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Corwin Perren
b300c76103
These are all design documents that I thought I had lost. It's may make me cringe, but it's still cool to use it to see how far I've come.
110 lines
2.5 KiB
C
110 lines
2.5 KiB
C
/*
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* Steppers.c
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*
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* Created: 8/9/2014 1:10:47 PM
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* Author: corwin
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*/
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#include "Steppers.h"
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void enableSteppers()
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{
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STEP_EN_CLR();
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steppersEnabled = TRUE;
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_delay_ms(100);
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}
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void disableSteppers()
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{
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STEP_EN_SET();
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steppersEnabled = FALSE;
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_delay_ms(100);
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}
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void calibrateAllSteppers()
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{
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ZAxis.desiredPosition = 40; //Set position for the pipette to be up initially so it doesn't get broken on anything
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ZAxis.shouldMove = TRUE; //Allow axis to move
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while(ZAxis.shouldMove); //Wait for the pipette to come up before continuing
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homeYStepper(); //Home the y axis against the limit switch
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homeXStepper(); //Home the x axis against the limit switch
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_delay_ms(100);
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XAxis.desiredPosition = 47.5; //Set x position to z calibration point
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YAxis.desiredPosition = 36.5; //Move y position to z calibration point
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XAxis.shouldMove = TRUE; //Allow axis to move
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YAxis.shouldMove = TRUE; //Allow axis to move
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while(YAxis.shouldMove || XAxis.shouldMove); //Don't continue until calibration point has been reached
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homeZStepper(); //Home the z axis against the limit switch
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setStepsOffset(&ZAxis); //Re-align z steps to account for switch offset
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}
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void homeAllSteppers()
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{
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ZAxis.desiredPosition = 40; //Set position for the pipette to be up initially so it doesn't get broken on anything
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ZAxis.shouldMove = TRUE; //Allow axis to move
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while(ZAxis.shouldMove); //Wait for the pipette to come up before continuing
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homeYStepper(); //Home the y axis against the limit switch
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homeXStepper(); //Home the x axis against the limit switch
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}
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void homeXStepper()
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{
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X_DIR_CLR();
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while(X_LIM_LEFT_GET()){
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X_STEP_SET();
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_delay_us(2);
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X_STEP_CLR();
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_delay_us(400);
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}
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XAxis.steps = 0;
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}
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void homeYStepper()
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{
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Y_DIR_SET();
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while(Y_LIM_FORW_GET()){
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Y_STEP_SET();
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_delay_us(2);
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Y_STEP_CLR();
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_delay_us(400);
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}
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YAxis.steps = 0;
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}
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void homeZStepper()
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{
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Z_DIR_SET();
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while(Z_LIM_DOWN_GET()){
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Z_STEP_SET();
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_delay_us(2);
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Z_STEP_CLR();
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_delay_us(400);
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}
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ZAxis.steps = 0;
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ZAxis.desiredPosition = 30;
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ZAxis.shouldMove = TRUE;
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while(ZAxis.shouldMove);
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}
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void homeAStepper()
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{
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}
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double getAxisPosition(Axes_t *axis)
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{
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return (axis->steps/axis->stepsPerMM);
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}
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void setStepsOffset(Axes_t *axis)
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{
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axis->steps = (axis->steps + (axis->mmFromZero * axis->stepsPerMM));
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}
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