// Set the index LED, property with the value
int StepperOsc_PropertySet( int index, int property, int value )
{
switch ( property )
{
case 0:
Stepper_SetActive( index, value );
break;
case 1:
Stepper_SetPosition( index, value );
break;
case 2:
Stepper_SetPositionRequested( index, value );
break;
case 3:
Stepper_SetSpeed( index, value );
break;
case 4:
Stepper_SetDuty( index, value );
break;
case 5:
Stepper_SetHalfStep( index, value );
break;
case 6:
Stepper_SetBipolar( index, value );
break;
case 7: // step
Stepper_Step( index, value );
break;
}
return CONTROLLER_OK;
}
int main(void) {
int i;
unsigned short pattern;
char j,k;
SERIAL_Init();
AD1PCFG = 0xFF;
INTEnableSystemMultiVectoredInt();
//enable LED bank 1
TRISDbits.TRISD6 = 0;
TRISDbits.TRISD11 = 0;
TRISDbits.TRISD3 = 0;
TRISDbits.TRISD5 = 0;
//enable LED bank 2
TRISFbits.TRISF6 = 0;
TRISGbits.TRISG7 = 0;
TRISDbits.TRISD7 = 0;
TRISGbits.TRISG8 = 0;
printf("\nHello World!");
Stepper_Init(stepSpeed);
printf("\nStepping forward 420 steps");
Stepper_SetSteps(FORWARD,420);
while(Stepper_GetRemainingCount() > 1) {
printf("\t%u,%u",Stepper_GetRemainingCount(),stepSpeed);
DELAY();
#ifdef STEPPER_RAMPS
if (Stepper_GetRemainingCount() % 10) {
Stepper_SetSpeed( (stepSpeed / 4) + stepSpeed );
}
#endif
}
printf("\nForward steps done");
DELAY();
Stepper_SetSteps(REVERSE,220);
while (Stepper_GetRemainingCount() > 1) {
printf("\t%u",Stepper_GetRemainingCount());
DELAY();
}
Stepper_End();
TRIS_COIL_A_DIRECTION = 0;
TRIS_COIL_A_ENABLE = 0;
TRIS_COIL_B_DIRECTION = 0;
TRIS_COIL_B_ENABLE = 0;
ShutDownDrive();
ADisable();
ADirectionOff();
BDisable();
BDirectionOff();
printf("\n Turning on COIL_B_DIRECTION (PortZ-07");
for (j=0;j<10;j++) {
printf("o");
DELAY();
}
while (1) {
COIL_B_DIRECTION ^= 1;
DELAY();
printf(".");
}
return 0;
}