| 0,0 → 1,81 |
|---|
| #include <SPI.h> |
| |
| void command(char* buffer, unsigned int len) |
| { |
| for (int i = 0; i < len; i++) { |
| delay(10); |
| digitalWrite(SS, 0); |
| SPI.transfer(buffer[i]); |
| digitalWrite(SS, 1); |
| } |
| } |
| |
| void goTo(unsigned int pos) |
| { |
| char buffer[4]; |
| buffer[0] = 0x60; |
| buffer[1] = pos >> 16; |
| buffer[2] = (pos >> 8) & 0xff; |
| buffer[3] = pos & 0xff; |
| command(buffer, 4); |
| } |
| |
| void setParam(unsigned int reg, unsigned int val, unsigned int len) |
| { |
| char buffer[4]; |
| buffer[0] = reg; |
| |
| /* BUG: reg? */ |
| for (int i = 0; i < len; i++) |
| buffer[i + 1] = (reg >> (8 * ((len - 1) - i))) & 0xff; |
| |
| command(buffer, 1 + len); |
| } |
| |
| void setup() |
| { |
| Serial.begin(9600); |
| SPI.begin(SPI_MASTER, MSBFIRST, SPI_MODE3, SPI_CLOCK_DIV32); |
| |
| setParam(5, 0xd0, 2); // ACC |
| setParam(6, 0xd0, 2); // DEC |
| setParam(7, 0, 2); // MAX_SPEED |
| } |
| |
| int readInt() |
| { |
| char line[100]; |
| int i = 0; |
| |
| while (true) { |
| if (Serial.available()) { |
| byte c = Serial.read(); |
| |
| if (c == '\n' || c == '\r') { |
| Serial.println(); |
| line[i] = '\0'; |
| return atoi(line); |
| } |
| |
| Serial.write(c); |
| line[i++] = c; |
| } |
| } |
| } |
| |
| void loop() |
| { |
| int speed = readInt(); |
| |
| int dir = speed > 0; |
| if (!dir) |
| speed = -speed; |
| |
| char buffer[4]; |
| buffer[0] = 0x50 | dir; |
| buffer[1] = (speed >> 16) & 0xff; |
| buffer[2] = (speed >> 8) & 0xff; |
| buffer[3] = speed & 0xff; |
| |
| command(buffer, 4); |
| } |