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add nachlaufwinkel

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This commit is contained in:
Eggert Jung
2022-04-06 00:20:59 +02:00
parent 32ee1da8e8
commit f2fd5c52fa
1 changed files with 33 additions and 4 deletions
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37
spule.c
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@@ -87,23 +87,52 @@ void do_spule(){
ISR(TIMER1_OVF_vect) {
if(ioHelperReadBit(outStates, MOTOR_TRANS_DIR)){
spule_trans_pos -= 1;
if(spule_trans_homed && spule_trans_pos == 84999){
TCCR1B &= ~(_BV(CS11));
TIMSK5 |= 1<<TOIE5;
printf("nachlauf aufbauen");
}
if(spule_trans_homed && spule_trans_pos == 4*3540){
ICR1 = 0.5*(ICR5/0.7);
OCR1A = ICR1/2;
printf("nachlauf abbauen");
}
if(spule_trans_homed && spule_trans_pos <= 0){
//TCCR1B &= ~(_BV(CS11));
//TIMSK5 |= 1<<TOIE5;
ICR1 = ICR5/0.7;
OCR1A = ICR1/2;
printf("front stop\n");
set_Output(MOTOR_TRANS_DIR, 0); // direction: back
}
}
else{
spule_trans_pos += 1;
if(spule_trans_homed && spule_trans_pos == 3540){
TCCR1B &= ~(_BV(CS11));
TIMSK5 |= 1<<TOIE5;
printf("nachlauf aufbauen");
}
if(spule_trans_homed && spule_trans_pos == (85000 - (4*3540)) ){
ICR1 = 0.5*(ICR5/0.7);
OCR1A = ICR1/2;
printf("nachlauf abbauen");
}
if(spule_trans_pos >= 85000){
//TCCR1B &= ~(_BV(CS11));
//TIMSK5 |= 1<<TOIE5;
ICR1 = ICR5/0.7;
OCR1A = ICR1/2;
printf("end stop\n");
set_Output(MOTOR_TRANS_DIR, 1); // direction: front
}
}
}
ISR(TIMER5_OVF_vect) {
static int16_t cnt = 0;
cnt++;
if(cnt >= 2*4000){
cnt = 0;
TCCR1B |= _BV(CS11); //TURN ON
TIMSK5 &= ~(1<<TOIE5);
}
}