114 lines
1.9 KiB
Arduino
114 lines
1.9 KiB
Arduino
#include "Arduino.h"
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#include "src/oled12864.h"
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#define U_N 14
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#define U_P 27
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#define V_N 26
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#define V_P 25
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#define W_N 33
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#define W_P 32
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#define EN_C 19
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void motomove(int step)
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{
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switch(step)
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{
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case 0:
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digitalWrite(U_N, 1);
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digitalWrite(U_P, 0);
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digitalWrite(V_N, 1);
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digitalWrite(V_P, 0);
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digitalWrite(W_N, 1);
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digitalWrite(W_P, 0);
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break;
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case 1:
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digitalWrite(U_N, 0);
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digitalWrite(U_P, 0);
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digitalWrite(V_N, 1);
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digitalWrite(V_P, 0);
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digitalWrite(W_N, 1);
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digitalWrite(W_P, 1);
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break;
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case 2:
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digitalWrite(U_N, 1);
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digitalWrite(U_P, 0);
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digitalWrite(V_N, 1);
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digitalWrite(V_P, 1);
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digitalWrite(W_N, 1);
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digitalWrite(W_P, 0);
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break;
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case 3:
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digitalWrite(U_N, 1);
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digitalWrite(U_P, 1);
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digitalWrite(V_N, 1);
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digitalWrite(V_P, 0);
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digitalWrite(W_N, 0);
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digitalWrite(W_P, 0);
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break;
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case 4:
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digitalWrite(U_N, 1);
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digitalWrite(U_P, 0);
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digitalWrite(V_N, 0);
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digitalWrite(V_P, 0);
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digitalWrite(W_N, 1);
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digitalWrite(W_P, 0);
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break;
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}
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}
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void setup() {
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// put your setup code here, to run once:
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//moto pin mode
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pinMode(U_N, OUTPUT);
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pinMode(U_P, OUTPUT);
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pinMode(V_N, OUTPUT);
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pinMode(V_P, OUTPUT);
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pinMode(W_N, OUTPUT);
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pinMode(W_P, OUTPUT);
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//encode pin mode
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pinMode(EN_C,INPUT_PULLUP);
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digitalWrite(U_N, 1);
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digitalWrite(U_P, 0);
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digitalWrite(V_N, 1);
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digitalWrite(V_P, 0);
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digitalWrite(W_N, 1);
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digitalWrite(W_P, 0);
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Serial.begin(115200);
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Wire.begin();
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OLED_Init();
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OLED_Str(0,0,16,"test",0,1);
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}
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int ii=0;
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char srt[64];
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void loop() {
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// put your main code here, to run repeatedly:
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if(digitalRead(EN_C)==0)
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{
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OLED_Str(0,0,16,"push",0,1);
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ii+=1;
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if(ii==5){ii=0;}
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}else
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{
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OLED_Str(0,0,16,"test",0,1);
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ii=0;
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}
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sprintf(srt,"index:%d",ii);
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OLED_Str(0,16,16,srt,0,1);
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motomove(ii);
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delay(10);
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OLED_Cache_to_hardware();
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//OLED_Init();
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}
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