Differences

This shows you the differences between two versions of the page.

--- et:examples:motor:stepper:code1 [2010/11/05 00:23] – tekitatud raivo.sell
+++ et:examples:motor:stepper:code1 [2020/07/20 12:00] (current) – external edit 127.0.0.1
@@ Line 1: / Line 1: @@
+<code c>
+#include <avr/io.h>
+#include <util/delay.h>
+#include <homelab/pin.h>
+#include <homelab/module/motors.h>
+#include "homelab/timer.h"
+pin led_red    = PIN(C, 5);
+static pin xunipolar_pins[2][4] =
+{
+    {
+        PIN(E, 2), PIN(E, 3),
+        PIN(E, 4), PIN(E, 5)
+    },
+    {
+        PIN(E, 0), PIN(E, 1),
+        PIN(E, 6), PIN(E, 7)
+    }
+};
+void xunipolar_init(unsigned char xindex)
+{
+   unsigned char xi;
+     for (xi = 0; xi < 4; xi++)
+    {
+        // Set control pins as output
+        pin_setup_output(xunipolar_pins[xindex][xi]);
+        // Initially stop
+        pin_clear(xunipolar_pins[xindex][xi]);
+    }
+}
+void xunipolar_halfstep(unsigned char index, signed char direction, unsigned short num_steps, unsigned char speed)
+{
+    unsigned short i;
+    unsigned char state1 = 0, state2 = 1;
+    unsigned char pattern;
+    unsigned char timeout;
+    // Ensure +-1
+    direction = ((direction < 0) ? -1 : +1);
+    // Ensure speed <= 100
+    speed = (speed > 100 ? 100 : speed);
+    // Complete steps
+    for (i = 0; i < num_steps; i++)
+    {
+        state1 += direction;
+        state2 += direction;
+        // Make pattern
+        pattern =
+            (1 << ((state1 % 8) >> 1)) |
+            (1 << ((state2 % 8) >> 1));
+        // Set output
+        PIN_ARRAY_OF_4_MASK(xunipolar_pins[index], pattern & 0x0F);
+        // Wait for the motor to complete the step
+        timeout = speed;
+        while (timeout-- > 0)
+        {
+            _delay_ms(1);
+        }
+    }
+    // Turn off motor
+    PIN_ARRAY_OF_4_MASK(xunipolar_pins[index], 0x00);
+}
+///////////////// Main function //////////////////////////////////
+int main(void){
+    pin_setup_output(led_red);
+    xunipolar_init(0);
+    xunipolar_init(1);
+    bipolar_init();
+    while(1){
+        pin_toggle(led_red);
+        //bipolar_halfstep(-1, 100, 10);
+        //bipolar_halfstep(1, 100, 5);
+        xunipolar_halfstep(0, 1, 1000, 3);
+        xunipolar_halfstep(0, -1, 1000, 3);
+        //see kanal ei tööta miskipärast
+        //xunipolar_halfstep(1, 1, 1000, 50);
+    }
+}
+</code>