AF_DCMotor::AF_DCMotor(uint8_t num, uint8_t freq) {
  motornum = num;
  pwmfreq = freq;

  MC.enable();

  switch (num) {
  case 1:
    latch_state &= ~_BV(MOTOR1_A) & ~_BV(MOTOR1_B); // set both motor pins to 0
    MC.latch_tx();
    initPWM1(freq);
    break;
  case 2:
    latch_state &= ~_BV(MOTOR2_A) & ~_BV(MOTOR2_B); // set both motor pins to 0
    MC.latch_tx();
    initPWM2(freq);
    break;
  case 3:
    latch_state &= ~_BV(MOTOR3_A) & ~_BV(MOTOR3_B); // set both motor pins to 0
    MC.latch_tx();
    initPWM3(freq);
    break;
  case 4:
    latch_state &= ~_BV(MOTOR4_A) & ~_BV(MOTOR4_B); // set both motor pins to 0
    MC.latch_tx();
    initPWM4(freq);
    break;
  }
}
Exemplo n.º 2
0
AF_Stepper::AF_Stepper(uint16_t steps, uint8_t num) {
  MC.enable();

  revsteps = steps;
  steppernum = num;

  if (steppernum == 1) {
    latch_state &= ~_BV(MOTOR1_A) & ~_BV(MOTOR1_B) &
      ~_BV(MOTOR2_A) & ~_BV(MOTOR2_B); // all motor pins to 0
    MC.latch_tx();
    
    // enable both H bridges
    pinMode(11, OUTPUT);
    pinMode(3, OUTPUT);
    digitalWrite(11, HIGH);
    digitalWrite(3, HIGH);

#ifdef MICROSTEPPING
    // use PWM for microstepping support
    initPWM1(MOTOR12_64KHZ);
    initPWM2(MOTOR12_64KHZ);
    setPWM1(255);
    setPWM2(255);
#endif

  } else if (steppernum == 2) {
    latch_state &= ~_BV(MOTOR3_A) & ~_BV(MOTOR3_B) &
      ~_BV(MOTOR4_A) & ~_BV(MOTOR4_B); // all motor pins to 0
    MC.latch_tx();

    // enable both H bridges
    pinMode(5, OUTPUT);
    pinMode(6, OUTPUT);
    digitalWrite(5, HIGH);
    digitalWrite(6, HIGH);

#ifdef MICROSTEPPING    
    // use PWM for microstepping support
    // use PWM for microstepping support
    initPWM3(1);
    initPWM4(1);
    setPWM3(255);
    setPWM4(255);
#endif
  }
}
AF_Stepper::AF_Stepper(uint16_t steps, uint8_t num) {
  MC.enable();

  revsteps = steps;
  steppernum = num;
  currentstep = 0;

  if (steppernum == 1) {
    latch_state &= ~_BV(MOTOR1_A) & ~_BV(MOTOR1_B) &
      ~_BV(MOTOR2_A) & ~_BV(MOTOR2_B); // all motor pins to 0
    MC.latch_tx();

    // enable both H bridges
    pinMode(11, OUTPUT);
    pinMode(3, OUTPUT);
    digitalWrite(11, HIGH);
    digitalWrite(3, HIGH);

    // use PWM for microstepping support
    initPWM1(STEPPER1_PWM_RATE);
    initPWM2(STEPPER1_PWM_RATE);
    setPWM1(255);
    setPWM2(255);

  } else if (steppernum == 2) {
    latch_state &= ~_BV(MOTOR3_A) & ~_BV(MOTOR3_B) &
      ~_BV(MOTOR4_A) & ~_BV(MOTOR4_B); // all motor pins to 0
    MC.latch_tx();

    // enable both H bridges
    pinMode(5, OUTPUT);
    pinMode(6, OUTPUT);
    digitalWrite(5, HIGH);
    digitalWrite(6, HIGH);

    // use PWM for microstepping support
    // use PWM for microstepping support
    initPWM3(STEPPER2_PWM_RATE);
    initPWM4(STEPPER2_PWM_RATE);
    setPWM3(255);
    setPWM4(255);
  }
}