void trapezoidMove(int16_t howManySteps) {
uint8_t delay = MAX_DELAY;
uint16_t stepsTaken = 0;
/* set direction, make howManySteps > 0 */
if (howManySteps > 0) {
direction = FORWARD;
}
else {
direction = BACKWARD;
howManySteps = -howManySteps;
}
if (howManySteps > (RAMP_STEPS * 2)) {
/* Have enough steps for a full trapezoid */
/* Accelerate */
while (stepsTaken < RAMP_STEPS) {
takeSteps(1, delay);
delay -= ACCELERATION;
stepsTaken++;
}
/* Cruise */
delay = MIN_DELAY;
takeSteps((howManySteps - 2 * RAMP_STEPS), delay);
stepsTaken += (howManySteps - 2 * RAMP_STEPS);
/* Decelerate */
while (stepsTaken < howManySteps) {
takeSteps(1, delay);
delay += ACCELERATION;
stepsTaken++;
}
}
else {
/* Partial ramp up/down */
while (stepsTaken <= howManySteps / 2) {
takeSteps(1, delay);
delay -= ACCELERATION;
stepsTaken++;
}
delay += ACCELERATION;
while (stepsTaken < howManySteps) {
takeSteps(1, delay);
delay += ACCELERATION;
stepsTaken++;
}
}
}
int main( void ){
TRISB=0x0FEF;
PORTB=0;
initStepper();
stepperSpeed(30000);
while(1){
takeSteps(100,FWD);
while(PTCONbits.PTEN);
};
}//end main
