EX_STEP.C
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/////////////////////////////////////////////////////////////////////////
//// EX_STEP.C ////
//// ////
//// This program interfaces to a stepper motor. The program will ////
//// use the RS-232 interface to either control the motor with a ////
//// analog input, a switch input or by RS-232 command. ////
//// ////
//// Configure the CCS prototype card as follows: ////
//// Connect stepper motor to pins 47-50 (B0-B3) ////
//// Conenct 40 to 54 (pushbutton) ////
//// Connect 9 to 15 (pot) ////
//// See additional connections below. ////
//// ////
//// This example will work with the PCB, PCM and PCH compilers. ////
//// The following conditional compilation lines are used to ////
//// include a valid device for each compiler. Change the device, ////
//// clock and RS232 pins for your hardware if needed. ////
/////////////////////////////////////////////////////////////////////////
//// (C) Copyright 1996,2001 Custom Computer Services ////
//// This source code may only be used by licensed users of the CCS ////
//// C compiler. This source code may only be distributed to other ////
//// licensed users of the CCS C compiler. No other use, ////
//// reproduction or distribution is permitted without written ////
//// permission. Derivative programs created using this software ////
//// in object code form are not restricted in any way. ////
/////////////////////////////////////////////////////////////////////////
#if defined(__PCB__)
#include <16c56.h>
#fuses HS,NOWDT,NOPROTECT
#use delay(clock=20000000)
#use rs232(baud=9600, xmit=PIN_A3, rcv=PIN_A2) // Jumpers: 11 to 17, 12 to 18
#elif defined(__PCM__)
#include <16c74.h>
#fuses HS,NOWDT,NOPROTECT
#use delay(clock=20000000)
#use rs232(baud=9600, xmit=PIN_C6, rcv=PIN_C7) // Jumpers: 8 to 11, 7 to 12
#elif defined(__PCH__)
#include <18c452.h>
#fuses HS,NOPROTECT
#use delay(clock=20000000)
#use rs232(baud=9600, xmit=PIN_C6, rcv=PIN_C7) // Jumpers: 8 to 11, 7 to 12
#endif
#include
#byte port_b = 6
#define FOUR_PHASE TRUE
#ifdef FOUR_PHASE
byte const POSITIONS[4] = {0b0101,
0b1001,
0b1010,
0b0110};
#else
byte const POSITIONS[8] = {0b0101,
0b0001,
0b1001,
0b1000,
0b1010,
0b0010,
0b0110,
0b0100};
#endif
drive_stepper(byte speed, char dir, byte steps) {
static byte stepper_state = 0;
byte i;
for(i=0;i0x80)
drive_stepper(128-(value-128),'F',8);
}
}
use_switch(byte speed, char dir) {
byte steps;
printf("\n\rSteps per press: ");
steps = gethex();
while(true) {
while(input(PIN_B7)) ;
drive_stepper(speed,dir,steps);
while(!input(PIN_B7)) ;
delay_ms(100);
}
}
main() {
byte speed,steps;
char dir;
setup_port_a(RA0_RA1_ANALOG);
while (TRUE) {
printf("\n\rSpeed (hex): ");
speed = gethex();
if(speed==0)
use_pot();
printf("\n\rDirection (F,R): ");
dir=getc()|0x20;
putc(dir);
printf("\n\rSteps (hex): ");
steps = gethex();
if(steps==0)
use_switch(speed,dir);
drive_stepper(speed,dir,steps);
}
}
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