180 lines
3.8 KiB
C
180 lines
3.8 KiB
C
/*
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* @Author: wujunchao 24472040@qq.com
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* @Date: 2024-10-14 14:42:21
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* @LastEditors: wujunchao 24472040@qq.com
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* @LastEditTime: 2024-10-30 08:47:39
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* @FilePath: \mfps\App\Src\uniform.c
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* @Description: 这是默认设置,请设置`customMade`, 打开koroFileHeader查看配置 进行设置: https://github.com/OBKoro1/koro1FileHeader/wiki/%E9%85%8D%E7%BD%AE
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*/
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#include "uniform.h"
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//2024_10_14新增功能：匀速往/返运动，要求速度可调
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//为避免与旧程序冲突，使用↑↓组合键对[OLED,Key,LED]程序进行切换
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uint32_t uniform_speed;
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uint32_t uniform_speed_prv;
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uint8_t limit_old = 0;
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void uniform_motion(void)
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{
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switch (uniform_limit(200, 1800))
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{
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case 0:
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{
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if(limit_old != 0)
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{
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OLED_ShowString(0,6,"-----",16,0);
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OLED_ShowString(64,6,"-----",16,0);
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limit_old = 0;
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}
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}
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break;
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case 1:
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{
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if(limit_old != 1)
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{
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OLED_ShowCN(0,6,20,0); //正常“到”，第6页
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OLED_ShowCN(20,6,21,0); //正常“达”，第6页
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GREEN_OFF;
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BLUE_ON;
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limit_old = 1;
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}
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disp_new = 1;
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return;
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}
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case 2:
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{
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if(limit_old != 2)
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{
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OLED_ShowCN(64,6,20,0); //正常“到”，第6页
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OLED_ShowCN(84,6,21,0); //正常“达”，第6页
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GREEN_ON;
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BLUE_OFF;
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limit_old = 2;
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}
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disp_new = 1;
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return;
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}
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default:
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break;
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}
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switch (direc_select)
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{
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case 0: //正向运动
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{
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tmc5160_operate(1,51200*60);
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if(it_500ms_flag)
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{
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it_500ms_flag = 0;
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GREEN_TOG;
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BLUE_OFF;
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}
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}
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break;
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case 1: //反向运动
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{
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tmc5160_operate(2,51200*60);
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if(it_500ms_flag)
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{
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it_500ms_flag = 0;
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GREEN_OFF;
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BLUE_TOG;
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}
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}
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break;
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default:
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break;
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}
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}
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uint8_t ocin1_flag = 0, ocin2_flag = 0;
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char uniform_limit(float start, float end)
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{
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if( ( ocin1 == 0 )&&( direc_select != 0 ) )
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{
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ocin1_flag = 1;
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//电机停止
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tmc5160_operate(0,0);
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return 1;
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}
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if (ocin1_flag == 1) //是否经过限位点，防止越过限位点后无法停止
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{
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if(direc_select != 0)
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{
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//电机停止
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tmc5160_operate(0,0);
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return 1;
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}else
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{
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ocin1_flag = 0;
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}
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}
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if( ( ocin2 == 0 )&&( direc_select != 1 ) )
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{
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ocin2_flag = 1;
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//电机停止
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tmc5160_operate(0,0);
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return 2;
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}
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if (ocin2_flag == 1) //是否经过限位点，防止越过限位点后无法停止
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{
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if(direc_select != 1)
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{
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//电机停止
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tmc5160_operate(0,0);
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return 2;
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}else
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{
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ocin2_flag = 0;
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}
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}
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if( ( X_ads1220 <= start )&&( direc_select != 0 ) )
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{
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//电机停止
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tmc5160_operate(0,0);
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return 1;
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}
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if( ( X_ads1220 >= end )&&( direc_select != 1 ) )
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{
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//电机停止
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tmc5160_operate(0,0);
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return 2;
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}
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return 0;
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}
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void speed_set(uint32_t uni_speed)
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{
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if(uni_speed != uniform_speed)
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{
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uniform_speed =uni_speed;
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uniform_speed_prv = uniform_speed;
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//VMAX
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TMC5160_SPIWriteInt(VMAX_ADDR, uniform_speed,1);
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//V1
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TMC5160_SPIWriteInt(V1_ADDR, uniform_speed/2,1);
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}
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}
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