void stepper_next_half_step_cw(STEPPER* INPUT_STEPPER_STRUCT)
{
stepper_step(INPUT_STEPPER_STRUCT);
STEPPER_VALUE_OF_FLAG(INPUT_STEPPER_STRUCT) += 1;
if(STEPPER_VALUE_OF_NEXT_STEP(INPUT_STEPPER_STRUCT) == 8)
STEPPER_VALUE_OF_FLAG(INPUT_STEPPER_STRUCT) = (STEPPER_VALUE_OF_FLAG(INPUT_STEPPER_STRUCT) & (1<<7));
}
void stepper_next_full_step_high_torque_cw(STEPPER* INPUT_STEPPER_STRUCT)
{
stepper_step(INPUT_STEPPER_STRUCT);
STEPPER_VALUE_OF_FLAG(INPUT_STEPPER_STRUCT) += 2;
if(STEPPER_VALUE_OF_NEXT_STEP(INPUT_STEPPER_STRUCT) == 8)
STEPPER_VALUE_OF_FLAG(INPUT_STEPPER_STRUCT) &= (1<<7);
}
void stepper_next_half_step_ccw(STEPPER* INPUT_STEPPER_STRUCT)
{
stepper_step(INPUT_STEPPER_STRUCT);
STEPPER_VALUE_OF_FLAG(INPUT_STEPPER_STRUCT) -=1;
if(STEPPER_VALUE_OF_FLAG(INPUT_STEPPER_STRUCT) == 0xFF)
{
STEPPER_VALUE_OF_FLAG(INPUT_STEPPER_STRUCT) = ((1<<2)|(1<<1)|(1<<0));
}
else if(STEPPER_VALUE_OF_FLAG(INPUT_STEPPER_STRUCT) == 0x7F) //unipolar
{
STEPPER_VALUE_OF_FLAG(INPUT_STEPPER_STRUCT) = ((1<<7)|(1<<2)|(1<<1)|(1<<0));
}
}
void stepper_next_full_step_high_torque_ccw(STEPPER* INPUT_STEPPER_STRUCT)
{
stepper_step(INPUT_STEPPER_STRUCT);
STEPPER_VALUE_OF_FLAG(INPUT_STEPPER_STRUCT) -= 2;
if(STEPPER_VALUE_OF_FLAG(INPUT_STEPPER_STRUCT) == 0xFE)
{
STEPPER_VALUE_OF_FLAG(INPUT_STEPPER_STRUCT) = ((1<<2)|(1<<1));
}
else if(STEPPER_VALUE_OF_FLAG(INPUT_STEPPER_STRUCT) == 0x7E)
{
STEPPER_VALUE_OF_FLAG(INPUT_STEPPER_STRUCT) = ((1<<7)|(1<<2)|(1<<1));
}
}
void stepper_next_full_step_low_torque_cw(STEPPER* INPUT_STEPPER_STRUCT)
{
if(STEPPER_VALUE_OF_NEXT_STEP(INPUT_STEPPER_STRUCT) == 0)
{
STEPPER_VALUE_OF_FLAG(INPUT_STEPPER_STRUCT) = (STEPPER_VALUE_OF_FLAG(INPUT_STEPPER_STRUCT) & (1<<7))|(1<<0);
//stepper_step(INPUT_STEPPER_STRUCT);
//delay
}
stepper_step(INPUT_STEPPER_STRUCT);
STEPPER_VALUE_OF_FLAG(INPUT_STEPPER_STRUCT) += 2;
if(STEPPER_VALUE_OF_NEXT_STEP(INPUT_STEPPER_STRUCT) == 9)
STEPPER_VALUE_OF_FLAG(INPUT_STEPPER_STRUCT) = (STEPPER_VALUE_OF_FLAG(INPUT_STEPPER_STRUCT) & (1<<7))|(1<<0);
}
void stepper_next_full_step_low_torque_ccw(STEPPER* INPUT_STEPPER_STRUCT)
{
if(STEPPER_VALUE_OF_NEXT_STEP(INPUT_STEPPER_STRUCT) == 0)
{
STEPPER_VALUE_OF_FLAG(INPUT_STEPPER_STRUCT) = (STEPPER_VALUE_OF_FLAG(INPUT_STEPPER_STRUCT) & ((1<<2)|(1<<1)|(1<<0)));
//stepper_step(INPUT_STEPPER_STRUCT);
//delay
}
stepper_step(INPUT_STEPPER_STRUCT);
STEPPER_VALUE_OF_FLAG(INPUT_STEPPER_STRUCT) -= 2;
if(STEPPER_VALUE_OF_FLAG(INPUT_STEPPER_STRUCT) == 0xFF)
{
STEPPER_VALUE_OF_FLAG(INPUT_STEPPER_STRUCT) = ((1<<2)|(1<<1)|(1<<0));
}
else if(STEPPER_VALUE_OF_FLAG(INPUT_STEPPER_STRUCT) == 0x7F)
{
STEPPER_VALUE_OF_FLAG(INPUT_STEPPER_STRUCT) = ((1<<7)|(1<<2)|(1<<1)|(1<<0));
}
}
int main(void) {
pin_config_out(g_led);
pin_config_out(r_led);
pin_config_out(e_heat);
pin_config_out(b_heat);
pin_config_out(buzzer);
pin_low(buzzer);
Stepper *stepper_x = stepper_init(x_step,x_dir,motor_enb);
Stepper *stepper_y = stepper_init(y_step,y_dir,motor_enb);
Stepper *stepper_z = stepper_init(z_step,z_dir,motor_enb);
// stepper_start_frame();
Uart *uart = uart_init();
console_init();
thermistor_init();
// console_prompt();
pin_config_in(x_stop);
pin_high(r_led);
char dir = 1;
int count = 0;
unsigned int hit = 0;
while(1) {
// dir = pin_get(EXP2);
stepper_dir(stepper_x,dir);
stepper_dir(stepper_y,dir);
stepper_dir(stepper_z,dir);
if(dir == 1) {
if(pin_get(x_stop)==0 ) {
if(hit < 2) {
stepper_step(stepper_x);
stepper_step(stepper_y);
stepper_step(stepper_z);
count++;
}
} else {
hit++;
if(hit < 2) {
printf("%i\n",count);
printf("HIT!\n");
dir = 0;
hit = 0;
}
}
}
if(dir == 0) {
stepper_step(stepper_x);
stepper_step(stepper_y);
stepper_step(stepper_z);
count--;
if(count == 0) {
dir = 1;
}
}
_delay_us(50);
/*
count++;
if(count == 1000){
pin_toggle(g_led);
count = 0;
// pin_toggle(stepper_x->direction);
// pin_toggle(stepper_y->direction);
// pin_toggle(stepper_z->direction);
}
*/
}
}
