Page 694 - 2

//A4988 제어
DDRC = 0xff;
PORTC = 0x00;

//UART 사용
DDRE = 0xff;
PORTE = 0x00;

//magnetic sencer 입력
DDRF = 0x00;
PORTF = 0x00;
}
int _10ms = 0;
//-----------------------------------------------------step_motor
int Clock_pos;
int Clock_x;
int Clock_y;
int TCNT_pos;
int TCNT_x;
int TCNT_y;
//----------------------------------------------------- 전역 변수
float move_speed; // 외부입력
float in, out; //in: 가속구간 시간( ) out: 감속구간 시간( )
//-----------------------------------------------------AB move
int to_A_Enable = 0;
int to_B_Enable = 0;
//-----------------------------------------------------slide
int slide_Enable = 0;
Vector slide_to;
float slide_speed;
float slide_progress; // 진행 시간
float normal_slide_time;
//-----------------------------------------------------focusing
int focusing_Enable = 0;
int changing_object_Enable = 0;
float change_time; //1s ~ 4s
int selected_object = 0;
Coordinate changing_coordinate; // 시간에 따른 목표 좌표
Coordinate object[6]; //object 리스트
Coordinate normal_change_speed; // 보통속도
Coordinate object_speed; // 시간에 따른 속도
float changing_progress = 0;
//-----------------------------------------------------free_move
int free_move_Enable = 0;
int free_move_pos_Enable;

- 694 -