teratail
回答率
85.35%
teratail header banner
teratail header banner
質問するログイン新規登録
トップに関する質問ステッピングモータを替えたら動作が意図通りにならなくなった

編集履歴

質問編集履歴

2

全スケッチを記載

2020/10/02 04:35

投稿

ISO130
ISO130

スコア8

test CHANGED
File without changes
test CHANGED
@@ -48,12 +48,248 @@
48
48
 
49
49
 
50
50
 
51
+ #include <SPI.h>
52
+
53
+ #include <MsTimer2.h>
54
+
55
+ #include <stdio.h>
56
+
57
+ #include <SoftwareSerial.h>
58
+
59
+ #include <Wire.h>
60
+
61
+ #include <DFRobot_QMC5883.h>
62
+
63
+ #include <A4988.h>
64
+
65
+
66
+
67
+ //RunMotor PIN-difinitions
68
+
69
+ #define PIN_SPI_MOSI 51
70
+
71
+ #define PIN_SPI_MISO 50
72
+
73
+ #define PIN_SPI_SCK 52
74
+
75
+ #define PIN_SPI_SS 53
76
+
77
+ #define PIN_BUSY 44
78
+
79
+ #define PIN_BUSY2 46
80
+
81
+ #define PIN_BUSY3 45
82
+
83
+ #define PIN_BUSY4 47
84
+
85
+
86
+
87
+ //Joystick difinitions
88
+
89
+ const int analogInPinUD = A0; // UDアナログ入力ピン（定数）
90
+
91
+ const int analogInPinLR = A1; // LRアナログ入力ピン（定数）
92
+
93
+ int UD = 0; // Up-DownのAD値（変数）
94
+
95
+ int LR = 0; // Left-RightのAD値（変数）
96
+
97
+
98
+
99
+ //MODE switch difinitions
100
+
101
+ const int DIN_PIN_run_auto = 2;
102
+
103
+ const int DIN_PIN_beforeLift = 3;
104
+
105
+ const int DIN_PIN_AfterLift = 22;
106
+
107
+ const int DIN_PIN_run_manual = 4;
108
+
109
+
110
+
111
+ //LinearActuator difinitions
112
+
113
+ #define PIN_LinearA_1 10
114
+
115
+ #define PIN_LinearA_2 11
116
+
117
+
118
+
119
+ //LiftMotor difinitions
120
+
121
+ const int MOTOR_STEPS = 400;
122
+
123
+ const int DIR = 8;
124
+
125
+ const int STEP = 9;
126
+
127
+ float rpm = 135; //0.88sm/sec 140以上は微脱調
128
+
129
+ int microsteps = 1;
130
+
131
+ #define MOTOR_ACCEL 400
132
+
133
+ #define MOTOR_DECEL 400
134
+
135
+ A4988 stepper(MOTOR_STEPS, DIR, STEP);
136
+
137
+
138
+
139
+
140
+
141
+ void setup(){
142
+
143
+ Serial.begin(115200);
144
+
145
+ // MODE switch setting
146
+
147
+ pinMode( DIN_PIN_run_auto, INPUT_PULLUP );
148
+
149
+ pinMode( DIN_PIN_beforeLift, INPUT_PULLUP );
150
+
151
+ pinMode( DIN_PIN_AfterLift, INPUT_PULLUP );
152
+
153
+ pinMode( DIN_PIN_run_manual, INPUT_PULLUP );
154
+
155
+ // RunMotor setting
156
+
157
+ pinMode( PIN_SPI_MOSI, OUTPUT);
158
+
159
+ pinMode( PIN_SPI_MISO, INPUT);
160
+
161
+ pinMode( PIN_SPI_SCK, OUTPUT);
162
+
163
+ pinMode( PIN_SPI_SS, OUTPUT);
164
+
165
+ pinMode( PIN_BUSY, INPUT_PULLUP);
166
+
167
+ pinMode( PIN_BUSY2, INPUT_PULLUP);
168
+
169
+ pinMode( PIN_BUSY3, INPUT_PULLUP);
170
+
171
+ pinMode( PIN_BUSY4, INPUT_PULLUP);
172
+
173
+ SPI.begin();
174
+
175
+ SPI.setDataMode(SPI_MODE3);
176
+
177
+ SPI.setBitOrder(MSBFIRST);
178
+
179
+ digitalWrite(PIN_SPI_SS, HIGH);
180
+
181
+ // LinearActuator setting
182
+
183
+ pinMode( PIN_LinearA_1, OUTPUT);
184
+
185
+ pinMode( PIN_LinearA_2, OUTPUT);
186
+
187
+
188
+
189
+ // Serial setting
190
+
191
+ // EspSerial2.begin(9600);
192
+
193
+
194
+
195
+ // RunMotor setting
196
+
197
+ L6470_resetdevice(); //1台目のL6470リセット
198
+
51
- 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）
199
+ L6470_resetdevice2(); //2台目のL6470リセット
200
+
201
+ L6470_resetdevice3(); //3台目のL6470リセット
202
+
203
+ L6470_resetdevice4(); //4台目のL6470リセット
204
+
205
+ L6470_setup(); //1台目のL6470を設定
206
+
207
+ L6470_setup2(); //2台目のL6470を設定
208
+
209
+ L6470_setup3(); //3台目のL6470を設定
210
+
211
+ L6470_setup4(); //4台目のL6470を設定
212
+
213
+ L6470_getstatus(); //1台目のフラグ解放
214
+
215
+ L6470_getstatus2();//2台目のフラグ解放
216
+
217
+ L6470_getstatus3();//3台目のフラグ解放
218
+
219
+ L6470_getstatus4();//4台目のフラグ解放
220
+
221
+
222
+
223
+ MsTimer2::set(25, fulash);//シリアルモニター用のタイマー割り込み
224
+
225
+ MsTimer2::start();
226
+
227
+
228
+
229
+ }
230
+
231
+
232
+
233
+ void loop(){
234
+
235
+
236
+
237
+ int runspeed = 10000;
238
+
239
+ L6470_run(0,runspeed);
240
+
241
+ L6470_run2(0,runspeed);
242
+
243
+ L6470_run3(1,runspeed);
244
+
245
+ L6470_run4(1,runspeed);
246
+
247
+ delay(5000);
248
+
249
+ L6470_softstop();//回転停止、保持トルクあり
250
+
251
+ L6470_softstop2();//回転停止、保持トルクあり
252
+
253
+ L6470_softstop3();//回転停止、保持トルクあり
254
+
255
+ L6470_softstop4();//回転停止、保持トルクあり
256
+
257
+ delay(2000);
258
+
259
+ Serial.println("run");
260
+
261
+ }
52
262
 
53
263
 
54
264
 
55
265
  void L6470_setup(){
56
266
 
267
+ /////////SM-42BYG011-25 setting
268
+
269
+ //L6470_setparam_acc(0x005); //[R, WS] 加速度default 0x08A (12bit) (14.55*val+14.55[step/s^2])
270
+
271
+ //L6470_setparam_dec(0x005); //[R, WS] 減速度default 0x08A (12bit) (14.55*val+14.55[step/s^2])
272
+
273
+ //L6470_setparam_maxspeed(0x25); //[R, WR]最大速度default 0x041 (10bit) (15.25*val+15.25[step/s])
274
+
275
+ //L6470_setparam_minspeed(0x02); //[R, WS]最小速度default 0x000 (1+12bit) (0.238*val[step/s])
276
+
277
+ //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])
278
+
279
+ //L6470_setparam_kvalhold(0x50); //[R, WR]停止時励磁電圧default 0x29 (8bit) (Vs[V]*val/256)
280
+
281
+ //L6470_setparam_kvalrun(0xFF); //[R, WR]定速回転時励磁電圧default 0x29 (8bit) (Vs[V]*val/256)
282
+
283
+ //L6470_setparam_kvalacc(0xFF); //[R, WR]加速時励磁電圧default 0x29 (8bit) (Vs[V]*val/256)
284
+
285
+ //L6470_setparam_kvaldec(0xFF); //[R, WR]減速時励磁電圧default 0x29 (8bit) (Vs[V]*val/256)
286
+
287
+ //L6470_setparam_stepmood(0x01); //ステップモードdefault 0x07 (1+3+1+3bit)
288
+
289
+
290
+
291
+ /////////42SHD4404-24 setting
292
+
57
293
  L6470_setparam_acc(0x005); //[R, WS] 加速度default 0x08A (12bit) (14.55*val+14.55[step/s^2])
58
294
 
59
295
  L6470_setparam_dec(0x005); //[R, WS] 減速度default 0x08A (12bit) (14.55*val+14.55[step/s^2])
@@ -78,25 +314,155 @@
78
314
 
79
315
 
80
316
 
81
-
82
-
83
- 動作は以下のようにしています
84
-
85
-
86
-
87
- void loop(){
88
-
89
-
90
-
91
- int runspeed = 10000;
92
-
93
- L6470_run(0,runspeed);//motorNo1
94
-
95
- L6470_run2(0,runspeed);//motorNo2
96
-
97
- L6470_run3(1,runspeed);//motorNo3
98
-
99
- L6470_run4(1,runspeed);//motorNo4
317
+ void L6470_setup2(){
318
+
319
+ L6470_setparam_acc2(0x005); //[R, WS] 加速度default 0x08A (12bit) (14.55*val+14.55[step/s^2])
320
+
321
+ L6470_setparam_dec2(0x005); //[R, WS] 減速度default 0x08A (12bit) (14.55*val+14.55[step/s^2])
322
+
323
+ L6470_setparam_maxspeed2(0x25); //[R, WR]最大速度default 0x041 (10bit) (15.25*val+15.25[step/s])
324
+
325
+ L6470_setparam_minspeed2(0x02); //[R, WS]最小速度default 0x000 (1+12bit) (0.238*val[step/s])
326
+
327
+ 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])
328
+
329
+ L6470_setparam_kvalhold2(0x50); //[R, WR]停止時励磁電圧default 0x29 (8bit) (Vs[V]*val/256)
330
+
331
+ L6470_setparam_kvalrun2(0xFF); //[R, WR]定速回転時励磁電圧default 0x29 (8bit) (Vs[V]*val/256)
332
+
333
+ L6470_setparam_kvalacc2(0xFF); //[R, WR]加速時励磁電圧default 0x29 (8bit) (Vs[V]*val/256)
334
+
335
+ L6470_setparam_kvaldec2(0xFF); //[R, WR]減速時励磁電圧default 0x29 (8bit) (Vs[V]*val/256)
336
+
337
+ L6470_setparam_stepmood2(0x01); //ステップモードdefault 0x07 (1+3+1+3bit)
338
+
339
+ }
340
+
341
+
342
+
343
+ void L6470_setup3(){
344
+
345
+ L6470_setparam_acc3(0x005); //[R, WS] 加速度default 0x08A (12bit) (14.55*val+14.55[step/s^2])
346
+
347
+ L6470_setparam_dec3(0x005); //[R, WS] 減速度default 0x08A (12bit) (14.55*val+14.55[step/s^2])
348
+
349
+ L6470_setparam_maxspeed3(0x25); //[R, WR]最大速度default 0x041 (10bit) (15.25*val+15.25[step/s])
350
+
351
+ L6470_setparam_minspeed3(0x02); //[R, WS]最小速度default 0x000 (1+12bit) (0.238*val[step/s])
352
+
353
+ 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])
354
+
355
+ L6470_setparam_kvalhold3(0x50); //[R, WR]停止時励磁電圧default 0x29 (8bit) (Vs[V]*val/256)
356
+
357
+ L6470_setparam_kvalrun3(0xFF); //[R, WR]定速回転時励磁電圧default 0x29 (8bit) (Vs[V]*val/256)
358
+
359
+ L6470_setparam_kvalacc3(0xFF); //[R, WR]加速時励磁電圧default 0x29 (8bit) (Vs[V]*val/256)
360
+
361
+ L6470_setparam_kvaldec3(0xFF); //[R, WR]減速時励磁電圧default 0x29 (8bit) (Vs[V]*val/256)
362
+
363
+ L6470_setparam_stepmood3(0x01); //ステップモードdefault 0x07 (1+3+1+3bit)
364
+
365
+ }
366
+
367
+
368
+
369
+ void L6470_setup4(){
370
+
371
+ L6470_setparam_acc4(0x005); //[R, WS] 加速度default 0x08A (12bit) (14.55*val+14.55[step/s^2])
372
+
373
+ L6470_setparam_dec4(0x005); //[R, WS] 減速度default 0x08A (12bit) (14.55*val+14.55[step/s^2])
374
+
375
+ L6470_setparam_maxspeed4(0x25); //[R, WR]最大速度default 0x041 (10bit) (15.25*val+15.25[step/s])
376
+
377
+ L6470_setparam_minspeed4(0x02); //[R, WS]最小速度default 0x000 (1+12bit) (0.238*val[step/s])
378
+
379
+ 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])
380
+
381
+ L6470_setparam_kvalhold4(0x50); //[R, WR]停止時励磁電圧default 0x29 (8bit) (Vs[V]*val/256)
382
+
383
+ L6470_setparam_kvalrun4(0xFF); //[R, WR]定速回転時励磁電圧default 0x29 (8bit) (Vs[V]*val/256)
384
+
385
+ L6470_setparam_kvalacc4(0xFF); //[R, WR]加速時励磁電圧default 0x29 (8bit) (Vs[V]*val/256)
386
+
387
+ L6470_setparam_kvaldec4(0xFF); //[R, WR]減速時励磁電圧default 0x29 (8bit) (Vs[V]*val/256)
388
+
389
+ L6470_setparam_stepmood4(0x01); //ステップモードdefault 0x07 (1+3+1+3bit)
390
+
391
+ }
392
+
393
+
394
+
395
+
396
+
397
+ void fulash(){
398
+
399
+ //long a=L6470_getparam_abspos();
400
+
401
+ //long b=L6470_getparam_speed();
402
+
403
+ //long c=L6470_getparam_abspos2();
404
+
405
+ //long d=L6470_getparam_speed2();
406
+
407
+ //long e=L6470_getparam_abspos3();
408
+
409
+ //long f=L6470_getparam_speed3();
410
+
411
+ //long g=L6470_getparam_abspos4();
412
+
413
+ //long h=L6470_getparam_speed4();
414
+
415
+ //char str[15];
416
+
417
+ //snprintf(str,sizeof(str),"1pos=0x%6.6X ",a);
418
+
419
+ //Serial.print(str);
420
+
421
+ //snprintf(str,sizeof(str),"1spd=0x%5.5X ",b);
422
+
423
+ //Serial.print(str);
424
+
425
+ //snprintf(str,sizeof(str),"2pos=0x%6.6X ",c);
426
+
427
+ //Serial.print(str);
428
+
429
+ //snprintf(str,sizeof(str),"2spd=0x%5.5X ",d);
430
+
431
+ //Serial.println(str);
432
+
433
+ //snprintf(str,sizeof(str),"3pos=0x%6.6X ",e);
434
+
435
+ //Serial.print(str);
436
+
437
+ //snprintf(str,sizeof(str),"3spd=0x%5.5X ",f);
438
+
439
+ //Serial.println(str);
440
+
441
+ //snprintf(str,sizeof(str),"3pos=0x%6.6X ",g);
442
+
443
+ //Serial.print(str);
444
+
445
+ //snprintf(str,sizeof(str),"3spd=0x%5.5X ",h);
446
+
447
+ //Serial.println(str);
448
+
449
+ /* Serial.print("0x");
450
+
451
+ Serial.print( L6470_getparam_abspos(),HEX);
452
+
453
+ Serial.print(" 0x");
454
+
455
+ Serial.print( L6470_getparam_speed(),HEX);
456
+
457
+ Serial.print(" 0x");
458
+
459
+ Serial.print( L6470_getparam_abspos2(),HEX);
460
+
461
+ Serial.print(" 0x");
462
+
463
+ Serial.println( L6470_getparam_speed2(),HEX);
464
+
465
+ */
100
466
 
101
467
  }
102
468
 

1

使用電池の種類を記述しました

2020/10/02 04:35

投稿

ISO130
ISO130

スコア8

test CHANGED
File without changes
test CHANGED
@@ -145,3 +145,5 @@
145
145
 
146
146
 
147
147
  ドライバへの印加電圧は14Vです。
148
+
149
+ [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