mirror of https://github.com/arendst/Tasmota.git
Support Stepper-motors connected to A4988-stepper-driver-circuit
This commit is contained in:
Tim Leuschner
parent
53235a3382
commit
5eac2dd939
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Stepper Library for Tasmota
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This Class allows you to control bipolar stepper motors. To use it you will need an A4988-StepperDriverCircuit, connected at least with 2 GPIO's (direction and step) and of cause a stepper motor.
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== License ==
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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This library is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public
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License along with this library; if not, write to the Free Software
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Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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@ -0,0 +1,24 @@
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#######################################
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# Syntax Coloring Map For Test
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#######################################
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#######################################
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# Datatypes (KEYWORD1)
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#######################################
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A4988_Stepper KEYWORD1 A4988_Stepper
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#######################################
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# Methods and Functions (KEYWORD2)
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#######################################
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doMove KEYWORD2
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doRotate KEYWORD2
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setRPM KEYWORD2
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setSPR KEYWORD2
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setMIC KEYWORD2
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version KEYWORD2
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#######################################
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# Constants (LITERAL1)
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#######################################
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@ -0,0 +1,9 @@
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name=A4988_Stepper
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version=0.0.1
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author=Tim Leuschner
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maintainer=Tim Leuschner <tim@feuer.land>
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sentence=Allows Tasmota to control stepper motors, connected to A4988-StepperDriverCircuit.
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paragraph=This library allows you to control bipolar stepper motors, controlled by A4988-stepperDriverCircuit.
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category=Device Control
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url=
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architectures=*
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@ -0,0 +1,174 @@
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/* This library is free software; you can redistribute it and/or
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* modify it under the terms of the GNU Lesser General Public
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* License as published by the Free Software Foundation; either
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* version 2.1 of the License, or (at your option) any later version.
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*
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* This library is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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* Lesser General Public License for more details.
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*
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* You should have received a copy of the GNU Lesser General Public
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* License along with this library; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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*
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* Drives a bipolar motor, controlled by A4988 stepper driver circuit
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*/
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#include "Arduino.h"
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#include "A4988_Stepper.h"
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#include <stdlib.h>
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A4988_Stepper::A4988_Stepper( int m_spr
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, int m_rpm
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, short m_mic
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, short m_dir_pin
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, short m_stp_pin
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, short m_ena_pin
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, short m_ms1_pin
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, short m_ms2_pin
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, short m_ms3_pin ) {
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last_time = 0; // time stamp in us of the last step taken
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motor_SPR = m_spr; // StepsPerRevolution
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motor_RPM = m_rpm; // RoundsPerMinute
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motor_MIC = m_mic; // Microsteps w/o effect if MS1-MS3 not connected - then full steps anyway
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motor_dir_pin = m_dir_pin;
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motor_stp_pin = m_stp_pin;
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motor_ena_pin = m_ena_pin;
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motor_ms1_pin = m_ms1_pin;
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motor_ms2_pin = m_ms2_pin;
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motor_ms3_pin = m_ms3_pin;
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adjustDelay();
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adjustPins();
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adjustMicrosteps();
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}
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void A4988_Stepper::adjustPins(void) {
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// setup the pins on the microcontroller:
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pinMode(motor_dir_pin, OUTPUT);
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pinMode(motor_stp_pin, OUTPUT);
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if (motor_ena_pin <99) {
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pinMode(motor_ena_pin, OUTPUT);
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digitalWrite(motor_ena_pin, HIGH);
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}
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if ((motor_ms1_pin<99)&&(motor_ms2_pin<99)&&(motor_ms3_pin<99)) {
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pinMode(motor_ms1_pin, OUTPUT);
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pinMode(motor_ms2_pin, OUTPUT);
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pinMode(motor_ms3_pin, OUTPUT);
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}
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}
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void A4988_Stepper::adjustMicrosteps() {
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if ((motor_ms1_pin<99)&&(motor_ms2_pin<99)&&(motor_ms3_pin<99)) {
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switch (motor_MIC){
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case 1:
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digitalWrite(motor_ms1_pin, LOW);
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digitalWrite(motor_ms2_pin, LOW);
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digitalWrite(motor_ms3_pin, LOW);
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break;
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case 2:
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digitalWrite(motor_ms1_pin, HIGH);
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digitalWrite(motor_ms2_pin, LOW);
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digitalWrite(motor_ms3_pin, LOW);
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break;
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digitalWrite(motor_ms1_pin, LOW);
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digitalWrite(motor_ms2_pin, HIGH);
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digitalWrite(motor_ms3_pin, LOW);
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case 4:
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digitalWrite(motor_ms1_pin, HIGH);
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digitalWrite(motor_ms2_pin, HIGH);
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digitalWrite(motor_ms3_pin, LOW);
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break;
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case 8:
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digitalWrite(motor_ms1_pin, LOW);
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digitalWrite(motor_ms2_pin, LOW);
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digitalWrite(motor_ms3_pin, HIGH);
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break;
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case 16:
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digitalWrite(motor_ms1_pin, HIGH);
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digitalWrite(motor_ms2_pin, HIGH);
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digitalWrite(motor_ms3_pin, HIGH);
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break;
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}
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} else {
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motor_MIC = 1;
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}
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}
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void A4988_Stepper::adjustDelay(void) {
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motor_delay = 60L * 1000L * 1000L / motor_SPR / motor_RPM / motor_MIC;
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}
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void A4988_Stepper::setMIC(short oneToSixteen) {
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motor_MIC = oneToSixteen;
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adjustMicrosteps();
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}
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short A4988_Stepper::getMIC(void) {
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return motor_MIC;
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}
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void A4988_Stepper::setRPM(int howManyRounds) {
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motor_RPM = howManyRounds;
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adjustDelay();
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}
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int A4988_Stepper::getRPM(void) {
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return motor_RPM;
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}
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void A4988_Stepper::setSPR(int howManySteps){
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motor_SPR = howManySteps;
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adjustDelay();
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}
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int A4988_Stepper::getSPR(void) {
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return motor_SPR;
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}
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void A4988_Stepper::enable(){
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if (motor_ena_pin < 99) {digitalWrite(motor_ena_pin, LOW);}
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}
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void A4988_Stepper::disable(){
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if (motor_ena_pin < 99) {digitalWrite(motor_ena_pin, HIGH);}
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}
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void A4988_Stepper::doMove(long howManySteps)
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{
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long steps_togo = abs(howManySteps); // how many steps to take
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bool lastStepWasHigh = false;
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digitalWrite(motor_dir_pin, howManySteps>0?LOW:HIGH);
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enable();
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while (steps_togo > 0) {
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delay(0); // don't get watchdoged in loop
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unsigned long now = micros();
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// move if delay has passed:
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if (now - last_time >= motor_delay) {
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digitalWrite(motor_stp_pin, lastStepWasHigh?LOW:HIGH);
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lastStepWasHigh = !lastStepWasHigh;
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// remeber step-time if last signal was HIGH we can pull low after 50ms as only HIGH actually moves the stepper
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last_time = lastStepWasHigh?now-50:now;
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if (!lastStepWasHigh) steps_togo--; // same here - only HIGH moves, if pulled LOW step is completed...
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}
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}
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disable();
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}
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void A4988_Stepper::doRotate(long howManyDegrees)
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{ long lSteps = 0;
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lSteps = motor_SPR*motor_MIC*howManyDegrees/360;
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doMove(lSteps);
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}
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void A4988_Stepper::doTurn(float howManyTimes)
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{ long lSteps = 0;
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lSteps = howManyTimes*motor_SPR;
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doMove(lSteps);
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}
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int A4988_Stepper::version(void)
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{
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return 1;
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}
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/* This library is free software; you can redistribute it and/or
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* modify it under the terms of the GNU Lesser General Public
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* License as published by the Free Software Foundation; either
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* version 2.1 of the License, or (at your option) any later version.
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*
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* This library is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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* Lesser General Public License for more details.
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*
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* You should have received a copy of the GNU Lesser General Public
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* License along with this library; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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*
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* Drives a bipolar motor, controlled by A4988 stepper driver circuit
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*/
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#ifndef A4988_Stepper_h
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#define A4988_Stepper_h
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class A4988_Stepper {
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public:
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// constructor:
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A4988_Stepper( int motor_spr
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, int motor_rpm
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, short motor_mic
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, short motor_dir_pin
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, short motor_stp_pin
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, short motor_ena_pin
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, short motor_ms1_pin
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, short motor_ms2_pin
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, short motor_ms3_pin
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);
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void setRPM (int whatRPM );
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int getRPM (void );
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void setMIC (short OneToSixteen);
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short getMIC (void );
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void setSPR (int howMany );
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int getSPR (void );
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void doMove (long steps_to_move);
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void doRotate(long degrs_to_turn);
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void doTurn (float howManyTimes);
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void enable (void );
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void disable (void );
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int version (void );
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private:
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void adjustDelay(void);
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void adjustPins(void);
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void adjustMicrosteps(void);
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unsigned long motor_delay; // delay between steps, in ms
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int motor_SPR; // Steps Per Revolution
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int motor_RPM; // Rounds Per Minute
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short motor_MIC; // Micro Steps
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// motor pins:
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short motor_dir_pin;
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short motor_stp_pin;
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short motor_ena_pin;
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short motor_ms1_pin;
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short motor_ms2_pin;
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short motor_ms3_pin;
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unsigned long last_time; // timestamp of last pincycle of last step
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};
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#endif
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#define D_JSON_ZIGBEEZNPSENT "ZigbeeZNPSent"
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#define D_JSON_ZIGBEEZCLRECEIVED "ZigbeeZCLReceived"
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#define D_JSON_ZIGBEEZCLSENT "ZigbeeZCLSent"
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// Commands xdrv_98_A4988.ino
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#ifdef USE_A4988_Stepper
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#define D_CMND_MOTOR "MOTOR"
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#define D_JSON_MOTOR_COMMAND "Command"
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#define D_JSON_MOTOR_VALUE "Value"
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#endif
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/********************************************************************************************/
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#define D_ASTERISK_PWD "****"
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#define D_SENSOR_RDM6300_RX "RDM6300 RX"
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#define D_SENSOR_CC1101_CS "CC1101 CS"
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#define D_SENSOR_A4988_DIR "A4988 DIR"
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#define D_SENSOR_A4988_STP "A4988 STP"
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#define D_SENSOR_A4988_ENA "A4988 ENA"
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#define D_SENSOR_A4988_MS1 "A4988 MS1"
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#define D_SENSOR_A4988_MS2 "A4988 MS2"
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#define D_SENSOR_A4988_MS3 "A4988 MS3"
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// Units
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#define D_UNIT_AMPERE "A"
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#define D_UNIT_CENTIMETER "cm"
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#define D_SENSOR_IBEACON_RX "iBeacon RX"
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#define D_SENSOR_RDM6300_RX "RDM6300 RX"
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#define D_SENSOR_CC1101_CS "CC1101 CS"
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#define D_SENSOR_A4988_DIR "A4988 DIR"
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#define D_SENSOR_A4988_STP "A4988 STP"
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#define D_SENSOR_A4988_ENA "A4988 ENA"
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#define D_SENSOR_A4988_MS1 "A4988 MS1"
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#define D_SENSOR_A4988_MS2 "A4988 MS2"
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#define D_SENSOR_A4988_MS3 "A4988 MS3"
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// Units
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#define D_UNIT_AMPERE "A"
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#define D_SENSOR_IBEACON_RX "iBeacon RX"
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#define D_SENSOR_RDM6300_RX "RDM6300 RX"
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#define D_SENSOR_CC1101_CS "CC1101 CS"
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#define D_SENSOR_A4988_DIR "A4988 DIR"
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#define D_SENSOR_A4988_STP "A4988 STP"
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#define D_SENSOR_A4988_ENA "A4988 ENA"
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#define D_SENSOR_A4988_MS1 "A4988 MS1"
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#define D_SENSOR_A4988_MS2 "A4988 MS2"
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#define D_SENSOR_A4988_MS3 "A4988 MS3"
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// Units
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#define D_UNIT_AMPERE "A"
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#define D_SENSOR_IBEACON_RX "iBeacon RX"
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#define D_SENSOR_RDM6300_RX "RDM6300 RX"
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#define D_SENSOR_CC1101_CS "CC1101 CS"
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#define D_SENSOR_A4988_DIR "A4988 DIR"
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#define D_SENSOR_A4988_STP "A4988 STP"
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#define D_SENSOR_A4988_ENA "A4988 ENA"
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#define D_SENSOR_A4988_MS1 "A4988 MS1"
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#define D_SENSOR_A4988_MS2 "A4988 MS2"
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#define D_SENSOR_A4988_MS3 "A4988 MS3"
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// Units
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#define D_UNIT_AMPERE "A"
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#define D_SENSOR_IBEACON_RX "iBeacon RX"
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#define D_SENSOR_RDM6300_RX "RDM6300 RX"
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#define D_SENSOR_CC1101_CS "CC1101 CS"
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#define D_SENSOR_A4988_DIR "A4988 DIR"
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#define D_SENSOR_A4988_STP "A4988 STP"
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#define D_SENSOR_A4988_ENA "A4988 ENA"
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#define D_SENSOR_A4988_MS1 "A4988 MS1"
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#define D_SENSOR_A4988_MS2 "A4988 MS2"
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#define D_SENSOR_A4988_MS3 "A4988 MS3"
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// Units
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#define D_UNIT_AMPERE "A"
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#define D_SENSOR_IBEACON_RX "iBeacon RX"
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#define D_SENSOR_RDM6300_RX "RDM6300 RX"
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#define D_SENSOR_CC1101_CS "CC1101 CS"
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#define D_SENSOR_A4988_DIR "A4988 DIR"
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#define D_SENSOR_A4988_STP "A4988 STP"
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#define D_SENSOR_A4988_ENA "A4988 ENA"
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#define D_SENSOR_A4988_MS1 "A4988 MS1"
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#define D_SENSOR_A4988_MS2 "A4988 MS2"
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#define D_SENSOR_A4988_MS3 "A4988 MS3"
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// Units
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#define D_UNIT_AMPERE "A"
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@ -596,6 +596,12 @@
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#define D_SENSOR_IBEACON_RX "iBeacon RX"
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#define D_SENSOR_RDM6300_RX "RDM6300 RX"
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#define D_SENSOR_CC1101_CS "CC1101 CS"
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#define D_SENSOR_A4988_DIR "A4988 DIR"
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#define D_SENSOR_A4988_STP "A4988 STP"
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#define D_SENSOR_A4988_ENA "A4988 ENA"
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#define D_SENSOR_A4988_MS1 "A4988 MS1"
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#define D_SENSOR_A4988_MS2 "A4988 MS2"
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#define D_SENSOR_A4988_MS3 "A4988 MS3"
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// Units
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#define D_UNIT_AMPERE "A"
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@ -596,6 +596,12 @@
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#define D_SENSOR_IBEACON_RX "iBeacon RX"
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#define D_SENSOR_RDM6300_RX "RDM6300 RX"
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#define D_SENSOR_CC1101_CS "CC1101 CS"
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#define D_SENSOR_A4988_DIR "A4988 DIR"
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#define D_SENSOR_A4988_STP "A4988 STP"
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#define D_SENSOR_A4988_ENA "A4988 ENA"
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#define D_SENSOR_A4988_MS1 "A4988 MS1"
|
||||
#define D_SENSOR_A4988_MS2 "A4988 MS2"
|
||||
#define D_SENSOR_A4988_MS3 "A4988 MS3"
|
||||
|
||||
// Units
|
||||
#define D_UNIT_AMPERE "A"
|
||||
|
|
|
|||
|
|
@ -596,6 +596,12 @@
|
|||
#define D_SENSOR_IBEACON_RX "iBeacon RX"
|
||||
#define D_SENSOR_RDM6300_RX "RDM6300 RX"
|
||||
#define D_SENSOR_CC1101_CS "CC1101 CS"
|
||||
#define D_SENSOR_A4988_DIR "A4988 DIR"
|
||||
#define D_SENSOR_A4988_STP "A4988 STP"
|
||||
#define D_SENSOR_A4988_ENA "A4988 ENA"
|
||||
#define D_SENSOR_A4988_MS1 "A4988 MS1"
|
||||
#define D_SENSOR_A4988_MS2 "A4988 MS2"
|
||||
#define D_SENSOR_A4988_MS3 "A4988 MS3"
|
||||
|
||||
// Units
|
||||
#define D_UNIT_AMPERE "A"
|
||||
|
|
|
|||
|
|
@ -596,6 +596,12 @@
|
|||
#define D_SENSOR_IBEACON_RX "iBeacon RX"
|
||||
#define D_SENSOR_RDM6300_RX "RDM6300 RX"
|
||||
#define D_SENSOR_CC1101_CS "CC1101 CS"
|
||||
#define D_SENSOR_A4988_DIR "A4988 DIR"
|
||||
#define D_SENSOR_A4988_STP "A4988 STP"
|
||||
#define D_SENSOR_A4988_ENA "A4988 ENA"
|
||||
#define D_SENSOR_A4988_MS1 "A4988 MS1"
|
||||
#define D_SENSOR_A4988_MS2 "A4988 MS2"
|
||||
#define D_SENSOR_A4988_MS3 "A4988 MS3"
|
||||
|
||||
// Units
|
||||
#define D_UNIT_AMPERE "A"
|
||||
|
|
|
|||
|
|
@ -596,6 +596,12 @@
|
|||
#define D_SENSOR_IBEACON_RX "iBeacon RX"
|
||||
#define D_SENSOR_RDM6300_RX "RDM6300 RX"
|
||||
#define D_SENSOR_CC1101_CS "CC1101 CS"
|
||||
#define D_SENSOR_A4988_DIR "A4988 DIR"
|
||||
#define D_SENSOR_A4988_STP "A4988 STP"
|
||||
#define D_SENSOR_A4988_ENA "A4988 ENA"
|
||||
#define D_SENSOR_A4988_MS1 "A4988 MS1"
|
||||
#define D_SENSOR_A4988_MS2 "A4988 MS2"
|
||||
#define D_SENSOR_A4988_MS3 "A4988 MS3"
|
||||
|
||||
// Units
|
||||
#define D_UNIT_AMPERE "A"
|
||||
|
|
|
|||
|
|
@ -596,6 +596,12 @@
|
|||
#define D_SENSOR_IBEACON_RX "iBeacon RX"
|
||||
#define D_SENSOR_RDM6300_RX "RDM6300 RX"
|
||||
#define D_SENSOR_CC1101_CS "CC1101 CS"
|
||||
#define D_SENSOR_A4988_DIR "A4988 DIR"
|
||||
#define D_SENSOR_A4988_STP "A4988 STP"
|
||||
#define D_SENSOR_A4988_ENA "A4988 ENA"
|
||||
#define D_SENSOR_A4988_MS1 "A4988 MS1"
|
||||
#define D_SENSOR_A4988_MS2 "A4988 MS2"
|
||||
#define D_SENSOR_A4988_MS3 "A4988 MS3"
|
||||
|
||||
// Units
|
||||
#define D_UNIT_AMPERE "A"
|
||||
|
|
|
|||
|
|
@ -596,6 +596,12 @@
|
|||
#define D_SENSOR_IBEACON_RX "iBeacon RX"
|
||||
#define D_SENSOR_RDM6300_RX "RDM6300 RX"
|
||||
#define D_SENSOR_CC1101_CS "CC1101 CS"
|
||||
#define D_SENSOR_A4988_DIR "A4988 DIR"
|
||||
#define D_SENSOR_A4988_STP "A4988 STP"
|
||||
#define D_SENSOR_A4988_ENA "A4988 ENA"
|
||||
#define D_SENSOR_A4988_MS1 "A4988 MS1"
|
||||
#define D_SENSOR_A4988_MS2 "A4988 MS2"
|
||||
#define D_SENSOR_A4988_MS3 "A4988 MS3"
|
||||
|
||||
// Units
|
||||
#define D_UNIT_AMPERE "A"
|
||||
|
|
|
|||
|
|
@ -596,6 +596,12 @@
|
|||
#define D_SENSOR_IBEACON_RX "iBeacon RX"
|
||||
#define D_SENSOR_RDM6300_RX "RDM6300 RX"
|
||||
#define D_SENSOR_CC1101_CS "CC1101 CS"
|
||||
#define D_SENSOR_A4988_DIR "A4988 DIR"
|
||||
#define D_SENSOR_A4988_STP "A4988 STP"
|
||||
#define D_SENSOR_A4988_ENA "A4988 ENA"
|
||||
#define D_SENSOR_A4988_MS1 "A4988 MS1"
|
||||
#define D_SENSOR_A4988_MS2 "A4988 MS2"
|
||||
#define D_SENSOR_A4988_MS3 "A4988 MS3"
|
||||
|
||||
// Units
|
||||
#define D_UNIT_AMPERE "A"
|
||||
|
|
|
|||
|
|
@ -596,6 +596,12 @@
|
|||
#define D_SENSOR_IBEACON_RX "iBeacon RX"
|
||||
#define D_SENSOR_RDM6300_RX "RDM6300 RX"
|
||||
#define D_SENSOR_CC1101_CS "CC1101 CS"
|
||||
#define D_SENSOR_A4988_DIR "A4988 DIR"
|
||||
#define D_SENSOR_A4988_STP "A4988 STP"
|
||||
#define D_SENSOR_A4988_ENA "A4988 ENA"
|
||||
#define D_SENSOR_A4988_MS1 "A4988 MS1"
|
||||
#define D_SENSOR_A4988_MS2 "A4988 MS2"
|
||||
#define D_SENSOR_A4988_MS3 "A4988 MS3"
|
||||
|
||||
// Units
|
||||
#define D_UNIT_AMPERE "A"
|
||||
|
|
|
|||
|
|
@ -596,6 +596,12 @@
|
|||
#define D_SENSOR_IBEACON_RX "iBeacon RX"
|
||||
#define D_SENSOR_RDM6300_RX "RDM6300 RX"
|
||||
#define D_SENSOR_CC1101_CS "CC1101 CS"
|
||||
#define D_SENSOR_A4988_DIR "A4988 DIR"
|
||||
#define D_SENSOR_A4988_STP "A4988 STP"
|
||||
#define D_SENSOR_A4988_ENA "A4988 ENA"
|
||||
#define D_SENSOR_A4988_MS1 "A4988 MS1"
|
||||
#define D_SENSOR_A4988_MS2 "A4988 MS2"
|
||||
#define D_SENSOR_A4988_MS3 "A4988 MS3"
|
||||
|
||||
// Units
|
||||
#define D_UNIT_AMPERE "А"
|
||||
|
|
|
|||
|
|
@ -596,6 +596,12 @@
|
|||
#define D_SENSOR_IBEACON_RX "iBeacon RX"
|
||||
#define D_SENSOR_RDM6300_RX "RDM6300 RX"
|
||||
#define D_SENSOR_CC1101_CS "CC1101 CS"
|
||||
#define D_SENSOR_A4988_DIR "A4988 DIR"
|
||||
#define D_SENSOR_A4988_STP "A4988 STP"
|
||||
#define D_SENSOR_A4988_ENA "A4988 ENA"
|
||||
#define D_SENSOR_A4988_MS1 "A4988 MS1"
|
||||
#define D_SENSOR_A4988_MS2 "A4988 MS2"
|
||||
#define D_SENSOR_A4988_MS3 "A4988 MS3"
|
||||
|
||||
// Units
|
||||
#define D_UNIT_AMPERE "A"
|
||||
|
|
|
|||
|
|
@ -596,6 +596,12 @@
|
|||
#define D_SENSOR_IBEACON_RX "iBeacon RX"
|
||||
#define D_SENSOR_RDM6300_RX "RDM6300 RX"
|
||||
#define D_SENSOR_CC1101_CS "CC1101 CS"
|
||||
#define D_SENSOR_A4988_DIR "A4988 DIR"
|
||||
#define D_SENSOR_A4988_STP "A4988 STP"
|
||||
#define D_SENSOR_A4988_ENA "A4988 ENA"
|
||||
#define D_SENSOR_A4988_MS1 "A4988 MS1"
|
||||
#define D_SENSOR_A4988_MS2 "A4988 MS2"
|
||||
#define D_SENSOR_A4988_MS3 "A4988 MS3"
|
||||
|
||||
// Units
|
||||
#define D_UNIT_AMPERE "A"
|
||||
|
|
|
|||
|
|
@ -596,6 +596,12 @@
|
|||
#define D_SENSOR_IBEACON_RX "iBeacon RX"
|
||||
#define D_SENSOR_RDM6300_RX "RDM6300 RX"
|
||||
#define D_SENSOR_CC1101_CS "CC1101 CS"
|
||||
#define D_SENSOR_A4988_DIR "A4988 DIR"
|
||||
#define D_SENSOR_A4988_STP "A4988 STP"
|
||||
#define D_SENSOR_A4988_ENA "A4988 ENA"
|
||||
#define D_SENSOR_A4988_MS1 "A4988 MS1"
|
||||
#define D_SENSOR_A4988_MS2 "A4988 MS2"
|
||||
#define D_SENSOR_A4988_MS3 "A4988 MS3"
|
||||
|
||||
// Units
|
||||
#define D_UNIT_AMPERE "A"
|
||||
|
|
|
|||
|
|
@ -596,6 +596,12 @@
|
|||
#define D_SENSOR_IBEACON_RX "iBeacon RX"
|
||||
#define D_SENSOR_RDM6300_RX "RDM6300 RX"
|
||||
#define D_SENSOR_CC1101_CS "CC1101 CS"
|
||||
#define D_SENSOR_A4988_DIR "A4988 DIR"
|
||||
#define D_SENSOR_A4988_STP "A4988 STP"
|
||||
#define D_SENSOR_A4988_ENA "A4988 ENA"
|
||||
#define D_SENSOR_A4988_MS1 "A4988 MS1"
|
||||
#define D_SENSOR_A4988_MS2 "A4988 MS2"
|
||||
#define D_SENSOR_A4988_MS3 "A4988 MS3"
|
||||
|
||||
// Units
|
||||
#define D_UNIT_AMPERE "А"
|
||||
|
|
|
|||
|
|
@ -596,6 +596,12 @@
|
|||
#define D_SENSOR_IBEACON_RX "iBeacon RX"
|
||||
#define D_SENSOR_RDM6300_RX "RDM6300 RX"
|
||||
#define D_SENSOR_CC1101_CS "CC1101 CS"
|
||||
#define D_SENSOR_A4988_DIR "A4988 DIR"
|
||||
#define D_SENSOR_A4988_STP "A4988 STP"
|
||||
#define D_SENSOR_A4988_ENA "A4988 ENA"
|
||||
#define D_SENSOR_A4988_MS1 "A4988 MS1"
|
||||
#define D_SENSOR_A4988_MS2 "A4988 MS2"
|
||||
#define D_SENSOR_A4988_MS3 "A4988 MS3"
|
||||
|
||||
// Units
|
||||
#define D_UNIT_AMPERE "安"
|
||||
|
|
|
|||
|
|
@ -596,6 +596,12 @@
|
|||
#define D_SENSOR_IBEACON_RX "iBeacon RX"
|
||||
#define D_SENSOR_RDM6300_RX "RDM6300 RX"
|
||||
#define D_SENSOR_CC1101_CS "CC1101 CS"
|
||||
#define D_SENSOR_A4988_DIR "A4988 DIR"
|
||||
#define D_SENSOR_A4988_STP "A4988 STP"
|
||||
#define D_SENSOR_A4988_ENA "A4988 ENA"
|
||||
#define D_SENSOR_A4988_MS1 "A4988 MS1"
|
||||
#define D_SENSOR_A4988_MS2 "A4988 MS2"
|
||||
#define D_SENSOR_A4988_MS3 "A4988 MS3"
|
||||
|
||||
// Units
|
||||
#define D_UNIT_AMPERE "安"
|
||||
|
|
|
|||
|
|
@ -527,6 +527,7 @@
|
|||
#define USE_SM16716 // Add support for SM16716 RGB LED controller (+0k7 code)
|
||||
|
||||
//#define USE_HRE // Add support for Badger HR-E Water Meter (+1k4 code)
|
||||
#define USE_A4988_Stepper // Add support for A4988 Stepper-Motors-Driver-circuit
|
||||
|
||||
/*********************************************************************************************\
|
||||
* Debug features
|
||||
|
|
|
|||
|
|
@ -257,6 +257,7 @@ char* ToHex_P(const unsigned char * in, size_t insz, char * out, size_t outsz, c
|
|||
#undef USE_RF_SENSOR // Disable support for RF sensor receiver (434MHz or 868MHz) (+0k8 code)
|
||||
#undef USE_SM16716 // Disable support for SM16716 RGB LED controller (+0k7 code)
|
||||
#undef USE_HRE // Disable support for Badger HR-E Water Meter (+1k4 code)
|
||||
#undef USE_A4988_Stepper // Disable support for A4988_Stepper
|
||||
#undef DEBUG_THEO // Disable debug code
|
||||
#undef USE_DEBUG_DRIVER // Disable debug code
|
||||
#endif // FIRMWARE_CLASSIC
|
||||
|
|
@ -386,6 +387,7 @@ char* ToHex_P(const unsigned char * in, size_t insz, char * out, size_t outsz, c
|
|||
#undef USE_RF_SENSOR // Disable support for RF sensor receiver (434MHz or 868MHz) (+0k8 code)
|
||||
#undef USE_SM16716 // Disable support for SM16716 RGB LED controller (+0k7 code)
|
||||
#undef USE_HRE // Disable support for Badger HR-E Water Meter (+1k4 code)
|
||||
#undef USE_A4988_Stepper // Disable support for A4988_Stepper
|
||||
#undef DEBUG_THEO // Disable debug code
|
||||
#undef USE_DEBUG_DRIVER // Disable debug code
|
||||
|
||||
|
|
@ -480,6 +482,7 @@ char* ToHex_P(const unsigned char * in, size_t insz, char * out, size_t outsz, c
|
|||
#undef USE_RF_SENSOR // Disable support for RF sensor receiver (434MHz or 868MHz) (+0k8 code)
|
||||
#undef USE_SM16716 // Disable support for SM16716 RGB LED controller (+0k7 code)
|
||||
#undef USE_HRE // Disable support for Badger HR-E Water Meter (+1k4 code)
|
||||
#undef USE_A4988_Stepper // Disable support for A4988_Stepper
|
||||
#undef DEBUG_THEO // Disable debug code
|
||||
#undef USE_DEBUG_DRIVER // Disable debug code
|
||||
#endif // FIRMWARE_BASIC
|
||||
|
|
@ -561,6 +564,7 @@ char* ToHex_P(const unsigned char * in, size_t insz, char * out, size_t outsz, c
|
|||
#undef USE_RF_SENSOR // Disable support for RF sensor receiver (434MHz or 868MHz) (+0k8 code)
|
||||
#undef USE_SM16716 // Disable support for SM16716 RGB LED controller (+0k7 code)
|
||||
#undef USE_HRE // Disable support for Badger HR-E Water Meter (+1k4 code)
|
||||
#undef USE_A4988_Stepper // Disable support for A4988_Stepper
|
||||
#undef DEBUG_THEO // Disable debug code
|
||||
#undef USE_DEBUG_DRIVER // Disable debug code
|
||||
#endif // FIRMWARE_MINIMAL
|
||||
|
|
|
|||
|
|
@ -194,6 +194,12 @@ enum UserSelectablePins {
|
|||
GPIO_RDM6300_RX, // RDM6300 RX
|
||||
GPIO_IBEACON_TX, // HM17 IBEACON TX
|
||||
GPIO_IBEACON_RX, // HM17 IBEACON RX
|
||||
GPIO_A4988_DIR, // A4988 direction pin
|
||||
GPIO_A4988_STP, // A4988 step pin
|
||||
GPIO_A4988_ENA, // A4988 enabled pin
|
||||
GPIO_A4988_MS1, // A4988 microstep pin1
|
||||
GPIO_A4988_MS2, // A4988 microstep pin2
|
||||
GPIO_A4988_MS3, // A4988 microstep pin3
|
||||
GPIO_SENSOR_END };
|
||||
|
||||
// Programmer selectable GPIO functionality
|
||||
|
|
@ -267,6 +273,7 @@ const char kSensorNames[] PROGMEM =
|
|||
D_SENSOR_ZIGBEE_TXD "|" D_SENSOR_ZIGBEE_RXD "|"
|
||||
D_SENSOR_RDM6300_RX "|"
|
||||
D_SENSOR_IBEACON_TX "|" D_SENSOR_IBEACON_RX "|"
|
||||
D_SENSOR_A4988_DIR "|" D_SENSOR_A4988_STP "|" D_SENSOR_A4988_ENA "|" D_SENSOR_A4988_MS1 "|" D_SENSOR_A4988_MS2 "|" D_SENSOR_A4988_MS3 "|"
|
||||
;
|
||||
|
||||
// User selectable ADC0 functionality
|
||||
|
|
@ -689,6 +696,15 @@ const uint8_t kGpioNiceList[] PROGMEM = {
|
|||
GPIO_HRE_CLOCK,
|
||||
GPIO_HRE_DATA,
|
||||
#endif
|
||||
#ifdef USE_A4988_Stepper
|
||||
GPIO_A4988_DIR, // A4988 direction pin
|
||||
GPIO_A4988_STP, // A4988 step pin
|
||||
// folowing are not mandatory
|
||||
GPIO_A4988_ENA, // A4988 enabled pin
|
||||
GPIO_A4988_MS1, // A4988 microstep pin1
|
||||
GPIO_A4988_MS2, // A4988 microstep pin2
|
||||
GPIO_A4988_MS3, // A4988 microstep pin3
|
||||
#endif
|
||||
};
|
||||
|
||||
const uint8_t kModuleNiceList[] PROGMEM = {
|
||||
|
|
|
|||
|
|
@ -438,7 +438,9 @@ void GetFeatures(void)
|
|||
#ifdef USE_IBEACON
|
||||
feature5 |= 0x00000004; // xsns_52_ibeacon.ino
|
||||
#endif
|
||||
// feature5 |= 0x00000008;
|
||||
#ifdef USE_A4988_Stepper
|
||||
feature5 |= 0x00000008; // xdrv_98_A4988.ino
|
||||
#endif
|
||||
|
||||
// feature5 |= 0x00000010;
|
||||
// feature5 |= 0x00000020;
|
||||
|
|
|
|||
|
|
@ -0,0 +1,320 @@
|
|||
|
||||
/*
|
||||
xsns_22_sr04.ino - SR04 ultrasonic sensor support for Sonoff-Tasmota
|
||||
|
||||
Copyright (C) 2019 Nuno Ferreira and Theo Arends
|
||||
|
||||
This program is free software: you can redistribute it and/or modify
|
||||
it under the terms of the GNU General Public License as published by
|
||||
the Free Software Foundation, either version 3 of the License, or
|
||||
(at your option) any later version.
|
||||
|
||||
This program is distributed in the hope that it will be useful,
|
||||
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
GNU General Public License for more details.
|
||||
|
||||
You should have received a copy of the GNU General Public License
|
||||
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
#ifdef USE_A4988_Stepper
|
||||
#include <A4988_Stepper.h>
|
||||
/*********************************************************************************************\
|
||||
* Stepper mötör on driver A4988
|
||||
*
|
||||
* - https://www.dfrobot.com/wiki/index.php/Weather-proof_Ultrasonic_Sensor_SKU_:_SEN0207
|
||||
\*********************************************************************************************/
|
||||
|
||||
#define XDRV_98 98
|
||||
|
||||
enum A4988Errors { A4988_NO_ERROR, A4988_NO_JSON_COMMAND, A4988_INVALID_JSON};
|
||||
|
||||
short A4988_dir_pin = pin[GPIO_MAX];
|
||||
short A4988_stp_pin = pin[GPIO_MAX];
|
||||
short A4988_ms1_pin = pin[GPIO_MAX];
|
||||
short A4988_ms2_pin = pin[GPIO_MAX];
|
||||
short A4988_ms3_pin = pin[GPIO_MAX];
|
||||
short A4988_ena_pin = pin[GPIO_MAX];
|
||||
int A4988_spr = 0;
|
||||
float A4988_rpm = 0;
|
||||
short A4988_mic = 0;
|
||||
|
||||
A4988_Stepper* myA4988 = nullptr;
|
||||
|
||||
void A4988Init(void)
|
||||
{
|
||||
A4988_dir_pin = pin[GPIO_A4988_DIR];
|
||||
A4988_stp_pin = pin[GPIO_A4988_STP];
|
||||
A4988_ena_pin = pin[GPIO_A4988_ENA];
|
||||
A4988_ms1_pin = pin[GPIO_A4988_MS1];
|
||||
A4988_ms2_pin = pin[GPIO_A4988_MS2];
|
||||
A4988_ms3_pin = pin[GPIO_A4988_MS3];
|
||||
A4988_spr = 200;
|
||||
A4988_rpm = 30;
|
||||
A4988_mic = 1;
|
||||
|
||||
myA4988 = new A4988_Stepper( A4988_spr
|
||||
, A4988_rpm
|
||||
, A4988_mic
|
||||
, A4988_dir_pin
|
||||
, A4988_stp_pin
|
||||
, A4988_ena_pin
|
||||
, A4988_ms1_pin
|
||||
, A4988_ms2_pin
|
||||
, A4988_ms3_pin );
|
||||
A4988_spr = myA4988->getSPR();
|
||||
A4988_rpm = myA4988->getRPM();
|
||||
A4988_mic = myA4988->getMIC();
|
||||
if ((A4988_ms1_pin < 99)&&(A4988_ms2_pin < 99)&&(A4988_ms3_pin < 99)&&(A4988_ena_pin<99)) {
|
||||
AddLog_P2(LOG_LEVEL_INFO, PSTR("STP: A4988-Driver initialized (%dSPR, %dRPM,%dMIC). Pins: Dir[%d] Stp[%d] Ena[%d] MS1[%d] MS2[%d] MS3[%d]"),A4988_spr, A4988_rpm, A4988_mic, A4988_dir_pin,A4988_stp_pin,A4988_ena_pin,A4988_ms1_pin,A4988_ms2_pin,A4988_ms3_pin);
|
||||
} else {
|
||||
if ((A4988_ena_pin<99)) {
|
||||
AddLog_P2(LOG_LEVEL_INFO, PSTR("STP: A4988-Driver initialized (%dSPR, %dRPM,%dMIC). Pins: Dir[%d] Stp[%d] Ena[%d] MicroStepping hardwired"),A4988_spr, A4988_rpm, A4988_mic, A4988_dir_pin,A4988_stp_pin,A4988_ena_pin);
|
||||
} else {
|
||||
AddLog_P2(LOG_LEVEL_INFO, PSTR("STP: A4988-Driver initialized (%dSPR, %dRPM,%dMIC). Pins: Dir[%d] Stp[%d] motor permanently on, MicroStepping hardwired"),A4988_spr, A4988_rpm, A4988_mic, A4988_dir_pin,A4988_stp_pin,A4988_ena_pin);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
const char kA4988Commands[] PROGMEM = "MOTOR|"
|
||||
"doMove|doRotate|doTurn|setSPR|setRPM|setMIC|getSPR|getRPM|getMIC|doVader";
|
||||
|
||||
void (* const A4988Command[])(void) PROGMEM = { &CmndMOTOR, &CmndDoMove, &CmndDoRotate, &CmndDoTurn, &CmndSetSPR, &CmndSetRPM, &CmndSetMic , &CmndGetSPR, &CmndGetRPM, &CmndGetMIC, &CmndDoVader };
|
||||
|
||||
|
||||
uint32_t MOTORCmndJson(void)
|
||||
{
|
||||
// ArduinoJSON entry used to calculate jsonBuf: JSON_OBJECT_SIZE(3) + 40 = 96
|
||||
// MOTOR { "command": "doMove", "value": 200 }
|
||||
// MOTOR { "command": "doRotate", "value": 200 }
|
||||
// MOTOR { "command": "doTurn", "value": 200 }
|
||||
|
||||
char dataBufUc[XdrvMailbox.data_len];
|
||||
UpperCase(dataBufUc, XdrvMailbox.data);
|
||||
RemoveSpace(dataBufUc);
|
||||
if (strlen(dataBufUc) < 8) {
|
||||
return A4988_INVALID_JSON;
|
||||
}
|
||||
|
||||
StaticJsonBuffer<40> jsonBuf;
|
||||
JsonObject &root = jsonBuf.parseObject(dataBufUc);
|
||||
if (!root.success()) {
|
||||
return A4988_INVALID_JSON;
|
||||
}
|
||||
|
||||
char parm_uc[10];
|
||||
const char *command = root[PSTR(parm_uc, PSTR(D_JSON_MOTOR_COMMAND))];
|
||||
const char *commandval = root[PSTR(parm_uc, PSTR(D_JSON_MOTOR_VALUE))];
|
||||
|
||||
if (!(command && commandval)) {
|
||||
return A4988_INVALID_JSON;
|
||||
}
|
||||
|
||||
AddLog_P2(LOG_LEVEL_DEBUG, PSTR("MOTOR: command: '%s', value: '%s'"),command, commandval);
|
||||
|
||||
switch (command)
|
||||
{ case "doMove": {
|
||||
long stepsPlease = 1;
|
||||
stepsPlease = strtoul(commandval,nullptr,10);
|
||||
myA4988->doMove(stepsPlease); break;
|
||||
}
|
||||
case "doRotate" : {
|
||||
long degrsPlease = 1;
|
||||
degrsPlease = strtoul(commandval,nullptr,10);
|
||||
AddLog_P2(LOG_LEVEL_INFO, PSTR("A4988: Rotating %d degrs"), degrsPlease);
|
||||
myA4988->doRotate(degrsPlease); break;
|
||||
}
|
||||
case "doTurn" : {
|
||||
float turnsPlease = 0;
|
||||
turnsPlease = strtod(commandval,nullptr);
|
||||
AddLog_P2(LOG_LEVEL_DEBUG, PSTR("A4988: Turning %d times"), turnsPlease);
|
||||
myA4988->doTurn(turnsPlease); break;
|
||||
}
|
||||
default:
|
||||
ResponseCmndChar(D_JSON_PROTOCOL_NOT_SUPPORTED);
|
||||
}
|
||||
|
||||
return A4988_NO_ERROR;
|
||||
}
|
||||
|
||||
void CmndMOTOR(void){
|
||||
if (XdrvMailbox.data_len) {
|
||||
if (strstr(XdrvMailbox.data, "{") == nullptr) {
|
||||
error = A4988_NO_JSON_COMMAND;
|
||||
} else {
|
||||
error = MOTORCmndJson();
|
||||
}
|
||||
}
|
||||
A4988CmndResponse(error);
|
||||
}
|
||||
|
||||
void A4988CmndResponse(uint32_t error){
|
||||
|
||||
}
|
||||
|
||||
void CmndGetSPR(void) {
|
||||
AddLog_P2(LOG_LEVEL_INFO, PSTR("A4988: SPR = %d steps"), myA4988->getSPR());
|
||||
}
|
||||
|
||||
void CmndGetRPM(void) {
|
||||
AddLog_P2(LOG_LEVEL_INFO, PSTR("A4988: RPM = %d rounds"), myA4988->getRPM());
|
||||
}
|
||||
|
||||
void CmndGetMIC(void) {
|
||||
AddLog_P2(LOG_LEVEL_INFO, PSTR("A4988: MIC = %d steps"), myA4988->getMIC());
|
||||
}
|
||||
|
||||
void CmndDoMove(void)
|
||||
{
|
||||
if (XdrvMailbox.data_len > 0) {
|
||||
long stepsPlease = 1;
|
||||
stepsPlease = strtoul(XdrvMailbox.data,nullptr,10);
|
||||
AddLog_P2(LOG_LEVEL_INFO, PSTR("A4988: Moving %d steps"), stepsPlease);
|
||||
myA4988->doMove(stepsPlease);
|
||||
} else {
|
||||
AddLog_P2(LOG_LEVEL_INFO, PSTR("A4988: Moving 25 steps"));
|
||||
myA4988->doMove(25);
|
||||
}
|
||||
ResponseCmndDone();
|
||||
}
|
||||
|
||||
void CmndDoRotate(void)
|
||||
{
|
||||
if (XdrvMailbox.data_len > 0) {
|
||||
long degrsPlease = 1;
|
||||
degrsPlease = strtoul(XdrvMailbox.data,nullptr,10);
|
||||
AddLog_P2(LOG_LEVEL_INFO, PSTR("A4988: Rotating %d degrs"), degrsPlease);
|
||||
myA4988->doRotate(degrsPlease);
|
||||
} else {
|
||||
AddLog_P2(LOG_LEVEL_INFO, PSTR("A4988: Moving 45 degrs"));
|
||||
myA4988->doRotate(45);
|
||||
}
|
||||
ResponseCmndDone();
|
||||
}
|
||||
|
||||
void CmndDoTurn(void)
|
||||
{
|
||||
if (XdrvMailbox.data_len > 0) {
|
||||
float turnsPlease = 0;
|
||||
turnsPlease = strtod(XdrvMailbox.data,nullptr);
|
||||
AddLog_P2(LOG_LEVEL_DEBUG, PSTR("A4988: Turning %d times"), turnsPlease);
|
||||
myA4988->doTurn(turnsPlease);
|
||||
} else {
|
||||
AddLog_P2(LOG_LEVEL_DEBUG, PSTR("A4988: Turning 0.25 times"));
|
||||
myA4988->doRotate(0.25);
|
||||
}
|
||||
ResponseCmndDone();
|
||||
}
|
||||
|
||||
void CmndSetRPM(void)
|
||||
{
|
||||
short rpmPlease = 60;
|
||||
if (XdrvMailbox.data_len > 0) {
|
||||
rpmPlease = strtoul(XdrvMailbox.data,nullptr,10);
|
||||
}
|
||||
AddLog_P2(LOG_LEVEL_DEBUG, PSTR("A4988: RPM set to %d"), rpmPlease);
|
||||
myA4988->setRPM(rpmPlease);
|
||||
ResponseCmndDone();
|
||||
}
|
||||
|
||||
void CmndSetSPR(void)
|
||||
{
|
||||
int sprPlease = 200;
|
||||
if (XdrvMailbox.data_len > 0) {
|
||||
sprPlease = strtoul(XdrvMailbox.data,nullptr,10);
|
||||
}
|
||||
AddLog_P2(LOG_LEVEL_DEBUG, PSTR("A4988: SPR set to %d"), sprPlease);
|
||||
myA4988->setSPR(sprPlease);
|
||||
ResponseCmndDone();
|
||||
}
|
||||
|
||||
void CmndSetMic(void)
|
||||
{
|
||||
if ((pin[GPIO_A4988_MS1] < 99) && (pin[GPIO_A4988_MS2] < 99) && (pin[GPIO_A4988_MS3] < 99)) {
|
||||
short micPlease = 1;
|
||||
if (XdrvMailbox.data_len > 0) {
|
||||
micPlease = strtoul(XdrvMailbox.data,nullptr,10);
|
||||
AddLog_P2(LOG_LEVEL_DEBUG, PSTR("A4988: Microsteps set to %d"), micPlease);
|
||||
myA4988->setMIC(micPlease);
|
||||
}
|
||||
} else {
|
||||
AddLog_P2(LOG_LEVEL_DEBUG, PSTR("A4988: Microsteps constant = 1. You'll have to define GPIO's for MS1-MS3 and connect them to A4988 or hardwire A4988 itself"));
|
||||
}
|
||||
ResponseCmndDone();
|
||||
}
|
||||
|
||||
void CmndDoVader(void){
|
||||
myA4988->enable();
|
||||
myA4988->setRPM(25); myA4988->doMove( 30); delay(5);
|
||||
myA4988->setRPM(25); myA4988->doMove(-30); delay(5);
|
||||
myA4988->setRPM(25); myA4988->doMove( 30); delay(5);
|
||||
myA4988->setRPM(20); myA4988->doMove(-25); delay(5);
|
||||
myA4988->setRPM(30); myA4988->doMove( 20); delay(5);
|
||||
myA4988->setRPM(25); myA4988->doMove( 50); delay(5);
|
||||
myA4988->setRPM(20); myA4988->doMove(-25); delay(5);
|
||||
myA4988->setRPM(30); myA4988->doMove( 20); delay(5);
|
||||
myA4988->setRPM(25); myA4988->doMove(-50); delay(5);//
|
||||
myA4988->setRPM(38); myA4988->doMove( 31); delay(5);
|
||||
myA4988->setRPM(38); myA4988->doMove(-31); delay(5);
|
||||
myA4988->setRPM(38); myA4988->doMove( 31); delay(5);
|
||||
myA4988->setRPM(38); myA4988->doMove(-31); delay(5);
|
||||
myA4988->setRPM(41); myA4988->doMove( 21); delay(5);
|
||||
myA4988->setRPM(30); myA4988->doMove(-21); delay(5);
|
||||
myA4988->setRPM(25); myA4988->doMove( 30); delay(5);
|
||||
myA4988->setRPM(20); myA4988->doMove(-25); delay(5);
|
||||
myA4988->setRPM(30); myA4988->doMove( 20); delay(5);
|
||||
myA4988->setRPM(25); myA4988->doMove(-50); delay(5);//
|
||||
myA4988->setRPM(50); myA4988->doMove( 40); delay(5);
|
||||
myA4988->setRPM(25); myA4988->doMove(-20); delay(5);
|
||||
myA4988->setRPM(25); myA4988->doMove( 15); delay(5);
|
||||
myA4988->setRPM(50); myA4988->doMove(-40); delay(5);
|
||||
myA4988->setRPM(48); myA4988->doMove( 35); delay(5);
|
||||
myA4988->setRPM(45); myA4988->doMove(-25); delay(5);
|
||||
myA4988->setRPM(41); myA4988->doMove( 25); delay(5);
|
||||
myA4988->setRPM(38); myA4988->doMove(-26); delay(5);
|
||||
myA4988->setRPM(41); myA4988->doMove( 25); delay(5);
|
||||
myA4988->setRPM(25); myA4988->doMove( 25); delay(5);
|
||||
myA4988->setRPM(41); myA4988->doMove(-35); delay(5);
|
||||
myA4988->setRPM(38); myA4988->doMove( 25); delay(5);
|
||||
myA4988->setRPM(36); myA4988->doMove(-25); delay(5);
|
||||
myA4988->setRPM(33); myA4988->doMove( 25); delay(5);
|
||||
myA4988->setRPM(30); myA4988->doMove(-27); delay(5);
|
||||
myA4988->setRPM(33); myA4988->doMove( 25); delay(5);
|
||||
myA4988->setRPM(33); myA4988->doMove( 25); delay(5);
|
||||
myA4988->setRPM(38); myA4988->doMove(-30); delay(5);
|
||||
myA4988->setRPM(18); myA4988->doMove( 10); delay(5);
|
||||
myA4988->setRPM(18); myA4988->doMove(-10); delay(5);
|
||||
myA4988->setRPM(25); myA4988->doMove( 20); delay(5);
|
||||
myA4988->setRPM(20); myA4988->doMove(-25); delay(5);
|
||||
myA4988->setRPM(30); myA4988->doMove( 20); delay(5);
|
||||
myA4988->setRPM(25); myA4988->doMove(-50); delay(5);
|
||||
myA4988->setRPM(20); myA4988->doMove( 25); delay(5);
|
||||
myA4988->setRPM(30); myA4988->doMove(-20); delay(5);
|
||||
myA4988->setRPM(25); myA4988->doMove( 50); delay(5);
|
||||
myA4988->disable();
|
||||
AddLog_P2(LOG_LEVEL_INFO, PSTR("Stepper: may the force be with you!"));
|
||||
ResponseCmndDone();
|
||||
}
|
||||
|
||||
/*********************************************************************************************\
|
||||
* Interface
|
||||
\*********************************************************************************************/
|
||||
bool Xdrv98(uint8_t function)
|
||||
{
|
||||
bool result = false;
|
||||
|
||||
if ((pin[GPIO_A4988_DIR] < 99) && (pin[GPIO_A4988_STP] < 99)) {
|
||||
switch (function) {
|
||||
case FUNC_INIT:
|
||||
A4988Init();
|
||||
break;
|
||||
case FUNC_COMMAND:
|
||||
result = DecodeCommand(kA4988Commands, A4988Command);
|
||||
break;
|
||||
}
|
||||
}
|
||||
return result;
|
||||
}
|
||||
|
||||
#endif
|
||||
|
|
@ -160,7 +160,7 @@ a_features = [[
|
|||
"USE_ADE7953","USE_SPS30","USE_VL53L0X","USE_MLX90614",
|
||||
"USE_MAX31865","USE_CHIRP","USE_SOLAX_X1","USE_PAJ7620"
|
||||
],[
|
||||
"USE_BUZZER","USE_RDM6300","USE_IBEACON","",
|
||||
"USE_BUZZER","USE_RDM6300","USE_IBEACON","USE_A4988_Stepper",
|
||||
"","","","",
|
||||
"","","","",
|
||||
"","","","",
|
||||
|
|
|
|||
Loading…
Reference in New Issue