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Update extras.ino

This commit is contained in:
Gregg 2023-07-01 09:01:11 -05:00
parent 75ac6a31b7
commit 6ab047b011
1 changed files with 28 additions and 16 deletions
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44
src/src/extras/extras.ino
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@ -28,33 +28,45 @@
// This is a placeholder .ino file that allows you to easily edit the contents of this files using the Arduino IDE, // This is a placeholder .ino file that allows you to easily edit the contents of this files using the Arduino IDE,
// as well as compile and test from this point. This file is ignored when the library is included in other sketches. // as well as compile and test from this point. This file is ignored when the library is included in other sketches.
#include "Stepper_TB6612.h" #include "Stepper_TB6612.h" // include the driver for a TB6612 chip
#include "Stepper_A3967.h"
StepperControl *motor; StepperControl *motor; // create a global pointer to StepperControl so it can be accessed in both setup() and loop()
//////////////////////////////////// ///////////////////
void setup() { void setup() {
Serial.begin(115200); Serial.begin(115200);
delay(1000); delay(1000);
Serial.printf("\nHomeSpan Steppers\n\n"); Serial.printf("\nHomeSpan Stepper Control\n\n");
// motor=new Stepper_TB6612(23,32,22,14,33,27,{1,1}); motor=new Stepper_TB6612(23,32,22,14,33,27); // instantiate the motor object (with PWM pins 33 and 27 specified)
motor=new Stepper_TB6612(23,32,22,14);
motor->setStepType(StepperControl::FULL_STEP_ONE_PHASE); motor->setStepType(StepperControl::HALF_STEP); // set the mode to half-step, which means 400 steps are needed for a complete revolution for a 200-step motor
motor->setAccel(10,20); motor->setAccel(10,20); // add acceleration parameters of 10x spread of 20 steps
motor->move(200,5);
Serial.printf("Moving motor 400 steps and waiting until motor stops...\n");
motor->move(-400,5); // move the motor -400 steps (1 revolution), with 2ms between steps.
while(motor->stepsRemaining()); // wait until there no remaining steps
Serial.printf("Moving motor to absolute position of +1200 (reversing a total of 1600 steps, or 4 revolutions) without waiting...\n");
motor->moveTo(1200,2,StepperControl::BRAKE); // move the motor to an absolute position of 1200 steps with 3ms between steps; enter brake state when done
// Motor will continue moving in background even once setup() exits and loop() below starts
} }
////////////////////////////////////// ///////////////////
void loop(){ void loop(){
Serial.printf("Motor has %d remaining steps\n",motor->stepsRemaining());
delay(1000); // motor is unaffected by delay()
if(motor->position()==1200){
Serial.printf("Motor has reached final position and is now stopped.\n");
while(1);
}
} }
//////////////////////////////////////
//////////////////////////