shindo 0:134db3267830 139 writeCommand(2, 0x06);
shindo 0:134db3267830 140 writeCommand(2, 0x00);
shindo 0:134db3267830 141 writeCommand(2, 0x15);
shindo 0:134db3267830 142 }
shindo 0:134db3267830 143 void CW_port_2_A()
shindo 0:134db3267830 144 {
shindo 0:134db3267830 145 writeCommand(2, 0x51);
shindo 0:134db3267830 146 writeCommand(2, 0x00);
shindo 0:134db3267830 147 writeCommand(2, 0x25);
shindo 0:134db3267830 148 writeCommand(2, 0x00);
shindo 0:134db3267830 149 }
shindo 0:134db3267830 150 void CCW_port_2_A()
shindo 0:134db3267830 151 {
shindo 0:134db3267830 152 writeCommand(2, 0x50);
shindo 0:134db3267830 153 writeCommand(2, 0x00);
shindo 0:134db3267830 154 writeCommand(2, 0x10);
shindo 0:134db3267830 155 writeCommand(2, 0x00);
shindo 0:134db3267830 156 }
shindo 0:134db3267830 157 void CCW_port_2_A2()
shindo 0:134db3267830 158 {
shindo 0:134db3267830 159 writeCommand(2, 0x50);
shindo 0:134db3267830 160 writeCommand(2, 0x00);
shindo 0:134db3267830 161 writeCommand(2, 0x40);
shindo 0:134db3267830 162 writeCommand(2, 0x00);
shindo 0:134db3267830 163 }
shindo 0:134db3267830 164 //-----------------------------------
shindo 0:134db3267830 165 void stertup1 ()
shindo 0:134db3267830 166 {
shindo 0:134db3267830 167 CW_port_1_A();
shindo 0:134db3267830 168 CW_port_2_A();
shindo 0:134db3267830 169 }
shindo 0:134db3267830 170 void stertup2 ()
shindo 0:134db3267830 171 {
shindo 0:134db3267830 172 CCW_port_1_A();
shindo 0:134db3267830 173 CCW_port_2_A();
shindo 0:134db3267830 174 }
shindo 0:134db3267830 175 void power_up_p1_p2 ()
shindo 0:134db3267830 176 {
shindo 0:134db3267830 177 writeCommand(1, 0x51);
shindo 0:134db3267830 178 writeCommand(1, 0x00);
shindo 0:134db3267830 179 writeCommand(1, 0x40);
shindo 0:134db3267830 180 writeCommand(1, 0x00);
shindo 0:134db3267830 181 writeCommand(2, 0x51);
shindo 0:134db3267830 182 writeCommand(2, 0x00);
shindo 0:134db3267830 183 writeCommand(2, 0x40);
shindo 0:134db3267830 184 writeCommand(2, 0x00);
shindo 0:134db3267830 185 wait_ms (630);
shindo 0:134db3267830 186 writeCommand(2, 0xb8);
shindo 0:134db3267830 187 wait_ms (175);
shindo 0:134db3267830 188 writeCommand(1, 0xb8);
shindo 0:134db3267830 189 }
shindo 0:134db3267830 190 void on ()
shindo 0:134db3267830 191 {
shindo 0:134db3267830 192 CW_port_2_A();
shindo 0:134db3267830 193 wait_ms(200);
shindo 0:134db3267830 194 writeCommand(2, 0xb8);
shindo 0:134db3267830 195 }
shindo 0:134db3267830 196 void reb1 ()
shindo 0:134db3267830 197 {
shindo 0:134db3267830 198 CW_port_2_A();
shindo 0:134db3267830 199 wait_ms(331);
shindo 0:134db3267830 200 writeCommand(2, 0xb0);
shindo 0:134db3267830 201 CCW_port_2_A();
shindo 0:134db3267830 202 wait_ms(1400);
shindo 0:134db3267830 203 writeCommand(2, 0xb0);
shindo 0:134db3267830 204 wait_ms(300);
shindo 0:134db3267830 205 }
shindo 0:134db3267830 206 void reb2 ()
shindo 0:134db3267830 207 {
shindo 0:134db3267830 208 writeCommand(2, 0x51);
shindo 0:134db3267830 209 writeCommand(2, 0x00);
shindo 0:134db3267830 210 writeCommand(2, 0x30);
shindo 0:134db3267830 211 writeCommand(2, 0x00);
shindo 0:134db3267830 212 wait_ms(60);
shindo 0:134db3267830 213 writeCommand(2, 0xb8);
shindo 0:134db3267830 214 writeCommand(2, 0x50);
shindo 0:134db3267830 215 writeCommand(2, 0x00);
shindo 0:134db3267830 216 writeCommand(2, 0x30);
shindo 0:134db3267830 217 writeCommand(2, 0x00);
shindo 0:134db3267830 218 wait_ms(60);
shindo 0:134db3267830 219 writeCommand(2, 0xb8);
shindo 0:134db3267830 220 writeCommand(2, 0x51);
shindo 0:134db3267830 221 writeCommand(2, 0x00);
shindo 0:134db3267830 222 writeCommand(2, 0x30);
shindo 0:134db3267830 223 writeCommand(2, 0x00);
shindo 0:134db3267830 224 wait_ms(60);
shindo 0:134db3267830 225 writeCommand(2, 0xb8);
shindo 0:134db3267830 226 writeCommand(2, 0x50);
shindo 0:134db3267830 227 writeCommand(2, 0x00);
shindo 0:134db3267830 228 writeCommand(2, 0x30);
shindo 0:134db3267830 229 writeCommand(2, 0x00);
shindo 0:134db3267830 230 wait_ms(60);
shindo 0:134db3267830 231 writeCommand(2, 0xb8);
shindo 0:134db3267830 232 writeCommand(2, 0x51);
shindo 0:134db3267830 233 writeCommand(2, 0x00);
shindo 0:134db3267830 234 writeCommand(2, 0x30);
shindo 0:134db3267830 235 writeCommand(2, 0x00);
shindo 0:134db3267830 236 wait_ms(60);
shindo 0:134db3267830 237 }
shindo 0:134db3267830 238 void reb3 ()
shindo 0:134db3267830 239 {
shindo 0:134db3267830 240 writeCommand(2, 0x51);
shindo 0:134db3267830 241 writeCommand(2, 0x00);
shindo 0:134db3267830 242 writeCommand(2, 0x15);
shindo 0:134db3267830 243 writeCommand(2, 0x00);
shindo 0:134db3267830 244 wait_ms(500);
shindo 0:134db3267830 245
shindo 0:134db3267830 246 writeCommand(2, 0x50);
shindo 0:134db3267830 247 writeCommand(2, 0x00);
shindo 0:134db3267830 248 writeCommand(2, 0x03);
shindo 0:134db3267830 249 writeCommand(2, 0x00);
shindo 0:134db3267830 250 wait_ms(4000);
shindo 0:134db3267830 251 writeCommand(2, 0xb0);
shindo 0:134db3267830 252 }
shindo 0:134db3267830 253 void type1_tacho ()
shindo 0:134db3267830 254 {
shindo 0:134db3267830 255 wait_ms(2000);
shindo 0:134db3267830 256
shindo 0:134db3267830 257 writeCommand(2, 0x51); //---1---
shindo 0:134db3267830 258 writeCommand(2, 0x00);
shindo 0:134db3267830 259 writeCommand(2, 0x10);
shindo 0:134db3267830 260 writeCommand(2, 0x00);
shindo 0:134db3267830 261 wait_ms(500);
shindo 0:134db3267830 262
shindo 0:134db3267830 263 writeCommand(2, 0xb0);
shindo 0:134db3267830 264 wait_ms(100);
shindo 0:134db3267830 265
shindo 0:134db3267830 266 writeCommand(2, 0x51);
shindo 0:134db3267830 267 writeCommand(2, 0x00);
shindo 0:134db3267830 268 writeCommand(2, 0x25);
shindo 0:134db3267830 269 writeCommand(2, 0x00);
shindo 0:134db3267830 270 wait_ms(380);
shindo 0:134db3267830 271 reb2 ();
shindo 0:134db3267830 272
shindo 0:134db3267830 273 writeCommand(2, 0x50);
shindo 0:134db3267830 274 writeCommand(2, 0x00);
shindo 0:134db3267830 275 writeCommand(2, 0x20);
shindo 0:134db3267830 276 writeCommand(2, 0x00);
shindo 0:134db3267830 277 wait_ms(500);
shindo 0:134db3267830 278 writeCommand(2, 0xb0);
shindo 0:134db3267830 279
shindo 0:134db3267830 280 writeCommand(2, 0x51);
shindo 0:134db3267830 281 writeCommand(2, 0x00);
shindo 0:134db3267830 282 writeCommand(2, 0x08);
shindo 0:134db3267830 283 writeCommand(2, 0x00);
shindo 0:134db3267830 284 wait_ms(2050);
shindo 0:134db3267830 285
shindo 0:134db3267830 286 writeCommand(2, 0x50);
shindo 0:134db3267830 287 writeCommand(2, 0x00);
shindo 0:134db3267830 288 writeCommand(2, 0x20);
shindo 0:134db3267830 289 writeCommand(2, 0x00);
shindo 0:134db3267830 290 wait_ms(450);
shindo 0:134db3267830 291 writeCommand(2, 0xb8);
shindo 0:134db3267830 292 wait_ms(200);
shindo 0:134db3267830 293 writeCommand(2, 0x51);//---2---
shindo 0:134db3267830 294 writeCommand(2, 0x00);
shindo 0:134db3267830 295 writeCommand(2, 0x05);
shindo 0:134db3267830 296 writeCommand(2, 0x00);
shindo 0:134db3267830 297 wait_ms(1550);
shindo 0:134db3267830 298
shindo 0:134db3267830 299 writeCommand(2, 0x50);
shindo 0:134db3267830 300 writeCommand(2, 0x00);
shindo 0:134db3267830 301 writeCommand(2, 0x20);
shindo 0:134db3267830 302 writeCommand(2, 0x00);
shindo 0:134db3267830 303 wait_ms(430);
shindo 0:134db3267830 304 writeCommand(2, 0xb8);
shindo 0:134db3267830 305 wait_ms(200);
shindo 0:134db3267830 306 writeCommand(2, 0x51);//---3---
shindo 0:134db3267830 307 writeCommand(2, 0x00);
shindo 0:134db3267830 308 writeCommand(2, 0x04);
shindo 0:134db3267830 309 writeCommand(2, 0x00);
shindo 0:134db3267830 310 wait_ms(2000);
shindo 0:134db3267830 311
shindo 0:134db3267830 312 writeCommand(2, 0x50);
shindo 0:134db3267830 313 writeCommand(2, 0x00);
shindo 0:134db3267830 314 writeCommand(2, 0x20);
shindo 0:134db3267830 315 writeCommand(2, 0x00);
shindo 0:134db3267830 316 wait_ms(400);
shindo 0:134db3267830 317 writeCommand(2, 0xb8);
shindo 0:134db3267830 318 wait_ms(200);
shindo 0:134db3267830 319 writeCommand(2, 0x51);//---4---
shindo 0:134db3267830 320 writeCommand(2, 0x00);
shindo 0:134db3267830 321 writeCommand(2, 0x02);
shindo 0:134db3267830 322 writeCommand(2, 0x00);
shindo 0:134db3267830 323 wait_ms(4000);
shindo 0:134db3267830 324
shindo 0:134db3267830 325 writeCommand(2, 0x50);
shindo 0:134db3267830 326 writeCommand(2, 0x00);
shindo 0:134db3267830 327 writeCommand(2, 0x20);
shindo 0:134db3267830 328 writeCommand(2, 0x00);
shindo 0:134db3267830 329 wait_ms(300);
shindo 0:134db3267830 330 writeCommand(2, 0xb8);
shindo 0:134db3267830 331 wait_ms(200);
shindo 0:134db3267830 332 writeCommand(2, 0x51);//---5---
shindo 0:134db3267830 333 writeCommand(2, 0x00);
shindo 0:134db3267830 334 writeCommand(2, 0x01);
shindo 0:134db3267830 335 writeCommand(2, 0x50);
shindo 0:134db3267830 336 wait_ms(3000);
shindo 0:134db3267830 337 writeCommand(2, 0x51);//---5---
shindo 0:134db3267830 338 writeCommand(2, 0x00);
shindo 0:134db3267830 339 writeCommand(2, 0x01);
shindo 0:134db3267830 340 writeCommand(2, 0x00);
shindo 0:134db3267830 341 wait_ms(1500);
shindo 0:134db3267830 342
shindo 0:134db3267830 343 writeCommand(2, 0x50);
shindo 0:134db3267830 344 writeCommand(2, 0x00);
shindo 0:134db3267830 345 writeCommand(2, 0x20);
shindo 0:134db3267830 346 writeCommand(2, 0x00);
shindo 0:134db3267830 347 wait_ms(300);
shindo 0:134db3267830 348 writeCommand(2, 0xb8);
shindo 0:134db3267830 349 wait_ms(200);
shindo 0:134db3267830 350 writeCommand(2, 0x51);//---6---
shindo 0:134db3267830 351 writeCommand(2, 0x00);
shindo 0:134db3267830 352 writeCommand(2, 0x01);
shindo 0:134db3267830 353 writeCommand(2, 0x50);
shindo 0:134db3267830 354 wait_ms(3000);
shindo 0:134db3267830 355 writeCommand(2, 0x51);//---6---
shindo 0:134db3267830 356 writeCommand(2, 0x00);
shindo 0:134db3267830 357 writeCommand(2, 0x01);
shindo 0:134db3267830 358 writeCommand(2, 0x00);
shindo 0:134db3267830 359 wait_ms(2500);
shindo 0:134db3267830 360 }
shindo 0:134db3267830 361 void type1_speed ()
shindo 0:134db3267830 362 {
shindo 0:134db3267830 363 writeCommand(1, 0x51);
shindo 0:134db3267830 364 writeCommand(1, 0x00);
shindo 0:134db3267830 365 writeCommand(1, 0x04);
shindo 0:134db3267830 366 writeCommand(1, 0xb0);
shindo 0:134db3267830 367 wait_ms(1500);
shindo 0:134db3267830 368 writeCommand(1, 0x51);
shindo 0:134db3267830 369 writeCommand(1, 0x00);
shindo 0:134db3267830 370 writeCommand(1, 0x03);
shindo 0:134db3267830 371 writeCommand(1, 0xe8);
shindo 0:134db3267830 372 wait_ms(2000);
shindo 0:134db3267830 373 writeCommand(1, 0x51);
shindo 0:134db3267830 374 writeCommand(1, 0x00);
shindo 0:134db3267830 375 writeCommand(1, 0x02);
shindo 0:134db3267830 376 writeCommand(1, 0x58);
shindo 0:134db3267830 377 wait_ms(2500);
shindo 0:134db3267830 378 writeCommand(1, 0x51);
shindo 0:134db3267830 379 writeCommand(1, 0x00);
shindo 0:134db3267830 380 writeCommand(1, 0x01);
shindo 0:134db3267830 381 writeCommand(1, 0x90);
shindo 0:134db3267830 382 wait_ms(3000);
shindo 0:134db3267830 383 writeCommand(1, 0x51);
shindo 0:134db3267830 384 writeCommand(1, 0x00);
shindo 0:134db3267830 385 writeCommand(1, 0x01);
shindo 0:134db3267830 386 writeCommand(1, 0x2c);
shindo 0:134db3267830 387 wait_ms(3500);
shindo 0:134db3267830 388 writeCommand(1, 0x51);
shindo 0:134db3267830 389 writeCommand(1, 0x00);
shindo 0:134db3267830 390 writeCommand(1, 0x00);
shindo 0:134db3267830 391 writeCommand(1, 0xfa);
shindo 0:134db3267830 392 wait_ms(4500);
shindo 0:134db3267830 393 writeCommand(1, 0x51);
shindo 0:134db3267830 394 writeCommand(1, 0x00);
shindo 0:134db3267830 395 writeCommand(1, 0x00);
shindo 0:134db3267830 396 writeCommand(1, 0x78);
shindo 0:134db3267830 397 wait_ms(5200);
shindo 0:134db3267830 398 writeCommand(1, 0xb0);
shindo 0:134db3267830 399 }
shindo 0:134db3267830 400
shindo 0:134db3267830 401 int main()
shindo 0:134db3267830 402 {
shindo 0:134db3267830 403 initMotor();
shindo 0:134db3267830 404 MAXspeed_port_1_A();
shindo 0:134db3267830 405 Step_Startspeed_port_1_A();
shindo 0:134db3267830 406 Step_Stopspeed_port_1_A();
shindo 0:134db3267830 407
shindo 0:134db3267830 408 MAXspeed_port_2_A();
shindo 0:134db3267830 409 Step_Startspeed_port_2_A();
shindo 0:134db3267830 410 Step_Stopspeed_port_2_A();
shindo 0:134db3267830 411
shindo 0:134db3267830 412 writeCommand(2, 0x83);
shindo 0:134db3267830 413 writeCommand(1, 0x83);
shindo 0:134db3267830 414
shindo 0:134db3267830 415 int i = 0;
shindo 0:134db3267830 416 while(1) {
shindo 0:134db3267830 417 if (i == 0) {
shindo 0:134db3267830 418 stertup1 ();
shindo 0:134db3267830 419 wait_ms(200);
shindo 0:134db3267830 420 stertup2 ();
shindo 0:134db3267830 421 wait_ms(4000);
shindo 0:134db3267830 422 } else if (i == 1) {
shindo 0:134db3267830 423 power_up_p1_p2 ();
shindo 0:134db3267830 424 wait_ms(1000);
shindo 0:134db3267830 425 } else if (i == 2) {
shindo 0:134db3267830 426 CCW_port_1_A2();
shindo 0:134db3267830 427 CCW_port_2_A2();
shindo 0:134db3267830 428 wait_ms(1000);
shindo 0:134db3267830 429 } else if (i == 3) {
shindo 0:134db3267830 430 on ();
shindo 0:134db3267830 431 wait_ms(2000);
shindo 0:134db3267830 432 } else if (i == 4) {
shindo 0:134db3267830 433 reb1 ();
shindo 0:134db3267830 434 } else if (i == 5) {
shindo 0:134db3267830 435
shindo 0:134db3267830 436 //type1_demo ();
shindo 0:134db3267830 437 type1_speed ();
shindo 0:134db3267830 438 type1_tacho ();
shindo 0:134db3267830 439
shindo 0:134db3267830 440 } else if (i == 6) {
shindo 0:134db3267830 441 writeCommand(1, 0x50);
shindo 0:134db3267830 442 writeCommand(1, 0x00);
shindo 0:134db3267830 443 writeCommand(1, 0x01);
shindo 0:134db3267830 444 writeCommand(1, 0x2c);
shindo 0:134db3267830 445
shindo 0:134db3267830 446 writeCommand(2, 0x50);
shindo 0:134db3267830 447 writeCommand(2, 0x00);
shindo 0:134db3267830 448 writeCommand(2, 0x03);
shindo 0:134db3267830 449 writeCommand(2, 0x00);
shindo 0:134db3267830 450 wait_ms(5000);
shindo 0:134db3267830 451 reb3 ();
shindo 0:134db3267830 452 reb3 ();
shindo 0:134db3267830 453 reb3 ();
shindo 0:134db3267830 454 reb3 ();
shindo 0:134db3267830 455 reb3 ();
shindo 0:134db3267830 456
shindo 0:134db3267830 457
shindo 0:134db3267830 458 writeCommand(2, 0x50);
shindo 0:134db3267830 459 writeCommand(2, 0x00);
shindo 0:134db3267830 460 writeCommand(2, 0x03);
shindo 0:134db3267830 461 writeCommand(2, 0x00);
shindo 0:134db3267830 462 wait_ms(1800);
shindo 0:134db3267830 463 writeCommand(1, 0xb8);
shindo 0:134db3267830 464 writeCommand(2, 0xb8);
shindo 0:134db3267830 465 wait(10);
shindo 0:134db3267830 466
shindo 0:134db3267830 467 } else if (i == 8) {
shindo 0:134db3267830 468 CCW_port_1_A();
shindo 0:134db3267830 469 CCW_port_2_A();
shindo 0:134db3267830 470 wait_ms(5000);
shindo 0:134db3267830 471 i = -1;
shindo 0:134db3267830 472 }
shindo 0:134db3267830 473 wait_ms(200);
shindo 0:134db3267830 474
shindo 0:134db3267830 475 i++;
shindo 0:134db3267830 476
shindo 0:134db3267830 477 }
shindo 0:134db3267830 478
shindo 0:134db3267830 479 }
shindo 0:134db3267830 480
shindo 0:134db3267830 481
shindo 0:134db3267830 482
shindo 0:134db3267830 483
shindo 0:134db3267830 484