Revision ca9f6bd5
| ID | ca9f6bd5ea5f23d3725e7671e3257c95fe781a57 |
Some changes to the stepper library
A few bug fixes, and changed various values to use ms instead of us due
to integer overflow problems.
| scout_avr/src/stepper.cpp | ||
|---|---|---|
| 13 | 13 |
|
| 14 | 14 |
struct step_t {
|
| 15 | 15 |
unsigned int speed; // time between steps in ms for sweep. Mininum 40ms |
| 16 |
unsigned int sweep_us; //time between calls to sweep
|
|
| 16 |
unsigned int sweep_ms; //time between calls to sweep
|
|
| 17 | 17 |
unsigned int time; |
| 18 | 18 |
int pos; // position in rotation. |
| 19 | 19 |
int dir; // direction. -1 CCW. 1 CW. 0 OFF |
| ... | ... | |
| 22 | 22 |
} volatile step; |
| 23 | 23 |
|
| 24 | 24 |
|
| 25 |
func step_init(unsigned int call_us)
|
|
| 25 |
func step_init(unsigned int call_ms)
|
|
| 26 | 26 |
{
|
| 27 | 27 |
/* set update time for sweep */ |
| 28 |
step.sweep_us = call_us;
|
|
| 28 |
step.sweep_ms = call_ms;
|
|
| 29 | 29 |
|
| 30 | 30 |
/* init pos, time, and dir to 0 */ |
| 31 | 31 |
step.pos = 0; |
| ... | ... | |
| 97 | 97 |
/* tick every speed ms in sweep mode */ |
| 98 | 98 |
void step_sweep_speed(unsigned int speed) |
| 99 | 99 |
{
|
| 100 |
if(speed<40) step.speed = 40000;
|
|
| 101 |
else step.speed = speed*1000;
|
|
| 100 |
if(speed<40) step.speed = 40; |
|
| 101 |
else step.speed = speed; |
|
| 102 | 102 |
} |
| 103 | 103 |
|
| 104 | 104 |
|
| ... | ... | |
| 111 | 111 |
|
| 112 | 112 |
void step_sweep() |
| 113 | 113 |
{
|
| 114 |
step.time += step.sweep_us;
|
|
| 114 |
step.time += step.sweep_ms;
|
|
| 115 | 115 |
if(step.time >= step.speed) |
| 116 | 116 |
{
|
| 117 |
step_halfstep(); |
|
| 118 |
if((step.dir == 1) && (step.cw <= step.pos)) step.dir=-1; |
|
| 119 |
else if((step.dir == -1) && (step.ccw >= step.pos)) step.dir=1; |
|
| 117 |
step_fullstep(); |
|
| 118 |
if((step.dir == 1) && (step.cw <= step.pos)) step_dir(-1); |
|
| 119 |
else if((step.dir == -1) && (step.ccw >= step.pos)) step_dir(1); |
|
| 120 |
step.time = 0; |
|
| 120 | 121 |
} |
| 121 | 122 |
} |
| scout_avr/src/stepper.h | ||
|---|---|---|
| 15 | 15 |
func step_init(unsigned int call_us); |
| 16 | 16 |
|
| 17 | 17 |
|
| 18 |
void step_direction(int dir);
|
|
| 18 |
void step_dir(int dir); |
|
| 19 | 19 |
void step_halfstep(); |
| 20 | 20 |
void step_fullstep(); |
| 21 | 21 |
void step_flush(); |
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