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42loop
geku
Commits
6607ec5d
Commit
6607ec5d
authored
Jun 29, 2020
by
42loop
Browse files
some cleanup
parent
ff470b55
Changes
3
Hide whitespace changes
Inline
Side-by-side
geku_teensy.ino
View file @
6607ec5d
...
...
@@ -63,25 +63,6 @@ Serial.println();
}
bool
waitready
()
{
bool
servoready
=
true
;
for
(
int
ax
=
0
;
ax
<
max_ax
;
ax
++
)
{
if
(
!
machineready
[
ax
])
{
servoready
=
false
;
Serial
.
print
(
"Servo "
);
Serial
.
print
(
ax
);
Serial
.
println
(
" not ready !"
);
}
}
return
servoready
;
}
void
setup
()
{
...
...
initpins.ino
View file @
6607ec5d
void
initpins
()
{
pinMode
(
ltc_clk
,
OUTPUT
);
//ltc DA-converter
pinMode
(
ltc_clk
,
OUTPUT
);
pinMode
(
ltc_data
,
OUTPUT
);
pinMode
(
ltc_load
,
OUTPUT
);
pinMode
(
mux_enable
,
OUTPUT
);
...
...
@@ -16,7 +16,7 @@ digitalWrite(mux_a2,LOW);
digitalWrite
(
ltc_clk
,
LOW
);
digitalWrite
(
ltc_load
,
HIGH
);
//inverter start plus direction
pinMode
(
startXP
,
OUTPUT
);
pinMode
(
startYP
,
OUTPUT
);
pinMode
(
startZP
,
OUTPUT
);
...
...
@@ -25,6 +25,7 @@ digitalWrite(startXP,LOW);
digitalWrite
(
startYP
,
LOW
);
digitalWrite
(
startZP
,
LOW
);
//inverter start minus direction
pinMode
(
startXM
,
OUTPUT
);
pinMode
(
startYM
,
OUTPUT
);
pinMode
(
startZM
,
OUTPUT
);
...
...
@@ -33,6 +34,7 @@ digitalWrite(startXM,LOW);
digitalWrite
(
startYM
,
LOW
);
digitalWrite
(
startZM
,
LOW
);
//brake outputs
pinMode
(
brakeX
,
OUTPUT
);
pinMode
(
brakeY
,
OUTPUT
);
pinMode
(
brakeZ
,
OUTPUT
);
...
...
@@ -41,7 +43,7 @@ digitalWrite(brakeX,LOW);
digitalWrite
(
brakeY
,
LOW
);
digitalWrite
(
brakeZ
,
LOW
);
//limit and ref inputs
pinMode
(
limitXPpin
,
INPUT
);
pinMode
(
limitXMpin
,
INPUT
);
pinMode
(
limitYPpin
,
INPUT
);
...
...
@@ -52,12 +54,6 @@ pinMode(refX,INPUT);
pinMode
(
refY
,
INPUT
);
pinMode
(
refZ
,
INPUT
);
/*
pinMode(readyXpin,INPUT);
pinMode(readyYpin,INPUT);
pinMode(readyZpin,INPUT);
*/
digitalWrite
(
limitXPpin
,
HIGH
);
digitalWrite
(
limitXMpin
,
HIGH
);
...
...
@@ -69,13 +65,8 @@ digitalWrite(limitZMpin,HIGH);
digitalWrite
(
refX
,
HIGH
);
digitalWrite
(
refY
,
HIGH
);
digitalWrite
(
refZ
,
HIGH
);
/*
digitalWrite(readyXpin,HIGH);
digitalWrite(readyYpin,HIGH);
digitalWrite(readyZpin,HIGH);
*/
pinMode
(
led
,
OUTPUT
);
pinMode
(
led
,
OUTPUT
);
digitalWrite
(
led
,
HIGH
);
}
motor_out.ino
View file @
6607ec5d
...
...
@@ -2,70 +2,66 @@
void
set_motors
()
{
byte
currentmotor
=
0
;
//Serial.print("setltc: ");Serial.println(speed[0]);
for
(
currentmotor
=
0
;
currentmotor
<
max_ax
;
currentmotor
++
)
{
unsigned
int
val
;
//invert values:
if
(
speed
[
currentmotor
]
>
null_speed
)
//plus
{
val
=
speed
[
currentmotor
]
-
null_speed
;
mot_onP
(
currentmotor
);
setbrake
(
currentmotor
,
false
);
}
else
if
(
speed
[
currentmotor
]
<
null_speed
)
//minus
byte
currentmotor
=
0
;
for
(
currentmotor
=
0
;
currentmotor
<
max_ax
;
currentmotor
++
)
{
val
=
abs
(
speed
[
currentmotor
]
-
null_speed
);
mot_onM
(
currentmotor
);
setbrake
(
currentmotor
,
false
);
}
else
{
val
=
0
;
//stop
mot_off
(
currentmotor
);
setbrake
(
currentmotor
,
true
);
}
Serial
.
println
(
currentmotor
,
val
);
digitalWrite
(
mux_enable
,
LOW
);
if
((
currentmotor
&
1
)
!=
0
)
digitalWrite
(
mux_a0
,
HIGH
);
else
digitalWrite
(
mux_a0
,
LOW
);
if
((
currentmotor
&
2
)
!=
0
)
digitalWrite
(
mux_a1
,
HIGH
);
else
digitalWrite
(
mux_a1
,
LOW
);
digitalWrite
(
mux_a2
,
LOW
);
unsigned
int
val
;
//adapt values: former 0 was max minus speed, null_speed was stop, 4095 was max plus speed
if
(
speed
[
currentmotor
]
>
null_speed
)
//plus
{
val
=
speed
[
currentmotor
]
-
null_speed
;
mot_onP
(
currentmotor
);
setbrake
(
currentmotor
,
false
);
}
else
if
(
speed
[
currentmotor
]
<
null_speed
)
//minus
{
val
=
abs
(
speed
[
currentmotor
]
-
null_speed
);
mot_onM
(
currentmotor
);
setbrake
(
currentmotor
,
false
);
}
else
{
val
=
0
;
//stop
mot_off
(
currentmotor
);
setbrake
(
currentmotor
,
true
);
}
Serial
.
println
(
currentmotor
,
val
);
digitalWrite
(
mux_enable
,
LOW
);
if
((
currentmotor
&
1
)
!=
0
)
digitalWrite
(
mux_a0
,
HIGH
);
else
digitalWrite
(
mux_a0
,
LOW
);
if
((
currentmotor
&
2
)
!=
0
)
digitalWrite
(
mux_a1
,
HIGH
);
else
digitalWrite
(
mux_a1
,
LOW
);
digitalWrite
(
mux_a2
,
LOW
);
for
(
int
i
=
12
;
i
>
0
;
i
--
)
{
if
((
val
&
(
1
<<
(
i
-
1
)))
>
0
)
{
digitalWrite
(
ltc_data
,
HIGH
);
}
else
{
digitalWrite
(
ltc_data
,
LOW
);
}
for
(
int
i
=
12
;
i
>
0
;
i
--
)
{
if
((
val
&
(
1
<<
(
i
-
1
)))
>
0
)
digitalWrite
(
ltc_data
,
HIGH
);
else
digitalWrite
(
ltc_data
,
LOW
);
delayMicroseconds
(
1
);
digitalWrite
(
ltc_clk
,
HIGH
);
delayMicroseconds
(
1
);
digitalWrite
(
ltc_clk
,
LOW
);
delayMicroseconds
(
1
);
}
digitalWrite
(
ltc_load
,
LOW
);
delayMicroseconds
(
1
);
digitalWrite
(
ltc_clk
,
HIGH
);
delayMicroseconds
(
1
);
digitalWrite
(
ltc_clk
,
LOW
);
delayMicroseconds
(
1
);
}
digitalWrite
(
ltc_load
,
LOW
);
delayMicroseconds
(
1
);
digitalWrite
(
ltc_load
,
HIGH
);
digitalWrite
(
ltc_load
,
HIGH
);
delayMicroseconds
(
400
);
delayMicroseconds
(
400
);
digitalWrite
(
mux_enable
,
HIGH
);
digitalWrite
(
mux_enable
,
HIGH
);
//probably not needed:
//delayMicroseconds(400);
}
}
}
...
...
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