update

README.md

@@ -1,2 +1,36 @@
 开发板资料
-http://47.111.11.73/docs/boards/stm32/zdyz_stm32f407_explorer.html
+http://47.111.11.73/docs/boards/stm32/zdyz_stm32f407_explorer.html
+
+
+步进电机指令
+step_motor_setvelocity 1 2000
+step_motor_setvelocity 2 2000
+step_motor_setvelocity 3 2000
+step_motor_setvelocity 4 2000
+
+
+step_motor_moveby 1 51200
+step_motor_moveby 2 51200
+step_motor_moveby 3 51200
+step_motor_moveby 4 40000
+
+
+迷你步进电机指令
+
+stepmotor45_moveTo 1 512
+stepmotor45_moveTo 2 512
+stepmotor45_moveTo 3 512
+stepmotor45_moveTo 4 512
+stepmotor45_moveTo 5 512
+stepmotor45_moveTo 6 512
+
+stepmotor45_moveBy 1 -25600
+
+stepmotor45_moveBy 2 -25600
+stepmotor45_moveBy 3 -25600
+stepmotor45_moveBy 4 -25600
+
+stepmotor45_moveBy 1 25600
+stepmotor45_moveBy 2 25600
+stepmotor45_moveBy 3 25600
+stepmotor45_moveBy 4 25600

usrc/main.cpp

@@ -42,77 +42,77 @@ static StepMotor45::cfg_t cfg1 = {
     .max_pos              = -1,
     .enable_zero_limit    = false,
     .enable_max_pos_limit = false,
-    .mirror               = false,
+    .mirror               = true,
 
     .zeroPin       = PinNull,
     .zeroPinMirror = false,
 
     .driverPin       = {PB15, PD11, PD12, PD13},
-    .driverPinMirror = false,
+    .driverPinMirror = true,
 };
 
 static StepMotor45::cfg_t cfg2 = {
     .max_pos              = -1,
     .enable_zero_limit    = false,
     .enable_max_pos_limit = false,
-    .mirror               = false,
+    .mirror               = true,
 
     .zeroPin       = PinNull,
     .zeroPinMirror = false,
 
     .driverPin       = {PG2, PG3, PG4, PG5},
-    .driverPinMirror = false,
+    .driverPinMirror = true,
 };
 
 static StepMotor45::cfg_t cfg3 = {
     .max_pos              = -1,
     .enable_zero_limit    = false,
     .enable_max_pos_limit = false,
-    .mirror               = false,
+    .mirror               = true,
 
     .zeroPin       = PinNull,
     .zeroPinMirror = false,
 
     .driverPin       = {PG6, PG7, PG8, PC6},
-    .driverPinMirror = false,
+    .driverPinMirror = true,
 };
 
 static StepMotor45::cfg_t cfg4 = {
     .max_pos              = -1,
     .enable_zero_limit    = false,
     .enable_max_pos_limit = false,
-    .mirror               = false,
+    .mirror               = true,
 
     .zeroPin       = PinNull,
     .zeroPinMirror = false,
 
-    .driverPin       = {PC7, PC8, PC9, PA8},
-    .driverPinMirror = false,
+    .driverPin       = {PE0, PE2, PE4, PE6},
+    .driverPinMirror = true,
 };
 
 static StepMotor45::cfg_t cfg5 = {
     .max_pos              = -1,
     .enable_zero_limit    = false,
     .enable_max_pos_limit = false,
-    .mirror               = false,
+    .mirror               = true,
 
     .zeroPin       = PinNull,
     .zeroPinMirror = false,
 
-    .driverPin       = {PA13, PA14, PA15, PC10},
-    .driverPinMirror = false,
+    .driverPin       = {PC13, PE5, PE3, PE1},
+    .driverPinMirror = true,
 };
 static StepMotor45::cfg_t cfg6 = {
     .max_pos              = -1,
     .enable_zero_limit    = false,
     .enable_max_pos_limit = false,
-    .mirror               = false,
+    .mirror               = true,
 
     .zeroPin       = PinNull,
     .zeroPinMirror = false,
 
     .driverPin       = {PC12, PD3, PD5, PD7},
-    .driverPinMirror = false,
+    .driverPinMirror = true,
 };
 
 map<int, float> screw_lead = {
@@ -400,7 +400,7 @@ void Main::run() {
   g_step_motor[i++].initialize(15, 10000, &m_IflytopCanMaster);
   g_step_motor[i++].initialize(16, 10000, &m_IflytopCanMaster);
 
-  //   g_step_motor45[0].initialize(cfg1);
+  g_step_motor45[0].initialize(cfg1);
   g_step_motor45[1].initialize(cfg1);
   g_step_motor45[2].initialize(cfg2);
   g_step_motor45[3].initialize(cfg3);