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mednas
Joined: 09 May 2020
Posts: 7
Location: Algeria
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| Stepper motor step/dir lib for drivers like A4988.. [SOLVED] |
 Posted: Sat May 09, 2020 11:24 am |
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I want to use stepper motor with (step/dir) driver like A4988 or DRV8825, so i need library for this kind of driver that uses step/dir command. I found one but it's for Arduino AccelStepper. I can't use it for PIC16F or 18F. If someone can translate the code for CCS, or have a library or any help, i will really thank you and I will be grateful.
The code of this driver for Arduino is:
| Code: |
#include "AccelStepper.h"
#if 0
// Some debugging assistance
void dump(uint8_t* p, int l)
{
int i;
for (i = 0; i < l; i++)
{
Serial.print(p[i], HEX);
Serial.print(" ");
}
Serial.println("");
}
#endif
void AccelStepper::moveTo(long absolute)
{
if (_targetPos != absolute)
{
_targetPos = absolute;
computeNewSpeed();
// compute new n?
}
}
void AccelStepper::move(long relative)
{
moveTo(_currentPos + relative);
}
// Implements steps according to the current step interval
// You must call this at least once per step
// returns true if a step occurred
boolean AccelStepper::runSpeed()
{
// Dont do anything unless we actually have a step interval
if (!_stepInterval)
return false;
unsigned long time = micros();
if (time - _lastStepTime >= _stepInterval)
{
if (_direction == DIRECTION_CW)
{
// Clockwise
_currentPos += 1;
}
else
{
// Anticlockwise
_currentPos -= 1;
}
step(_currentPos);
_lastStepTime = time; // Caution: does not account for costs in step()
return true;
}
else
{
return false;
}
}
long AccelStepper::distanceToGo()
{
return _targetPos - _currentPos;
}
long AccelStepper::targetPosition()
{
return _targetPos;
}
long AccelStepper::currentPosition()
{
return _currentPos;
}
// Useful during initialisations or after initial positioning
// Sets speed to 0
void AccelStepper::setCurrentPosition(long position)
{
_targetPos = _currentPos = position;
_n = 0;
_stepInterval = 0;
_speed = 0.0;
}
void AccelStepper::computeNewSpeed()
{
long distanceTo = distanceToGo(); // +ve is clockwise from curent location
long stepsToStop = (long)((_speed * _speed) / (2.0 * _acceleration)); // Equation 16
if (distanceTo == 0 && stepsToStop <= 1)
{
// We are at the target and its time to stop
_stepInterval = 0;
_speed = 0.0;
_n = 0;
return;
}
if (distanceTo > 0)
{
// We are anticlockwise from the target
// Need to go clockwise from here, maybe decelerate now
if (_n > 0)
{
// Currently accelerating, need to decel now? Or maybe going the wrong way?
if ((stepsToStop >= distanceTo) || _direction == DIRECTION_CCW)
_n = -stepsToStop; // Start deceleration
}
else if (_n < 0)
{
// Currently decelerating, need to accel again?
if ((stepsToStop < distanceTo) && _direction == DIRECTION_CW)
_n = -_n; // Start accceleration
}
}
else if (distanceTo < 0)
{
// We are clockwise from the target
// Need to go anticlockwise from here, maybe decelerate
if (_n > 0)
{
// Currently accelerating, need to decel now? Or maybe going the wrong way?
if ((stepsToStop >= -distanceTo) || _direction == DIRECTION_CW)
_n = -stepsToStop; // Start deceleration
}
else if (_n < 0)
{
// Currently decelerating, need to accel again?
if ((stepsToStop < -distanceTo) && _direction == DIRECTION_CCW)
_n = -_n; // Start accceleration
}
}
// Need to accelerate or decelerate
if (_n == 0)
{
// First step from stopped
_cn = _c0;
_direction = (distanceTo > 0) ? DIRECTION_CW : DIRECTION_CCW;
}
else
{
// Subsequent step. Works for accel (n is +_ve) and decel (n is -ve).
_cn = _cn - ((2.0 * _cn) / ((4.0 * _n) + 1)); // Equation 13
_cn = max(_cn, _cmin);
}
_n++;
_stepInterval = _cn;
_speed = 1000000.0 / _cn;
if (_direction == DIRECTION_CCW)
_speed = -_speed;
#if 0
Serial.println(_speed);
Serial.println(_acceleration);
Serial.println(_cn);
Serial.println(_c0);
Serial.println(_n);
Serial.println(_stepInterval);
Serial.println(distanceTo);
Serial.println(stepsToStop);
Serial.println("-----");
#endif
}
// Run the motor to implement speed and acceleration in order to proceed to the target position
// You must call this at least once per step, preferably in your main loop
// If the motor is in the desired position, the cost is very small
// returns true if the motor is still running to the target position.
boolean AccelStepper::run()
{
if (runSpeed())
computeNewSpeed();
return _speed != 0.0 || distanceToGo() != 0;
}
AccelStepper::AccelStepper(uint8_t interface, uint8_t pin1, uint8_t pin2, uint8_t pin3, uint8_t pin4, bool enable)
{
_interface = interface;
_currentPos = 0;
_targetPos = 0;
_speed = 0.0;
_maxSpeed = 1.0;
_acceleration = 0.0;
_sqrt_twoa = 1.0;
_stepInterval = 0;
_minPulseWidth = 1;
_enablePin = 0xff;
_lastStepTime = 0;
_pin[0] = pin1;
_pin[1] = pin2;
_pin[2] = pin3;
_pin[3] = pin4;
_enableInverted = false;
// NEW
_n = 0;
_c0 = 0.0;
_cn = 0.0;
_cmin = 1.0;
_direction = DIRECTION_CCW;
int i;
for (i = 0; i < 4; i++)
_pinInverted[i] = 0;
if (enable)
enableOutputs();
// Some reasonable default
setAcceleration(1);
}
AccelStepper::AccelStepper(void (*forward)(), void (*backward)())
{
_interface = 0;
_currentPos = 0;
_targetPos = 0;
_speed = 0.0;
_maxSpeed = 1.0;
_acceleration = 0.0;
_sqrt_twoa = 1.0;
_stepInterval = 0;
_minPulseWidth = 1;
_enablePin = 0xff;
_lastStepTime = 0;
_pin[0] = 0;
_pin[1] = 0;
_pin[2] = 0;
_pin[3] = 0;
_forward = forward;
_backward = backward;
// NEW
_n = 0;
_c0 = 0.0;
_cn = 0.0;
_cmin = 1.0;
_direction = DIRECTION_CCW;
int i;
for (i = 0; i < 4; i++)
_pinInverted[i] = 0;
// Some reasonable default
setAcceleration(1);
}
void AccelStepper::setMaxSpeed(float speed)
{
if (speed < 0.0)
speed = -speed;
if (_maxSpeed != speed)
{
_maxSpeed = speed;
_cmin = 1000000.0 / speed;
// Recompute _n from current speed and adjust speed if accelerating or cruising
if (_n > 0)
{
_n = (long)((_speed * _speed) / (2.0 * _acceleration)); // Equation 16
computeNewSpeed();
}
}
}
float AccelStepper::maxSpeed()
{
return _maxSpeed;
}
void AccelStepper::setAcceleration(float acceleration)
{
if (acceleration == 0.0)
return;
if (acceleration < 0.0)
acceleration = -acceleration;
if (_acceleration != acceleration)
{
// Recompute _n per Equation 17
_n = _n * (_acceleration / acceleration);
// New c0 per Equation 7, with correction per Equation 15
_c0 = 0.676 * sqrt(2.0 / acceleration) * 1000000.0; // Equation 15
_acceleration = acceleration;
computeNewSpeed();
}
}
void AccelStepper::setSpeed(float speed)
{
if (speed == _speed)
return;
speed = constrain(speed, -_maxSpeed, _maxSpeed);
if (speed == 0.0)
_stepInterval = 0;
else
{
_stepInterval = fabs(1000000.0 / speed);
_direction = (speed > 0.0) ? DIRECTION_CW : DIRECTION_CCW;
}
_speed = speed;
}
float AccelStepper::speed()
{
return _speed;
}
// Subclasses can override
void AccelStepper::step(long step)
{
switch (_interface)
{
case FUNCTION:
step0(step);
break;
case DRIVER:
step1(step);
break;
case FULL2WIRE:
step2(step);
break;
case FULL3WIRE:
step3(step);
break;
case FULL4WIRE:
step4(step);
break;
case HALF3WIRE:
step6(step);
break;
case HALF4WIRE:
step8(step);
break;
}
}
// You might want to override this to implement eg serial output
// bit 0 of the mask corresponds to _pin[0]
// bit 1 of the mask corresponds to _pin[1]
// ....
void AccelStepper::setOutputPins(uint8_t mask)
{
uint8_t numpins = 2;
if (_interface == FULL4WIRE || _interface == HALF4WIRE)
numpins = 4;
else if (_interface == FULL3WIRE || _interface == HALF3WIRE)
numpins = 3;
uint8_t i;
for (i = 0; i < numpins; i++)
digitalWrite(_pin[i], (mask & (1 << i)) ? (HIGH ^ _pinInverted[i]) : (LOW ^ _pinInverted[i]));
}
// 0 pin step function (ie for functional usage)
void AccelStepper::step0(long step)
{
(void)(step); // Unused
if (_speed > 0)
_forward();
else
_backward();
}
// 1 pin step function (ie for stepper drivers)
// This is passed the current step number (0 to 7)
// Subclasses can override
void AccelStepper::step1(long step)
{
(void)(step); // Unused
// _pin[0] is step, _pin[1] is direction
setOutputPins(_direction ? 0b10 : 0b00); // Set direction first else get rogue pulses
setOutputPins(_direction ? 0b11 : 0b01); // step HIGH
// Caution 200ns setup time
// Delay the minimum allowed pulse width
delayMicroseconds(_minPulseWidth);
setOutputPins(_direction ? 0b10 : 0b00); // step LOW
}
// 2 pin step function
// This is passed the current step number (0 to 7)
// Subclasses can override
void AccelStepper::step2(long step)
{
switch (step & 0x3)
{
case 0: /* 01 */
setOutputPins(0b10);
break;
case 1: /* 11 */
setOutputPins(0b11);
break;
case 2: /* 10 */
setOutputPins(0b01);
break;
case 3: /* 00 */
setOutputPins(0b00);
break;
}
}
// 3 pin step function
// This is passed the current step number (0 to 7)
// Subclasses can override
void AccelStepper::step3(long step)
{
switch (step % 3)
{
case 0: // 100
setOutputPins(0b100);
break;
case 1: // 001
setOutputPins(0b001);
break;
case 2: //010
setOutputPins(0b010);
break;
}
}
// 4 pin step function for half stepper
// This is passed the current step number (0 to 7)
// Subclasses can override
void AccelStepper::step4(long step)
{
switch (step & 0x3)
{
case 0: // 1010
setOutputPins(0b0101);
break;
case 1: // 0110
setOutputPins(0b0110);
break;
case 2: //0101
setOutputPins(0b1010);
break;
case 3: //1001
setOutputPins(0b1001);
break;
}
}
// 3 pin half step function
// This is passed the current step number (0 to 7)
// Subclasses can override
void AccelStepper::step6(long step)
{
switch (step % 6)
{
case 0: // 100
setOutputPins(0b100);
break;
case 1: // 101
setOutputPins(0b101);
break;
case 2: // 001
setOutputPins(0b001);
break;
case 3: // 011
setOutputPins(0b011);
break;
case 4: // 010
setOutputPins(0b010);
break;
case 5: // 011
setOutputPins(0b110);
break;
}
}
// 4 pin half step function
// This is passed the current step number (0 to 7)
// Subclasses can override
void AccelStepper::step8(long step)
{
switch (step & 0x7)
{
case 0: // 1000
setOutputPins(0b0001);
break;
case 1: // 1010
setOutputPins(0b0101);
break;
case 2: // 0010
setOutputPins(0b0100);
break;
case 3: // 0110
setOutputPins(0b0110);
break;
case 4: // 0100
setOutputPins(0b0010);
break;
case 5: //0101
setOutputPins(0b1010);
break;
case 6: // 0001
setOutputPins(0b1000);
break;
case 7: //1001
setOutputPins(0b1001);
break;
}
}
// Prevents power consumption on the outputs
void AccelStepper::disableOutputs()
{
if (! _interface) return;
setOutputPins(0); // Handles inversion automatically
if (_enablePin != 0xff)
{
pinMode(_enablePin, OUTPUT);
digitalWrite(_enablePin, LOW ^ _enableInverted);
}
}
void AccelStepper::enableOutputs()
{
if (! _interface)
return;
pinMode(_pin[0], OUTPUT);
pinMode(_pin[1], OUTPUT);
if (_interface == FULL4WIRE || _interface == HALF4WIRE)
{
pinMode(_pin[2], OUTPUT);
pinMode(_pin[3], OUTPUT);
}
else if (_interface == FULL3WIRE || _interface == HALF3WIRE)
{
pinMode(_pin[2], OUTPUT);
}
if (_enablePin != 0xff)
{
pinMode(_enablePin, OUTPUT);
digitalWrite(_enablePin, HIGH ^ _enableInverted);
}
}
void AccelStepper::setMinPulseWidth(unsigned int minWidth)
{
_minPulseWidth = minWidth;
}
void AccelStepper::setEnablePin(uint8_t enablePin)
{
_enablePin = enablePin;
// This happens after construction, so init pin now.
if (_enablePin != 0xff)
{
pinMode(_enablePin, OUTPUT);
digitalWrite(_enablePin, HIGH ^ _enableInverted);
}
}
void AccelStepper::setPinsInverted(bool directionInvert, bool stepInvert, bool enableInvert)
{
_pinInverted[0] = stepInvert;
_pinInverted[1] = directionInvert;
_enableInverted = enableInvert;
}
void AccelStepper::setPinsInverted(bool pin1Invert, bool pin2Invert, bool pin3Invert, bool pin4Invert, bool enableInvert)
{
_pinInverted[0] = pin1Invert;
_pinInverted[1] = pin2Invert;
_pinInverted[2] = pin3Invert;
_pinInverted[3] = pin4Invert;
_enableInverted = enableInvert;
}
// Blocks until the target position is reached and stopped
void AccelStepper::runToPosition()
{
while (run())
;
}
boolean AccelStepper::runSpeedToPosition()
{
if (_targetPos == _currentPos)
return false;
if (_targetPos >_currentPos)
_direction = DIRECTION_CW;
else
_direction = DIRECTION_CCW;
return runSpeed();
}
// Blocks until the new target position is reached
void AccelStepper::runToNewPosition(long position)
{
moveTo(position);
runToPosition();
}
void AccelStepper::stop()
{
if (_speed != 0.0)
{
long stepsToStop = (long)((_speed * _speed) / (2.0 * _acceleration)) + 1; // Equation 16 (+integer rounding)
if (_speed > 0)
move(stepsToStop);
else
move(-stepsToStop);
}
}
bool AccelStepper::isRunning()
{
return !(_speed == 0.0 && _targetPos == _currentPos);
}
|
Thanks
_________________
''I never lose, I either win or learn!" Nelson Mandela
Last edited by mednas on Thu May 14, 2020 2:34 am; edited 3 times in total |
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dyeatman
Joined: 06 Sep 2003
Posts: 1934
Location: Norman, OK
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| Stepper Driver |
| Posted: Sat May 09, 2020 2:32 pm |
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Did you search the CCS Code Library?
There are several there including one I posted a while back.
Go here to find the site index and the Code Library:
http://www.ccsinfo.com/forum/index.php
Then use the search option at the top of the page to search for the word stepper
BTW, I like your tag line!
''I never loose, I either win or learn!" Nelson Mandela
_________________
Google and Forum Search are some of your best tools!!!!
Last edited by dyeatman on Sun May 10, 2020 6:43 am; edited 6 times in total |
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mednas
Joined: 09 May 2020
Posts: 7
Location: Algeria
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| Posted: Sun May 10, 2020 2:43 am |
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Hi Dyeatman. Yes i want a CCS Code Library to control a stepper motor with driver like drv8825 using step/dir pins for more precision (microstepping) and there are many stepper motor driver that work with step/dir commands. i appreciate any help. If you can give me link or posting a code please. Thank you
Sorry for my bad english
_________________
''I never lose, I either win or learn!" Nelson Mandela |
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temtronic
Joined: 01 Jul 2010
Posts: 9243
Location: Greensville,Ontario
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| Posted: Sun May 10, 2020 4:56 am |
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At the top of this post, you can goto the blue ccs index, choose 'code library'. It's another 'forum' that will have LOTS of working code for dozens of peripherals and tasks.
You can use the 'search' option (upper right area), just enter 'keywords' to narrow your search results.
I'm always amazed at the Worldwide appeal of PICs, and forget that English is not everyone's 1st language. I still haven't mastered it after 67 years....  |
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mednas
Joined: 09 May 2020
Posts: 7
Location: Algeria
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| Posted: Sun May 10, 2020 10:12 am |
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Thanks for your help, i Know how to do a search in the general CCS discussion. I found nothing about step/dir driver Library for stepper motor.
There are Library for stepper motor but direct connection like l293d or H bridge not step/dir driver library with acceleration and deceleration, speed and control for multiple stepper motor...
_________________
''I never lose, I either win or learn!" Nelson Mandela |
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temtronic
Joined: 01 Jul 2010
Posts: 9243
Location: Greensville,Ontario
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| Posted: Sun May 10, 2020 10:26 am |
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| There's two hits for DRV8825, your question and another. Perhaps it has what you need ?? |
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dyeatman
Joined: 06 Sep 2003
Posts: 1934
Location: Norman, OK
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mednas
Joined: 09 May 2020
Posts: 7
Location: Algeria
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| Posted: Sun May 10, 2020 2:00 pm |
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Yes i see the video this what i want dyeatman. But he don't share any information about code or library 
temtronic i check the code of the second one who post the question about drv8825 but he use a code with PWM to control steps of the driver this make a motor speed without acceleration and deceleration its not good for stepper motor and can't control exact number of steps. Thank you.
Thanks for all who want to help me.
_________________
''I never lose, I either win or learn!" Nelson Mandela |
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temtronic
Joined: 01 Jul 2010
Posts: 9243
Location: Greensville,Ontario
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| Posted: Sun May 10, 2020 2:38 pm |
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if, IF, the Ardunio driver will do what you need, roll up your sleeves and convert into CCS C code.
What you've shown isn't the complete driver. If you eliminate all the //// comments, there's just a LOT of functions, no real code.
If you're already familiar with Ardunio style C, then conversion to CCS is pretty easy. even easier if you have the hardware (stepper PCB, motor, PSU). |
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mednas
Joined: 09 May 2020
Posts: 7
Location: Algeria
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| Posted: Sun May 10, 2020 4:53 pm |
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yes temtronic, the code is not complete you are right, there are other .ccp files who have all functions i will change it, no chance i will roll up my sleeves as you said and i will take the functions i need. 
_________________
''I never lose, I either win or learn!" Nelson Mandela |
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Ttelmah
Joined: 11 Mar 2010
Posts: 19539
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| Posted: Tue May 12, 2020 12:39 am |
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I have to make the comment here, that all stepper libraries can be
modified from being direct drive to being step/direction.
If you look at the posted library, it has different drive functions
for the motor. step1, is the step/direction drive. then step2, step3, step4
and step8, are the functions to output bit patterns to directly drive the
motor, in single step & half step modes.
Just as with this every existing library can be used with step/direction
drive. If you pull (for example), the basic ex_step code. All you need to
do is where the code advances forwards/back through phase patterns,
substitute a single step pulse, with the direction set for either forwards
or back. This example is very basic with no acceleration or deceleration,
but makes the point of how easy this change is.
Step/direction, is so simple compared to phase drive, that separate
libraries for it rarely exist. |
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temtronic
Joined: 01 Jul 2010
Posts: 9243
Location: Greensville,Ontario
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| Posted: Tue May 12, 2020 5:17 am |
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A comment.
I was curious about the A4988 so I downloaded the datasheet. I assume the driver uses the microstepping pins to do accel/decel . This would give it 5 'steps' during accel or decel.
The problem with any 'driver' is that it doesn't know what motor, drivetrain, load, etc. that it's controlling. You'll need to do a lot of bench testing to get the numbers right for smooth operation of whatever you're controlling. The last big stepper I coded for was a 2HP unit that ran a carousel,useingan LSI-11 and assembler.
Start with a basic 'bit control' driver. Get the PIC to actually move the motor and direction. Then add microstepping functions. After that it's just bench testing to get the timing of transitions 'right' for whatever you're controlling.
Also
be very careful about PCB layout, PSU design, wiring, etc. and protect all PIC pins from EMI spikes ! |
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Ttelmah
Joined: 11 Mar 2010
Posts: 19539
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| Posted: Tue May 12, 2020 7:50 am |
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Just FYI, there is a 'move steps' library here:
<http://www.buildlog.net/pic/pic_basic_motion.html>
It has the classic 'SPI_SS_DISABLED' error created by the old wizard,
so change this line to setup_spi(FALSE); which is the correct syntax.
(edited, forgot the closing bracket...)
Last edited by Ttelmah on Tue May 12, 2020 9:35 am; edited 1 time in total |
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ezflyr
Joined: 25 Oct 2010
Posts: 1019
Location: Tewksbury, MA
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| Posted: Tue May 12, 2020 8:38 am |
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Hello mednas,
Sorry, nothing to add regarding your original question, but I will point out that there is an error in your signature line! I realize that you are probably not a native English speaker, so it's quite understandable!
You use the word 'loose' in your signature line which is an adjective meaning 'not tight'. You really want to use the word 'lose' which is a verb meaning 'fail to win'.
BTW, the sentiment of the what you are trying to say is very admirable, and I agree with it 100%!
_________________
John
If it's worth doing, it's worth doing in real hardware! |
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mednas
Joined: 09 May 2020
Posts: 7
Location: Algeria
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| Posted: Wed May 13, 2020 5:32 am |
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thanks for all, i tried this code its work for full step with a4988 and drv8825 but so slowly for microstepping its logic, i will work on that,this is the code:
| Code: |
// this code work fine with step/dir drivers ( full step ) but slowly for microstepping
#include <16f876a.h>
#device adc=10
#fuses HS,NOWDT,NOPUT,NOPROTECT,NODEBUG,BROWNOUT,NOLVP,NOCPD,NOWRT
#USE DELAY(clock = 16000000)
#use rs232(baud=9600, xmit=PIN_C6, rcv=PIN_C7,bits=8, parity=N)
#INCLUDE <stdlib.h>
#include <flex_lcd.c>
#define BUFFER_SIZE 15
BYTE buffer[BUFFER_SIZE];
BYTE string[BUFFER_SIZE];
BYTE P1[7];
BYTE P2[7];
BYTE next_in = 0;
BYTE next_out = 0;
#define Dir_M1 PIN_C0 // dir pin for driver of motor 1
#define Dir_M2 PIN_C2 // dir pin for driver of motor 2
#define Step_M1 PIN_C1 // step pin for driver of motor 1
#define Step_M2 PIN_C3 // step pin for driver of motor 2
#define en_dr PIN_C4 // enable drivers pin
unsigned int8 i=0,t,k;
int1 have_string=FALSE;
unsigned int8 max_sp=2; //max speed 2 ms per step thats for full drive its so slowly for microsteps
unsigned int8 acc = 30; //accelleration deceleration example : 30 steps for acceleration
signed int32 pos1,pos2,j;
#int_rda
void serial_isr() {
int t;
buffer[next_in]=getc();
t=next_in;
next_in=(next_in+1) % BUFFER_SIZE;
if(next_in==next_out)
next_in=t; // Buffer full !!
}
#define bkbhit (next_in!=next_out)
BYTE bgetc() {
BYTE c;
while(!bkbhit) ;
c=buffer[next_out];
next_out=(next_out+1) % BUFFER_SIZE;
return(c);
}
//-----------------------------------------------------------------------------------
void step_move(unsigned int a,signed int32 y){
switch (a) {
case 1:{ if (y<0) {output_low(Dir_M1);y=-y;} else output_high (Dir_M1);
for (j=0;j<y;j++)
{
if (j<acc)
{
i=(acc+max_sp-1-j);
output_high(Step_M1);delay_ms(i);output_low(Step_M1);delay_ms(i);
}
if ((j>=acc)&&(j<=(y-acc)))
{
output_high(Step_M1);delay_ms(i);output_low(Step_M1);delay_ms(i);
}
if (j>(y-acc))
{
i=j-(y-(acc+max_sp-1));
output_high(Step_M1);delay_ms(i);output_low(Step_M1);delay_ms(i);
}
}}break;
case 2:{ if (y<0) {output_low(Dir_M2);y=-y;} else output_high(Dir_M2);
for (j=0;j<y;j++)
{
if (j<acc)
{
i=(acc+max_sp-1-j);
output_high(Step_M2);delay_ms(i);output_low(Step_M2);delay_ms(i);
}
if ((j>=acc)&&(j<=(y-acc)))
{
output_high(Step_M2);delay_ms(i);output_low(Step_M2);delay_ms(i);
}
if (j>(y-acc))
{
i=j-(y-(acc+max_sp-1));
output_high(Step_M2);delay_ms(i);output_low(Step_M2);delay_ms(i);
}
}}break;
}
}
//-----------------------------------------------------------------------------------
void main()
{
set_tris_a(0xff);
set_tris_b(0x00);
//port_a_pullups(TRUE);
lcd_init() ;
printf(lcd_putc,"Salam alikoum"); //hello
delay_ms(300); //many LCD's require longer to wake
output_high(en_dr); //initialise driver
enable_interrupts(GLOBAL);
enable_interrupts(INT_RDA); //enable_interrupts
do {
delay_ms(100);
k=0;
string="";
while(bkbhit){
string[k] = bgetc();
k++;
have_string=true;
}
if ( have_string){
disable_interrupts(GLOBAL);
have_string=false;
printf("RX=>OK\n");
for (k=0;k<7;k++){P1[k]=string[k];}
for (k=7;k<15;k++){P2[k-7]=string[k];}
pos1=atoi32(P1);
pos2=atoi32(P2);
printf("pos1=%ld>>>pos2=%ld\n",pos1,pos2);
output_low(en_dr); //enable driver
step_move(1,pos1); //move motor1 to pos 1
printf("Pos1>>%ld end\r\n",pos1);
delay_ms(1000);
step_move(1,pos2); //move motor1 to pos 2
printf("Pos2>>%ld end\r\n",pos2);
delay_ms(1000);
output_high(en_dr); //disable driver
enable_interrupts(GLOBAL);
}
if (!input(PIN_a1) )
{
output_low(en_dr); //enable driver
pos1=pos1*(-1);
step_move(1,pos1);
printf("Pos1>>%ld end\r\n",pos1);
delay_ms(1000);
pos2=pos2*(-1);
step_move(1,pos2);
printf("Pos2>>%ld end\r\n",pos2);
delay_ms(1000);
output_high(en_dr); //disable driver
}
} while (TRUE);
}
////////////////////////////////////////////////////////////////////////////////
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thank you Ttelmah i will try with the library of the link
ezflyr yes i'm not native english speaker (arabic and french) but i try to speak and to search in english, thank you for explanation
_________________
''I never lose, I either win or learn!" Nelson Mandela |
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