CARLO TARALLO / Mbed 2 deprecated MedicineSettori_2

Medi

Dependencies:   mbed

main.cpp@1:b974ec8fe646, 2020-03-11 (annotated)

Committer:
carlotara
Date:
Wed Mar 11 15:12:13 2020 +0000
Revision:
1:b974ec8fe646
Parent:
0:6999a083fb46 
Medici

Who changed what in which revision?

UserRevisionLine numberNew contents of line
XtaticO 0:6999a083fb46 1 /*
XtaticO 0:6999a083fb46 2 ############################################
XtaticO 0:6999a083fb46 3 ## sMotor v0.1 Test Program ##
XtaticO 0:6999a083fb46 4 ## created by Samuel Matildes ##
XtaticO 0:6999a083fb46 5 ############################################
XtaticO 0:6999a083fb46 6 ---- sam.naeec@gmail.com -----
XtaticO 0:6999a083fb46 7 This library was made for 4-Phase Stepper Motors
XtaticO 0:6999a083fb46 8 I don't take any resposability for the damage caused to your equipment.
XtaticO 0:6999a083fb46 9
XtaticO 0:6999a083fb46 10 */
XtaticO 0:6999a083fb46 11
XtaticO 0:6999a083fb46 12 #include "mbed.h"
carlotara 1:b974ec8fe646 13
XtaticO 0:6999a083fb46 14
XtaticO 0:6999a083fb46 15
XtaticO 0:6999a083fb46 16 Serial pc(USBTX, USBRX);
XtaticO 0:6999a083fb46 17
carlotara 1:b974ec8fe646 18 //sMotor motor(D8, D9, D10, D11); // creates new stepper motor: IN1, IN2, IN3, IN4
carlotara 1:b974ec8fe646 19 //sMotor motor(p9, p10, p11, p12); // creates new stepper motor: IN1, IN2, IN3, IN4
XtaticO 0:6999a083fb46 20 int step_speed = 1200 ; // set default motor speed
carlotara 1:b974ec8fe646 21 //int numstep = 512 ; // defines full turn of 360 degree
carlotara 1:b974ec8fe646 22 int numstep = 514
carlotara 1:b974ec8fe646 23 ; // defines full turn of 360 degree
XtaticO 0:6999a083fb46 24 //you might want to calibrate this value according to your motor
carlotara 1:b974ec8fe646 25 int statomax =7;
carlotara 1:b974ec8fe646 26 //int kmax = 2;
carlotara 1:b974ec8fe646 27 //int statomax =7;
carlotara 1:b974ec8fe646 28 int kmax = 8;
carlotara 1:b974ec8fe646 29 int stato;
carlotara 1:b974ec8fe646 30 int ora = 1;
carlotara 1:b974ec8fe646 31 int data = 0;
carlotara 1:b974ec8fe646 32 //int statomax =7;
carlotara 1:b974ec8fe646 33
carlotara 1:b974ec8fe646 34
carlotara 1:b974ec8fe646 35 DigitalOut IN1(D8);
carlotara 1:b974ec8fe646 36 DigitalOut IN2(D9);
carlotara 1:b974ec8fe646 37 DigitalOut IN3(D10);
carlotara 1:b974ec8fe646 38 DigitalOut IN4(D11);
carlotara 1:b974ec8fe646 39
carlotara 1:b974ec8fe646 40 /*
carlotara 1:b974ec8fe646 41 const int IN1 = 8; // filo motore BLUE
carlotara 1:b974ec8fe646 42 const int IN2 = 9; // filo motore ROSA
carlotara 1:b974ec8fe646 43 const int IN3 = 10; // filo motore GIALLO
carlotara 1:b974ec8fe646 44 const int IN4 = 11; // filo motore ARANCIO
carlotara 1:b974ec8fe646 45 */
carlotara 1:b974ec8fe646 46 const int MotoreOFF = 99; // motore spento
carlotara 1:b974ec8fe646 47
carlotara 1:b974ec8fe646 48
carlotara 1:b974ec8fe646 49
carlotara 1:b974ec8fe646 50 void Uscita( int i4,int i3,int i2,int i1)
carlotara 1:b974ec8fe646 51 {
carlotara 1:b974ec8fe646 52 if (i1==1) IN1=1; else IN1=0;
carlotara 1:b974ec8fe646 53 if (i2==1) IN2=1; else IN2=0;
carlotara 1:b974ec8fe646 54 if (i3==1) IN3=1; else IN3=0;
carlotara 1:b974ec8fe646 55 if (i4==1) IN4=1; else IN4=0;
carlotara 1:b974ec8fe646 56 /*
carlotara 1:b974ec8fe646 57 if (i1==1) digitalWrite(IN1,HIGH); else digitalWrite(IN1,LOW);
carlotara 1:b974ec8fe646 58 if (i2==1) digitalWrite(IN2,HIGH); else digitalWrite(IN2,LOW);
carlotara 1:b974ec8fe646 59 if (i3==1) digitalWrite(IN3,HIGH); else digitalWrite(IN3,LOW);
carlotara 1:b974ec8fe646 60 if (i4==1) digitalWrite(IN4,HIGH); else digitalWrite(IN4,LOW);
carlotara 1:b974ec8fe646 61 */
carlotara 1:b974ec8fe646 62 }
carlotara 1:b974ec8fe646 63
XtaticO 0:6999a083fb46 64
XtaticO 0:6999a083fb46 65
carlotara 1:b974ec8fe646 66 void EseguiPasso(int stato)
carlotara 1:b974ec8fe646 67 {
carlotara 1:b974ec8fe646 68 int i1,i2,i3,i4;
XtaticO 0:6999a083fb46 69
carlotara 1:b974ec8fe646 70 switch ( stato )
carlotara 1:b974ec8fe646 71 {// vedi tabella nel pdf del motore passo passo
carlotara 1:b974ec8fe646 72 case 0: Uscita(0,0,0,1); break;
carlotara 1:b974ec8fe646 73 case 1: Uscita(0,0,1,1); break;
carlotara 1:b974ec8fe646 74 case 2: Uscita(0,0,1,0); break;
carlotara 1:b974ec8fe646 75 case 3: Uscita(0,1,1,0); break;
carlotara 1:b974ec8fe646 76 case 4: Uscita(0,1,0,0); break;
carlotara 1:b974ec8fe646 77 case 5: Uscita(1,1,0,0); break;
carlotara 1:b974ec8fe646 78 case 6: Uscita(1,0,0,0); break;
carlotara 1:b974ec8fe646 79 case 7: Uscita(1,0,0,1); break;
carlotara 1:b974ec8fe646 80 case 8: Uscita(0,0,0,1); break;
carlotara 1:b974ec8fe646 81 case 9: Uscita(0,0,1,1); break;
carlotara 1:b974ec8fe646 82 case 10: Uscita(0,0,1,0); break;
carlotara 1:b974ec8fe646 83 case 11: Uscita(0,1,1,0); break;
carlotara 1:b974ec8fe646 84 case 12: Uscita(0,1,0,0); break;
carlotara 1:b974ec8fe646 85 case 13: Uscita(1,1,0,0); break;
carlotara 1:b974ec8fe646 86 case 14: Uscita(1,0,0,0); break;
carlotara 1:b974ec8fe646 87 // case 7: Uscita(1,0,0,1); break;
carlotara 1:b974ec8fe646 88 case MotoreOFF: //OFF
carlotara 1:b974ec8fe646 89 Uscita(0,0,0,0); break;
carlotara 1:b974ec8fe646 90 }
carlotara 1:b974ec8fe646 91 wait_ms(1);
carlotara 1:b974ec8fe646 92 // delay(1); //ritardo almeno 1 mS
carlotara 1:b974ec8fe646 93 }
XtaticO 0:6999a083fb46 94
carlotara 1:b974ec8fe646 95 void RitardoAccensione()
carlotara 1:b974ec8fe646 96 { //attesa prima di attivare il motore
carlotara 1:b974ec8fe646 97 EseguiPasso(MotoreOFF);
carlotara 1:b974ec8fe646 98 for(int i=0; i<10; i++)
carlotara 1:b974ec8fe646 99 {
carlotara 1:b974ec8fe646 100 // digitalWrite(13,HIGH);
carlotara 1:b974ec8fe646 101 // wait_ms(250);
carlotara 1:b974ec8fe646 102 // delay(250);
carlotara 1:b974ec8fe646 103 // digitalWrite(13,LOW);
carlotara 1:b974ec8fe646 104 // wait_ms(250);
carlotara 1:b974ec8fe646 105 // delay(250);
carlotara 1:b974ec8fe646 106 }
carlotara 1:b974ec8fe646 107 }
XtaticO 0:6999a083fb46 108
carlotara 1:b974ec8fe646 109 int main()
carlotara 1:b974ec8fe646 110 {
XtaticO 0:6999a083fb46 111
carlotara 1:b974ec8fe646 112 RitardoAccensione(); //2 secondi di pausa prima di iniziare
carlotara 1:b974ec8fe646 113 while (1) {
carlotara 1:b974ec8fe646 114 char kmaxCh;
carlotara 1:b974ec8fe646 115 printf("Inserisci numero Settore \r\n");
carlotara 1:b974ec8fe646 116 // scanf("%c", &kmaxCh);
carlotara 1:b974ec8fe646 117 // printf("%c\n",kmaxCh);
carlotara 1:b974ec8fe646 118 scanf("%d", &kmax);
carlotara 1:b974ec8fe646 119 printf("%d\n",kmax);
carlotara 1:b974ec8fe646 120 //char numberstring[] = "42";
carlotara 1:b974ec8fe646 121 //int number;
carlotara 1:b974ec8fe646 122
carlotara 1:b974ec8fe646 123 //sscanf(numberstring, "%d", &number);
carlotara 1:b974ec8fe646 124 // kmax = 2;
carlotara 1:b974ec8fe646 125 stato=0; //inizio da uno stato arbitrario
XtaticO 0:6999a083fb46 126
XtaticO 0:6999a083fb46 127
carlotara 1:b974ec8fe646 128 if (kmax>0)
carlotara 1:b974ec8fe646 129 {
carlotara 1:b974ec8fe646 130 stato=0; //inizio da uno stato arbitrario
XtaticO 0:6999a083fb46 131
carlotara 1:b974ec8fe646 132 for(int k=0; k<kmax; k++) //Rotazione Oraria
carlotara 1:b974ec8fe646 133 // for(int k=0; k<4; k++) //Rotazione Oraria
carlotara 1:b974ec8fe646 134 {
carlotara 1:b974ec8fe646 135 for (int i=0; i<numstep; i++) //45 gradi a ciclo
carlotara 1:b974ec8fe646 136 // for (int i=0; i<514; i++) //45 gradi a ciclo
carlotara 1:b974ec8fe646 137 // for (int i=0; i<1024; i++) //90 gradi a ciclo
carlotara 1:b974ec8fe646 138 {
carlotara 1:b974ec8fe646 139 EseguiPasso(stato);
carlotara 1:b974ec8fe646 140 stato=stato+1; // avanza nella tabella
carlotara 1:b974ec8fe646 141 /* printf("Stato : \r\n");
carlotara 1:b974ec8fe646 142 printf("%d\r\n",stato);
carlotara 1:b974ec8fe646 143 printf("k : \r\n");
carlotara 1:b974ec8fe646 144 printf("%d\r\n",k);
carlotara 1:b974ec8fe646 145 */
carlotara 1:b974ec8fe646 146 if ((stato)>statomax)
carlotara 1:b974ec8fe646 147 {
carlotara 1:b974ec8fe646 148 stato=0;
carlotara 1:b974ec8fe646 149 // if ((stato)>7) stato=0;
carlotara 1:b974ec8fe646 150 }
carlotara 1:b974ec8fe646 151 EseguiPasso(MotoreOFF);
carlotara 1:b974ec8fe646 152 // wait_ms(500); // pausa di mezzo secondo
carlotara 1:b974ec8fe646 153 }
carlotara 1:b974ec8fe646 154 wait_ms(1000); // pausa di 1 secondo
carlotara 1:b974ec8fe646 155 }
carlotara 1:b974ec8fe646 156 for(int k=0; k<kmax; k++) //Rotazione AntiOraria
carlotara 1:b974ec8fe646 157 // for(int k=0; k<4; k++) //Rotazione AntiOraria
carlotara 1:b974ec8fe646 158 {
carlotara 1:b974ec8fe646 159 for (int i=0; i<numstep; i++) //45 gradi a ciclo
carlotara 1:b974ec8fe646 160 // for (int i=0; i<514; i++) //45 gradi a ciclo
carlotara 1:b974ec8fe646 161 // for (int i=0; i<1024; i++) //90 gradi a ciclo
carlotara 1:b974ec8fe646 162 {
carlotara 1:b974ec8fe646 163 EseguiPasso(stato);
carlotara 1:b974ec8fe646 164 stato=stato-1; //torna indietro nella tabella
carlotara 1:b974ec8fe646 165 /* printf("Stato : \r\n");
carlotara 1:b974ec8fe646 166 printf("%d\r\n",stato);
carlotara 1:b974ec8fe646 167 printf("k : \r\n");
carlotara 1:b974ec8fe646 168 printf("%d\r\n",k);
carlotara 1:b974ec8fe646 169 */
carlotara 1:b974ec8fe646 170 if ((stato)<0)
carlotara 1:b974ec8fe646 171 {
carlotara 1:b974ec8fe646 172 stato=statomax;
carlotara 1:b974ec8fe646 173 // if ((stato)<0) stato=7;
carlotara 1:b974ec8fe646 174 }
carlotara 1:b974ec8fe646 175 EseguiPasso(MotoreOFF);
carlotara 1:b974ec8fe646 176 // wait_ms(500);
XtaticO 0:6999a083fb46 177 }
carlotara 1:b974ec8fe646 178 wait_ms(1000);
XtaticO 0:6999a083fb46 179 }
carlotara 1:b974ec8fe646 180 }
carlotara 1:b974ec8fe646 181
carlotara 1:b974ec8fe646 182 }
carlotara 1:b974ec8fe646 183 }