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Stepper Acceleration

The document defines functions for controlling a stepper motor on a microcontroller. It initializes GPIO and timer peripherals, then enters a loop that calls the motorMoveTo function to move the motor forward and backward. The motorMoveTo function controls the direction pin, calculates steps needed, and uses a for loop to pulse the step pin at varying delays to accelerate, run at max speed, and decelerate the motor over the specified distance.

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Sourabh Kumawat
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51 views4 pages

Stepper Acceleration

The document defines functions for controlling a stepper motor on a microcontroller. It initializes GPIO and timer peripherals, then enters a loop that calls the motorMoveTo function to move the motor forward and backward. The motorMoveTo function controls the direction pin, calculates steps needed, and uses a for loop to pulse the step pin at varying delays to accelerate, run at max speed, and decelerate the motor over the specified distance.

Uploaded by

Sourabh Kumawat
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as TXT, PDF, TXT or read online on Scribd
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/* Includes ------------------------------------------------------------------*/

#include "main.h"

/* Private variables ---------------------------------------------------------*/


TIM_HandleTypeDef htim1;

/* Private function prototypes -----------------------------------------------*/


void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_TIM1_Init(void);

/* USER CODE BEGIN 0 */


#define DIR_PIN GPIO_PIN_1
#define DIR_PORT GPIOA
#define STEP_PIN GPIO_PIN_2
#define STEP_PORT GPIOA
int stepDelay = 1000; // 1000us more delay means less speed

void microDelay (uint16_t delay)


{
__HAL_TIM_SET_COUNTER(&htim1, 0);
while (__HAL_TIM_GET_COUNTER(&htim1) < delay);
}
void motorMoveTo(double distance, int direction, int SMAX);
/* USER CODE END 0 */

int main(void)
{
/* USER CODE BEGIN 1 */

/* USER CODE END 1 */

/* MCU Configuration--------------------------------------------------------*/

/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();

/* USER CODE BEGIN Init */

/* USER CODE END Init */

/* Configure the system clock */


SystemClock_Config();

/* USER CODE BEGIN SysInit */

/* USER CODE END SysInit */

/* Initialize all configured peripherals */


MX_GPIO_Init();
MX_TIM1_Init();
/* USER CODE BEGIN 2 */
HAL_TIM_Base_Start(&htim1);
/* USER CODE END 2 */

/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
motorMoveTo(50.50,1,3400);
HAL_Delay(1000);
motorMoveTo(50.50,0,3400);
HAL_Delay(1000);
/* USER CODE END WHILE */

/* USER CODE BEGIN 3 */


}
/* USER CODE END 3 */
}

/* USER CODE BEGIN 4 */

void motorMoveTo(double distance, int direction, int SMAX) //(distância, direção,


tempo da largura do pulso em microssegundos (metade do tempo em nível alto, metade
em nível baixo))
{
int ACC = 15;
long SMIN = 20000;
int SPM = 800;

// digitalWrite(DIR, direction);
if (direction == 0)
{
HAL_GPIO_WritePin(DIR_PORT, DIR_PIN, GPIO_PIN_SET);
}
else
{
HAL_GPIO_WritePin(DIR_PORT, DIR_PIN, GPIO_PIN_RESET);
}

long accSpeed = SMIN;


long steps = distance*SPM;
long stepsToStop;
int flag = 1;

for(long i = 0; i < steps; i++){

if(i < (steps)/2){

if(accSpeed>SMAX){

if(direction == 0 || direction == 1){


HAL_GPIO_WritePin(STEP_PORT, STEP_PIN, GPIO_PIN_SET);
microDelay(accSpeed/2);
HAL_GPIO_WritePin(STEP_PORT, STEP_PIN, GPIO_PIN_RESET);
microDelay(accSpeed/2);
}
else{
microDelay(accSpeed);
}
accSpeed = accSpeed - ACC;
}

else
{
if(flag==1){
stepsToStop = i;
flag = 0;
}

if(direction == 0 || direction == 1){


HAL_GPIO_WritePin(STEP_PORT, STEP_PIN, GPIO_PIN_SET);
microDelay(SMAX/2);
HAL_GPIO_WritePin(STEP_PORT, STEP_PIN, GPIO_PIN_RESET);
microDelay(SMAX/2);
}
else{
microDelay(SMAX);
}
}

}
else
{
if(i < steps-stepsToStop){

if(direction == 0 || direction == 1){


HAL_GPIO_WritePin(STEP_PORT, STEP_PIN, GPIO_PIN_SET);
microDelay(SMAX/2);
HAL_GPIO_WritePin(STEP_PORT, STEP_PIN, GPIO_PIN_RESET);
microDelay(SMAX/2);
}
else{
microDelay(SMAX);
}
}
else
{
if(direction == 0 || direction == 1){
HAL_GPIO_WritePin(STEP_PORT, STEP_PIN, GPIO_PIN_SET);
microDelay(accSpeed/2);
HAL_GPIO_WritePin(STEP_PORT, STEP_PIN, GPIO_PIN_RESET);
microDelay(accSpeed/2);
}
else{
microDelay(accSpeed);
}
accSpeed = accSpeed + ACC;
}

}
}
}
/* USER CODE END 4 */

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