slide_table_ex04.c
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開始行:
[[Real2Virtual202111]]
* slide_table_ex04.c [#c32c2899]
- Stepping motor controller, Arduino, with ToF sensor, LCD,
-- references
--- http://www.wsnak.com/wsnakblog/?p=2170
#code(c){{
#include <Wire.h>
#include <wI2cLcdACM1602.h> // LCD
wI2cLcdACM1602 lcd; //
char StrBuf[17];
uint8_t read_line[128];
int read_line_len;
String line_1st;
uint8_t prev_line[128];
int prev_line_len;
String line_2nd;
String inputString;
void putLine(String x){
line_1st=line_2nd;
line_2nd=x;
char lcdl[16];
char ch;
int i;
for(i = 0; i < 16; i++) {lcdl[i]=' ';}
for(i=0; i<16;i++){lcdl[i]=line_1st.charAt(i);}
lcd.setCursor(0,0);
for(i=0;i<16;i++) {lcd.print(lcdl[i]);}
for(i = 0; i < 16; i++) {lcdl[i]=' ';}
for(i=0; i<16;i++){lcdl[i]=line_2nd.charAt(i);}
lcd.setCursor(0,1);
for(i=0;i<16;i++) {lcd.print(lcdl[i]);}
}
int LED_IS_ON;
/*
Slide Table ex01
*/
/*
Control a bi-polar stepper motor using the SparkFun Pro...
By: Pete Lewis
SparkFun Electronics
Date: July 2nd, 2020
License: MIT. See license file for more information but...
basically do whatever you want with this code.
This example does a custom setup (1/2 microstep resolut...
Feel like supporting open source hardware?
Buy a board from SparkFun! https://www.sparkfun.com/pro...
Hardware Connections:
ARDUINO --> PRODRIVER
D8 --> STBY
D7 --> EN
D6 --> MODE0
D5 --> MODE1
D4 --> MODE2
D3 --> MODE3
D2 --> ERR
*/
//#include <Wire.h>
#define ADDRESS 0x52
uint16_t distance;
uint16_t distance_tmp;
uint8_t data_cnt;
#include "SparkFun_ProDriver_TC78H670FTG_Arduino_Library....
PRODRIVER myProDriver; //Create instance of this object
uint32_t current_pulse;
double position; //mm.
uint32_t zero_pulse;
int direction;
void setup() {
Serial.begin(115200);
Serial.println("slide table ex03, SparkFun ProDriver TC...
pinMode(9, INPUT_PULLUP);
pinMode(10, INPUT_PULLUP);
//***** Configure the ProDriver's Settings *****//
// Note, we must change settings BEFORE calling the .be...
// For this example, we will try 1/2 step resolution.
// myProDriver.settings.stepResolutionMode = PRODRIVER_S...
// The following lines of code are other options you ca...
// Comment-out the above settings declaration, and unco...
// myProDriver.settings.stepResolutionMode = PRODRIVER_...
// myProDriver.settings.stepResolutionMode = PRODRIVER_...
// myProDriver.settings.stepResolutionMode = PRODRIVER_...
// myProDriver.settings.stepResolutionMode = PRODRIVER_...
// myProDriver.settings.stepResolutionMode = PRODRIVER_...
// myProDriver.settings.stepResolutionMode = PRODRIVER_...
// myProDriver.settings.stepResolutionMode = PRODRIVER_...
// myProDriver.settings.stepResolutionMode = PRODRIVER_...
direction=0;
current_pulse=0;
position=0.0;
myProDriver.begin(); // adjust custom settings before c...
Wire.begin();
pinMode(13, OUTPUT);
lcd.begin(); // LCD初期化
lcd.clear(); // 全クリア
lcd.noBlink(); // カーソル点滅なし
lcd.noCursor(); // カーソル表示なし
delay(1000);
}
String rb(String x){
String rtn=x;
while(rtn.startsWith(" ")){
rtn=rtn.substring(1);
}
return rtn;
}
boolean rkey(String key, String x, String *rest){
if(x.startsWith(key)){
rest[0]=x.substring(key.length());
return true;
}
return false;
}
boolean isDec(char c){
if('0'<=c && c<='9') return true;
return false;
}
boolean rpint(String x, int *n, String *rest){
int nx=0;
int cx=0;
if(!isDec(x.charAt(0))){
rest[0]=x;
return false;
}
cx=x.charAt(0)-'0';
nx=cx;
n[0]=nx;
if(x.length()<=0) return true;
x=x.substring(1);
while(isDec(x.charAt(0))){
cx=x.charAt(0)-'0';
nx=nx*10+cx;
if(x.length()<=0) break;
x=x.substring(1);
}
rest[0]=x;
n[0]=nx;
}
void return_result(String x){
Serial.println(x);
putLine(x);
}
void setPulse(uint16_t x){
current_pulse =x;
}
void setPosition(double x){
position =x;
}
int16_t pos2pul(double x){
uint32_t rtn=(int)(100.0*x);
return rtn;
}
void action(int32_t x){
Serial.println("action("+String(x)+")");
if(x>0){
myProDriver.step(x, direction); // turn 200 steps, CW...
current_pulse=current_pulse+x;
}
else{
myProDriver.step(-x, 1-direction); // turn 200 steps,...
current_pulse=current_pulse+x;
}
}
void moveTo(double x){
Serial.println("moveto("+String(x)+")");
double relative=x-position;
int32_t r_pulse=pos2pul(relative);
action(r_pulse);
position=x;
}
boolean rStrc(String inx, String *strc, String *rest){
// Serial.print("rStrc inx="); Serial.println(inx);
String rx[1];
String xstr="";
if(rkey("\"",inx,rx)){
inx=rx[0];
char fx=inx.charAt(0);
int xlen=inx.length();
while (fx!='"'){
if( xlen==0) {
Serial.print("rStrc false xstr="); Ser...
return false;
}
if( fx=='\\')
inx=inx.substring(1);
else
xstr=xstr+fx;
xlen=inx.length();
inx=inx.substring(1);
fx=inx.charAt(0);
}
if(rkey("\"",inx,rx)){
strc[0]=xstr;
rest[0]=rx[0];
return true;
}
}
return 0;
}
/*
command:
get current.
set current <position>.
moveto <position>.
reverse
reset
*/
void parse_line(String line){
String l=rb(line);
String rest[1];
int nx[1];
Serial.println("rec "+l);
if(rkey("get ",l,rest)){
l=rb(rest[0]);
//DebugSerial.println("l="+l);
if(rkey("current",l,rest)){
String sx=String(position);
//DebugSerial.println("sx="+sx);
return_result(sx);
}
if(rkey("distance",l,rest)){
String sx=String(distance)+" mm.";
//DebugSerial.println("sx="+sx);
return_result(sx);
}
}
else
if(rkey("set ",l,rest)){
l=rb(rest[0]);
int n;
//DebugSerial.println("l="+l);
if(rkey("current ",l,rest)){
l=rb(rest[0]);
if(rpint(l,nx,rest)){
n=nx[0];
//DebugSerial.println("n=");
//DebugSerial.println(n);
position=(double)n;
l=rest[0];
if(rkey(".",l,rest)){
double sub1=0.0;
l=rest[0];
if(rpint(l,nx,rest)){
n=nx[0];
for(int i=1;i<=10;i++){
sub1=(double)n/(pow(10.0,i));
if(sub1<1.0) break;
}
position=position+sub1;
}
}
String sx=String(position);
return_result(sx);
}
}
}
else
if(rkey("moveTo ",l,rest)){
l=rb(rest[0]);
if(rpint(l,nx,rest)){
int n=nx[0];
l=rest[0];
// Serial.print("n="); Serial.println(n);
double px=(double)n;
// Serial.print("l="); Serial.println(l);
if(rkey(".",l,rest)){
l=rest[0];
// Serial.print("l="); Serial.println(l);
double sub1=0.0;
if(rpint(l,nx,rest)){
l=rest[0];
// Serial.print("l="); Serial.println(l);
n=nx[0];
for(int i=1;i<=10;i++){
sub1=(double)n/(pow(10.0,i));
if(sub1<1.0) break;
}
px=px+sub1;
}
}
l=rb(rest[0]);
String strc[1];
String doneLabel="";
if(rStrc(l,strc,rest)){
doneLabel=strc[0];
}
String sx=String(position);
moveTo(px);
if(doneLabel.equals(""))
return_result(sx);
else return_result("done "+doneLabel);
}
}
else
if(rkey("reverse",l,rest)){
direction=1-direction;
}
else
if(rkey("reset",l,rest)){
direction=0;
current_pulse=0;
position=0.0;
}
}
unsigned long last_tx_time = 0;
/*
SerialEvent occurs whenever a new data comes in the har...
routine is run between each time loop() runs, so using ...
delay response. Multiple bytes of data may be available.
*/
void xserialEvent() {
while (Serial.available()) {
// get the new byte:
char inChar = (char)Serial.read();
// Serial.print(inChar);
// add it to the inputString:
inputString += inChar;
// if the incoming character is a newline, set a flag...
// do something about it:
if (inChar == '\n') {
putLine(inputString);
parse_line(inputString);
inputString="";
digitalWrite(13,LED_IS_ON);
LED_IS_ON=1-LED_IS_ON;
}
}
}
void loop() {
// digitalWrite(13, LOW);
// delay(5);
//Serial.print("distance = ");
Wire.beginTransmission(ADDRESS);
Wire.write(0xD3);
Wire.endTransmission(false);
Wire.requestFrom(ADDRESS, 2);
data_cnt = 0;
distance = 0;
distance_tmp = 0;
while(Wire.available())
{
distance_tmp = Wire.read();
distance = (distance << (data_cnt*8)) | distance_tmp;
data_cnt++;
}
// Serial.print(distance);
// Serial.println(" mm");
// digitalWrite(13, HIGH);
delay(10);
if(!digitalRead(9)){
myProDriver.step(50, 0); // turn 200 steps, CW direct...
delay(5);
}
if(!digitalRead(10)){
myProDriver.step(50, 1); // turn 200 steps, CCW direc...
delay(5);
}
xserialEvent();
}
}}
----
#counter
終了行:
[[Real2Virtual202111]]
* slide_table_ex04.c [#c32c2899]
- Stepping motor controller, Arduino, with ToF sensor, LCD,
-- references
--- http://www.wsnak.com/wsnakblog/?p=2170
#code(c){{
#include <Wire.h>
#include <wI2cLcdACM1602.h> // LCD
wI2cLcdACM1602 lcd; //
char StrBuf[17];
uint8_t read_line[128];
int read_line_len;
String line_1st;
uint8_t prev_line[128];
int prev_line_len;
String line_2nd;
String inputString;
void putLine(String x){
line_1st=line_2nd;
line_2nd=x;
char lcdl[16];
char ch;
int i;
for(i = 0; i < 16; i++) {lcdl[i]=' ';}
for(i=0; i<16;i++){lcdl[i]=line_1st.charAt(i);}
lcd.setCursor(0,0);
for(i=0;i<16;i++) {lcd.print(lcdl[i]);}
for(i = 0; i < 16; i++) {lcdl[i]=' ';}
for(i=0; i<16;i++){lcdl[i]=line_2nd.charAt(i);}
lcd.setCursor(0,1);
for(i=0;i<16;i++) {lcd.print(lcdl[i]);}
}
int LED_IS_ON;
/*
Slide Table ex01
*/
/*
Control a bi-polar stepper motor using the SparkFun Pro...
By: Pete Lewis
SparkFun Electronics
Date: July 2nd, 2020
License: MIT. See license file for more information but...
basically do whatever you want with this code.
This example does a custom setup (1/2 microstep resolut...
Feel like supporting open source hardware?
Buy a board from SparkFun! https://www.sparkfun.com/pro...
Hardware Connections:
ARDUINO --> PRODRIVER
D8 --> STBY
D7 --> EN
D6 --> MODE0
D5 --> MODE1
D4 --> MODE2
D3 --> MODE3
D2 --> ERR
*/
//#include <Wire.h>
#define ADDRESS 0x52
uint16_t distance;
uint16_t distance_tmp;
uint8_t data_cnt;
#include "SparkFun_ProDriver_TC78H670FTG_Arduino_Library....
PRODRIVER myProDriver; //Create instance of this object
uint32_t current_pulse;
double position; //mm.
uint32_t zero_pulse;
int direction;
void setup() {
Serial.begin(115200);
Serial.println("slide table ex03, SparkFun ProDriver TC...
pinMode(9, INPUT_PULLUP);
pinMode(10, INPUT_PULLUP);
//***** Configure the ProDriver's Settings *****//
// Note, we must change settings BEFORE calling the .be...
// For this example, we will try 1/2 step resolution.
// myProDriver.settings.stepResolutionMode = PRODRIVER_S...
// The following lines of code are other options you ca...
// Comment-out the above settings declaration, and unco...
// myProDriver.settings.stepResolutionMode = PRODRIVER_...
// myProDriver.settings.stepResolutionMode = PRODRIVER_...
// myProDriver.settings.stepResolutionMode = PRODRIVER_...
// myProDriver.settings.stepResolutionMode = PRODRIVER_...
// myProDriver.settings.stepResolutionMode = PRODRIVER_...
// myProDriver.settings.stepResolutionMode = PRODRIVER_...
// myProDriver.settings.stepResolutionMode = PRODRIVER_...
// myProDriver.settings.stepResolutionMode = PRODRIVER_...
direction=0;
current_pulse=0;
position=0.0;
myProDriver.begin(); // adjust custom settings before c...
Wire.begin();
pinMode(13, OUTPUT);
lcd.begin(); // LCD初期化
lcd.clear(); // 全クリア
lcd.noBlink(); // カーソル点滅なし
lcd.noCursor(); // カーソル表示なし
delay(1000);
}
String rb(String x){
String rtn=x;
while(rtn.startsWith(" ")){
rtn=rtn.substring(1);
}
return rtn;
}
boolean rkey(String key, String x, String *rest){
if(x.startsWith(key)){
rest[0]=x.substring(key.length());
return true;
}
return false;
}
boolean isDec(char c){
if('0'<=c && c<='9') return true;
return false;
}
boolean rpint(String x, int *n, String *rest){
int nx=0;
int cx=0;
if(!isDec(x.charAt(0))){
rest[0]=x;
return false;
}
cx=x.charAt(0)-'0';
nx=cx;
n[0]=nx;
if(x.length()<=0) return true;
x=x.substring(1);
while(isDec(x.charAt(0))){
cx=x.charAt(0)-'0';
nx=nx*10+cx;
if(x.length()<=0) break;
x=x.substring(1);
}
rest[0]=x;
n[0]=nx;
}
void return_result(String x){
Serial.println(x);
putLine(x);
}
void setPulse(uint16_t x){
current_pulse =x;
}
void setPosition(double x){
position =x;
}
int16_t pos2pul(double x){
uint32_t rtn=(int)(100.0*x);
return rtn;
}
void action(int32_t x){
Serial.println("action("+String(x)+")");
if(x>0){
myProDriver.step(x, direction); // turn 200 steps, CW...
current_pulse=current_pulse+x;
}
else{
myProDriver.step(-x, 1-direction); // turn 200 steps,...
current_pulse=current_pulse+x;
}
}
void moveTo(double x){
Serial.println("moveto("+String(x)+")");
double relative=x-position;
int32_t r_pulse=pos2pul(relative);
action(r_pulse);
position=x;
}
boolean rStrc(String inx, String *strc, String *rest){
// Serial.print("rStrc inx="); Serial.println(inx);
String rx[1];
String xstr="";
if(rkey("\"",inx,rx)){
inx=rx[0];
char fx=inx.charAt(0);
int xlen=inx.length();
while (fx!='"'){
if( xlen==0) {
Serial.print("rStrc false xstr="); Ser...
return false;
}
if( fx=='\\')
inx=inx.substring(1);
else
xstr=xstr+fx;
xlen=inx.length();
inx=inx.substring(1);
fx=inx.charAt(0);
}
if(rkey("\"",inx,rx)){
strc[0]=xstr;
rest[0]=rx[0];
return true;
}
}
return 0;
}
/*
command:
get current.
set current <position>.
moveto <position>.
reverse
reset
*/
void parse_line(String line){
String l=rb(line);
String rest[1];
int nx[1];
Serial.println("rec "+l);
if(rkey("get ",l,rest)){
l=rb(rest[0]);
//DebugSerial.println("l="+l);
if(rkey("current",l,rest)){
String sx=String(position);
//DebugSerial.println("sx="+sx);
return_result(sx);
}
if(rkey("distance",l,rest)){
String sx=String(distance)+" mm.";
//DebugSerial.println("sx="+sx);
return_result(sx);
}
}
else
if(rkey("set ",l,rest)){
l=rb(rest[0]);
int n;
//DebugSerial.println("l="+l);
if(rkey("current ",l,rest)){
l=rb(rest[0]);
if(rpint(l,nx,rest)){
n=nx[0];
//DebugSerial.println("n=");
//DebugSerial.println(n);
position=(double)n;
l=rest[0];
if(rkey(".",l,rest)){
double sub1=0.0;
l=rest[0];
if(rpint(l,nx,rest)){
n=nx[0];
for(int i=1;i<=10;i++){
sub1=(double)n/(pow(10.0,i));
if(sub1<1.0) break;
}
position=position+sub1;
}
}
String sx=String(position);
return_result(sx);
}
}
}
else
if(rkey("moveTo ",l,rest)){
l=rb(rest[0]);
if(rpint(l,nx,rest)){
int n=nx[0];
l=rest[0];
// Serial.print("n="); Serial.println(n);
double px=(double)n;
// Serial.print("l="); Serial.println(l);
if(rkey(".",l,rest)){
l=rest[0];
// Serial.print("l="); Serial.println(l);
double sub1=0.0;
if(rpint(l,nx,rest)){
l=rest[0];
// Serial.print("l="); Serial.println(l);
n=nx[0];
for(int i=1;i<=10;i++){
sub1=(double)n/(pow(10.0,i));
if(sub1<1.0) break;
}
px=px+sub1;
}
}
l=rb(rest[0]);
String strc[1];
String doneLabel="";
if(rStrc(l,strc,rest)){
doneLabel=strc[0];
}
String sx=String(position);
moveTo(px);
if(doneLabel.equals(""))
return_result(sx);
else return_result("done "+doneLabel);
}
}
else
if(rkey("reverse",l,rest)){
direction=1-direction;
}
else
if(rkey("reset",l,rest)){
direction=0;
current_pulse=0;
position=0.0;
}
}
unsigned long last_tx_time = 0;
/*
SerialEvent occurs whenever a new data comes in the har...
routine is run between each time loop() runs, so using ...
delay response. Multiple bytes of data may be available.
*/
void xserialEvent() {
while (Serial.available()) {
// get the new byte:
char inChar = (char)Serial.read();
// Serial.print(inChar);
// add it to the inputString:
inputString += inChar;
// if the incoming character is a newline, set a flag...
// do something about it:
if (inChar == '\n') {
putLine(inputString);
parse_line(inputString);
inputString="";
digitalWrite(13,LED_IS_ON);
LED_IS_ON=1-LED_IS_ON;
}
}
}
void loop() {
// digitalWrite(13, LOW);
// delay(5);
//Serial.print("distance = ");
Wire.beginTransmission(ADDRESS);
Wire.write(0xD3);
Wire.endTransmission(false);
Wire.requestFrom(ADDRESS, 2);
data_cnt = 0;
distance = 0;
distance_tmp = 0;
while(Wire.available())
{
distance_tmp = Wire.read();
distance = (distance << (data_cnt*8)) | distance_tmp;
data_cnt++;
}
// Serial.print(distance);
// Serial.println(" mm");
// digitalWrite(13, HIGH);
delay(10);
if(!digitalRead(9)){
myProDriver.step(50, 0); // turn 200 steps, CW direct...
delay(5);
}
if(!digitalRead(10)){
myProDriver.step(50, 1); // turn 200 steps, CCW direc...
delay(5);
}
xserialEvent();
}
}}
----
#counter
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