From ddf7cc0e82e33bc574967aa53a7d5bb97b7e5410 Mon Sep 17 00:00:00 2001 From: Christian Pointner Date: Wed, 21 May 2014 04:23:54 +0200 Subject: improved acceleration --- tube-rotator/stepper.c | 52 +++++++++++++++++++++++++------------------------- 1 file changed, 26 insertions(+), 26 deletions(-) (limited to 'tube-rotator/stepper.c') diff --git a/tube-rotator/stepper.c b/tube-rotator/stepper.c index 43e194f..ee8518f 100644 --- a/tube-rotator/stepper.c +++ b/tube-rotator/stepper.c @@ -93,9 +93,9 @@ static inline void stepper_handle(void) if(step_idx != 0 && step_idx % 8) { if(current_speed > target_speed) - OCR1A = --current_speed; + OCR1A = (uint16_t)(STEPPER_SPEED_CONVERT_VALUE/(--current_speed)); else if(current_speed < target_speed) - OCR1A = ++current_speed; + OCR1A = (uint16_t)(STEPPER_SPEED_CONVERT_VALUE/(++current_speed)); } } @@ -120,7 +120,7 @@ const char* stepper_state_to_string(stepper_state_t state) void stepper_set_speed(uint16_t new_speed) { - if(new_speed <= STEPPER_SPEED_MIN && new_speed >= STEPPER_SPEED_MAX) { + if(new_speed >= STEPPER_SPEED_MIN && new_speed <= STEPPER_SPEED_MAX) { ATOMIC_BLOCK(ATOMIC_RESTORESTATE) { target_speed = new_speed; } @@ -130,14 +130,14 @@ void stepper_set_speed(uint16_t new_speed) void stepper_inc_speed(void) { ATOMIC_BLOCK(ATOMIC_RESTORESTATE) { - target_speed = (target_speed <= STEPPER_SPEED_MAX) ? STEPPER_SPEED_MAX : target_speed - 1; + target_speed = (target_speed >= STEPPER_SPEED_MAX) ? STEPPER_SPEED_MAX : target_speed + 1; } } void stepper_dec_speed(void) { ATOMIC_BLOCK(ATOMIC_RESTORESTATE) { - target_speed = (target_speed >= STEPPER_SPEED_MIN) ? STEPPER_SPEED_MIN : target_speed + 1; + target_speed = (target_speed <= STEPPER_SPEED_MIN) ? STEPPER_SPEED_MIN : target_speed - 1; } } @@ -146,24 +146,24 @@ uint16_t stepper_get_speed(void) return target_speed; } -void stepper_set_speed_rpm(uint8_t new_rpm) -{ - stepper_set_speed(( (uint16_t)lround( (double)(60.0 * F_CPU) / (double)(64.0 * 800.0 * (double)new_rpm) ) ) - 1); -} - -uint8_t stepper_get_speed_rpm(void) -{ - return (uint8_t)lround( ( (double)F_CPU / (double)(64.0 * 800.0 * (double)(target_speed + 1) ) ) * 60.0 ); -} - -void stepper_inc_speed_rpm(void) -{ - uint8_t rpm = stepper_get_speed_rpm(); - stepper_set_speed_rpm((rpm >= 255) ? 255 : rpm+1); -} - -void stepper_dec_speed_rpm(void) -{ - uint8_t rpm = stepper_get_speed_rpm(); - stepper_set_speed_rpm((rpm <= 1) ? 1 : rpm-1); -} +/* void stepper_set_speed_rpm(uint8_t new_rpm) */ +/* { */ +/* stepper_set_speed(( (uint16_t)lround( (double)(60.0 * F_CPU) / (double)(64.0 * 800.0 * (double)new_rpm) ) ) - 1); */ +/* } */ + +/* uint8_t stepper_get_speed_rpm(void) */ +/* { */ +/* return (uint8_t)lround( ( (double)F_CPU / (double)(64.0 * 800.0 * (double)(target_speed + 1) ) ) * 60.0 ); */ +/* } */ + +/* void stepper_inc_speed_rpm(void) */ +/* { */ +/* uint8_t rpm = stepper_get_speed_rpm(); */ +/* stepper_set_speed_rpm((rpm >= 255) ? 255 : rpm+1); */ +/* } */ + +/* void stepper_dec_speed_rpm(void) */ +/* { */ +/* uint8_t rpm = stepper_get_speed_rpm(); */ +/* stepper_set_speed_rpm((rpm <= 1) ? 1 : rpm-1); */ +/* } */ -- cgit v1.2.3