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C++ AFMotorController类代码示例

本文整理汇总了C++中AFMotorController类的典型用法代码示例。如果您正苦于以下问题：C++ AFMotorController类的具体用法？C++ AFMotorController怎么用？C++ AFMotorController使用的例子？那么恭喜您, 这里精选的类代码示例或许可以为您提供帮助。


在下文中一共展示了AFMotorController类的12个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的C++代码示例。

示例1: switch

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;
  }
}
开发者ID:mikeChastain，项目名称:adafruit-Adafruit-Motor-Shield-library-4bd21ca，代码行数:29，代码来源:AFMotor.cpp

示例2: run

void AF_DCMotor::run(uint8_t cmd) {
  uint8_t a, b;
  switch (motornum) {
  case 1:
    a = MOTOR1_A; b = MOTOR1_B; break;
  case 2:
    a = MOTOR2_A; b = MOTOR2_B; break;
  case 3:
    a = MOTOR3_A; b = MOTOR3_B; break;
  case 4:
    a = MOTOR4_A; b = MOTOR4_B; break;
  default:
    return;
  }

  switch (cmd) {
  case FORWARD:
    latch_state |= _BV(a);
    latch_state &= ~_BV(b);
    MC.latch_tx();
    break;
  case BACKWARD:
    latch_state &= ~_BV(a);
    latch_state |= _BV(b);
    MC.latch_tx();
    break;
  case RELEASE:
    latch_state &= ~_BV(a);     // A and B both low
    latch_state &= ~_BV(b);
    MC.latch_tx();
    break;
  }
}
开发者ID:mikeChastain，项目名称:adafruit-Adafruit-Motor-Shield-library-4bd21ca，代码行数:33，代码来源:AFMotor.cpp

示例3: release

void AF_Stepper::release(void) {
  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();
  } 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();
  }
}
开发者ID:mikeChastain，项目名称:adafruit-Adafruit-Motor-Shield-library-4bd21ca，代码行数:11，代码来源:AFMotor.cpp

示例4: onestep

void AF_Stepper::onestep(uint8_t dir) {
  if (dir == FORWARD) {
    currentstep++;
  } else {
    // BACKWARDS
    currentstep--;
  }

  currentstep += MICROSTEPS*4;
  currentstep %= MICROSTEPS*4;

#ifdef MOTORDEBUG
  Serial.print("current step: "); Serial.println(currentstep, DEC);
#endif

  // set all of this motor's pins to 0 (don't smash other motor)
  latch_state &= ~a & ~b & ~c & ~d;

  // No wait!  Keep some energized.
  switch (currentstep/(MICROSTEPS/2)) {
  case 0:  latch_state |= a;      break;  // energize coil 1 only
  case 1:  latch_state |= a | b;  break;  // energize coil 1+2
  case 2:  latch_state |= b;      break;  // energize coil 2 only
  case 3:  latch_state |= b | c;  break;  // energize coil 2+3
  case 4:  latch_state |= c;      break;  // energize coil 3 only
  case 5:  latch_state |= c | d;  break;  // energize coil 3+4
  case 6:  latch_state |= d;      break;  // energize coil 4 only
  case 7:  latch_state |= d | a;  break;  // energize coil 1+4
  }

  // change the energized state now
  MC.latch_tx();
}
开发者ID:LgHS，项目名称:Makelangelo-firmware，代码行数:33，代码来源:AFMotorDrawbot.cpp

示例5: run

void AF_DCMotor::run(uint8_t cmd) {
  uint8_t a, b;
  switch (motornum) {
  case 1:
    a = MOTOR1_A; b = MOTOR1_B; break;
  case 2:
    a = MOTOR2_A; b = MOTOR2_B; break;
  case 3:
    a = MOTOR3_A; b = MOTOR3_B; break;
  case 4:
    a = MOTOR4_A; b = MOTOR4_B; break;
  default:
    return;
  }
  
  if(a != MOTOR2_A) {
    switch (cmd) {
      case FORWARD:
        latch_state |= _BV(a);
        latch_state &= ~_BV(b); 
        MC.latch_tx();
        break;
      case BACKWARD:
        latch_state &= ~_BV(a);
        latch_state |= _BV(b); 
        MC.latch_tx();
        break;
      case RELEASE:
        latch_state &= ~_BV(a);
        latch_state &= ~_BV(b);
        MC.latch_tx();
        break;
      }
  }
  else {
    switch (cmd) {
      case FORWARD:
        //digitalWrite(12, 0x01);
        PORTB |= _BV(4);
        break;
      case BACKWARD:
        //digitalWrite(12, 0x00);
        PORTB &=  ~_BV(4);
        break;         
      }
  }
}
开发者ID:Jeevith78，项目名称:arduinolab，代码行数:47，代码来源:AFMotor.cpp

示例6: pinMode

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
  }
}
开发者ID:Revpatrickchand，项目名称:Arduino-Focuser，代码行数:46，代码来源:AFMotor.cpp

示例7: pinMode

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);
  }
}
开发者ID:mikeChastain，项目名称:adafruit-Adafruit-Motor-Shield-library-4bd21ca，代码行数:43，代码来源:AFMotor.cpp

示例8: pinMode

/*--    MOTOR SETTINGS      --*/
 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);

    a = _BV(MOTOR1_A);
    b = _BV(MOTOR2_A);
    c = _BV(MOTOR1_B);
    d = _BV(MOTOR2_B);
  } 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);

    a = _BV(MOTOR3_A);
    b = _BV(MOTOR4_A);
    c = _BV(MOTOR3_B);
    d = _BV(MOTOR4_B);
  }
 }
开发者ID:glennlopez，项目名称:Arc，代码行数:41，代码来源:AFMotor.cpp

示例9: onestep

/*--    MOTOR ONE-STEP CONFIG      --*/
 uint8_t AF_Stepper::onestep(uint8_t dir) 
 {
  if((currentstep/(MICROSTEPS/2)) % 2) 
   { // we're at an odd step, weird
     if(dir == FORWARD) currentstep += MICROSTEPS/2;
     else               currentstep -= MICROSTEPS/2;
   } 
     else 
      {           // go to the next even step
      if(dir == FORWARD) currentstep += MICROSTEPS;
      else               currentstep -= MICROSTEPS;
      }

 currentstep += MICROSTEPS*4;
 currentstep %= MICROSTEPS*4;

 #ifdef MOTORDEBUG
 Serial.print("current step: "); Serial.println(currentstep, DEC);
 #endif

  // preprare to release all coils
  latch_state &= ~a & ~b & ~c & ~d; // all motor pins to 0

  // No wait!  Keep some energized.
  switch (currentstep/(MICROSTEPS/2)) 
  {
    case 0:  latch_state |= a;      break;  // energize coil 1 only
    case 1:  latch_state |= a | b;  break;  // energize coil 1+2
    case 2:  latch_state |= b;      break;  // energize coil 2 only
    case 3:  latch_state |= b | c;  break;  // energize coil 2+3
    case 4:  latch_state |= c;      break;  // energize coil 3 only
    case 5:  latch_state |= c | d;  break;  // energize coil 3+4
    case 6:  latch_state |= d;      break;  // energize coil 4 only
    case 7:  latch_state |= d | a;  break;  // energize coil 1+4
  }

  // change the energized state now
  MC.latch_tx();
  
  return currentstep;
 }
开发者ID:glennlopez，项目名称:Arc，代码行数:42，代码来源:AFMotor.cpp

示例10: release

void AF_Stepper::release() {
  // release all
  latch_state &= ~a & ~b & ~c & ~d; // all motor pins to 0
  MC.latch_tx();
}
开发者ID:LgHS，项目名称:Makelangelo-firmware，代码行数:5，代码来源:AFMotorDrawbot.cpp

示例11: onestep

uint8_t AF_Stepper::onestep(uint8_t dir, uint8_t style) {
  uint8_t a, b, c, d;
  uint8_t ocrb, ocra;

  ocra = ocrb = 255;

  if (steppernum == 1) {
    a = _BV(MOTOR1_A);
    b = _BV(MOTOR2_A);
    c = _BV(MOTOR1_B);
    d = _BV(MOTOR2_B);
  } else if (steppernum == 2) {
    a = _BV(MOTOR3_A);
    b = _BV(MOTOR4_A);
    c = _BV(MOTOR3_B);
    d = _BV(MOTOR4_B);
  } else {
    return 0;
  }

  // next determine what sort of stepping procedure we're up to
  if (style == SINGLE) {
    if ((currentstep/(MICROSTEPS/2)) % 2) { // we're at an odd step, weird
      if (dir == FORWARD) {
	currentstep += MICROSTEPS/2;
      }
      else {
	currentstep -= MICROSTEPS/2;
      }
    } else {           // go to the next even step
      if (dir == FORWARD) {
	currentstep += MICROSTEPS;
      }
      else {
	currentstep -= MICROSTEPS;
      }
    }
  } else if (style == DOUBLE) {
    if (! (currentstep/(MICROSTEPS/2) % 2)) { // we're at an even step, weird
      if (dir == FORWARD) {
	currentstep += MICROSTEPS/2;
      } else {
	currentstep -= MICROSTEPS/2;
      }
    } else {           // go to the next odd step
      if (dir == FORWARD) {
	currentstep += MICROSTEPS;
      } else {
	currentstep -= MICROSTEPS;
      }
    }
  } else if (style == INTERLEAVE) {
    if (dir == FORWARD) {
       currentstep += MICROSTEPS/2;
    } else {
       currentstep -= MICROSTEPS/2;
    }
  }

  if (style == MICROSTEP) {
    if (dir == FORWARD) {
      currentstep++;
    } else {
      // BACKWARDS
      currentstep--;
    }

    currentstep += MICROSTEPS*4;
    currentstep %= MICROSTEPS*4;

    ocra = ocrb = 0;
    if ( (currentstep >= 0) && (currentstep < MICROSTEPS)) {
      ocra = microstepcurve[MICROSTEPS - currentstep];
      ocrb = microstepcurve[currentstep];
    } else if  ( (currentstep >= MICROSTEPS) && (currentstep < MICROSTEPS*2)) {
      ocra = microstepcurve[currentstep - MICROSTEPS];
      ocrb = microstepcurve[MICROSTEPS*2 - currentstep];
    } else if  ( (currentstep >= MICROSTEPS*2) && (currentstep < MICROSTEPS*3)) {
      ocra = microstepcurve[MICROSTEPS*3 - currentstep];
      ocrb = microstepcurve[currentstep - MICROSTEPS*2];
    } else if  ( (currentstep >= MICROSTEPS*3) && (currentstep < MICROSTEPS*4)) {
      ocra = microstepcurve[currentstep - MICROSTEPS*3];
      ocrb = microstepcurve[MICROSTEPS*4 - currentstep];
    }
  }

  currentstep += MICROSTEPS*4;
  currentstep %= MICROSTEPS*4;

#ifdef MOTORDEBUG
  Serial.print("current step: "); Serial.println(currentstep, DEC);
  Serial.print(" pwmA = "); Serial.print(ocra, DEC);
  Serial.print(" pwmB = "); Serial.println(ocrb, DEC);
#endif

  if (steppernum == 1) {
    setPWM1(ocra);
    setPWM2(ocrb);
  } else if (steppernum == 2) {
    setPWM3(ocra);
//.........这里部分代码省略.........
开发者ID:mikeChastain，项目名称:adafruit-Adafruit-Motor-Shield-library-4bd21ca，代码行数:101，代码来源:AFMotor.cpp

示例12: onestep

uint8_t AF_Stepper::onestep(uint8_t dir, uint8_t style) {
  uint8_t a, b, c, d;
  uint8_t step;
  uint8_t mstep = 0;
#ifdef MICROSTEPPING
  uint8_t ocrb, ocra;
#endif
  if (steppernum == 1) {
    a = _BV(MOTOR1_A);
    b = _BV(MOTOR2_A);
    c = _BV(MOTOR1_B);
    d = _BV(MOTOR2_B);

#ifdef MICROSTEPPING
#if defined(__AVR_ATmega8__) || \
    defined(__AVR_ATmega48__) || \
    defined(__AVR_ATmega88__) || \
    defined(__AVR_ATmega168__) || \
    defined(__AVR_ATmega328P__)
    ocra = OCR2A;
    ocrb = OCR2B;
#elif defined(__AVR_ATmega1280__) 
    ocra = OCR1A;
    ocrb = OCR3C;
#endif

    if (style == MICROSTEP) {
      //TCCR2B = _BV(CS21);
    }
#endif
  } else if (steppernum == 2) {
    a = _BV(MOTOR3_A);
    b = _BV(MOTOR4_A);
    c = _BV(MOTOR3_B);
    d = _BV(MOTOR4_B);

#ifdef MICROSTEPPING
#if defined(__AVR_ATmega8__) || \
    defined(__AVR_ATmega48__) || \
    defined(__AVR_ATmega88__) || \
    defined(__AVR_ATmega168__) || \
    defined(__AVR_ATmega328P__)
    ocra = OCR0A;
    ocrb = OCR0B;
#elif defined(__AVR_ATmega1280__) 
    ocra = OCR4A;
    ocrb = OCR3A;
#endif

    if (style == MICROSTEP) {
      //TCCR0B = _BV(CS00);
    }   
#endif

  } else {
    return 0;
  }

#ifdef MOTORDEBUG
  Serial.print("a = "); Serial.print(ocra, DEC);
  Serial.print(" b = "); Serial.print(ocrb, DEC);
  Serial.print("\t");
#endif

  // OK next determine what step we are at 
  if ((latch_state & (a | b)) == (a | b))
    step = 1 * MICROSTEPS; 
  else if ((latch_state & (b | c)) == (b | c))
    step = 3 * MICROSTEPS; 
  else if ((latch_state & (c | d)) == (c | d))
    step = 5 * MICROSTEPS;
  else if ((latch_state & (d | a)) == (d | a))
    step = 7 * MICROSTEPS;
  else if (latch_state & a)
    step = 0;
  else if (latch_state & b)
    step = 2 * MICROSTEPS;
  else if (latch_state & c)
    step = 4 * MICROSTEPS;
  else
    step = 6 * MICROSTEPS;

  //Serial.print("step "); Serial.print(step, DEC); Serial.print("\t");
  // next determine what sort of stepping procedure we're up to
  if (style == SINGLE) {
    if ((step/MICROSTEPS) % 2) { // we're at an odd step, weird
      if (dir == FORWARD)
	step = (step + MICROSTEPS) % (8*MICROSTEPS);
      else
	step = (step + 7*MICROSTEPS) % (8*MICROSTEPS);
    } else {           // go to the next even step
      if (dir == FORWARD)
	step = (step + 2*MICROSTEPS) % (8*MICROSTEPS);
      else
	step = (step + 6*MICROSTEPS) % (8*MICROSTEPS);  

    }
#ifdef MICROSTEPPING
    ocra = 255;
    ocrb = 255;
//.........这里部分代码省略.........
开发者ID:Revpatrickchand，项目名称:Arduino-Focuser，代码行数:101，代码来源:AFMotor.cpp


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