Revision 4:b192d5b996be, committed 2016-10-28

Comitter:

sjoerdbarts

Date:

Fri Oct 28 09:54:24 2016 +0000

Parent:

3:f62e51be39f8

Commit message:

Working code of new motor configuration

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MODSERIAL.lib	Fri Oct 28 09:54:24 2016 +0000
@@ -0,0 +1,1 @@
+http://developer.mbed.org/users/Sissors/code/MODSERIAL/#4737f8a5b018

--- a/main.cpp	Fri Oct 14 09:07:23 2016 +0000
+++ b/main.cpp	Fri Oct 28 09:54:24 2016 +0000
@@ -1,105 +1,115 @@
 #include "mbed.h"
-#define SERIAL_BAUD 115200  // baud rate for serial communication
-
+#include "MODSERIAL.h"
+#define SERIAL_BAUD 115200 // boud rate for serial communication
 // This program controls the stepper motor
 
-// Serial connection with PC
-Serial pc(USBTX,USBRX);
+// Serial communication using MODSERIAL
+MODSERIAL pc(USBTX,USBRX);
 
 // Set LED pins
 DigitalOut led(LED_RED);
 
 // Setup motor pins
-// OUDATED: NOT USES 3.3V OUPUT, SINCE THIS IS ALWAYS ON DigitalOut pinMode(PTD2);        //D11
+// DigitalOut pinMode(PTD2); //D11 NOW USES 3.3V OUPUT, SINCE THIS IS ALWAYS ON
 DigitalOut pinSleep(PTE24);      //D14
 DigitalOut pinStep(PTC4);        //D9
 DigitalOut pinDir(PTC12);        //D8
 
-// Power On the motordriver and set the pinmode
-
-
-// Control of the stepper motor with Ticker and Timeout
+// Control of the stepper motor with 1 Ticker and 1 Timeout
 Ticker  TickerStepper;
 Timeout TimeoutStepper;
 
 // Set button In
-InterruptIn button1(PTM9); // D2
+InterruptIn button1(PTB9); // D2
 InterruptIn button2(PTA1); // D3
 
 // Set constans
-volatile int stepmode = 32; // step mode
-volatile int steps = 133*stepmode; // amount of steps for 90 degree rotation =50, full step mode: 1.8 degree per step.
+volatile int stepmode = 4; // step mode
+volatile int steps = 140*stepmode; // amount of steps for 90 degree rotation = 50, full step mode: 1.8 degree per step.
 volatile int i = 0;
+volatile bool Stepper_CCW = false;
 
-// Reset the STEP pin
+// Global variable Step_State
+volatile bool Stepper_State = 0;
+
+// Set the Step pin to 0
 void StepperFall()
 {
     pinStep = 0;
 }
-
+// Turn off stepper and power off driver board. Reset Stepper_CCS, i and Stepper_State
 void Stepper_Off()
 {
     TickerStepper.detach();
     pinSleep = 0;
     i=0;
+    Stepper_State = 0;
+    Stepper_CCW = false;
+}
+
+// Change direction
+void Stepper_Change_Dir()
+{
+    pinDir = true;
+    Stepper_CCW = true;
+    i = 0; 
 }
 
 // Move the motor 1 step
 void StepperRise()
 {
-    if(i<steps)
+    if((i<steps)&&(not Stepper_CCW))
     {
-        pinStep=1;
+        pinStep=1; // Set stepper to 1
+        // attach timeout to set it back to 0, min step duration is 1.8 us
         TimeoutStepper.attach_us(&StepperFall, 2);
         i=i+1;
     }
+    else if (Stepper_CCW)
+    {
+        if(i<steps)
+        {
+            pinStep=1;
+            TimeoutStepper.attach_us(&StepperFall, 2);
+            i=i+1;
+        }
+        else 
+        {
+            Stepper_Off();
+        }
+    }
     else
     {
-         Stepper_Off();
-    }         
+         Stepper_Change_Dir();
+    }
 }
 
 // Activate the stepper motor
 // at a constant speed
-void Stepper_On_CW()
+void Stepper_On()
 {
+    // Set global variable to true
+    Stepper_State = true;
+    // Power on the board and set direction to CW
     pinSleep = 1;
-    // Power the motor driver pins
-    int nPPS = 100*stepmode;  // was 1200, this controlls the speed, keep this times the step mode
-    // float fRPM = nPPS / 200.f;
+    pinDir = false;
+    // Calc the speed of the stepper
+    int nPPS = 50*stepmode;  // was 1200, this controlls the speed, keep this times the step mode
     float fFrequency_Hz = 1.f * nPPS;
-    float fPeriod_s = 1.0/fFrequency_Hz;
+    float fPeriod_s = 1.0f / fFrequency_Hz;
+    // Check if the speed is too fast small and report back if that is the case
     if (fPeriod_s < 2e-6)
     {
         pc.printf("\r\n ERROR: fPeriod_s too small \r\n");
         fPeriod_s=2e-6;
     }    
     
-    pinDir = true;
     TickerStepper.attach(&StepperRise, // void(*fptr)(void)
                         fPeriod_s   // float t
                         );
 }
 
-void Stepper_On_CCW()
-{
-     pinSleep = 1;
-    // Power the motor driver pins
-    int nPPS = 100*stepmode;  // was 1200, this controlls the speed, keep this times the step mode
-    // float fRPM = nPPS / 200.f;
-    float fFrequency_Hz = 1.f * nPPS;
-    float fPeriod_s = 1.0/fFrequency_Hz;
-    if (fPeriod_s < 2e-6)
-    {
-        pc.printf("\r\n ERROR: fPeriod_s too small \r\n");
-        fPeriod_s=2e-6;
-    }    
-    
-    pinDir = false;
-    TickerStepper.attach(&StepperRise, // void(*fptr)(void)
-                        fPeriod_s   // float t
-                        );
-}
+
 
 // Deactivate the motor
 void BlinkLed()
@@ -110,7 +120,7 @@
 int main()
 {
     // Power on the board
-    pinSleep = 1;
+    pinSleep = 0;
 
     // Set baud connection with PC
     pc.baud(SERIAL_BAUD);
@@ -122,10 +132,9 @@
     TickerBlinkLed.attach(BlinkLed,0.5);
     
     // Setup interruptin
-    button1.fall(&Stepper_On_CW);
-    button2.fall(&Stepper_On_CCW);
+    button1.fall(&Stepper_On);
     
     // Make the stepper go
-    while(true)
-    {};
+    while(true){
+    }
 }
\ No newline at end of file