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@ -10,7 +10,6 @@ |
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#define EXT_INPUT_IO8 PinNull |
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#define EXT_INPUT_IO8 PinNull |
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#define EXT_INPUT_IO9 PinNull |
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#define EXT_INPUT_IO9 PinNull |
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#define EXT_INPUT_IO0_MIRROR false |
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#define EXT_INPUT_IO0_MIRROR false |
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#define EXT_INPUT_IO1_MIRROR false |
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#define EXT_INPUT_IO1_MIRROR false |
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#define EXT_INPUT_IO2_MIRROR false |
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#define EXT_INPUT_IO2_MIRROR false |
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@ -22,7 +21,6 @@ |
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#define EXT_INPUT_IO8_MIRROR false |
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#define EXT_INPUT_IO8_MIRROR false |
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#define EXT_INPUT_IO9_MIRROR false |
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#define EXT_INPUT_IO9_MIRROR false |
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#define TMC_MOTOR_SPI hspi1 |
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#define TMC_MOTOR_SPI hspi1 |
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/*********************************************************************************************************************** |
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/*********************************************************************************************************************** |
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* 进料电机 * |
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* 进料电机 * |
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@ -36,22 +34,26 @@ |
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#define MOTOR1_REFL_MIRROR false |
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#define MOTOR1_REFL_MIRROR false |
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#define MOTOR1_REFR_MIRROR false |
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#define MOTOR1_REFR_MIRROR false |
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#define MOTOR1_MOTOR_SHAFT false // |
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#define MOTOR1_MOTOR_ONE_CIRCLE_PULSE 100 // |
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#define MOTOR1_MOTOR_SHAFT false |
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#define MOTOR1_MOTOR_ONE_CIRCLE_PULSE 100 |
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#define MOTOR1_MOTOR_ONE_CIRCLE_PULSE_DENOMINATOR 1 |
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#define MOTOR1_MOTOR_ONE_CIRCLE_PULSE_DENOMINATOR 1 |
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#define MOTOR1_STEPMOTOR_IHOLD 2 |
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#define MOTOR1_STEPMOTOR_IHOLD 2 |
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#define MOTOR1_STEPMOTOR_IRUN 24 |
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#define MOTOR1_STEPMOTOR_IRUN 24 |
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#define MOTOR1_STEPMOTOR_IHOLDDELAY 100 |
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#define MOTOR1_STEPMOTOR_IHOLDDELAY TMC5130_DEFAULT__STEPMOTOR_IHOLDDELAY |
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#define MOTOR1_STEPMOTOR_IGLOBALSCALER 0 |
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#define MOTOR1_STEPMOTOR_IGLOBALSCALER 0 |
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#define MOTOR1_MOTOR_DEFAULT_ACC 300 |
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#define MOTOR1_MOTOR_DEFAULT_DEC 300 |
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#define MOTOR1_MOTOR_DEFAULT_VELOCITY 300 |
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#define MOTOR1_MIN_D 0 |
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#define MOTOR1_MAX_D 0 |
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#define MOTOR1_MOTOR_DEFAULT_VELOCITY TMC5130_DEFAULT__MOTOR_DEFAULT_VELOCITY |
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#define MOTOR1_MIN_D TMC5130_DEFAULT__MIN_D |
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#define MOTOR1_MAX_D TMC5130_DEFAULT__MAX_D |
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#define MOTOR1_MOTOR_RUN_TO_ZERO_SPEED 0 |
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#define MOTOR1_MOTOR_RUN_TO_ZERO_SPEED 0 |
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#define MOTOR1_MOTOR_RUN_TO_ZERO_DEC 0 |
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#define MOTOR1_MOTOR_LOOK_ZERO_EDGE_SPEED 0 |
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#define MOTOR1_MOTOR_LOOK_ZERO_EDGE_SPEED 0 |
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#define MOTOR1_MOTOR_LOOK_ZERO_EDGE_DEC 0 |
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#define MOTOR1_MOTOR_VSTART TMC5130_DEFAULT__MOTOR_VSTART |
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#define MOTOR1_MOTOR_A1 TMC5130_DEFAULT__MOTOR_A1 |
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#define MOTOR1_MOTOR_AMAX 300 |
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#define MOTOR1_MOTOR_V1 TMC5130_DEFAULT__MOTOR_V1 |
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#define MOTOR1_MOTOR_DMAX 300 |
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#define MOTOR1_MOTOR_D1 TMC5130_DEFAULT__MOTOR_D1 |
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#define MOTOR1_MOTOR_VSTOP TMC5130_DEFAULT__MOTOR_VSTOP |
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#define MOTOR1_MOTOR_TZEROWAIT TMC5130_DEFAULT__MOTOR_TZEROWAIT |
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/*********************************************************************************************************************** |
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/*********************************************************************************************************************** |
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* 送料电机 * |
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* 送料电机 * |
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@ -66,21 +68,25 @@ |
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#define MOTOR2_REFR_MIRROR true |
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#define MOTOR2_REFR_MIRROR true |
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#define MOTOR2_MOTOR_SHAFT false |
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#define MOTOR2_MOTOR_SHAFT false |
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#define MOTOR2_MOTOR_ONE_CIRCLE_PULSE 80 // 单位0.1mm |
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#define MOTOR2_MOTOR_ONE_CIRCLE_PULSE 80 |
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#define MOTOR2_MOTOR_ONE_CIRCLE_PULSE_DENOMINATOR 1 |
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#define MOTOR2_MOTOR_ONE_CIRCLE_PULSE_DENOMINATOR 1 |
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#define MOTOR2_STEPMOTOR_IHOLD 3 |
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#define MOTOR2_STEPMOTOR_IHOLD 3 |
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#define MOTOR2_STEPMOTOR_IRUN 10 |
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#define MOTOR2_STEPMOTOR_IRUN 10 |
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#define MOTOR2_STEPMOTOR_IHOLDDELAY 100 |
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#define MOTOR2_STEPMOTOR_IGLOBALSCALER 1 |
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#define MOTOR2_MOTOR_DEFAULT_ACC 300 |
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#define MOTOR2_MOTOR_DEFAULT_DEC 300 |
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#define MOTOR2_STEPMOTOR_IHOLDDELAY TMC5130_DEFAULT__STEPMOTOR_IHOLDDELAY |
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#define MOTOR2_STEPMOTOR_IGLOBALSCALER 0 |
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#define MOTOR2_MOTOR_DEFAULT_VELOCITY 500 |
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#define MOTOR2_MOTOR_DEFAULT_VELOCITY 500 |
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#define MOTOR2_MIN_D 0 |
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#define MOTOR2_MAX_D 0 |
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#define MOTOR2_MOTOR_RUN_TO_ZERO_SPEED 100 |
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#define MOTOR2_MOTOR_RUN_TO_ZERO_DEC 300 |
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#define MOTOR2_MOTOR_LOOK_ZERO_EDGE_SPEED 50 |
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#define MOTOR2_MOTOR_LOOK_ZERO_EDGE_DEC 300 |
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#define MOTOR2_MIN_D TMC5130_DEFAULT__MIN_D |
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#define MOTOR2_MAX_D TMC5130_DEFAULT__MAX_D |
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#define MOTOR2_MOTOR_RUN_TO_ZERO_SPEED 300 |
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#define MOTOR2_MOTOR_LOOK_ZERO_EDGE_SPEED 100 |
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#define MOTOR2_MOTOR_VSTART TMC5130_DEFAULT__MOTOR_VSTART |
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#define MOTOR2_MOTOR_A1 TMC5130_DEFAULT__MOTOR_A1 |
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#define MOTOR2_MOTOR_AMAX 300 |
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#define MOTOR2_MOTOR_V1 TMC5130_DEFAULT__MOTOR_V1 |
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#define MOTOR2_MOTOR_DMAX 300 |
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#define MOTOR2_MOTOR_D1 TMC5130_DEFAULT__MOTOR_D1 |
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#define MOTOR2_MOTOR_VSTOP TMC5130_DEFAULT__MOTOR_VSTOP |
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#define MOTOR2_MOTOR_TZEROWAIT TMC5130_DEFAULT__MOTOR_TZEROWAIT |
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/*********************************************************************************************************************** |
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/*********************************************************************************************************************** |
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* 出料电机 * |
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* 出料电机 * |
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@ -94,19 +100,23 @@ |
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#define MOTOR3_REFL_MIRROR false |
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#define MOTOR3_REFL_MIRROR false |
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#define MOTOR3_REFR_MIRROR false |
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#define MOTOR3_REFR_MIRROR false |
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#define MOTOR3_MOTOR_SHAFT true // |
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#define MOTOR3_MOTOR_ONE_CIRCLE_PULSE 100 // |
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#define MOTOR3_MOTOR_SHAFT true |
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#define MOTOR3_MOTOR_ONE_CIRCLE_PULSE 100 |
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#define MOTOR3_MOTOR_ONE_CIRCLE_PULSE_DENOMINATOR 1 |
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#define MOTOR3_MOTOR_ONE_CIRCLE_PULSE_DENOMINATOR 1 |
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#define MOTOR3_STEPMOTOR_IHOLD 2 |
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#define MOTOR3_STEPMOTOR_IHOLD 2 |
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#define MOTOR3_STEPMOTOR_IRUN 24 |
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#define MOTOR3_STEPMOTOR_IRUN 24 |
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#define MOTOR3_STEPMOTOR_IHOLDDELAY 100 |
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#define MOTOR3_STEPMOTOR_IGLOBALSCALER 1 |
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#define MOTOR3_MOTOR_DEFAULT_ACC 300 |
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#define MOTOR3_MOTOR_DEFAULT_DEC 300 |
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#define MOTOR3_MOTOR_DEFAULT_VELOCITY 300 |
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#define MOTOR3_MIN_D 0 |
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#define MOTOR3_MAX_D 0 |
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#define MOTOR3_STEPMOTOR_IHOLDDELAY TMC5130_DEFAULT__STEPMOTOR_IHOLDDELAY |
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#define MOTOR3_STEPMOTOR_IGLOBALSCALER 0 |
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#define MOTOR3_MOTOR_DEFAULT_VELOCITY TMC5130_DEFAULT__MOTOR_DEFAULT_VELOCITY |
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#define MOTOR3_MIN_D TMC5130_DEFAULT__MIN_D |
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#define MOTOR3_MAX_D TMC5130_DEFAULT__MAX_D |
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#define MOTOR3_MOTOR_RUN_TO_ZERO_SPEED 0 |
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#define MOTOR3_MOTOR_RUN_TO_ZERO_SPEED 0 |
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#define MOTOR3_MOTOR_RUN_TO_ZERO_DEC 0 |
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#define MOTOR3_MOTOR_LOOK_ZERO_EDGE_SPEED 0 |
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#define MOTOR3_MOTOR_LOOK_ZERO_EDGE_SPEED 0 |
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#define MOTOR3_MOTOR_LOOK_ZERO_EDGE_DEC 0 |
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#define MOTOR3_MOTOR_VSTART TMC5130_DEFAULT__MOTOR_VSTART |
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#define MOTOR3_MOTOR_A1 TMC5130_DEFAULT__MOTOR_A1 |
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#define MOTOR3_MOTOR_AMAX 300 |
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#define MOTOR3_MOTOR_V1 TMC5130_DEFAULT__MOTOR_V1 |
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#define MOTOR3_MOTOR_DMAX 300 |
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#define MOTOR3_MOTOR_D1 TMC5130_DEFAULT__MOTOR_D1 |
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#define MOTOR3_MOTOR_VSTOP TMC5130_DEFAULT__MOTOR_VSTOP |
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#define MOTOR3_MOTOR_TZEROWAIT TMC5130_DEFAULT__MOTOR_TZEROWAIT |