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andrea
2026-05-18 22:38:08 +02:00
parent 4d139b6fcf
commit 8a84ea847e
25 changed files with 33293 additions and 31582 deletions
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48
workspace/AUTOM10/Core/Src/mot.c
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@@ -55,23 +55,23 @@ motMov_st m1ap(void){
SetMotPerc(M1,FW,0);
SetMotPerc(M1,BW,0);
if(rtCiclo>=apM1start){
(void)ramp(M1,BW,mrampstart[M1-1],m1pwmap,tramp,RAMPINIT);
(void)ramp(M1,FW,mrampstart[M1-1],m1pwmap,tramp,RAMPINIT);
m1st=motStartRamp;
}
break;
case motStartRamp:
if(ramp(M1,BW,mrampstart[M1-1],m1pwmap,tramp,RAMPRUN)==DONE){
if(ramp(M1,FW,mrampstart[M1-1],m1pwmap,tramp,RAMPRUN)==DONE){
m1st=motWaitingTime;
}
break;
case motWaitingTime:
if(rtCiclo>=apM1stop){
(void)ramp(M1,BW,m1pwmap,0,tramp,RAMPINIT);
(void)ramp(M1,FW,m1pwmap,0,tramp,RAMPINIT);
m1st=motStopRamp;
}
break;
case motStopRamp:
if(ramp(M1,BW,m1pwmap,0,tramp,RAMPRUN)==DONE){
if(ramp(M1,FW,m1pwmap,0,tramp,RAMPRUN)==DONE){
m1st=motStop;
}
break;
@@ -143,23 +143,23 @@ motMov_st m3ap(void){
SetMotPerc(M3,FW,0);
SetMotPerc(M3,BW,0);
if(rtCiclo>=apM3start){
(void)ramp(M3,BW,mrampstart[M3-1],m2pwmap,tramp,RAMPINIT);
(void)ramp(M3,FW,mrampstart[M3-1],m2pwmap,tramp,RAMPINIT);
m3st=motStartRamp;
}
break;
case motStartRamp:
if(ramp(M3,BW,mrampstart[M3-1],m3pwmap,tramp,RAMPRUN)==DONE){
if(ramp(M3,FW,mrampstart[M3-1],m3pwmap,tramp,RAMPRUN)==DONE){
m3st=motWaitingTime;
}
break;
case motWaitingTime:
if(rtCiclo>=apM3stop){
(void)ramp(M3,BW,m3pwmap,0,tramp,RAMPINIT);
(void)ramp(M3,FW,m3pwmap,0,tramp,RAMPINIT);
m3st=motStopRamp;
}
break;
case motStopRamp:
if(ramp(M3,BW,m3pwmap,0,tramp,RAMPRUN)==DONE){
if(ramp(M3,FW,m3pwmap,0,tramp,RAMPRUN)==DONE){
m3st=motStop;
}
break;
@@ -187,23 +187,23 @@ motMov_st m4ap(void){
SetMotPerc(M4,FW,0);
SetMotPerc(M4,BW,0);
if(rtCiclo>=apM4start){
(void)ramp(M4,BW,mrampstart[M4-1],m2pwmap,tramp,RAMPINIT);
(void)ramp(M4,FW,mrampstart[M4-1],m2pwmap,tramp,RAMPINIT);
m4st=motStartRamp;
}
break;
case motStartRamp:
if(ramp(M4,BW,mrampstart[M4-1],m4pwmap,tramp,RAMPRUN)==DONE){
if(ramp(M4,FW,mrampstart[M4-1],m4pwmap,tramp,RAMPRUN)==DONE){
m4st=motWaitingTime;
}
break;
case motWaitingTime:
if(rtCiclo>=apM4stop){
(void)ramp(M4,BW,m4pwmap,0,tramp,RAMPINIT);
(void)ramp(M4,FW,m4pwmap,0,tramp,RAMPINIT);
m4st=motStopRamp;
}
break;
case motStopRamp:
if(ramp(M4,BW,m4pwmap,0,tramp,RAMPRUN)==DONE){
if(ramp(M4,FW,m4pwmap,0,tramp,RAMPRUN)==DONE){
m4st=motStop;
}
break;
@@ -231,23 +231,23 @@ motMov_st m1ch(void){
SetMotPerc(M1,FW,0);
SetMotPerc(M1,BW,0);
if(rtCiclo>=chM1start){
(void)ramp(M1,FW,mrampstart[M1-1],m1pwmch,tramp,RAMPINIT);
(void)ramp(M1,BW,mrampstart[M1-1],m1pwmch,tramp,RAMPINIT);
m1st=motStartRamp;
}
break;
case motStartRamp:
if(ramp(M1,FW,mrampstart[M1-1],m1pwmch,tramp,RAMPRUN)==DONE){
if(ramp(M1,BW,mrampstart[M1-1],m1pwmch,tramp,RAMPRUN)==DONE){
m1st=motWaitingTime;
}
break;
case motWaitingTime:
if(rtCiclo>=chM1stop){
(void)ramp(M1,FW,m1pwmch,0,tramp,RAMPINIT);
(void)ramp(M1,BW,m1pwmch,0,tramp,RAMPINIT);
m1st=motStopRamp;
}
break;
case motStopRamp:
if(ramp(M1,FW,m1pwmch,0,tramp,RAMPRUN)==DONE){
if(ramp(M1,BW,m1pwmch,0,tramp,RAMPRUN)==DONE){
m1st=motStop;
}
break;
@@ -321,23 +321,23 @@ motMov_st m3ch(void){
SetMotPerc(M3,FW,0);
SetMotPerc(M3,BW,0);
if(rtCiclo>=chM3start){
(void)ramp(M3,FW,mrampstart[M3-1],m2pwmch,tramp,RAMPINIT);
(void)ramp(M3,BW,mrampstart[M3-1],m2pwmch,tramp,RAMPINIT);
m3st=motStartRamp;
}
break;
case motStartRamp:
if(ramp(M3,FW,mrampstart[M3-1],m3pwmch,tramp,RAMPRUN)==DONE){
if(ramp(M3,BW,mrampstart[M3-1],m3pwmch,tramp,RAMPRUN)==DONE){
m3st=motWaitingTime;
}
break;
case motWaitingTime:
if(rtCiclo>=chM3stop){
(void)ramp(M3,FW,m3pwmch,0,tramp,RAMPINIT);
(void)ramp(M3,BW,m3pwmch,0,tramp,RAMPINIT);
m3st=motStopRamp;
}
break;
case motStopRamp:
if(ramp(M3,FW,m3pwmch,0,tramp,RAMPRUN)==DONE){
if(ramp(M3,BW,m3pwmch,0,tramp,RAMPRUN)==DONE){
m3st=motStop;
}
break;
@@ -366,23 +366,23 @@ motMov_st m4ch(void){
SetMotPerc(M4,FW,0);
SetMotPerc(M4,BW,0);
if(rtCiclo>=chM4start){
(void)ramp(M4,FW,mrampstart[M4-1],m4pwmch,tramp,RAMPINIT);
(void)ramp(M4,BW,mrampstart[M4-1],m4pwmch,tramp,RAMPINIT);
m4st=motStartRamp;
}
break;
case motStartRamp:
if(ramp(M4,FW,mrampstart[M4-1],m4pwmch,tramp,RAMPRUN)==DONE){
if(ramp(M4,BW,mrampstart[M4-1],m4pwmch,tramp,RAMPRUN)==DONE){
m4st=motWaitingTime;
}
break;
case motWaitingTime:
if(rtCiclo>=chM4stop){
(void)ramp(M4,FW,m4pwmch,0,tramp,RAMPINIT);
(void)ramp(M4,BW,m4pwmch,0,tramp,RAMPINIT);
m4st=motStopRamp;
}
break;
case motStopRamp:
if(ramp(M4,FW,m4pwmch,0,tramp,RAMPRUN)==DONE){
if(ramp(M4,BW,m4pwmch,0,tramp,RAMPRUN)==DONE){
m4st=motStop;
}
break;