Friday, March 1, 2013
Stepper Motor Controller CCS
/////////////////////////////////////////////////////////////////////////
//// This program interfaces to a stepper motor. The program will ////
//// use the RS-232 interface to either control the motor with a ////
//// analog input, a switch input or by RS-232 command. ////
//// ////
//// Configure the CCS prototype card as follows: ////
//// Connect stepper motor to pins 47-50 (B0-B3) ////
//// Conenct 40 to 54 (pushbutton) ////
//// Connect 9 to 15 (pot) ////
//// See additional connections below. ////
/////////////////////////////////////////////////////////////////////////
#include <16c74 .h="">
#fuses HS,NOWDT,NOPROTECT
#use delay(clock=20000000)
#use rs232(baud=9600, xmit=PIN_C6, rcv=PIN_C7) // Jumpers: 8 to 11, 7 to 12
#include
#byte port_b = 6
#define FOUR_PHASE TRUE
#ifdef FOUR_PHASE
byte const POSITIONS[4] = {0b0101,
0b1001,
0b1010,
0b0110};
#else
byte const POSITIONS[8] = {0b0101,
0b0001,
0b1001,
0b1000,
0b1010,
0b0010,
0b0110,
0b0100};
#endif
drive_stepper(BYTE speed, char dir, BYTE steps) {
static BYTE stepper_state = 0;
BYTE i;
for(i=0; i
delay_ms(speed);
set_tris_b(0xf0);
port_b = POSITIONS[ stepper_state ];
if(dir!='R')
stepper_state=(stepper_state+1)&(sizeof(POSITIONS)-1);
else
stepper_state=(stepper_state-1)&(sizeof(POSITIONS)-1);
}
}
use_pot() {
BYTE value;
setup_adc(adc_clock_internal);
set_adc_channel( 1 );
printf("rn");
while( TRUE ) {
value=read_adc();
printf("%2Xr",value);
if(value<0x80 font="">
drive_stepper(value,'R',8);
else if(value>0x80)
drive_stepper(128-(value-128),'F',8);
}
}
use_switch(BYTE speed, char dir) {
BYTE steps;
printf("nrSteps per press: ");
steps = gethex();
while(true) {
while(input(PIN_B7)) ;
drive_stepper(speed,dir,steps);
while(!input(PIN_B7)) ;
delay_ms(100);
}
}
main() {
byte speed,steps;
char dir;
setup_port_a(RA0_RA1_ANALOG);
while (TRUE) {
printf("nrSpeed (hex): ");
speed = gethex();
if(speed==0)
use_pot();
printf("nrDirection (F,R): ");
dir=getc()|0x20;
putc(dir);
printf("nrSteps (hex): ");
steps = gethex();
if(steps==0)
use_switch(speed,dir);
drive_stepper(speed,dir,steps);
}
}
Currently have 0 comentarios: