32 lines
703 B
C++
32 lines
703 B
C++
#include <AccelStepper.h>
|
|
|
|
int V;
|
|
|
|
AccelStepper stepper(AccelStepper::FULL2WIRE,PIN_STEP,PIN_DIR);
|
|
|
|
int stepsPerRevolution = 200;
|
|
|
|
bool stepperEnable = false;
|
|
|
|
void initStepper(){
|
|
stepper.setPinsInverted(true,false,true); //set enable pin inverted
|
|
stepper.setEnablePin(PIN_EN);
|
|
stepper.disableOutputs();
|
|
stepper.setMaxSpeed(40*stepsPerRevolution+1);
|
|
}
|
|
|
|
void stepperRunTask(){
|
|
if (status == "stopped" && stepperEnable) {
|
|
stepper.disableOutputs();
|
|
stepperEnable = false;
|
|
}
|
|
if (status == "working" && !stepperEnable) {
|
|
stepper.enableOutputs();
|
|
stepperEnable = true;
|
|
}
|
|
if (status == "working") {
|
|
stepper.setSpeed(Vo*stepsPerRevolution);
|
|
stepper.runSpeed();
|
|
}
|
|
}
|