#include "myStepperDriver.h" uint32_t timerTop32virtual; uint32_t timeThreshold; uint8_t motorPattern; #define MOTOR_UPDATE_INTERVAL (1000) /******************************************************************************************************************* * This function demonstrates with the remainder of the main loop how callback function can be used. First one has to declare a void function * that requires no arguments. This fuction */ static void endPosReadched () { Serial.println ("Motor position reached / rotation stopped"); } /******************************************************************************************************************* * Initialization is performed 'the Arduino way'. This is less efficient as direct PORT I/O access, but more universa over boards. */ void setup () { motorShieldInit (); Serial.begin (115200); //This is optional: allow use of serial port at 115200BPS. motorCallBackPositionReached (endPosReadched); //Optional, only available if the Timer update is handled by the user code. timeThreshold = millis (); motorPattern = 0; Serial.println ("Every value displayed is the 'idle' count"); Serial.println ("where the AVR is not doing anything"); #ifdef MOTOR_TIMER1 Serial.println ("Timer1 used"); #endif #ifdef MOTOR_TIMER3 Serial.println ("Timer3 used"); #endif #ifdef MOTOR_TIMER4 Serial.println ("Timer4 used"); #endif #ifdef MOTOR_TIMER5 Serial.println ("Timer5 used"); #endif DEBUGPRINT (("DDR = %02X", DDRL)); DEBUGPRINT (("PORTL = %02X", PORTL)); } /******************************************************************************************************************* * This is a template how to use the motor driver. As can be seen, we send only one time a command to it. * * From that moment, the loop function doesn't perform anything else. The motor keeps on spinning based on the * * provided parameters. In a typical use case, one can make some decision based on what happens in the main loop * * (for instance, use optical sensors) and those lead into a decision that drives the motor. * ******************************************************************************************************************* */ void loop () { static uint32_t idleCount = 0; uint32_t now = millis (); if (now < timeThreshold) { ++idleCount; //Nothing to do, just increment idlecount. //motorTimerUpdateCheck (); //If one wants to use the callback function as implemented above // //One needs to remove MOTOR_CTRL_IRQ_TIMING from motorSetSpeed and // //call motorTimerUpdateCheck every ~30-50ms from loop function. } else { //Once in a while, when operation times out, change motor settling. switch (motorPattern) { case 0: Serial.println ("Speeding Up normal"); #ifdef DEBUG_BAUDRATE serDbgPrint ("MotorStatus: %02X", motorReadStatus ()); #endif motorSetSpeed ( MOTOR_CTRL_SPEED_VARIABLE | MOTOR_CTRL_IRQ_TIMING | MOTOR_CTRL_VARIABLE_PWR //| MOTOR_CTRL_ENDPOINT_MILLIS //| MOTOR_CTRL_DIRECTION | MOTOR_CTRL_FASTER //Increase speed: TOP register is subtracted with decrease value. | MOTOR_CTRL_DRV_EN, 4800000UL, //uint32_t: Virtual 32-bit timer TOP to apply motor steps; 0 = STOP motor. 0UL, //uint32_t: Limits amount of steps to execute (0 = never stop) or amount of millis to execute. 2385000UL, //uint32_t: Virtual 32-bit correction on timerTop32Virtual. MOTOR_UPDATE_INTERVAL, //uint16_t: Every xx ms, the correction is applied. 11); //uint16_t: After this amount of mods has been reached, mod stops. timeThreshold = now + 15000; //15s after init, this command times out. break; case 1: Serial.println ("Slowing down normal"); #ifdef DEBUG_BAUDRATE serDbgPrint ("MotorStatus: %02X", motorReadStatus ()); #endif motorSetSpeed ( MOTOR_CTRL_SPEED_VARIABLE | MOTOR_CTRL_IRQ_TIMING | MOTOR_CTRL_VARIABLE_PWR //| MOTOR_CTRL_ENDPOINT_MILLIS //| MOTOR_CTRL_DIRECTION | MOTOR_CTRL_SLOWER //Reducee speed: TOP register is subtracted with decrease value. | MOTOR_CTRL_DRV_EN, 32332UL, //uint32_t: Virtual 32-bit timer TOP to apply motor steps; 0 = STOP motor. 0UL, //uint32_t: Limits amount of steps to execute (0 = never stop) or amount of millis to execute. 2329UL, //uint32_t: Virtual 32-bit correction on timerTop32Virtual. MOTOR_UPDATE_INTERVAL, //uint16_t: Every xx ms, the correction is applied. 11); //uint16_t: After this amount of mods has been reached, mod stops. timeThreshold = now + 10000; //10s after init, this command times out. break; case 2: Serial.println ("Speeding Up reverse"); #ifdef DEBUG_BAUDRATE serDbgPrint ("MotorStatus: %02X", motorReadStatus ()); #endif motorSetSpeed ( MOTOR_CTRL_SPEED_VARIABLE | MOTOR_CTRL_IRQ_TIMING | MOTOR_CTRL_VARIABLE_PWR //| MOTOR_CTRL_ENDPOINT_MILLIS | MOTOR_CTRL_DIRECTION | MOTOR_CTRL_FASTER //Increase speed: TOP register is subtracted with decrease value. | MOTOR_CTRL_DRV_EN, 4800000UL, //uint32_t: Virtual 32-bit timer TOP to apply motor steps; 0 = STOP motor. 0UL, //uint32_t: Limits amount of steps to execute (0 = never stop) or amount of millis to execute. 2385000UL, //uint32_t: Virtual 32-bit correction on timerTop32Virtual. MOTOR_UPDATE_INTERVAL, //uint16_t: Every xx ms, the correction is applied. 11); //uint16_t: After this amount of mods has been reached, mod stops. timeThreshold = now + 20000; //20s after init, this command times out. break; case 3: Serial.println ("Slowing down reverse"); #ifdef DEBUG_BAUDRATE serDbgPrint ("MotorStatus: %02X", motorReadStatus ()); #endif motorSetSpeed ( MOTOR_CTRL_SPEED_VARIABLE | MOTOR_CTRL_IRQ_TIMING | MOTOR_CTRL_VARIABLE_PWR //| MOTOR_CTRL_ENDPOINT_MILLIS | MOTOR_CTRL_DIRECTION | MOTOR_CTRL_SLOWER //Decrease speed: TOP register is subtracted with decrease value. | MOTOR_CTRL_DRV_EN, 32332UL, //uint32_t: Virtual 32-bit timer TOP to apply motor steps; 0 = STOP motor. 0UL, //uint32_t: Limits amount of steps to execute (0 = never stop) or amount of millis to execute. 2329UL, //uint32_t: Virtual 32-bit correction on timerTop32Virtual. MOTOR_UPDATE_INTERVAL, //uint16_t: Every xx ms, the correction is applied. 11); //uint16_t: After this amount of mods has been reached, mod stops. timeThreshold = now + 10000; //10s after init, this command times out. break; case 4: Serial.println ("Stopping"); motorSetSpeed (MOTOR_CTRL_DRV_EN); //Default is motor stopped, but keep drive enabled. #ifdef DEBUG_BAUDRATE serDbgPrint ("MotorStatus: %02X", motorReadStatus ()); #endif timeThreshold = now + 3500; //Keep motor stopped for 3.5s. break; case 5: timeThreshold = now + 3500; //3.5s break; case 6: timeThreshold = now + 4000; //4s break; case 7: Serial.println ("250 RPM from stop"); motorSetSpeed (MOTOR_CTRL_DRV_EN, //250 / 60 * 200 steps /s. 19200UL); timeThreshold = now + 4500; //4.5s break; case 8: Serial.println ("500 RPM"); motorSetSpeed (MOTOR_CTRL_DRV_EN, //500 / 60 * 200 steps /s. 9600UL); timeThreshold = now + 10000; //10s after init, this command times out. break; case 9: Serial.println ("Stopping"); motorSetSpeed (MOTOR_CTRL_DRV_EN); //Default is motor stopped, but keep drive enabled. timeThreshold = now + 5000; //5s break; default: break; } ++motorPattern; if (motorPattern > 10) motorPattern = 0; Serial.println (idleCount); } }