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全スケッチを記載

2020/10/02 04:35

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@@ -23,9 +23,127 @@
 ```arduino
+#include <SPI.h>
+#include <MsTimer2.h>
+#include <stdio.h>
+#include <SoftwareSerial.h>
+#include <Wire.h>
-L6470は設定が重要とのことより、以下の設定にしています（1つのモータ設定のみ記述。他のモータも同一設定）
+#include <DFRobot_QMC5883.h>
+#include <A4988.h>
+//RunMotor PIN-difinitions
+#define PIN_SPI_MOSI 51
+#define PIN_SPI_MISO 50
+#define PIN_SPI_SCK 52
+#define PIN_SPI_SS 53
+#define PIN_BUSY 44
+#define PIN_BUSY2 46
+#define PIN_BUSY3 45
+#define PIN_BUSY4 47
+//Joystick difinitions
+const int analogInPinUD = A0;    // UDアナログ入力ピン（定数）
+const int analogInPinLR = A1;    // LRアナログ入力ピン（定数）
+int UD = 0;                      // Up-DownのAD値（変数）
+int LR = 0;                      // Left-RightのAD値（変数）
+//MODE switch difinitions
+const int DIN_PIN_run_auto = 2;
+const int DIN_PIN_beforeLift = 3;
+const int DIN_PIN_AfterLift = 22;
+const int DIN_PIN_run_manual = 4;
+//LinearActuator difinitions
+#define PIN_LinearA_1 10
+#define PIN_LinearA_2 11
+//LiftMotor difinitions
+const int MOTOR_STEPS = 400;
+const int DIR  =  8;
+const int STEP =  9;
+float rpm      = 135; //0.88sm/sec 140以上は微脱調
+int microsteps = 1;
+#define MOTOR_ACCEL 400
+#define MOTOR_DECEL 400
+A4988 stepper(MOTOR_STEPS, DIR, STEP);
+void setup(){
+  Serial.begin(115200);
+// MODE switch setting
+  pinMode( DIN_PIN_run_auto, INPUT_PULLUP );
+  pinMode( DIN_PIN_beforeLift, INPUT_PULLUP );
+  pinMode( DIN_PIN_AfterLift, INPUT_PULLUP );
+  pinMode( DIN_PIN_run_manual, INPUT_PULLUP );
+// RunMotor setting
+  pinMode( PIN_SPI_MOSI, OUTPUT);
+  pinMode( PIN_SPI_MISO, INPUT);
+  pinMode( PIN_SPI_SCK, OUTPUT);
+  pinMode( PIN_SPI_SS, OUTPUT);
+  pinMode( PIN_BUSY, INPUT_PULLUP);
+  pinMode( PIN_BUSY2, INPUT_PULLUP);
+  pinMode( PIN_BUSY3, INPUT_PULLUP);
+  pinMode( PIN_BUSY4, INPUT_PULLUP);
+  SPI.begin();
+  SPI.setDataMode(SPI_MODE3);
+  SPI.setBitOrder(MSBFIRST);
+  digitalWrite(PIN_SPI_SS, HIGH);
+// LinearActuator setting
+  pinMode( PIN_LinearA_1, OUTPUT);
+  pinMode( PIN_LinearA_2, OUTPUT);
+// Serial setting
+//  EspSerial2.begin(9600);
+// RunMotor setting
+   L6470_resetdevice(); //1台目のL6470リセット
+   L6470_resetdevice2(); //2台目のL6470リセット
+   L6470_resetdevice3(); //3台目のL6470リセット
+   L6470_resetdevice4(); //4台目のL6470リセット
+   L6470_setup();  //1台目のL6470を設定
+   L6470_setup2();  //2台目のL6470を設定
+   L6470_setup3();  //3台目のL6470を設定
+   L6470_setup4();  //4台目のL6470を設定
+   L6470_getstatus(); //1台目のフラグ解放
+   L6470_getstatus2();//2台目のフラグ解放
+   L6470_getstatus3();//3台目のフラグ解放
+   L6470_getstatus4();//4台目のフラグ解放
+   MsTimer2::set(25, fulash);//シリアルモニター用のタイマー割り込み
+   MsTimer2::start();
+}
+void loop(){
+    int runspeed = 10000;
+    L6470_run(0,runspeed);
+    L6470_run2(0,runspeed);
+    L6470_run3(1,runspeed);
+    L6470_run4(1,runspeed);
+    delay(5000);
+     L6470_softstop();//回転停止、保持トルクあり
+     L6470_softstop2();//回転停止、保持トルクあり
+     L6470_softstop3();//回転停止、保持トルクあり
+     L6470_softstop4();//回転停止、保持トルクあり
+    delay(2000);
+    Serial.println("run");
+}
 void L6470_setup(){
+/////////SM-42BYG011-25 setting
+//L6470_setparam_acc(0x005); //[R, WS] 加速度default 0x08A (12bit) (14.55*val+14.55[step/s^2])
+//L6470_setparam_dec(0x005); //[R, WS] 減速度default 0x08A (12bit) (14.55*val+14.55[step/s^2])
+//L6470_setparam_maxspeed(0x25); //[R, WR]最大速度default 0x041 (10bit) (15.25*val+15.25[step/s])
+//L6470_setparam_minspeed(0x02); //[R, WS]最小速度default 0x000 (1+12bit) (0.238*val[step/s])
+//L6470_setparam_fsspd(0x027); //[R, WR]μステップからフルステップへの切替点速度default 0x027 (10bit) (15.25*val+7.63[step/s])
+//L6470_setparam_kvalhold(0x50); //[R, WR]停止時励磁電圧default 0x29 (8bit) (Vs[V]*val/256)
+//L6470_setparam_kvalrun(0xFF); //[R, WR]定速回転時励磁電圧default 0x29 (8bit) (Vs[V]*val/256)
+//L6470_setparam_kvalacc(0xFF); //[R, WR]加速時励磁電圧default 0x29 (8bit) (Vs[V]*val/256)
+//L6470_setparam_kvaldec(0xFF); //[R, WR]減速時励磁電圧default 0x29 (8bit) (Vs[V]*val/256)
+//L6470_setparam_stepmood(0x01); //ステップモードdefault 0x07 (1+3+1+3bit)
+/////////42SHD4404-24 setting
 L6470_setparam_acc(0x005); //[R, WS] 加速度default 0x08A (12bit) (14.55*val+14.55[step/s^2])
 L6470_setparam_dec(0x005); //[R, WS] 減速度default 0x08A (12bit) (14.55*val+14.55[step/s^2])
 L6470_setparam_maxspeed(0x25); //[R, WR]最大速度default 0x041 (10bit) (15.25*val+15.25[step/s])
@@ -38,16 +156,81 @@
 L6470_setparam_stepmood(0x01); //ステップモードdefault 0x07 (1+3+1+3bit)
 }
+void L6470_setup2(){
+L6470_setparam_acc2(0x005); //[R, WS] 加速度default 0x08A (12bit) (14.55*val+14.55[step/s^2])
+L6470_setparam_dec2(0x005); //[R, WS] 減速度default 0x08A (12bit) (14.55*val+14.55[step/s^2])
+L6470_setparam_maxspeed2(0x25); //[R, WR]最大速度default 0x041 (10bit) (15.25*val+15.25[step/s])
+L6470_setparam_minspeed2(0x02); //[R, WS]最小速度default 0x000 (1+12bit) (0.238*val[step/s])
+L6470_setparam_fsspd2(0x027); //[R, WR]μステップからフルステップへの切替点速度default 0x027 (10bit) (15.25*val+7.63[step/s])
+L6470_setparam_kvalhold2(0x50); //[R, WR]停止時励磁電圧default 0x29 (8bit) (Vs[V]*val/256)
+L6470_setparam_kvalrun2(0xFF); //[R, WR]定速回転時励磁電圧default 0x29 (8bit) (Vs[V]*val/256)
+L6470_setparam_kvalacc2(0xFF); //[R, WR]加速時励磁電圧default 0x29 (8bit) (Vs[V]*val/256)
+L6470_setparam_kvaldec2(0xFF); //[R, WR]減速時励磁電圧default 0x29 (8bit) (Vs[V]*val/256)
+L6470_setparam_stepmood2(0x01); //ステップモードdefault 0x07 (1+3+1+3bit)
+}
-動作は以下のようにしています
+void L6470_setup3(){
+L6470_setparam_acc3(0x005); //[R, WS] 加速度default 0x08A (12bit) (14.55*val+14.55[step/s^2])
+L6470_setparam_dec3(0x005); //[R, WS] 減速度default 0x08A (12bit) (14.55*val+14.55[step/s^2])
+L6470_setparam_maxspeed3(0x25); //[R, WR]最大速度default 0x041 (10bit) (15.25*val+15.25[step/s])
+L6470_setparam_minspeed3(0x02); //[R, WS]最小速度default 0x000 (1+12bit) (0.238*val[step/s])
+L6470_setparam_fsspd3(0x027); //[R, WR]μステップからフルステップへの切替点速度default 0x027 (10bit) (15.25*val+7.63[step/s])
+L6470_setparam_kvalhold3(0x50); //[R, WR]停止時励磁電圧default 0x29 (8bit) (Vs[V]*val/256)
+L6470_setparam_kvalrun3(0xFF); //[R, WR]定速回転時励磁電圧default 0x29 (8bit) (Vs[V]*val/256)
+L6470_setparam_kvalacc3(0xFF); //[R, WR]加速時励磁電圧default 0x29 (8bit) (Vs[V]*val/256)
+L6470_setparam_kvaldec3(0xFF); //[R, WR]減速時励磁電圧default 0x29 (8bit) (Vs[V]*val/256)
+L6470_setparam_stepmood3(0x01); //ステップモードdefault 0x07 (1+3+1+3bit)
+}
-void loop(){
+void L6470_setup4(){
+L6470_setparam_acc4(0x005); //[R, WS] 加速度default 0x08A (12bit) (14.55*val+14.55[step/s^2])
+L6470_setparam_dec4(0x005); //[R, WS] 減速度default 0x08A (12bit) (14.55*val+14.55[step/s^2])
+L6470_setparam_maxspeed4(0x25); //[R, WR]最大速度default 0x041 (10bit) (15.25*val+15.25[step/s])
+L6470_setparam_minspeed4(0x02); //[R, WS]最小速度default 0x000 (1+12bit) (0.238*val[step/s])
+L6470_setparam_fsspd4(0x027); //[R, WR]μステップからフルステップへの切替点速度default 0x027 (10bit) (15.25*val+7.63[step/s])
+L6470_setparam_kvalhold4(0x50); //[R, WR]停止時励磁電圧default 0x29 (8bit) (Vs[V]*val/256)
+L6470_setparam_kvalrun4(0xFF); //[R, WR]定速回転時励磁電圧default 0x29 (8bit) (Vs[V]*val/256)
+L6470_setparam_kvalacc4(0xFF); //[R, WR]加速時励磁電圧default 0x29 (8bit) (Vs[V]*val/256)
+L6470_setparam_kvaldec4(0xFF); //[R, WR]減速時励磁電圧default 0x29 (8bit) (Vs[V]*val/256)
+L6470_setparam_stepmood4(0x01); //ステップモードdefault 0x07 (1+3+1+3bit)
+}
+void fulash(){
+//long a=L6470_getparam_abspos();
+//long b=L6470_getparam_speed();
+//long c=L6470_getparam_abspos2();
+//long d=L6470_getparam_speed2();
+//long e=L6470_getparam_abspos3();
+//long f=L6470_getparam_speed3();
+//long g=L6470_getparam_abspos4();
+//long h=L6470_getparam_speed4();
-    int runspeed = 10000;
+//char str[15];
+//snprintf(str,sizeof(str),"1pos=0x%6.6X ",a);
+//Serial.print(str);
+//snprintf(str,sizeof(str),"1spd=0x%5.5X ",b);
+//Serial.print(str);
+//snprintf(str,sizeof(str),"2pos=0x%6.6X ",c);
+//Serial.print(str);
+//snprintf(str,sizeof(str),"2spd=0x%5.5X ",d);
+//Serial.println(str);
+//snprintf(str,sizeof(str),"3pos=0x%6.6X ",e);
+//Serial.print(str);
+//snprintf(str,sizeof(str),"3spd=0x%5.5X ",f);
+//Serial.println(str);
+//snprintf(str,sizeof(str),"3pos=0x%6.6X ",g);
+//Serial.print(str);
+//snprintf(str,sizeof(str),"3spd=0x%5.5X ",h);
+//Serial.println(str);
-    L6470_run(0,runspeed);//motorNo1
+ /* Serial.print("0x");
+  Serial.print( L6470_getparam_abspos(),HEX);
+  Serial.print(" 0x");
+  Serial.print( L6470_getparam_speed(),HEX);
+  Serial.print(" 0x");
-    L6470_run2(0,runspeed);//motorNo2
+  Serial.print( L6470_getparam_abspos2(),HEX);
+  Serial.print(" 0x");
-    L6470_run3(1,runspeed);//motorNo3
+  Serial.println( L6470_getparam_speed2(),HEX);
-    L6470_run4(1,runspeed);//motorNo4
+  */
 }
 ```

使用電池の種類を記述しました

2020/10/02 04:35

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ISO130

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@@ -71,4 +71,5 @@
 ### 補足情報（FW/ツールのバージョンなど）
-ドライバへの印加電圧は14Vです。
+ドライバへの印加電圧は14Vです。
+[電池](https://www.amazon.co.jp/gp/product/B07VFD6797/ref=ppx_yo_dt_b_asin_title_o06_s00?ie=UTF8&psc=1)を使って駆動しています