int main()
{
uint8_t dir = CW;
initPorts();
initADC();
// accel section
halfStep(dir);
_delay_us(10000);
halfStep(dir);
_delay_us(6000);
halfStep(dir);
_delay_us(4667);
halfStep(dir);
_delay_us(3949);
while (1)
{
stepperVal = MOTORPORT;
switch (stepperVal)
{
case 1:
ADMUX = (ADMUX & 0b1110000) | 0x1;
adctested = 1;
break;
case 2:
ADMUX = (ADMUX & 0b1110000) | 0x2;
adctested = 1;
break;
case 4:
ADMUX = (ADMUX & 0b1110000) | 0x3;
adctested = 1;
break;
case 8:
ADMUX = (ADMUX & 0b1110000) | 0x0;
adctested = 1;
break;
default:
ADMUX = (ADMUX & 0b1110000) | 0x31; // GND
adctested = 0;
}
if (adctested)
{
// trigger ADC sample
ADCSRA |= _BV(ADSC);
// poll delay until sample done
loop_until_bit_is_clear( ADCSRA, ADSC );
DEBUGPORT = ADCH;
}
halfStep(dir);
_delay_us(3500);
} // main loop
}
/***********************************************************
* Digital I/O f?r Motorensteuerung werden als Output
* definiert.
* @param Pointer auf Motor
* @return void
***********************************************************/
void initStepper(stepper_t *aStepper)
{
pinMode(aStepper->statusPin, OUTPUT);
pinMode(aStepper->modePin, OUTPUT);
pinMode(aStepper->directionPin, OUTPUT);
pinMode(aStepper->clockPin, OUTPUT);
digitalWrite(aStepper->clockPin, HIGH);
switch (aStepper->stepperStatus){
case DISABLED:
disableStepper(aStepper);
break;
case ENABLED:
enableStepper(aStepper);
break;
case RUN:
enableStepper(aStepper);
break;
}
switch (aStepper->stepperMode){
case FULL:
fullStep(aStepper);
break;
case HALF:
halfStep(aStepper);
break;
}
switch (aStepper->direction){
case FORWARD:
forward(aStepper);
break;
case BACKWARD:
backward(aStepper);
break;
}
}
