95 lines
2.2 KiB
Lua
95 lines
2.2 KiB
Lua
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-- Touch Jog Example
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-- Shows how to jog a stepper motor (DRV8825) using 5 touch pads
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-- where each touch pad jogs at a difference frequency, slow to fast,
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-- when touching the pads. When you release from the pads the jogging
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-- is stopped.
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-- File hierarchy:
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-- touchjog_main.lua
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-- - touchjog_touch.lua
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-- - touchjog_jog.lua
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-- - touchjog_jog_drv8825.lua
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-- You need to connect the following pins:
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-- Touch pads use pins 2, 12, 13, 14, 15, 27, 33, 32
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-- Stepper motor uses pins:
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-- m.pinStep = 4
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-- m.pinDir = 0
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-- m.pinSleep = 16
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-- -- Loopback pulse in from m.pinStep (use wire to connect)
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-- m.pinPulseIn = 36 -- 36 (sens_vp)
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m = {}
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m.jog = require("touchjog_jog")
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m.touch = require("touchjog_touch")
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m.testFreq = 100
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m._isJogging = false
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function m.init()
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-- Init jog
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m.jog.init()
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-- Init touch pads
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m.touch.init({
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cb=m.onTouch, -- our callback on interrupt
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})
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m.touch.config()
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m.touch.read()
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-- Setup the tmr for the callback process
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m._tmr = tmr.create()
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m._tmr:register(150, tmr.ALARM_SEMI, m.onTmr)
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end
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m._padState = 0 -- 0 means untouched
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m._tmr = nil -- will hold the tmr obj
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-- We will get a callback every 5ms or so when touched
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-- We will reset the tmr each time and after 20ms we will throw
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-- untouched event
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function m.onTouch(pads)
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-- print("state:", m._padState)
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if m._padState == 0 then
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-- we just got touched
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m._padState = 1 -- 1 means touched
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m._tmr:start()
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print("Got touch")
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m.jog.jogStart(100)
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else -- m._padState == 1
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-- we will get here on successive callbacks while touched
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-- we get them about every 8ms
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-- so reset the tmr so it doesn't timeout yet
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m._tmr:stop()
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m._tmr:start()
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end
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-- pads {2,3,4,5,6}
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local runfreq = 100
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if pads[6] then runfreq = 20
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elseif pads[5] then runfreq = 70
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elseif pads[4] then runfreq = 150
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elseif pads[3] then runfreq = 300
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elseif pads[2] then runfreq = 450
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end
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m.jog.setfreq(runfreq,false)
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end
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function m.onTmr()
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-- if we get the timer triggered, it means that we timed out
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-- from touch callbacks, so we presume the touch ended
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m._padState = 0
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print("Got untouch")
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m.jog.jogStop()
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end
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m.init()
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