// // // hello.stepper.bipolar.44.full.c // // bipolar full stepping hello-world // // Neil Gershenfeld // 11/21/12 // // (c) Massachusetts Institute of Technology 2012 // This work may be reproduced, modified, distributed, // performed, and displayed for any purpose. Copyright is // retained and must be preserved. The work is provided // as is; no warranty is provided, and users accept all // liability. // #include #include #include #define output(directions,pin) (directions |= pin) // set port direction for output #define set(port,pin) (port |= pin) // set port pin #define clear(port,pin) (port &= (~pin)) // clear port pin #define pin_test(pins,pin) (pins & pin) // test for port pin #define bit_test(byte,bit) (byte & (1 << bit)) // test for bit set #define bridge_port PORTA // H-bridge port #define bridge_direction DDRA // H-bridge direction #define A2 (1 << PA0) // H-bridge output pins #define A1 (1 << PA1) // " #define B2 (1 << PA3) // " #define B1 (1 << PA4) // " #define on_delay() _delay_us(25) // PWM on time #define off_delay() _delay_us(5) // PWM off time #define PWM_count 100 // number of PWM cycles #define step_count 20 // number of steps static uint8_t count; // // A+ B+ PWM pulse // void pulse_ApBp() { clear(bridge_port, A2); clear(bridge_port, B2); set(bridge_port, A1); set(bridge_port, B1); for (count = 0; count < PWM_count; ++count) { set(bridge_port, A1); set(bridge_port, B1); on_delay(); clear(bridge_port, A1); clear(bridge_port, B1); off_delay(); } } // // A+ B- PWM pulse // void pulse_ApBm() { clear(bridge_port, A2); clear(bridge_port, B1); set(bridge_port, A1); set(bridge_port, B2); for (count = 0; count < PWM_count; ++count) { set(bridge_port, A1); set(bridge_port, B2); on_delay(); clear(bridge_port, A1); clear(bridge_port, B2); off_delay(); } } // // A- B+ PWM pulse // void pulse_AmBp() { clear(bridge_port, A1); clear(bridge_port, B2); set(bridge_port, A2); set(bridge_port, B1); for (count = 0; count < PWM_count; ++count) { set(bridge_port, A2); set(bridge_port, B1); on_delay(); clear(bridge_port, A2); clear(bridge_port, B1); off_delay(); } } // // A- B- PWM pulse // void pulse_AmBm() { clear(bridge_port, A1); clear(bridge_port, B1); set(bridge_port, A2); set(bridge_port, B2); for (count = 0; count < PWM_count; ++count) { set(bridge_port, A2); set(bridge_port, B2); on_delay(); clear(bridge_port, A2); clear(bridge_port, B2); off_delay(); } } // // clockwise step // void step_cw() { pulse_ApBp(); pulse_AmBp(); pulse_AmBm(); pulse_ApBm(); } // // counter-clockwise step // void step_ccw() { pulse_ApBm(); pulse_AmBm(); pulse_AmBp(); pulse_ApBp(); } int main(void) { // // main PyObject *pythonAnswer, *mymod, *pythonFunction, *funcArgs; int in1, in2, in3, in4, in5; char *cstrret; Py_Initialize(); PySys_SetPath("."); mymod = PyImport_ImportModule("splitFlap"); pythonFunction = PyObject_GetAttrString(mymod, "run"); funcArgs = Py_BuildValue("(s)", "yo"); pythonAnswer = PyEval_CallObject(pythonFunction, funcArgs); PyArg_ParseTuple(pythonAnswer, "iiiii", &in1, &in2, &in3, &in4, &in5); Py_Finalized(); // // static uint8_t i,j; // // set clock divider to /1 // CLKPR = (1 << CLKPCE); CLKPR = (0 << CLKPS3) | (0 << CLKPS2) | (0 << CLKPS1) | (0 << CLKPS0); // // initialize bridge pins // clear(bridge_port, A1); output(bridge_direction, A1); clear(bridge_port, A2); output(bridge_direction, A2); clear(bridge_port, B1); output(bridge_direction, B1); clear(bridge_port, B2); output(bridge_direction, B2); // // main loop // while(1){ static int currentIndex; currentIndex = 0; int indexs[] = {in1, in2, in3, in4, in5} lenIndexs = sizeof(indexs) for(i=0; i 0; --i) { // for (j = 0; j < i; ++j) // step_cw(); // for (j = 0; j < i; ++j) // step_ccw(); // } // } }