| michman | Дата: Суббота, 23.11.2013, 23:48 | Сообщение # 1 |
 1.5 Вольт
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| есть рабочая программа
нужно ее изменить ее под мои нужды,
кодпрограммы:
Цитата #include
[color=#7E7E7E]// ***** LCD *****
#include <[color=#CC6600]LiquidCrystal.h>
[color=#CC6600]LiquidCrystal lcd(8, 9, 4, 5, 6, 7);
[color=#7E7E7E]// ***** Stepper Motor *****
[color=#7E7E7E]//#define Step_Per_Revolution 2400
#define StepMotorPort PORTL
#define StepMotorInitialization() DDRL=B11111111 [color=#7E7E7E]// под мотор выделен весь порт "L", сконфигурирован на выход
#define StepMotorSetPulse() StepMotorPort &= ~(1<<0) [color=#7E7E7E]// Pin49 1
#define StepMotorRemovePulse() StepMotorPort |= (1<<0) [color=#7E7E7E]// Pin49 0
#define StepMotorForward() StepMotorPort |= (1<<2) [color=#7E7E7E]// Pin47 0
#define StepMotorReverse() StepMotorPort &= ~(1<<2) [color=#7E7E7E]// Pin47 1
#define StepMotorEnable() StepMotorPort |= (1<<4) [color=#7E7E7E]// Pin45 0
#define StepMotorDisable() StepMotorPort &= ~(1<<4) [color=#7E7E7E]// Pin45 1
[color=#CC6600]boolean Step_On_flag=[color=#CC6600]false; [color=#7E7E7E]// флаг прохода энкодера через 0
[color=#CC6600]boolean Motor_En_flag=[color=#CC6600]false; [color=#7E7E7E]// Enable/Disable Stepper Motor
[color=#7E7E7E]// ***** Taho *****
#define TahoPort PORTL
#define TahoSetPulse() TahoPort |= (1<<6) [color=#7E7E7E]// Pin43 1
#define TahoRemovePulse() TahoPort &= ~(1<<6) [color=#7E7E7E]// Pin43 0
[color=#7E7E7E]// ***** Encoder *****
#define EncoderPort PORTD
#define EncoderInitialization() DDRD=B00000000 [color=#7E7E7E]// Под энкодер выделен весь порт "D", сконфигурирован на вход
#define Enc_Line 3600 [color=#7E7E7E]// Кол-во рисок энкодера х2
#define Enc_DDR DDRD
[color=#CC6600]register [color=#CC6600]int Enc_Pos asm([color=#006699]"r2"); [color=#7E7E7E]// Счетчик положения энкодера
[color=#CC6600]byte Ks_Count; [color=#7E7E7E]// Счетчик для "Подача", "Резьба" целая часть
[color=#CC6600]register [color=#CC6600]int Km_Count asm([color=#006699]"r6"); [color=#7E7E7E]// Счетчик для "Подача", "Резьба" дробная часть
[color=#CC6600]byte Ks_Divisor; [color=#7E7E7E]// Делитель для "Подача", "Резьба" целая часть
[color=#CC6600]int Km_Divisor; [color=#7E7E7E]// Делитель для "Подача", "Резьба" дробная часть
[color=#7E7E7E]// ***** Keyboard *****
enum Pressed_Key
{
Key_None,
Key_Right,
Key_Up,
Key_Down,
Key_Left,
Key_Select
};
[color=#CC6600]byte Pressed_Key=Key_None;
[color=#CC6600]boolean key_flag=[color=#CC6600]false; [color=#7E7E7E]// флаг нажатой/отжатой кнопки
[color=#7E7E7E]// ***** Mode *****
enum Mode
{
Mode_Thread_Left=1,
Mode_Feed_Left,
Mode_Divider,
Mode_Feed_Right,
Mode_Thread_Right
};
[color=#CC6600]byte Mode = Mode_Divider;
[color=#7E7E7E]// ***** Feeds *****
[color=#7E7E7E]// Enc_Line/(Step_Per_Revolution/Feed_Screw*Feed_mm)
#define Total_Feeds 10 [color=#7E7E7E]// Кол-во подач
typedef struct
{
[color=#CC6600]byte s_Divisor; [color=#7E7E7E]// Делитель для "Подача" целая часть, дробная часть всегда = 0
[color=#CC6600]char Text[7];
}
FEED_INFO;
FEED_INFO Feed_Info[Total_Feeds] =
{
{ 226, [color=#006699]"0.02mm" },
{ 113, [color=#006699]"0.04mm" },
{ 76, [color=#006699]"0.06mm" },
{ 57, [color=#006699]"0.08mm" },
{ 46, [color=#006699]"0.10mm" },
{ 38, [color=#006699]"0.12mm" },
{ 33, [color=#006699]"0.14mm" },
{ 29, [color=#006699]"0.16mm" },
{ 26, [color=#006699]"0.18mm" },
{ 23, [color=#006699]"0.20mm" },
};
[color=#CC6600]byte Feed_Step = 4; [color=#7E7E7E]// выборка из массива по умолчанию
[color=#7E7E7E]// ***** Threads *****
[color=#7E7E7E]// Enc_Line/(Step_Per_Revolution/Feed_Screw*Thread_mm)
#define Total_Threads 36 [color=#7E7E7E]// Кол-во резьб
typedef struct
{
[color=#CC6600]byte s_Divisor; [color=#7E7E7E]// Делитель для "Резьба" целая часть
[color=#CC6600]int m_Divisor; [color=#7E7E7E]// Делитель для "Резьба" дробная часть
[color=#CC6600]char Text[7];
}
THREAD_INFO;
THREAD_INFO Thread_Info[Total_Threads] =
{
{ 11, 2500, [color=#006699]"0.20mm" },
{ 9, 0, [color=#006699]"0.25mm" },
{ 7, 5000, [color=#006699]"0.30mm" },
{ 6, 4286, [color=#006699]"0.35mm" },
{ 5, 6250, [color=#006699]"0.40mm" },
{ 4, 5000, [color=#006699]"0.50mm" },
{ 3, 7500, [color=#006699]"0.60mm" },
{ 3, 2143, [color=#006699]"0.70mm" },
{ 3, 0, [color=#006699]"0.75mm" },
{ 2, 8125, [color=#006699]"0.80mm" },
{ 2, 2500, [color=#006699]"1.00mm" },
{ 1, 8000, [color=#006699]"1.25mm" },
{ 1, 5000, [color=#006699]"1.50mm" },
{ 1, 2857, [color=#006699]"1.75mm" },
{ 1, 1250, [color=#006699]"2.00mm" },
{ 7, 866, [color=#006699]"80tpi " },
{ 6, 3780, [color=#006699]"72tpi " },
{ 5, 6693, [color=#006699]"64tpi " },
{ 5, 3150, [color=#006699]"60tpi " },
{ 4, 9606, [color=#006699]"56tpi " },
{ 4, 2520, [color=#006699]"48tpi " },
{ 3, 8976, [color=#006699]"44tpi " },
{ 3, 5433, [color=#006699]"40tpi " },
{ 3, 1890, [color=#006699]"36tpi " },
{ 2, 8347, [color=#006699]"32tpi " },
{ 2, 4803, [color=#006699]"28tpi " },
{ 2, 3917, [color=#006699]"27tpi " },
{ 2, 3032, [color=#006699]"26tpi " },
{ 2, 1260, [color=#006699]"24tpi " },
{ 1, 9488, [color=#006699]"22tpi " },
{ 1, 7717, [color=#006699]"20tpi " },
{ 1, 6831, [color=#006699]"19tpi " },
{ 1, 5945, [color=#006699]"18tpi " },
{ 1, 4173, [color=#006699]"16tpi " },
{ 1, 2402, [color=#006699]"14tpi " },
{ 1, 0630, [color=#006699]"12tpi " },
};
[color=#CC6600]byte Thread_Step = 10; [color=#7E7E7E]// выборка из массива по умолчанию
[color=#7E7E7E]// ***** Interrupt *****
#define EnableINT0() EIMSK |= (1 << INT0)
#define DisableINT0() EIMSK &= ~(1 << INT0)
#define EnableINT1() EIMSK |= (1 << INT1)
#define DisableINT1() EIMSK &= ~(1 << INT1)
[color=#7E7E7E]//#define Init_INT0_Rising() EICRA = B00000011
[color=#7E7E7E]//#define Init_INT0_Falling() EICRA = B00000010
#define Init_INT0_Any() EICRA = B00000001
[color=#7E7E7E]//*********************************************************
[color=#CC6600]void [color=#CC6600][b]setup()
{
TIMSK0=0; [color=#7E7E7E]// !Отключаем таймер! (он что-то свое делает в фоновом режиме)
Enc_Pos=0;
Ks_Count=0;
Km_Count=0;
EncoderInitialization();
PORTD=B00000011; [color=#7E7E7E]// подтяжка PIN_21, 20,
StepMotorInitialization();
Init_INT0_Any();
EnableINT0();
lcd.[color=#CC6600]begin(16, 2);
}
[color=#7E7E7E]//**********************************************************
[color=#CC6600]void [color=#CC6600][b]loop()
{
[color=#CC6600]if (Mode == Mode_Divider)
{
StepMotorDisable();
}
[color=#CC6600]else
{
[color=#CC6600]if (Motor_En_flag==[color=#CC6600]true) StepMotorEnable();
[color=#CC6600]if (Motor_En_flag==[color=#CC6600]false) StepMotorDisable();
}
menu();
}
[color=#7E7E7E]//******************************************************************
[color=#CC6600]void menu()
{
[color=#CC6600]int ADC_value = [color=#CC6600]analogRead(A0);
[color=#CC6600]if (ADC_value < 65) Pressed_Key=Key_Right;
[color=#CC6600]else [color=#CC6600]if (ADC_value < 220) Pressed_Key=Key_Up;
[color=#CC6600]else [color=#CC6600]if (ADC_value < 390) Pressed_Key=Key_Down;
[color=#CC6600]else [color=#CC6600]if (ADC_value < 600) Pressed_Key=Key_Left;
[color=#CC6600]else [color=#CC6600]if (ADC_value < 870) Pressed_Key=Key_Select;
[color=#CC6600]else Pressed_Key = Key_None;
[color=#CC6600]if (key_flag==[color=#CC6600]false)
{
[color=#CC6600]switch (Pressed_Key)
{
[color=#CC6600]case Key_Right:
[color=#CC6600]switch (Mode)
{
[color=#CC6600]case Mode_Thread_Left:
[color=#CC6600]case Mode_Feed_Left:
[color=#CC6600]case Mode_Divider:
[color=#CC6600]case Mode_Feed_Right:
{
Motor_En_flag=[color=#CC6600]false;
Step_On_flag=[color=#CC6600]false;
Ks_Count=0;
Km_Count=0;
Mode++;
[color=#CC6600]break;
}
}
key_flag=[color=#CC6600]true;
[color=#CC6600]break;
[color=#CC6600]case Key_Left:
[color=#CC6600]switch (Mode)
{
[color=#CC6600]case Mode_Feed_Left:
[color=#CC6600]case Mode_Divider:
[color=#CC6600]case Mode_Feed_Right:
[color=#CC6600]case Mode_Thread_Right:
{
Motor_En_flag=[color=#CC6600]false;
Step_On_flag=[color=#CC6600]false;
Ks_Count=0;
Km_Count=0;
Mode--;
[color=#CC6600]break;
}
}
key_flag=[color=#CC6600]true;
[color=#CC6600]break;
[color=#CC6600]case Key_Up:
[color=#CC6600]switch (Mode)
{
[color=#CC6600]case Mode_Thread_Left:
[color=#CC6600]case Mode_Thread_Right:
{
[color=#CC6600]if (Thread_Step < Total_Threads-1)
{
Motor_En_flag=[color=#CC6600]false;
Step_On_flag=[color=#CC6600]false;
Ks_Count=0;
Km_Count=0;
Thread_Step++;
}
[color=#CC6600]break;
}
[color=#CC6600]case Mode_Feed_Left:
[color=#CC6600]case Mode_Feed_Right:
{
[color=#CC6600]if (Feed_Step < Total_Feeds-1)
{
Ks_Count=0;
Km_Count=0;
Feed_Step++;
}
[color=#CC6600]break;
}
}
key_flag=[color=#CC6600]true;
[color=#CC6600]break;
[color=#CC6600]case Key_Down:
[color=#CC6600]switch (Mode)
{
[color=#CC6600]case Mode_Thread_Left:
[color=#CC6600]case Mode_Thread_Right:
{
[color=#CC6600]if (Thread_Step > 0)
{
Motor_En_flag=[color=#CC6600]false;
Step_On_flag=[color=#CC6600]false;
Ks_Count=0;
Km_Count=0;
Thread_Step--;
}
[color=#CC6600]break;
}
[color=#CC6600]case Mode_Feed_Left:
[color=#CC6600]case Mode_Feed_Right:
{
[color=#CC6600]if (Feed_Step > 0)
{
Ks_Count=0;
Km_Count=0;
Feed_Step--;
}
[color=#CC6600]break;
}
}
key_flag=[color=#CC6600]true;
[color=#CC6600]break;
[color=#CC6600]case Key_Select:
[color=#CC6600]switch (Mode)
{
[color=#CC6600]case Mode_Thread_Left:
[color=#CC6600]case Mode_Thread_Right:
[color=#CC6600]case Mode_Feed_Left:
[color=#CC6600]case Mode_Feed_Right:
{
Step_On_flag=[color=#CC6600]false;
[color=#CC6600]if (Motor_En_flag==[color=#CC6600]false) Motor_En_flag=[color=#CC6600]true;
[color=#CC6600]else [color=#CC6600]if (Motor_En_flag==[color=#CC6600]true) Motor_En_flag=[color=#CC6600]false;
[color=#CC6600]break;
}
[color=#CC6600]case Mode_Divider:
{
Enc_Pos=0;
[color=#CC6600]break;
}
}
key_flag=[color=#CC6600]true;
[color=#CC6600]break;
}
}
[color=#CC6600]if (Pressed_Key==Key_None) key_flag=[color=#CC6600]false;
[color=#7E7E7E]// Вход в режим
[color=#CC6600]if (Mode==Mode_Thread_Left)
{
Thread_Left();
}
[color=#CC6600]else [color=#CC6600]if (Mode==Mode_Feed_Left)
{
StepMotorReverse();
Feed_Left();
}
[color=#CC6600]else [color=#CC6600]if (Mode==Mode_Divider)
{
Divider();
}
[color=#CC6600]else [color=#CC6600]if (Mode==Mode_Feed_Right)
{
StepMotorForward();
Feed_Right();
}
[color=#CC6600]else [color=#CC6600]if (Mode==Mode_Thread_Right)
{
Thread_Right();
}
}
[color=#7E7E7E]//***************************************
[color=#CC6600]void Thread_Left()
{
Ks_Divisor=Thread_Info[Thread_Step].s_Divisor;
Km_Divisor=Thread_Info[Thread_Step].m_Divisor;
[color=#CC6600]char* Print_Pitch = Thread_Info[Thread_Step].Text;
lcd.[color=#CC6600]setCursor(0, 0);
lcd.[color=#CC6600]print([color=#006699]"Mode: ");
lcd.[color=#CC6600]setCursor(7, 0);
[color=#CC6600]if (Motor_En_flag==[color=#CC6600]true)
{
lcd.[color=#CC6600]print([color=#006699]"ON ");
}
[color=#CC6600]else [color=#CC6600]if (Motor_En_flag==[color=#CC6600]false)
{
lcd.[color=#CC6600]print([color=#006699]"OFF ");
}
lcd.[color=#CC6600]setCursor(0, 1);
lcd.[color=#CC6600]print([color=#006699]"Thread <= ");
lcd.[color=#CC6600]setCursor(10, 1);
lcd.[color=#CC6600]print(Print_Pitch);
}
[color=#CC6600]void Feed_Left()
{
Ks_Divisor=Feed_Info[Feed_Step].s_Divisor;
Km_Divisor=0;
[color=#CC6600]char* Print_Pitch = Feed_Info[Feed_Step].Text;
lcd.[color=#CC6600]setCursor(0, 0);
lcd.[color=#CC6600]print([color=#006699]"Mode: ");
lcd.[color=#CC6600]setCursor(7, 0);
[color=#CC6600]if (Motor_En_flag==[color=#CC6600]true)
{
lcd.[color=#CC6600]print([color=#006699]"ON ");
}
[color=#CC6600]else [color=#CC6600]if (Motor_En_flag==[color=#CC6600]false)
{
lcd.[color=#CC6600]print([color=#006699]"OFF ");
}
lcd.[color=#CC6600]setCursor(0, 1);
lcd.[color=#CC6600]print([color=#006699]"Feed <= ");
lcd.[color=#CC6600]setCursor(10, 1);
lcd.[color=#CC6600]print(Print_Pitch);
}
[color=#CC6600]void Divider()
{
[color=#7E7E7E]// int Enc_Pos_tmp;
[color=#CC6600]long Spindle_Angle;
lcd.[color=#CC6600]setCursor(0, 0);
lcd.[color=#CC6600]print([color=#006699]"Mode: Divider");
lcd.[color=#CC6600]setCursor(7, 0);
[color=#7E7E7E]// cli();
[color=#7E7E7E]// Enc_Pos_tmp=Enc_Pos;
[color=#7E7E7E]// sei();
Spindle_Angle=(Enc_Pos*36000/(Enc_Line));
lcd.[color=#CC6600]setCursor(0, 1);
lcd.[color=#CC6600]print([color=#006699]"Angle: ");
lcd.[color=#CC6600]setCursor(10, 1);
lcd.[color=#CC6600]print(Spindle_Angle/100);
lcd.[color=#CC6600]print([color=#006699]",");
lcd.[color=#CC6600]print(Spindle_Angle%100);
lcd.[color=#CC6600]print([color=#006699]" ");
}
[color=#CC6600]void Feed_Right()
{
Ks_Divisor=Feed_Info[Feed_Step].s_Divisor;
Km_Divisor=0;
[color=#CC6600]char* Print_Pitch = Feed_Info[Feed_Step].Text;
lcd.[color=#CC6600]setCursor(0, 0);
lcd.[color=#CC6600]print([color=#006699]"Mode: ");
lcd.[color=#CC6600]setCursor(7, 0);
[color=#CC6600]if (Motor_En_flag==[color=#CC6600]true)
{
lcd.[color=#CC6600]print([color=#006699]"ON ");
}
[color=#CC6600]else [color=#CC6600]if (Motor_En_flag==[color=#CC6600]false)
{
lcd.[color=#CC6600]print([color=#006699]"OFF ");
}
lcd.[color=#CC6600]setCursor(0, 1);
lcd.[color=#CC6600]print([color=#006699]"Feed => ");
lcd.[color=#CC6600]setCursor(10, 1);
lcd.[color=#CC6600]print(Print_Pitch);
}
[color=#CC6600]void Thread_Right()
{
Ks_Divisor=Thread_Info[Thread_Step].s_Divisor;
Km_Divisor=Thread_Info[Thread_Step].m_Divisor;
[color=#CC6600]char* Print_Pitch = Thread_Info[Thread_Step].Text;
lcd.[color=#CC6600]setCursor(0, 0);
lcd.[color=#CC6600]print([color=#006699]"Mode: ");
lcd.[color=#CC6600]setCursor(7, 0);
[color=#CC6600]if (Motor_En_flag==[color=#CC6600]true)
{
lcd.[color=#CC6600]print([color=#006699]"ON ");
}
[color=#CC6600]else [color=#CC6600]if (Motor_En_flag==[color=#CC6600]false)
{
lcd.[color=#CC6600]print([color=#006699]"OFF ");
}
lcd.[color=#CC6600]setCursor(0, 1);
lcd.[color=#CC6600]print([color=#006699]"Thread => ");
lcd.[color=#CC6600]setCursor(10, 1);
lcd.[color=#CC6600]print(Print_Pitch);
}
[color=#7E7E7E]//******************************************************************
ISR(INT0_vect)
{
[color=#CC6600]if ((PIND & B00000010) == 0) {
Enc_Pos++;
[color=#CC6600]if (Enc_Pos == Enc_Line) {
Enc_Pos=0;
TahoSetPulse(); [color=#7E7E7E]// при проходе 0 генерим сигнал Taho
[color=#CC6600]if (Motor_En_flag==[color=#CC6600]true) { [color=#7E7E7E]// проверка режима на ON/OFF
Step_On_flag = [color=#CC6600]true; [color=#7E7E7E]// при проходе 0 разрешаем счет до к.деления
}
}
[color=#CC6600]if (Step_On_flag == [color=#CC6600]true) {
[color=#CC6600]if (Mode == Mode_Thread_Left) {
StepMotorReverse();
}
[color=#CC6600]if (Mode == Mode_Thread_Right) {
StepMotorForward();
}
[color=#CC6600]if (Ks_Count > Ks_Divisor) {
StepMotorSetPulse();
Km_Count = Km_Count + Km_Divisor;
[color=#CC6600]if (Km_Count > Km_Divisor) {
Km_Count = Km_Count - 10000;
Ks_Count = 0;
}
[color=#CC6600]else {
Ks_Count = 1;
}
}
Ks_Count++;
}
}
[color=#CC6600]else {
Enc_Pos--;
[color=#CC6600]if (Enc_Pos < 0) {
Enc_Pos = Enc_Line - 1;
TahoSetPulse();
[color=#CC6600]if (Motor_En_flag==[color=#CC6600]true) {
Step_On_flag = [color=#CC6600]true;
}
}
[color=#CC6600]if (Step_On_flag == [color=#CC6600]true) {
[color=#CC6600]if (Mode == Mode_Thread_Left) {
StepMotorForward();
}
[color=#CC6600]if (Mode == Mode_Thread_Right) {
StepMotorReverse();
}
[color=#CC6600]if (Ks_Count == 0) {
StepMotorSetPulse();
Km_Count = Km_Count - Km_Divisor;
[color=#CC6600]if (Km_Count < 1) {
Km_Count = Km_Count + 10000;
Ks_Count = Ks_Divisor + 1;
}
[color=#CC6600]else {
Ks_Count = Ks_Divisor;
}
}
Ks_Count--;
}
}
TahoRemovePulse();
StepMotorRemovePulse();
}
[color=#7E7E7E]//*******************************************************************
файлы и исходники у меня есть
начинающий
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