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authorOthmar Gsenger <otti@realraum.at>2012-10-10 18:32:44 +0000
committerOthmar Gsenger <otti@realraum.at>2012-10-10 18:32:44 +0000
commit4ef1b506ff31033c7015937911156d15e12c97f8 (patch)
treec8a4b04cbbd494f5db6eccffc5525d60985d85ec /r3cam-steppermotor/r3cam-steppermotor.c
parentbugfixed last checkin (diff)
adjusted movement commands
Diffstat (limited to 'r3cam-steppermotor/r3cam-steppermotor.c')
-rw-r--r--r3cam-steppermotor/r3cam-steppermotor.c28
1 files changed, 22 insertions, 6 deletions
diff --git a/r3cam-steppermotor/r3cam-steppermotor.c b/r3cam-steppermotor/r3cam-steppermotor.c
index bd67374..c0ce5f9 100644
--- a/r3cam-steppermotor/r3cam-steppermotor.c
+++ b/r3cam-steppermotor/r3cam-steppermotor.c
@@ -87,6 +87,7 @@ static uint8_t cur_speed = 0xFF - M_START_DIVISOR;
static uint8_t m_clk_divisor_ = M_START_DIVISOR;
static uint8_t m_clk_divisor_counter_ = 0;
static uint16_t m_steps_to_go_ = 0;
+static uint16_t m_steps_to_go_back_ = 0;
inline void m_timer_enable(void)
{
@@ -103,12 +104,21 @@ void motor_stop(void)
m_timer_disable();
M_PORT &= ~(1 << M_ENABLE);
m_steps_to_go_ = 0;
+ m_steps_to_go_back_ = 0;
}
ISR(TIMER0_OVF_vect)
{
if (m_steps_to_go_ == 0)
- motor_stop();
+ {
+ if(m_steps_to_go_back_)
+ {
+ M_PORT ^= (1 << M_DIRECTION);
+ m_steps_to_go_=m_steps_to_go_back_;
+ m_steps_to_go_back_=0;
+ } else
+ motor_stop();
+ }
if (m_clk_divisor_counter_ == 0)
{
m_clk_divisor_counter_ = m_clk_divisor_;
@@ -129,7 +139,7 @@ void motor_set_speed(uint8_t speed)
CDC_Device_SendString(&VirtualSerial_CDC_Interface, tmp);
}
-void motor_run(uint16_t steps, uint8_t direction)
+void motor_run(uint16_t steps, uint8_t direction,uint16_t steps_back)
{
//reset by pulling reset low for 100ms
M_PORT &= ~(1 << M_RESET);
@@ -138,6 +148,7 @@ void motor_run(uint16_t steps, uint8_t direction)
m_clk_divisor_counter_ = 0;
m_steps_to_go_ = steps;
+ m_steps_to_go_back_ = steps_back;
if (direction)
M_PORT |= (1 << M_DIRECTION);
@@ -172,10 +183,15 @@ void handle_cmd(uint8_t cmd)
case 't': led_toggle(); break;
case 'r': reset2bootloader(); break;
case 's': motor_stop(); break;
- case 'c': motor_run(50,0); break;
- case 'w': motor_run(50,1); break;
- case 'C': motor_run(300,0); break;
- case 'W': motor_run(300,1); break;
+ case 'y': motor_run(30,0,20); break;
+ case 'x': motor_run(140,0,40); break;
+ case 'c': motor_run(60,0,20); break;
+ case 'v': motor_run(40,0,20); break;
+ case 'q': motor_run(140,1,40); break;
+ case 'w': motor_run(60,1,20); break;
+ case 'e': motor_run(40,1,20); break;
+ case 'C': motor_run(330,0,40); break;
+ case 'W': motor_run(330,1,40); break;
case '+': motor_set_speed(++cur_speed); break;
case '-': motor_set_speed(--cur_speed); break;
default: CDC_Device_SendString(&VirtualSerial_CDC_Interface, "error\n\r"); return;