Code Body

To use this file copy and paste this: // #URL-lib "http://pin1.org/forthlib/flb/IASI2/BV4113-motor.flb" into BV Terminal 3 or here to download.

// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * // BV4113 - IASI stepper motor driver 'a' // This will load as a stand alone file or can be used as a library // providing the parent file includes the files in the REQUIRES // section // * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *

// HISTORY: // Jan 2009 *Preliminary // *not complete only has step and a few other commands

// REQUIRES: // #URL-lib "http://pin1.org/forthlib/flb/General/soft1.flb" sid=0 // #URL-lib "http://pin1.org/forthlib/flb/General/pinsel.flb" sid=101 // #URL-lib "http://pin1.org/forthlib/flb/General/strings.flb" // #URL-lib "http://pin1.org/forthlib/flb/IASI2/IASI2-motor.flb"

// CONSTANTS: integer i-motor-adr // set this before using

Full Contents of File

// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
// BV4113 - IASI stepper motor driver 'a'
// This will load as a stand alone file or can be used as a library
// providing the parent file includes the files in the REQUIRES
// section
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *

// REQUIRES:
// #URL-lib "http://pin1.org/forthlib/flb/General/soft1.flb" sid=0
// #URL-lib "http://pin1.org/forthlib/flb/General/pinsel.flb" sid=101
// #URL-lib "http://pin1.org/forthlib/flb/General/strings.flb"
// #URL-lib "http://pin1.org/forthlib/flb/IASI2/IASI2-motor.flb"

// HISTORY:
// Jan 2009 *Preliminary
// *not complete only has step and a few other commands

// CONSTANTS:
i n t e g e r i -m o t o r -a d r // set this before using

// ---------------------------------------------------------------
// changes address of motor
: i-set-motor-adr ( adr -- )
=> i -m o t o r -a d r
;

// ---------------------------------------------------------------
// Initialise device to an address, reports back number of devices
// connected
: i-init-motor ( adr -- x )
i -s e t -m o t o r -a d r
i -c o n n e c t
;

// ---------------------------------------------------------------
// Digital channel set
// sets channel a or b to either input or ouput
// channel 1=a, any=b
// output any=in, 1=out
// example to set channel b to input: 2 0 m-setdigit
: m-setdigit { channel output -- }
i -m o t o r -a d r e m i t 1 [c h a r ] d e m i t 1 // all need this
c h a n n e l 1 =
i f
[c h a r ] a e m i t 1 [c h a r ] - e m i t 1
o u t p u t 1 =
i f
[c h a r ] o e m i t 1 c r 1 i -s e n d
e l s e
[c h a r ] i e m i t 1 c r 1 i -s e n d
t h e n
e l s e
[c h a r ] b e m i t 1 [c h a r ] - e m i t 1
o u t p u t 1 =
i f
[c h a r ] o e m i t 1 c r 1 i -s e n d
e l s e
[c h a r ] i e m i t 1 c r 1 i -s e n d
t h e n
t h e n
;
// ---------------------------------------------------------------
// digital channel set to 1 or 0
// channel 1=a, any=b
// set 1=1 any=0
: m-digit { channel set -- }
i -m o t o r -a d r e m i t 1 [c h a r ] d e m i t 1 // all need this
c h a n n e l 1 =
i f
s e t 1 =
[c h a r ] a e m i t 1
i f
[c h a r ] 1 e m i t 1 c r 1 i -s e n d
e l s e
[c h a r ] 0 e m i t 1 c r 1 i -s e n d
t h e n
e l s e
s e t 1 =
[c h a r ] b e m i t 1
i f
[c h a r ] 1 e m i t 1 c r 1 i -s e n d
e l s e
[c h a r ] 0 e m i t 1 c r 1 i -s e n d
t h e n
t h e n
;

// ---------------------------------------------------------------
// gets value of channel a or b
// channel 1=a
// does not use * option to return binary, uses i-gn instead
// returns 1 or 0
: m-get { channel -- 1 or 0, valid }
i -c b u f f
i -m o t o r -a d r e m i t 1 [c h a r ] d e m i t 1 // all need this
c h a n n e l 1 =
i f
[c h a r ] a e m i t 1
e l s e
[c h a r ] b e m i t 1
t h e n
c r 1 i -s e n d i -g n d r o p
;
// ---------------------------------------------------------------
// analogue channel can return either absolute value or a percentage
// percent=1 will return a percent value
: m-analogue { percent -- }
i -c b u f f
i -m o t o r -a d r e m i t 1 [c h a r ] v e m i t 1 // send ad command
p e r c e n t 1 =
i f
[c h a r ] p e m i t 1
t h e n
c r 1 i -s e n d i -g n d r o p
;

// ---------------------------------------------------------------
// steps
// steps -1=continuous, any other value nu,ber of steps
// direction 1 or 0
: m-step { steps direction -- }
i -m o t o r -a d r e m i t 1 // all need this
s t e p s -1 =
i f
[c h a r ] r e m i t 1 // driection
d i r e c t i o n 4 8 + // convert to ascii
e m i t 1 c r 1 i -s e n d // direction set
i -m o t o r -a d r e m i t 1 // again for continuous step
[c h a r ] c e m i t 1 c r 1 i -s e n d
e l s e
[c h a r ] n e m i t 1
d i r e c t i o n 4 8 + // convert to ascii
e m i t 1 c r 1
t h e n
;

// ---------------------------------------------------------------
// stop
: m-stop ( -- )
i -m o t o r -a d r e m i t 1 [c h a r ] x e m i t 1 c r 1
;

// ---------------------------------------------------------------
// speed
: m-speed { speed -- }
i -m o t o r -a d r e m i t 1 [c h a r ] s e m i t 1
s p e e d i u . c r 1
;

// ---------------------------------------------------------------
// mode
// 1=full, 0(any)=half
: m-mode { mode -- }
i -m o t o r -a d r e m i t 1 [c h a r ] h e m i t 1
m o d e 1 =
i f
[c h a r ] f e m i t 1
e l s e
[c h a r ] h e m i t 1
t h e n
c r 1
;