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make it work with drv8825 driver

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Stepan Usatiuk
2019-05-28 15:04:30 +03:00
parent 8ec0c1f108
commit 3ce647b2ab
3 changed files with 17 additions and 139 deletions
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8
Firmware/MotorControl/include/Globals.h
View File

@@ -12,14 +12,14 @@
#define EGG_LENGTH 50.0
#define X_DEGREES_PER_MM (X_LIMIT / EGG_LENGTH)
#define STEPS_PER_REVOLUTION 4076
#define STEPS_PER_REVOLUTION (360/1.8) * 32
#define DEF_RPM 2
Stepper eggStepper(28, 29, 30, 31, STEPS_PER_REVOLUTION, 0, Y_DEGREES_PER_MM);
Stepper servoStepper(24, 25, 26, 27, -STEPS_PER_REVOLUTION, X_LIMIT,
Stepper eggStepper(24, 25, STEPS_PER_REVOLUTION, 0, Y_DEGREES_PER_MM);
Stepper servoStepper(28, 29, -STEPS_PER_REVOLUTION, X_LIMIT,
X_DEGREES_PER_MM);
Pen pen(23, 100, 150);
Pen pen(23, 100, 180);
float eggStepperDelay;
float servoStepperDelay;

9
Firmware/MotorControl/include/Stepper.h
View File

@@ -4,11 +4,8 @@
class Stepper {
private:
int stepsPerRevolution;
unsigned int pin1;
unsigned int pin2;
unsigned int pin3;
unsigned int pin4;
unsigned int curStep = 1;
unsigned int stepPin;
unsigned int dirPin;
unsigned int remainingSteps;
float degreesPerMM;
bool direction;
@@ -18,7 +15,7 @@ class Stepper {
int limit;
public:
Stepper(int pin1, int pin2, int pin3, int pin4, int stepsPerRevolution,
Stepper(int stepPin, int dirPin, int stepsPerRevolution,
int limit, float degreesPerMM);
void step(int steps);
int getRemainingSteps();