| 0,0 → 1,139 |
|---|
| #include "C:\MIHO_DAT\KROKAC\krokac.h" |
| |
| |
| unsigned int StepState; // Vnitrni promenna kroku |
| signed int StepDirection; // Smer +1/0/-1 |
| |
| byte const StepTab[8]={ // Tabulka pro krokovy motor |
| 0b0001, // 0 |
| 0b0101, // 1 |
| 0b0100, // 2 |
| 0b0110, // 3 |
| 0b0010, // 4 |
| 0b1010, // 5 |
| 0b1000 // 6 |
| 0b1001, // 7 |
| }; |
| |
| #INT_TIMER2 |
| void StepNext() |
| { |
| unsigned int i; |
| |
| StepState+=StepDirection; // posun se na dalsi krok |
| i=StepState&0b111; // vezmi spodni 3 bity stavu |
| i=StepTab[i]; // prekoduj pomoci tabulky |
| output_bit(MOTORA,i&0b0001); // aktivuj jednotlive vystupy |
| output_bit(MOTORB,i&0b0010); |
| output_bit(MOTORC,i&0b0100); |
| output_bit(MOTORD,i&0b1000); |
| } |
| |
| |
| void StepSetDirection(signed int Direction) |
| { |
| if(Direction> 1) Direction= 1; |
| if(Direction<-1) Direction=-1; |
| StepDirection=Direction; |
| } |
| |
| |
| void StepSetTime(unsigned int16 Time) |
| { |
| |
| } |
| |
| void Delay(unsigned int16 Time) |
| { |
| while(Time>255) {Time-=256;delay_us(256);}; |
| if(Time!=0) delay_us(Time); |
| } |
| |
| |
| void main() |
| { |
| unsigned int16 T; |
| unsigned long int i; |
| |
| // Nastav pracovni frekvenci procesoru |
| setup_oscillator(OSC_4MHZ); |
| |
| // Vypni motorovy vystup |
| output_low(MOTORA); |
| output_low(MOTORB); |
| output_low(MOTORC); |
| output_low(MOTORD); |
| |
| // Vstupy s pull-up odporem |
| port_b_pullups(TRUE); |
| |
| // Inicializace A/D prevodniku |
| setup_adc_ports(sAN0|VSS_VDD); |
| setup_adc(ADC_CLOCK_INTERNAL); |
| set_adc_channel(0); |
| |
| // Dalsi inicializace |
| setup_spi(FALSE); |
| setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); |
| setup_timer_1(T1_DISABLED); |
| setup_comparator(NC_NC_NC_NC); |
| setup_vref(FALSE); |
| |
| // Inicializace stavovych promennych |
| StepState=0; |
| |
| // Nastaveni casovace |
| setup_timer_2(T2_DIV_BY_16,0xFF,1); |
| |
| // Nastveni preruseni od casovace |
| enable_interrupts(global); |
| enable_interrupts(int_timer2); |
| |
| for(;;) |
| { |
| |
| T=read_adc(ADC_READ_ONLY); // Prectu hodnotu |
| read_adc(ADC_START_ONLY); // Ostartuji dalsi prevod (na pozadi) |
| |
| //setup_timer_2(T2_DIV_BY_16,T,1); |
| if(T>0) *0x92=T; // Preload register casovace |
| |
| // Podle prepinacu se hybu |
| if(input(PIN_B5)) |
| { |
| if(input(PIN_B4)) StepSetDirection(1); else StepSetDirection(-1); |
| } |
| else |
| { int1 x; // pomocna promenna aby se volalo spozdeni jen 1x |
| if (StepState>230) { |
| if (!input(PIN_B4) && (x)) |
| { |
| StepSetDirection(0); |
| delay_ms(500); |
| x=0; |
| }; |
| StepSetDirection(-1); |
| } |
| if (StepState<30) { |
| StepSetDirection( 1); |
| x=1; |
| } |
| } |
| //StepDirection=2; |
| //for(i=0;i<800;i++) |
| //{ |
| // StepNext(); |
| // Delay(T); |
| //} |
| //delay_ms(10); |
| //StepDirection=-1; |
| //for(i=0;i<800;i++) |
| //{ |
| // StepNext(); |
| // Delay(T); |
| //} |
| //delay_ms(10); |
| |
| } // Cyklus for |
| |
| } |