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📄 main.c

📁 LM629运动控制器操作
💻 C
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123 
  check_busy();
  filter_sel();
  DELAY();
  check_busy();
  wr_cmd(LTRJ);
  DELAY();
  check_busy();
  wr_data(0x00);
  DELAY();
  check_busy();
  wr_data(0x0a);
  DELAY();

  //v
  check_busy();
  wr_data(0x00);
  DELAY();
  check_busy();
  wr_data(0X00);
  DELAY();
  check_busy();
  wr_data(0Xde);
  DELAY();
  check_busy();
  wr_data(0Xff);
  DELAY();
  //position
  check_busy();
  wr_data(0x00);
  DELAY();
  check_busy();
  wr_data(ps2);
  DELAY();
  if(dec_ps3==1)
  {
    dec_ps3=0;
    check_busy();
    wr_data(ps3);
  }
  else
  {
  check_busy();
  wr_data(ps3-g);
  }
  DELAY();
  if(dec_ps4==1)
  {
    dec_ps4=0;
    check_busy();
    wr_data(ps4);
  }
  else
  {
     check_busy();
     wr_data(ps4-h);
  }
  DELAY();
  P5OUT|=BIT3;//CS=1
  DELAY();
  P5OUT&=~BIT2;//CS=0
  P5OUT&=~BIT3;//CS=0
  check_busy();
  wr_cmd(STT);
  DELAY();
  check_busy();
  P5OUT|=BIT2;
  P5OUT|=BIT3;
  P5OUT&=~BIT2;//CS=0
  do
  {state_right=rd_st();}
  while((state_right&0x04)==0);
  P5OUT|=BIT2;
  access_sign_right_two++;
  sign_anticlockwise=1;
}
void turn_position_left_single(unsigned char a,unsigned char b)
{
  unsigned char ps1,ps2,ps3,ps4,state_left;
  P5OUT&=~BIT3;//CS=0
  check_busy();
  wr_cmd(RDRP);
  DELAY();
  check_busy();
  ps1=rd_data();
   DELAY();
  check_busy();
  ps2=rd_data();
   DELAY();
  check_busy();
 ps3=rd_data();
   DELAY();
  check_busy();
 ps4=rd_data();
 if((ps4+b)>0xff)
 {ps3++;}
 if((ps3+a)>0xff)
 {ps2++;}
  check_busy();
  wr_cmd(RSTI);
  DELAY();
  check_busy();
  filter_sel();
  DELAY();
  check_busy();
  wr_cmd(LTRJ);
  DELAY();
  check_busy();
  wr_data(0x00);
  DELAY();
  check_busy();
  wr_data(0x0a);
  DELAY();
  //v
  check_busy();
  wr_data(0x00);
  DELAY();
  check_busy();
  wr_data(0X00);
  DELAY();
  check_busy();
  wr_data(0Xde);
  DELAY();
  check_busy();
  wr_data(0Xff);
  DELAY();
  //position
  check_busy();
  wr_data(0x00);
  DELAY();
  check_busy();
  wr_data(ps2);
  DELAY();
  check_busy();
  wr_data(ps3+a);
  DELAY();
  check_busy();
  wr_data(ps4+b);
  DELAY();
  check_busy();
  wr_cmd(STT);
  DELAY();
  check_busy();
   do
  {state_left=rd_st();}
  while((state_left&0x04)==0);
  P5OUT|=BIT3;//CS=1
  access_sign_left_single++;
}
void turn_position_right_single(unsigned char c,unsigned char d)
{
  unsigned char ps1,ps2,ps3,ps4,state_right;
  P5OUT&=~BIT2;//CS=0
  check_busy();
  wr_cmd(RDRP);
  DELAY();
  check_busy();
  ps1=rd_data();
   DELAY();
  check_busy();
  ps2=rd_data();
   DELAY();
  check_busy();
 ps3=rd_data();
   DELAY();
  check_busy();
 ps4=rd_data();
 if((ps4+d)>0xff)
 {ps3++;}
 if((ps3+c)>0xff)
 {ps2++;}
  check_busy();
  wr_cmd(RSTI);
  DELAY();
  check_busy();
  filter_sel();
  DELAY();
  check_busy();
  wr_cmd(LTRJ);
  DELAY();
  check_busy();
  wr_data(0x00);
  DELAY();
  check_busy();
  wr_data(0x0a);
  DELAY();

  //v
  check_busy();
  wr_data(0x00);
  DELAY();
  check_busy();
  wr_data(0X00);
  DELAY();
  check_busy();
  wr_data(0Xde);
  DELAY();
  check_busy();
  wr_data(0Xff);
  DELAY();
  //position
  check_busy();
  wr_data(0x00);
  DELAY();
  check_busy();
  wr_data(ps2);
  DELAY();
  check_busy();
  wr_data(ps3+c);
  DELAY();
  check_busy();
  wr_data(ps4+d);
  DELAY();
  check_busy();
  wr_cmd(STT);
  DELAY();
  check_busy();
   do
  {state_right=rd_st();}
  while((state_right&0x04)==0);
  P5OUT|=BIT2;//CS=1
  access_sign_right_single++;
}
void run_position_back_two(unsigned char a,unsigned char b,unsigned char c,unsigned char d )
{
  unsigned char ps1,ps2,ps3,ps4, ps5,ps6,ps7,ps8,dec_ps3,dec_ps4,dec_ps7,dec_ps8,state_left;
  unsigned int ps9,psa,psb,psc;
  P5OUT&=~BIT2;//CS=0
  check_busy();
  wr_cmd(RDRP);
  DELAY();
  check_busy();
  ps1=rd_data();
   DELAY();
  check_busy();
  ps2=rd_data();
   DELAY();
  check_busy();
 ps3=rd_data();
   DELAY();
  check_busy();
 ps4=rd_data();
 if(ps4<b)
  {
    dec_ps4=1;
    ps9=(int)ps4+0xff;
    ps9=ps9-(int)b;
    ps4=(unsigned char)ps9;
    ps3-=0x01;
  }
  if(ps3<a)
  {
    dec_ps3=1;
    psa=(int)ps3+0xff;
    psa=psa-(int)a;
    ps3=(unsigned char)psa;
    ps2-=0x01;
  }
 
  check_busy();
  wr_cmd(RSTI);
  DELAY();
  check_busy();
  filter_sel();
  DELAY();
  check_busy();
  wr_cmd(LTRJ);
  DELAY();
  check_busy();
  wr_data(0x00);
  DELAY();
  check_busy();
  wr_data(0x0a);
  DELAY();
  //v
  check_busy();
  wr_data(0x00);
  DELAY();
  check_busy();
  wr_data(0X00);
  DELAY();
  check_busy();
  wr_data(0Xa0);
  DELAY();
  check_busy();
  wr_data(0Xff);
  DELAY();
  //position
  check_busy();
  wr_data(0x00);
  DELAY();
  check_busy();
  wr_data(ps2);
  DELAY();
  
  if(dec_ps3==1)
  {
    dec_ps3=0;
    check_busy();
    wr_data(ps3);
  }
  else
  {
     check_busy();
     wr_data(ps3-a);
  }
  DELAY();
 if(dec_ps4==1)
  {
    dec_ps4=0;
    check_busy();
    wr_data(ps4);
  }
  else
  {
     check_busy();
     wr_data(ps4-b);
  }
  DELAY();
  P5OUT|=BIT2;//CS=1
  P5OUT&=~BIT3;//CS=0
  check_busy();
  wr_cmd(RDRP);
  DELAY();
  check_busy();
  ps5=rd_data();
   DELAY();
  check_busy();
  ps6=rd_data();
   DELAY();
  check_busy();
 ps7=rd_data();
   DELAY();
  check_busy();
 ps8=rd_data();
 if(ps8<d)
  {
    dec_ps8=1;
    psb=(int)ps8+0xff;
    psb=psb-(int)d;
    ps8=(unsigned char)psb;
    ps7-=0x01;
  }
  if(ps7<c)
  {
    dec_ps7=1;
    psc=(int)ps7+0xff;
    psc=psc-(int)c;
    ps7=(unsigned char)psc;
    ps6-=0x01;
  }
  check_busy();
  wr_cmd(RSTI);
  DELAY();
  check_busy();
  filter_sel();
  DELAY();
  check_busy();
  wr_cmd(LTRJ);
  DELAY();
  check_busy();
  wr_data(0x00);
  DELAY();
  check_busy();
  wr_data(0x0a);
  DELAY();
  //v
  check_busy();
  wr_data(0x00);
  DELAY();
  check_busy();
  wr_data(0X00);
  DELAY();
  check_busy();
  wr_data(0Xa0);
  DELAY();
  check_busy();
  wr_data(0Xff);
  DELAY();
  //position
  check_busy();
  wr_data(0x00);
  DELAY();
  check_busy();
  wr_data(ps6);
  DELAY();
  if(dec_ps7==1)
  {
    dec_ps7=0;
    check_busy();
    wr_data(ps7);
  }
  else
  {
     check_busy();
     wr_data(ps7-c);
  }
  DELAY();
  if(dec_ps8==1)
  {
    dec_ps8=0;
    check_busy();
    wr_data(ps8);
  }
  else
  {
     check_busy();
     wr_data(ps8-d);
  }
  DELAY();
  P5OUT|=BIT3;//CS=1
  P5OUT&=~BIT2;//CS=0
  P5OUT&=~BIT3;//CS=0
  check_busy();
  wr_cmd(STT);
  DELAY();
  check_busy();
  P5OUT|=BIT2;
  P5OUT|=BIT3;
  P5OUT&=~BIT2;
  do
  {state_left= rd_st();}
  while((state_left&0x04)==0);
  P5OUT|=BIT2;
  access_sign_back_two++;
}
void reset_run_stright(unsigned char a,unsigned char b,unsigned char c,unsigned char d,unsigned char e,unsigned char f,unsigned char g,unsigned char h)
{
 
  reset_right();
  reset_left();
  P5OUT&=~BIT2;//CS=0
  check_busy();
  wr_cmd(RSTI);
  DELAY();
  check_busy();
  filter_sel();
  DELAY();
  check_busy();
  wr_cmd(LTRJ);
  DELAY();
  check_busy();
  wr_data(0x00);
  DELAY();
  check_busy();
  wr_data(0x2a);
  DELAY();
    //acc
  check_busy();
  wr_data(0x00);
  DELAY();
  check_busy();
  wr_data(0x00);
  DELAY();
  check_busy();
  wr_data(0x00);
  DELAY();
  check_busy();
  wr_data(0x1f);
  DELAY();
  //v
  check_busy();
  wr_data(0x00);
  DELAY();
  check_busy();
  wr_data(0X00);
  DELAY();
  check_busy();
  wr_data(0Xa5);
  DELAY();
  check_busy();
  wr_data(0Xff);
  DELAY();
  //position
  check_busy();
  wr_data(a);
  DELAY();
  check_busy();
  wr_data(b);
  DELAY();
  check_busy();
  wr_data(c);
  DELAY();
  check_busy();
  wr_data(d);
  DELAY();
  P5OUT|=BIT2;//CS=1
  P5OUT&=~BIT3;//CS=0
  check_busy();
  wr_cmd(RSTI);
  DELAY();
  check_busy();
  filter_sel();
  DELAY();
  check_busy();
  wr_cmd(LTRJ);
  DELAY();
  check_busy();
  wr_data(0x00);
  DELAY();
  check_busy();
  wr_data(0x2a);
  DELAY();
    //acc
  check_busy();
  wr_data(0x00);
  DELAY();
  check_busy();
  wr_data(0x00);
  DELAY();
  check_busy();
  wr_data(0x00);
  DELAY();
  check_busy();
  wr_data(0x1f);
  DELAY();
  //v
  check_busy();
  wr_data(0x00);
  DELAY();
  check_busy();
  wr_data(0X00);
  DELAY();
  check_busy();
  wr_data(0Xa5);
  DELAY();
  check_busy();
  wr_data(0Xff);
  DELAY();
  //position
  check_busy();
  wr_data(e);
  DELAY();
  check_busy();
  wr_data(f);
  DELAY();
  check_busy();
  wr_data(g);
  DELAY();
  check_busy();
  wr_data(h);
  DELAY();
  P5OUT|=BIT3;//CS=1
  P5OUT&=~BIT2;//CS=0
  P5OUT&=~BIT3;//CS=0
  check_busy();
  wr_cmd(STT);
  DELAY();
  check_busy();
  P5OUT|=BIT2;
  P5OUT|=BIT3;
  P5OUT&=~BIT2;
}
123

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