49 lines
1.0 KiB
C++
49 lines
1.0 KiB
C++
#include <stdio.h>
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#include "DendoStepper.h"
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "esp_log.h"
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DendoStepper step;
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DendoStepper step1;
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extern "C" void app_main(void)
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{
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DendoStepper_config_t step_cfg = {
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.stepPin = 16,
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.dirPin = 17,
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.enPin = 15,
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.timer_group = TIMER_GROUP_0,
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.timer_idx = TIMER_0,
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.miStep = MICROSTEP_32,
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.stepAngle = 1.8};
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DendoStepper_config_t step1_cfg = {
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.stepPin = 18,
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.dirPin = 19,
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.enPin = 20,
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.timer_group = TIMER_GROUP_0,
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.timer_idx = TIMER_1,
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.miStep = MICROSTEP_32,
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.stepAngle = 1.8};
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step.config(&step_cfg);
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step1.config(&step1_cfg);
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step.init();
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step1.init();
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step.setSpeed(10000, 1000, 1000);
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step1.setSpeed(20000, 1000, 1000);
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// step.runInf(true);
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step.setStepsPerMm(10);
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while (1)
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{
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step.runPosMm(500);
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step1.runPos(10000);
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vTaskDelay(1000);
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// step.runAbs(5000);
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}
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} |