115 lines
2.6 KiB
C++
115 lines
2.6 KiB
C++
#include <SPI.h>
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#include <AMIS30543.h>
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#include <Encoder.h>
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const uint8_t amisDirPin = 2;
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const uint8_t amisStepPin = 3;
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const uint8_t amisSlaveSelect = SS;
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AMIS30543 stepper;
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int a = 1000;
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int b = 1000;
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int toTake, taken;
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Encoder slidePos(0, 1);
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volatile byte first = 0;
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void setup()
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{
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SPI.begin();
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stepper.init(amisSlaveSelect);
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// Drive the NXT/STEP and DIR pins low initially.
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digitalWrite(amisStepPin, LOW);
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pinMode(amisStepPin, OUTPUT);
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digitalWrite(amisDirPin, LOW);
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pinMode(amisDirPin, OUTPUT);
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// Give the driver some time to power up.
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delay(1);
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taken = 0;
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// Reset the driver to its default settings.
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stepper.resetSettings();
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// Set the current limit. You should change the number here to
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// an appropriate value for your particular system.
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stepper.setCurrentMilliamps(a);
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// Set the number of microsteps that correspond to one full step.
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stepper.setStepMode(4);
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// Enable the motor outputs.
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stepper.enableDriver();
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Serial.begin(9600);
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stepper.sleep();
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while(!Serial){}
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slidePos.write(0);
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}
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void loop()
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{
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// Step in the default direction 1000 times.
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stepper.sleepStop();
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setDirection(1);
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toTake = random(6000, 12000);
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for (unsigned int x = 0; x < toTake; x++)
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{
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step();
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}
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output();
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delay(500);
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// Step in the other direction 1000 times.
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setDirection(0);
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while(abs(slidePos.read()) > 5)
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{
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step();
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taken++;
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}
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output();
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Serial.print("Steps taken: ");
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Serial.println(taken, DEC);
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Serial.println();
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taken = 0;
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stepper.sleep();
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delay(500);
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}
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// Sends a pulse on the NXT/STEP pin to tell the driver to take
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// one step, and also delays to control the speed of the motor.
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void step()
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{
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// The NXT/STEP minimum high pulse width is 2 microseconds.
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digitalWrite(amisStepPin, HIGH);
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delayMicroseconds(3);
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digitalWrite(amisStepPin, LOW);
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delayMicroseconds(3);
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// The delay here controls the stepper motor's speed. You can
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// increase the delay to make the stepper motor go slower. If
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// you decrease the delay, the stepper motor will go fast, but
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// there is a limit to how fast it can go before it starts
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// missing steps.
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delayMicroseconds(600);
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}
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// Writes a high or low value to the direction pin to specify
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// what direction to turn the motor.
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void setDirection(bool dir)
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{
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// The NXT/STEP pin must not change for at least 0.5
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// microseconds before and after changing the DIR pin.
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delayMicroseconds(1);
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digitalWrite(amisDirPin, dir);
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delayMicroseconds(1);
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}
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void output(){
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Serial.print("mm: ");
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Serial.print((float)slidePos.read()/100.0, DEC);
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Serial.print("\npulses: ");
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Serial.print(slidePos.read(), DEC);
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Serial.print("\n");
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}
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