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#include "project.h"
static unsigned motor_pos[HANDS];
#define M1_A GPIO11
#define M1_A_PORT GPIOB
#define M1_B GPIO12
#define M1_B_PORT GPIOB
#define M1_C GPIO13
#define M1_C_PORT GPIOB
#define M1_D GPIO14
#define M1_D_PORT GPIOB
static void coils (unsigned m, int a, int b, int c, int d)
{
if (!m) return;
if (a)
SET (M1_A);
else
CLEAR (M1_A);
if (b)
SET (M1_B);
else
CLEAR (M1_B);
if (c)
SET (M1_C);
else
CLEAR (M1_C);
if (d)
SET (M1_D);
else
CLEAR (M1_D);
printf ("Motor %d: %+d %+d\r\n", m, a - b, c - d);
}
static void step (unsigned m, int d)
{
unsigned s = motor_pos[m];
if (d < 0) d += MOTOR_STEPS;
s += d;
s %= MOTOR_STEPS;
switch (s & 3) {
case 0:
coils (m, 0, 1, 0, 1);
break;
case 1:
coils (m, 0, 1, 1, 0);
break;
case 2:
coils (m, 1, 0, 1, 0);
break;
case 3:
coils (m, 1, 0, 0, 1);
break;
}
if (!m)
BKP_DR8 = motor_pos[0] = s;
else
BKP_DR9 = motor_pos[1] = s;
}
void motor_tick (void)
{
static uint32_t last;
unsigned i, d;
static unsigned wiggle = MOTOR_STEPS;
if ((ticks - last) < 4) return;
last = ticks;
if (wiggle) {
step (1, 1);
wiggle--;
return;
}
if (!hands_ready) return;
//printf("HANDS: %d -> %d %d -> %d\r\n",hands_pos[0],motor_pos[0],hands_pos[1],motor_pos[1]);
for (i = 0; i < HANDS; ++i) {
d = MOTOR_STEPS + hands_pos[i];
d -= motor_pos[i];
d %= MOTOR_STEPS;
if (d) {
if (d < (MOTOR_STEPS / 2))
step (i, 1);
else
step (i, -1);
}
}
}
void motor_init (void)
{
MAP_OUTPUT_PP (M1_A);
MAP_OUTPUT_PP (M1_B);
MAP_OUTPUT_PP (M1_C);
MAP_OUTPUT_PP (M1_D);
motor_pos[0] = BKP_DR8;
motor_pos[1] = BKP_DR9;
step (0, 0);
step (1, 0);
}
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