dinosalvioni/adafruit-motor-shield-v1/single-coil-2motors

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single-coil-2motors

@/single-coil-2motors

M1_maxspeednumber

MOTORE 1: velogità massima (g/min)

M1_accelnumber

MOTORE 1: accelerazione

M1RUNboolean

M1REVboolean

M2_maxspeednumber

MOTORE 2: velogità massima (g/min)

M2_accelnumber

Numero di step per ogni giro del motore: è una caratteristica del motore in uso

M2RUNboolean

M2REVboolean

UPDpulse

Avvia il motore nel senso scelto per il numero di step stabilito alla velocità stabilita poi lascialo libero. Se lanciato in continuazione tiene acceso il movimento

DONEpulse

To use the node in your project you should have the dinosalvioni/adafruit-motor-shield-v1 library installed. Use the “File → Add Library” menu item in XOD IDE if you don’t have it yet. See Using libraries for more info.

#pragma XOD require "https://github.com/adafruit/Adafruit-Motor-Shield-library"

// Adafruit Motor shield library
// copyright Adafruit Industries LLC, 2009
// this code is public domain, enjoy!





{{#global}}
#include "AccelStepper.h"
#include "AFMotor.h"
{{/global}}


struct State {
};

        

{{ GENERATED_CODE }}
// two stepper motors one on each port
AF_Stepper motor1(200, 1);
AF_Stepper motor2(200, 2);

// you can change these to DOUBLE or INTERLEAVE or MICROSTEP!
// wrappers for the first motor!
void forwardstep1() {  
  motor1.onestep(FORWARD, SINGLE);
}
void backwardstep1() {  
  motor1.onestep(BACKWARD, SINGLE);
}
// wrappers for the second motor!
void forwardstep2() {  
  motor2.onestep(FORWARD, SINGLE);
}
void backwardstep2() {  
  motor2.onestep(BACKWARD, SINGLE);
}
// Motor shield has two motor ports, now we'll wrap them in an AccelStepper object
AccelStepper stepper1(forwardstep1, backwardstep1);
AccelStepper stepper2(forwardstep2, backwardstep2);


void evaluate(Context ctx) {
auto state = getState(ctx);
//AF_Stepper motor(getValue<input_STEPrev>(ctx), getValue<input_MOTORn>(ctx));
auto position=1000000;


    stepper1.setMaxSpeed(getValue<input_M1_maxspeed>(ctx));
    stepper1.setAcceleration(getValue<input_M1_accel>(ctx));
 
    auto position1=position;   
    if (getValue<input_M1REV>(ctx)) {
        position1=-position;
    }

    stepper2.setMaxSpeed(getValue<input_M2_maxspeed>(ctx));
    stepper2.setAcceleration(getValue<input_M2_accel>(ctx));

    auto position2=position;
    if (getValue<input_M2REV>(ctx)) {
        position2=-position;
    }


    if (isInputDirty<input_UPD>(ctx)){

        if (getValue<input_M1RUN>(ctx)) {
            stepper1.moveTo(position1);
            stepper1.run();
        }else{
            stepper1.setMaxSpeed(1)//TEST
            stepper1.run();//TEST
            
            motor1.release(); 
            stepper1.disableOutputs();
        }


        if (getValue<input_M2RUN>(ctx)) {
            stepper2.moveTo(position2);
            stepper2.run();
        }else{
            stepper2.setMaxSpeed(1) //TEST
            stepper2.run(); //TEST
            
            motor2.release(); 
            stepper2.disableOutputs();
        }


    emitValue<output_DONE>(ctx, 1);
    }


}

single-coil-2motors

dinosalvioni/adafruit-motor-shield-v1/single-coil-2motors

C++ implementation