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添加S型加减速算法

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MQjehovah 2018-03-01 17:32:38 +08:00
parent 9976846796
commit 67382ed910
2 changed files with 7 additions and 2 deletions
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3
src/Driver/inc/stepper.h
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@ -18,6 +18,9 @@
#define STEP_PER_CIRCLE (360 / ANGEL_PER_STEP) //电机转动一圈的步数 #define STEP_PER_CIRCLE (360 / ANGEL_PER_STEP) //电机转动一圈的步数
#define STEP_DIV (4) //电机驱动细分值 #define STEP_DIV (4) //电机驱动细分值
#define PUL_PER_CIRCLE (STEP_PER_CIRCLE * STEP_DIV) //电机转动一圈的脉冲数 #define PUL_PER_CIRCLE (STEP_PER_CIRCLE * STEP_DIV) //电机转动一圈的脉冲数
#define ACC_TIME 500 //整个加速（或减速）过程持续的时间，由用户指定，控制电机加减速的快慢，单位ms
#define ACC_TIME_DIV 100 //加速阶段离散的点的个数
#define TIME_PER_DIV ACC_TIME/ACC_TIME_DIV //每个离散点持续的时间
typedef struct typedef struct
{ {

6
src/Driver/stepper_s.c
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@ -3,7 +3,7 @@
* @Author: MQjehovah mail:MQjehovah@hotmail.com * @Author: MQjehovah mail:MQjehovah@hotmail.com
* @version 1.0.0 * @version 1.0.0
* @date 2018-02-28 14:15:45 * @date 2018-02-28 14:15:45
* @brief * @brief 加速曲线是根据时间来离散的，所以每个阶段由时间来分割，及时间累积达到某个值。总的加速时间值由用户指定
****************************************************************************** ******************************************************************************
* @attention * @attention
*******************************************************************************/ *******************************************************************************/
@ -23,7 +23,6 @@ void Motor_GPIO_Init(void)
{ {
// GPIO_InitTypeDef GPIO_InitStructure; // GPIO_InitTypeDef GPIO_InitStructure;
// RCC_APB2PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE); // RCC_APB2PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);
// GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1 | GPIO_Pin_2 | GPIO_Pin_3 | GPIO_Pin_4; // GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1 | GPIO_Pin_2 | GPIO_Pin_3 | GPIO_Pin_4;
// GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT; // GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
// GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; // GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
@ -177,6 +176,9 @@ void TIM2_IRQHandler(void)
pmotor->passed_puase++; //总脉冲个数 pmotor->passed_puase++; //总脉冲个数
pmotor->f_puase++; //以该频率脉冲输出的脉冲个数 pmotor->f_puase++; //以该频率脉冲输出的脉冲个数
//对称反转？？？ //对称反转？？？
// if (pmotor->RevetDot == pmotor->PulsesHaven) // if (pmotor->RevetDot == pmotor->PulsesHaven)