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Motors.cpp
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Motors.cpp
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/**********************************************************************c
* Author: Marcin Dec
* Date: 20.02.2015
* FileName: Motors.c
* Dependencies: Header Motors.h
* Processor: dsPIC30F6013A
* Compiler: MPLAB® C30 v3.00 or higher
*
************************************************************************/
#include <p30f6013A.h>
#include <math.h>
#include "Globals.h"
#include "Motors.h"
//#include "sin90.h"
//#include "cos90.h"
//// Timer 2 period in microseconds ///////////////////////////////
#define T2_PERIOD 50L
//// Timer 2 postscaler factor ////////////////////////////////////
#define T2_POST 1L
//// Timer 2 reload value /////////////////////////////////////////
#define T2_PR2 (T2_PERIOD)*(F_CY/T2_POST)/1000000L
//// Step Motor microsteps ///////////////////////////////////////
//#define MICSTEPS 64
#define PI 3.1415926535897932384626433832795F
//// Timer 2 postscaler register value ///////////////////////////
#if (T2_POST == 256)
#define T2_TCKPS 3
#elif (T2_POST == 64)
#define T2_TCKPS 2
#elif (T2_POST == 8)
#define T2_TCKPS 1
#elif (T2_POST == 1)
#define T2_TCKPS 0
#else
#error "T2_POST must be selected from set {1, 8, 64, 256} "
#endif
const int MCurve[251][3] = {
16, 0, 1250,
16, 1, 1250,
16, 1, 625,
16, 1, 416,
16, 1, 312,
16, 1, 250,
16, 1, 208,
16, 1, 178,
16, 1, 156,
16, 1, 138,
16, 1, 125,
16, 1, 113,
16, 1, 104,
16, 1, 96,
16, 1, 89,
16, 1, 83,
16, 1, 78,
16, 1, 73,
16, 1, 69,
16, 1, 65,
16, 1, 62,
16, 1, 59,
16, 1, 56,
16, 1, 54,
16, 1, 52,
16, 1, 50,
16, 1, 48,
16, 1, 46,
16, 1, 44,
16, 1, 43,
16, 1, 41,
16, 1, 40,
16, 1, 39,
16, 1, 37,
16, 1, 36,
16, 1, 35,
16, 1, 34,
16, 1, 33,
16, 1, 32,
16, 1, 32,
16, 1, 31,
16, 1, 30,
16, 1, 29,
16, 1, 29,
16, 1, 28,
16, 1, 27,
16, 1, 27,
16, 1, 26,
16, 1, 26,
16, 1, 25,
16, 1, 25,
4, 4, 98,
4, 4, 96,
4, 4, 94,
4, 4, 92,
4, 4, 90,
4, 4, 89,
4, 4, 87,
4, 4, 86,
4, 4, 84,
4, 4, 83,
4, 4, 81,
4, 4, 80,
4, 4, 79,
4, 4, 78,
4, 4, 76,
4, 4, 75,
4, 4, 74,
4, 4, 73,
4, 4, 72,
4, 4, 71,
4, 4, 70,
4, 4, 69,
4, 4, 68,
4, 4, 67,
4, 4, 66,
4, 4, 65,
4, 4, 64,
4, 4, 64,
4, 4, 63,
4, 4, 62,
4, 4, 61,
4, 4, 60,
4, 4, 60,
4, 4, 59,
4, 4, 58,
4, 4, 58,
4, 4, 57,
4, 4, 56,
4, 4, 56,
4, 4, 55,
4, 4, 54,
4, 4, 54,
4, 4, 53,
4, 4, 53,
4, 4, 52,
4, 4, 52,
4, 4, 51,
4, 4, 51,
4, 4, 50,
4, 4, 50,
4, 4, 49,
4, 4, 49,
4, 4, 48,
4, 4, 48,
4, 4, 47,
4, 4, 47,
4, 4, 46,
4, 4, 46,
4, 4, 45,
4, 4, 45,
4, 4, 45,
4, 4, 44,
4, 4, 44,
4, 4, 43,
4, 4, 43,
4, 4, 43,
4, 4, 42,
4, 4, 42,
4, 4, 42,
4, 4, 41,
4, 4, 41,
4, 4, 40,
4, 4, 40,
4, 4, 40,
4, 4, 40,
4, 4, 39,
4, 4, 39,
4, 4, 39,
4, 4, 38,
4, 4, 38,
4, 4, 38,
4, 4, 37,
4, 4, 37,
4, 4, 37,
4, 4, 37,
4, 4, 36,
4, 4, 36,
4, 4, 36,
4, 4, 35,
4, 4, 35,
4, 4, 35,
4, 4, 35,
4, 4, 34,
4, 4, 34,
4, 4, 34,
4, 4, 34,
4, 4, 34,
4, 4, 33,
4, 4, 33,
4, 4, 33,
4, 4, 33,
4, 4, 32,
4, 4, 32,
4, 4, 32,
4, 4, 32,
4, 4, 32,
4, 4, 31,
4, 4, 31,
4, 4, 31,
4, 4, 31,
4, 4, 31,
4, 4, 30,
4, 4, 30,
4, 4, 30,
4, 4, 30,
4, 4, 30,
4, 4, 29,
4, 4, 29,
4, 4, 29,
4, 4, 29,
4, 4, 29,
4, 4, 29,
4, 4, 28,
4, 4, 28,
4, 4, 28,
4, 4, 28,
4, 4, 28,
4, 4, 28,
4, 4, 27,
4, 4, 27,
4, 4, 27,
4, 4, 27,
4, 4, 27,
4, 4, 27,
4, 4, 27,
4, 4, 26,
4, 4, 26,
4, 4, 26,
4, 4, 26,
4, 4, 26,
4, 4, 26,
4, 4, 26,
4, 4, 25,
4, 4, 25,
4, 4, 25,
4, 4, 25,
4, 4, 25,
4, 4, 25,
4, 4, 25,
4, 4, 25,
4, 4, 24,
4, 4, 24,
4, 4, 24,
4, 4, 24,
4, 4, 24,
4, 4, 24,
4, 4, 24,
4, 4, 24,
4, 4, 23,
4, 4, 23,
4, 4, 23,
4, 4, 23,
4, 4, 23,
4, 4, 23,
4, 4, 23,
4, 4, 23,
4, 4, 23,
4, 4, 22,
4, 4, 22,
4, 4, 22,
4, 4, 22,
4, 4, 22,
4, 4, 22,
4, 4, 22,
4, 4, 22,
4, 4, 22,
4, 4, 22,
4, 4, 21,
4, 4, 21,
4, 4, 21,
4, 4, 21,
4, 4, 21,
4, 4, 21,
4, 4, 21,
4, 4, 21,
4, 4, 21,
4, 4, 21,
4, 4, 21,
4, 4, 20,
4, 4, 20,
4, 4, 20,
4, 4, 20,
4, 4, 20,
4, 4, 20,
4, 4, 20,
4, 4, 20,
4, 4, 20,
4, 4, 20,
4, 4, 20,
4, 4, 20
};
unsigned long int MicStepArray[17]; // [MICSTEPS+1]
union
{
struct
{
unsigned int Sin90;
unsigned int Cos90;
} MicStepStruct;
unsigned long int MicStep;
} MicStepUnion;
#define INP MicStepUnion.MicStepStruct
#define MST MicStepUnion
unsigned int DeccaySin = 0;
unsigned int DeccayCos = 10;
int Rev = 32000;
int Presc = 0; // Revolution control prescaler
int MicStep = 0; // Sine-Cosine look-up array index (MicStepArray[])
int MICSTEPS = 16;
int StepIndx = 0;
int StepIncLatch = 1;
int StepInc = 0;
int PrescVal = 0;
int PrescValLatch = 1250;
int SpeedAbs = 0;
int Speed = 0;
int Direction = 1;
int Present = 0;
int SpeedChange = 1;
int Tick = 0;
int PhaseAfwd = 1;
int PhaseArev = 0;
int PhaseBfwd = 1;
int PhaseBrev = 0;
struct Motor
{
int StepPresc = 0; // Revolution control prescaler
int MicStep = 0; // Sine-Cosine look-up array index (MicStepArray[])
static const int MICSTEPS = 16;
static int* MotorCurve;
int StepIncLatch = 1;
int StepInc = 0;
int StepPrescVal = 0;
int StepPrescValLatch = 1250;
int SpeedAbs = 0;
int Speed = 0;
int Direction = 1;
static const int SPEED_SLEWRATE = 1;
};
int SpeedSlewRate(const int SR, int Speed);
int Motor::SpeedSlewRate(const int SR, int Speed)
{
static int CurrSpeed = 0;
if(Speed > CurrSpeed)
{
CurrSpeed += SR;
if(CurrSpeed > Speed)
CurrSpeed = Speed;
}
else(Speed < CurrSpeed)
{
CurrSpeed -= SR;
if(CurrSpeed < Speed)
CurrSpeed = Speed;
}
return CurrSpeed;
}
void MotorsInit(void)
{
//////////////// MicStepArray Init /////////////////////////////////////////////////////////////////////////
int i;
for(i = 0; i <= MICSTEPS; i++)
{
INP.Sin90 = (unsigned int)((float)T2_PR2 * sin((float)i/(float)(MICSTEPS) * (PI/2)));
INP.Cos90 = (unsigned int)((float)T2_PR2 * cos((float)i/(float)(MICSTEPS) * (PI/2)));
MicStepArray[i] = MST.MicStep;
}
//////////////////////////////////////////////////////////////////////////////////////////////////////
/////////////// Motor Control Pins ///////////////////////////////////////////////////////////////////////////////
/////////////// Motor Right ///////////////////
// ENA - RF1
// In1 - OC8/CN16/RD7
// In2 - OC7/CN15/RD6
// ENB - RF0
// In3 - OC6/CN14/RD5
// In4 - OC5/CN13/RD4
/////////////// Motor Left ///////////////////
// ENA - RD13
// In1 - OC4/RD3
// In2 - OC3/RD2
// ENB - RD12
// In3 - EMUD2/OC2/RD1
// In4 - EMUC2/OC1/RD0
///////////////////////////////////////////////
TRISFbits.TRISF1 = 0; // Enable Motor driver pins as outputs
TRISFbits.TRISF0 = 0; //
TRISDbits.TRISD13 = 0; //
TRISDbits.TRISD12 = 0; //
PORTFbits.RF1 = 1; // Enable Motor drivers
// PORTFbits.RF0 = 1; //
PORTF |= 3;
PORTDbits.RD13 = 1; //
PORTDbits.RD12 = 1; //
TRISDbits.TRISD7 = 0; // Enable Motor driver pins as outputs
TRISDbits.TRISD6 = 0; //
TRISDbits.TRISD5 = 0; //
TRISDbits.TRISD4 = 0; //
TRISDbits.TRISD3 = 0; // Enable Motor driver pins as outputs
TRISDbits.TRISD2 = 0; //
TRISDbits.TRISD1 = 0; //
TRISDbits.TRISD0 = 0; //
PORTDbits.RD7 = 0; // Enable Motor drivers
PORTDbits.RD6 = 0; //
PORTDbits.RD5 = 0; //
PORTDbits.RD4 = 0; //
PORTDbits.RD3 = 0; // Enable Motor drivers
PORTDbits.RD2 = 0; //
PORTDbits.RD1 = 0; //
PORTDbits.RD0 = 0; //
/////////////// Output Compare 8 Setup ////////////////////////////////////////////////////////////////////
OC8CON = 0; // Turn off Output Compare Module
OC8RS = 0; // Write duty cycle buffer register
OC8R = 0; // Write OCR to initial duty cycle value
OC8CONbits.OCM = 0b110; // "110" Set OC mode to Simple PMW without Fault input
// "111" Set OC mode to Simple PMW with Fault input
OC8CONbits.OCTSEL = 0; // "0" Timer 2 as time base
// "1" Timer 3 as time base
/////////////// Output Compare 7 Setup ////////////////////////////////////////////////////////////////////
OC7CON = 0; // Turn off Output Compare Module
OC7RS = 0; // Write duty cycle buffer register
OC7R = 0xFFFF; // Write OCR to initial duty cycle value
OC7CONbits.OCM = 0b101; // Dual output match mode - continuous
// "110" Set OC mode to Simple PMW without Fault input
// "111" Set OC mode to Simple PMW with Fault input
OC7CONbits.OCTSEL = 0; // "0" Timer 2 as time base
// "1" Timer 3 as time base
/////////////// Output Compare 6 Setup ////////////////////////////////////////////////////////////////////
OC6CON = 0; // Turn off Output Compare Module
OC6RS = 0; // Write duty cycle buffer register
OC6R = 0; // Write OC2R to initial duty cycle value
OC6CONbits.OCM = 0b110; // "110" Set OC mode to Simple PMW without Fault input
// "111" Set OC mode to Simple PMW with Fault input
OC6CONbits.OCTSEL = 0; // "0" Timer 2 as time base
// "1" Timer 3 as time base
/////////////// Output Compare 5 Setup ////////////////////////////////////////////////////////////////////
OC5CON = 0; // Turn off Output Compare Module
OC5RS = 0; // Write duty cycle buffer register
OC5R = 0xFFFF; // Write OC2R to initial duty cycle value
OC5CONbits.OCM = 0b101; // Dual output match mode - continuous
// "110" Set OC mode to Simple PMW without Fault input
// "111" Set OC mode to Simple PMW with Fault input
OC5CONbits.OCTSEL = 0; // "0" Timer 2 as time base
// "1" Timer 3 as time base
/////////////// Output Compare 4 Setup ////////////////////////////////////////////////////////////////////
OC4CON = 0; // Turn off Output Compare Module
OC4RS = 0; // Write duty cycle buffer register
OC4R = 0; // Write OC2R to initial duty cycle value
OC4CONbits.OCM = 0b110; // "110" Set OC mode to Simple PMW without Fault input
// "111" Set OC mode to Simple PMW with Fault input
OC4CONbits.OCTSEL = 0; // "0" Timer 2 as time base
// "1" Timer 3 as time base
/////////////// Output Compare 3 Setup ////////////////////////////////////////////////////////////////////
OC3CON = 0; // Turn off Output Compare Module
OC3RS = 0; // Write duty cycle buffer register
OC3R = 0; // Write OC2R to initial duty cycle value
OC3CONbits.OCM = 0b110; // "110" Set OC mode to Simple PMW without Fault input
// "111" Set OC mode to Simple PMW with Fault input
OC3CONbits.OCTSEL = 0; // "0" Timer 2 as time base
// "1" Timer 3 as time base
/////////////// Output Compare 2 Setup ////////////////////////////////////////////////////////////////////
OC2CON = 0; // Turn off Output Compare Module
OC2RS = 0; // Write duty cycle buffer register
OC2R = 0; // Write OC2R to initial duty cycle value
OC2CONbits.OCM = 0b110; // "110" Set OC mode to Simple PMW without Fault input
// "111" Set OC mode to Simple PMW with Fault input
OC2CONbits.OCTSEL = 0; // "0" Timer 2 as time base
// "1" Timer 3 as time base
/////////////// Output Compare 1 Setup ////////////////////////////////////////////////////////////////////
OC1CON = 0; // Turn off Output Compare Module
OC1RS = 1; // Write duty cycle buffer register
OC1R = 0; // Write OC2R to initial duty cycle value
OC1CONbits.OCM = 0b110; // "110" Set OC mode to Simple PMW without Fault input
// "111" Set OC mode to Simple PMW with Fault input
OC1CONbits.OCTSEL = 0; // "0" Timer 2 as time base
// "1" Timer 3 as time base
//////////// Timer 2 Setup ////////////////////////////////////////////////////////////////////////////////
T2CON = 0; // Stops the Timer2 and reset control register
TMR2 = 0; // Clear contents of the timer register
T2CONbits.TCKPS = T2_TCKPS; // Timer Input Clock Prescale Select bits
// 11 = 1:256 prescale value
// 10 = 1:64 prescale value
// 01 = 1:8 prescale value
// 00 = 1:1 prescale value
PR2 = T2_PR2; // Load the Period register
IPC1bits.T2IP = 0x3; // Set Timer2 interrupt priority to 3 (1-lowest, 7-highiest)
IFS0bits.T2IF = 0; // Clear the Timer2 interrupt status flag
IEC0bits.T2IE = 1; // Enable Timer2 interrupts
T2CONbits.TON = 1; // Start Timer2
StepInc = MCurve[SpeedAbs][1];
PrescVal = MCurve[SpeedAbs][2];
}
///////// Timer2 Interrupt routine //////////////////////
void __attribute__((__interrupt__,no_auto_psv)) _T2Interrupt(void)
{
static unsigned int Oc8rs = 0;
static unsigned int Oc7rs = 0;
static unsigned int Oc6rs = 0;
static unsigned int Oc5rs = 0;
static unsigned int Oc8r = 0;
static unsigned int Oc7r = 0;
static unsigned int Oc6r = 0;
static unsigned int Oc5r = 0;
IFS0bits.T2IF = 0; // Clear the Timer2 interrupt status flag
if(MicStep/MICSTEPS == 0) // sin >0, cos >0
{
// Phase A //////
// Present Sin = 0 and loaded next value, DeccaySin
// Polarisation positive
MST.MicStep = MicStepArray[MicStep%MICSTEPS + StepIncLatch];
if(Direction)
{
if(OC8CONbits.OCM != 0b110)
OC8CONbits.OCM = 0b110; // "110" Set OC mode to Simple PMW without Fault input
if(OC7CONbits.OCM != 0b101)
OC7CONbits.OCM = 0b101; // "101" Dual output match mode - continuous
}
else
{
if(OC6CONbits.OCM != 0b110)
OC6CONbits.OCM = 0b110; // "110" Set OC mode to Simple PMW without Fault input
if(OC5CONbits.OCM != 0b101)
OC5CONbits.OCM = 0b101; // "101" Dual output match mode - continuous
}
OC8RS = INP.Sin90;
OC7R = Oc7r;
OC7RS = Oc7rs;
Oc7r = OC8RS;
if((Oc7r + 10) >= PR2)
OC7CONbits.OCM = 0b000; // Disable fast deccay
else OC7CONbits.OCM = 0b101;
Oc7rs = 2 + Oc7r + (PR2 - Oc7r) * DeccaySin / 100;
// Phase B //////
// Present Cos = 1 and loaded next value, DeccayCos
OC6RS = INP.Cos90;
OC5R = Oc5r;
OC5RS = Oc5rs;
Oc5r = OC6RS;
if((Oc5r + 10) >= PR2)
OC5CONbits.OCM = 0b000; // Disable fast deccay
else OC5CONbits.OCM = 0b101;
Oc5rs = 2 + Oc5r + (PR2 - Oc5r) * DeccayCos / 100;
}
else if(MicStep/MICSTEPS == 1) // sin >0, cos <0
{
// Phase A //////
// Present Cos = 1 and loaded next value, DeccayCos
MST.MicStep = MicStepArray[MicStep%MICSTEPS + StepIncLatch];
if(Direction)
{
if(OC6CONbits.OCM != 0b101)
OC6CONbits.OCM = 0b101; // "101" Dual output match mode - continuous
if(OC5CONbits.OCM != 0b110)
OC5CONbits.OCM = 0b110; // "110" Set OC mode to Simple PMW without Fault input
}
else
{
if(OC8CONbits.OCM != 0b110)
OC8CONbits.OCM = 0b110; // "110" Set OC mode to Simple PMW without Fault input
if(OC7CONbits.OCM != 0b101)
OC7CONbits.OCM = 0b101; // "101" Dual output match mode - continuous
}
OC8RS = INP.Cos90;
OC7R = Oc7r;
OC7RS = Oc7rs;
Oc7r = OC8RS;
if((Oc7r + 10) >= PR2)
OC7CONbits.OCM = 0b000; // Disable fast deccay
else OC7CONbits.OCM = 0b101;
Oc7rs = 2 + Oc7r + (PR2 - Oc7r) * DeccayCos / 100;
// Phase B //////
// Present Sin = 0 and loaded next value, DeccaySin
// Polarisation negative
OC5RS = INP.Sin90;
OC6R = Oc6r;
OC6RS = Oc6rs;
Oc6r = OC5RS;
if((Oc6r + 10) >= PR2)
OC6CONbits.OCM = 0b000; // Disable fast deccay
else OC6CONbits.OCM = 0b101;
Oc6rs = 2 + Oc6r + (PR2 - Oc6r) * DeccaySin / 100;
}
else if(MicStep/MICSTEPS == 2) // sin <0, cos <0
{
// Phase A //////
// Present Sin = 0 and loaded next value, DeccaySin
// Polarisation negative
MST.MicStep = MicStepArray[MicStep%MICSTEPS + StepIncLatch];
if(Direction)
{
if(OC7CONbits.OCM != 0b110)
OC7CONbits.OCM = 0b110; // "110" Set OC mode to Simple PMW without Fault input
if(OC8CONbits.OCM != 0b101)
OC8CONbits.OCM = 0b101; // "101" Dual output match mode - continuous
}
else
{
if(OC6CONbits.OCM != 0b101)
OC6CONbits.OCM = 0b101; // "101" Dual output match mode - continuous
if(OC5CONbits.OCM != 0b110)
OC5CONbits.OCM = 0b110; // "110" Set OC mode to Simple PMW without Fault input
}
OC7RS = INP.Sin90;
OC7RS = INP.Sin90;
OC8R = Oc8r;
OC8RS = Oc8rs;
Oc8r = OC7RS;
if((Oc8r + 10) >= PR2)
OC8CONbits.OCM = 0b000; // Disable fast deccay
else OC8CONbits.OCM = 0b101;
Oc8rs = 2 + Oc8r + (PR2 - Oc8r) * DeccaySin / 100;
// Phase B //////
// Present Cos = 1 and loaded next value, DeccayCos
OC5RS = INP.Cos90;
OC6R = Oc6r;
OC6RS = Oc6rs;
Oc6r = OC5RS;
if((Oc6r + 10) >= PR2)
OC6CONbits.OCM = 0b000; // Disable fast deccay
else OC6CONbits.OCM = 0b101;
Oc6rs = 2 + Oc6r + (PR2 - Oc6r) * DeccayCos / 100;
}
else if(MicStep/MICSTEPS == 3) // sin <0, cos >0
{
// Phase A //////
// Present Cos = 1 and loaded next value, DeccayCos
MST.MicStep = MicStepArray[MicStep%MICSTEPS + StepIncLatch];
if(Direction)
{
if(OC6CONbits.OCM != 0b110)
OC6CONbits.OCM = 0b110; // "110" Set OC mode to Simple PMW without Fault input
if(OC5CONbits.OCM != 0b101)
OC5CONbits.OCM = 0b101; // "101" Dual output match mode - continuous
}
else
{
if(OC7CONbits.OCM != 0b110)
OC7CONbits.OCM = 0b110; // "110" Set OC mode to Simple PMW without Fault input
if(OC8CONbits.OCM != 0b101)
OC8CONbits.OCM = 0b101; // "101" Dual output match mode - continuous
}
OC7RS = INP.Cos90;
OC8R = Oc8r;
OC8RS = Oc8rs;
Oc8r = OC7RS;
if((Oc8r + 10) >= PR2)
OC8CONbits.OCM = 0b000; // Disable fast deccay
else OC8CONbits.OCM = 0b101;
Oc8rs = 2 + Oc8r + (PR2 - Oc8r) * DeccayCos / 100;
// Phase B //////
// Present Sin = 0 and loaded next value, DeccaySin
// Polarisation positive
OC6RS = INP.Sin90;
OC5R = Oc5r;
OC5RS = Oc5rs;
Oc5r = OC6RS;
if((Oc5r + 10) >= PR2)
OC5CONbits.OCM = 0b000; // Disable fast deccay
else OC5CONbits.OCM = 0b101;
Oc5rs = 2 + Oc5r + (PR2 - Oc5r) * DeccaySin / 100;
}
Presc++;
if(Presc >= PrescValLatch)
{
Presc = 0;
if(Direction == 1)
{
MicStep += StepIncLatch;
if(MicStep >= MICSTEPS * 4)
{
MicStep = 0;
StepIncLatch = StepInc;
PrescValLatch = PrescVal;
}
}
else
{
MicStep -= StepIncLatch;
if(MicStep < 0)
{
StepIncLatch = StepInc;
PrescValLatch = PrescVal;
MicStep = MICSTEPS * 4 - StepIncLatch;
}
}
}
StepInc = MCurve[SpeedAbs][1];
PrescVal = MCurve[SpeedAbs][2];
if(Speed > 0)
{
if(SpeedAbs == 0)
{
StepIncLatch = MCurve[1][1];
}
SpeedAbs = Speed;
Direction = 1;
}
else if(Speed < 0)
{
if(SpeedAbs == 0)
{
StepIncLatch = MCurve[1][1];
}
SpeedAbs = -(Speed);
Direction = 0;
}
else
{
SpeedAbs = 0;
StepIncLatch = 0;
}
Present++;
if(Present == 800)
{
Present = 0;
if(Speed == 250)
SpeedChange = -1;
if(Speed == -250)
SpeedChange = 1;
Speed += SpeedChange;
}
Tick = 1;
}
//void MotorAcc(int dir,int rate, int inc )
//{
// Direction = dir;
// while(1)
// {
// while(Tick == 0);
// Tick = 0;
// Rev = Rev + inc;
// if(Rev > rate)
// {
// Rev = rate;
// break;
// }
// if(Rev < 0)
// {
// Rev = 0;
// break;
// }
// }
//
//}