Brandon Ring
Moves stepper forward and reverse at a constant speed.
Revision 1:529333e22121, committed 2011-08-19
- Comitter:
- socdough
- Date:
- Fri Aug 19 16:32:53 2011 +0000
- Parent:
- 0:506d7846938a
- Commit message:
- Added Homing
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Thu Aug 18 15:04:19 2011 +0000
+++ b/main.cpp Fri Aug 19 16:32:53 2011 +0000
@@ -1,11 +1,16 @@
/*
Project Stepper
Written by Tony Cacace & Brandon Ring
-Date: 08-18-11
-Rev: AB
+Date: 08-19-11
+Rev: AD
This program will use the mbed micro-controller to step a stepper motor forward and reverse
-based on the users input request.
+based on the users input request. It also uses Limit switches to define range of travel for
+the stage and the Home marker.
+
+Revesions....
+AB: Added menu function and forward and reverse loops.
+AD: Added homing using limit switches.
*/
#include "mbed.h"
@@ -20,12 +25,18 @@
DigitalOut STP2(p12);
DigitalOut STP3(p13);
DigitalOut STP4(p14);
+DigitalIn LLT(p21);
+DigitalIn ULT(p22);
+DigitalIn HLT(p23);
Serial pc(USBTX, USBRX); // tx, rx
+int Yes = 0; //Yes means false, for homing loop
+int No = 1; //No means true, for homing loop
void moveSteps (int); // Fuction prototype: used to define how many steps to take
volatile int count = 1; //keeps track of counted steps 1-4
-float delayStep = 0.5; //Speed of motor.....0.005
-
+float delayStep = 0.005; //Speed of motor.....0.005
+int Exit = No; //Defines the variable exit for the HOME loop.
+int stepcount = 0; // keeps track of how many steps were taken
int main() {
@@ -41,25 +52,153 @@
pc.printf("3. Move Stage Backwards.\n");
pc.printf("4. Exit Program.\n\n");
pc.scanf("%d",&count);
- pc.printf("Option %i\n\n",count);
switch (count) { //Switch function to move to loop requested by user.
+
case 1: // (HOME) Call function here to do the required operation
+ pc.printf("Homing Stage...\n\n",count);
- pc.printf("We're sorry, this function is not available at this time!!\n\n");
+ Exit = No;
+ while ( (HLT < 1) && (Exit) && (ULT < 1) ) { //Moves stage forward until we hit the Home limit or Upper Limit
+
+ int stepcount = 0; // keeps track of how many steps were taken
+ inputsteps = 10; // Sets limit in case limits never trip. (ie Home or EOT limit tripped)
+ while ( (stepcount<inputsteps) && (HLT < 1) && (ULT < 1) && (Exit) ) { // compares how many steps taken to the desired steps passed in
+ count++;
+
+ if (count == 5) // if the motor went around oncce..
+ count=1; // ...reset the counter
+
+ switch (count) {
+
+ case 1: // if count equals 1 do this
+ STP1 = 1;
+ STP2 = 0;
+ STP3 = 0;
+ STP4 = 0;
+ break; // this skips the code below until stepcount++
+
+ case 2:
+ STP1 = 0;
+ STP2 = 0;
+ STP3 = 1;
+ STP4 = 0;
+ break;
+
+ case 3:
+ STP1 = 0;
+ STP2 = 1;
+ STP3 = 0;
+ STP4 = 0;
+ break;
+
+ case 4:
+ STP1 = 0;
+ STP2 = 0;
+ STP3 = 0;
+ STP4 = 1;
+ break;
+ }
+ stepcount++; //Iterate loop to keep track of steps.
+ lcd.cls(); //Clear mbed LCD screen.
+ lcd.printf("%i", stepcount);//Print loop count on LCD.
+ wait(delayStep); //Defines how fast to step the motor.
+
+ if (HLT == 1) { //If we are at the home limit sensor stop moving stage.
+ Exit = Yes; //If loop is true, stop moving stage.
+ pc.printf("Stage is Homed!\n\n");
+ }
+
+ if (stepcount==inputsteps) { //If loop reaches max count, throw error
+ Exit = Yes;
+ pc.printf("Error Homing Stage, please check connections.\n");
+ pc.printf("Stage failed to move within giving limits.\n");
+ pc.printf("Possible error, Upper limit switch wasn't tripped.\n\n");
+ }
+
+ if (ULT == 1) { //If EOT limit is reached, begin stepping stage backwards.
+
+ int stepcount = 0; // keeps track of how many steps were taken
+ inputsteps = -10; // Sets limit in case limits never trip. (ie Home or EOT limit tripped)
+ while ( (stepcount>inputsteps) && (HLT < 1) && (Exit) ) {
+ //Keep moving stage backwards until Home limit is hit.
+
+ count--;
+
+ if (count == 0) // if the motor went around oncce..
+ count=4; // ...reset the counter
+
+ switch (count) {
+
+ case 1: // if count equals 1 do this
+ STP1 = 1;
+ STP2 = 0;
+ STP3 = 0;
+ STP4 = 0;
+ break;
+
+ case 2: // this skips the code below until stepcount--
+ STP1 = 0;
+ STP2 = 0;
+ STP3 = 1;
+ STP4 = 0;
+ break;
+
+ case 3:
+ STP1 = 0;
+ STP2 = 1;
+ STP3 = 0;
+ STP4 = 0;
+ break;
+
+ case 4:
+ STP1 = 0;
+ STP2 = 0;
+ STP3 = 0;
+ STP4 = 1;
+ break;
+ }
+ stepcount--; //Iterate loop to keep track of steps.
+ lcd.cls(); //Clear mbed LCD screen.
+ lcd.printf("%i", stepcount);//Print loop count on LCD.
+ wait(delayStep);
+
+ if (LLT == 1) { //Lower limit sensor is tripped, Exit loop and throw fault.
+ Exit = Yes;
+ pc.printf("Error Homing Stage, please check connections.\n");
+ pc.printf("Lower limit sensor was tripped.\n\n");
+ }
+
+ if (HLT == 1) { //If we are at the home limit sensor stop moving stage.
+ Exit = Yes; //If loop is true, stop moving stage.
+ pc.printf("Stage is Homed!\n\n");
+ }
+
+ if (stepcount==inputsteps) { //If loop reaches max count, throw error
+ Exit = Yes;
+ pc.printf("Error Homing Stage, please check connections.\n");
+ pc.printf("Stage failed to move within giving limits.\n");
+ pc.printf("Possible error, Lower limit switch wasn't tripped.\n\n");
+ }
+ }
+ }
+ }
+ Exit = Yes;
+ }
break;
case 2: // (Move Forward) Call function here to do the required operation
+ pc.printf("Move Stage Forward.\n\n",count);
- inputsteps=1;
- while ( (inputsteps > 0) && (inputsteps < 101) ){ //Experimented to determine this range.
+ inputsteps=1; //makes sure whiile loop is true once.
+ while ( (inputsteps > 0) && (inputsteps < 101) ){ //Experimented to determine this range.
pc.printf("How many steps do you want to move?\n"); //Next two lines print to PC for user input.
pc.printf(" Enter a number between 1 and 100.\n\n");
pc.scanf("%i", &inputsteps); //Reads PC terminal to take in user input.
lcd.cls(); //Clears LCD screen.
lcd.printf("%i", inputsteps); //Print User command to mbed LCD.
- int stepcount = 0; // keeps track of how many steps were taken
+ int stepcount = 0; // keeps track of how many steps were taken
pc.printf("Move started....\n\n"); //Prints so user knows command was received.
while (stepcount<inputsteps) { // compares how many steps taken to the desired steps passed in
@@ -109,9 +248,10 @@
break;
case 3: // (Move Backward) Call function here to do the required operation
+ pc.printf("Move Stage Backwards.\n\n",count);
- inputsteps=1;
- while ( (inputsteps > 0) && (inputsteps < 101) ){ //Experimented to determine this range.
+ inputsteps=1; //makes sure while loop is true once.
+ while ( (inputsteps > 0) && (inputsteps < 101) ){ //Experimented to determine this range.
pc.printf("How many steps do you want to move?\n"); //Next two lines print to PC for user input.
pc.printf(" Enter a number between 1 and 100.\n\n");
pc.scanf("%i", &inputsteps); //Reads PC terminal to take in user input.
@@ -169,7 +309,7 @@
break;
case 4: // (End Program) Call function here to do the required operation
- printf("Goodbye\n\n");
+ pc.printf("Goodbye\n\n");
wait(100000); //Wait forever!
break;