3FEN / Mbed 2 deprecated Motor2FULL_copy

funzionamento un motore

Dependencies:   X_NUCLEO_IHM01A1 mbed Motori_ultrasuoni_prova

Fork of HelloWorld_IHM01A1_2Motors by ST

main.cpp@24:8cb3c4ad055f, 2016-09-08 (annotated)

Committer:
Davidroid
Date:
Thu Sep 08 12:52:04 2016 +0000
Revision:
24:8cb3c4ad055f
Parent:
17:aae1446c67f4
Child:
28:3f17a4152bcf
Comment about pps added.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Davidroid 0:e6a49a092e2a 1 /**
Davidroid 0:e6a49a092e2a 2 ******************************************************************************
Davidroid 0:e6a49a092e2a 3 * @file main.cpp
Davidroid 17:aae1446c67f4 4 * @author Davide Aliprandi, STMicroelectronics
Davidroid 0:e6a49a092e2a 5 * @version V1.0.0
Davidroid 0:e6a49a092e2a 6 * @date October 14th, 2015
Davidroid 17:aae1446c67f4 7 * @brief mbed test application for the STMicroelectronics X-NUCLEO-IHM01A1
Davidroid 3:02d9ec4f88b2 8 * Motor Control Expansion Board: control of 2 motors.
Davidroid 0:e6a49a092e2a 9 ******************************************************************************
Davidroid 0:e6a49a092e2a 10 * @attention
Davidroid 0:e6a49a092e2a 11 *
Davidroid 0:e6a49a092e2a 12 * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
Davidroid 0:e6a49a092e2a 13 *
Davidroid 0:e6a49a092e2a 14 * Redistribution and use in source and binary forms, with or without modification,
Davidroid 0:e6a49a092e2a 15 * are permitted provided that the following conditions are met:
Davidroid 0:e6a49a092e2a 16 * 1. Redistributions of source code must retain the above copyright notice,
Davidroid 0:e6a49a092e2a 17 * this list of conditions and the following disclaimer.
Davidroid 0:e6a49a092e2a 18 * 2. Redistributions in binary form must reproduce the above copyright notice,
Davidroid 0:e6a49a092e2a 19 * this list of conditions and the following disclaimer in the documentation
Davidroid 0:e6a49a092e2a 20 * and/or other materials provided with the distribution.
Davidroid 0:e6a49a092e2a 21 * 3. Neither the name of STMicroelectronics nor the names of its contributors
Davidroid 0:e6a49a092e2a 22 * may be used to endorse or promote products derived from this software
Davidroid 0:e6a49a092e2a 23 * without specific prior written permission.
Davidroid 0:e6a49a092e2a 24 *
Davidroid 0:e6a49a092e2a 25 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
Davidroid 0:e6a49a092e2a 26 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
Davidroid 0:e6a49a092e2a 27 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
Davidroid 0:e6a49a092e2a 28 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
Davidroid 0:e6a49a092e2a 29 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
Davidroid 0:e6a49a092e2a 30 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
Davidroid 0:e6a49a092e2a 31 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
Davidroid 0:e6a49a092e2a 32 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
Davidroid 0:e6a49a092e2a 33 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
Davidroid 0:e6a49a092e2a 34 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
Davidroid 0:e6a49a092e2a 35 *
Davidroid 0:e6a49a092e2a 36 ******************************************************************************
Davidroid 0:e6a49a092e2a 37 */
Davidroid 0:e6a49a092e2a 38
Davidroid 0:e6a49a092e2a 39
Davidroid 0:e6a49a092e2a 40 /* Includes ------------------------------------------------------------------*/
Davidroid 0:e6a49a092e2a 41
Davidroid 0:e6a49a092e2a 42 /* mbed specific header files. */
Davidroid 0:e6a49a092e2a 43 #include "mbed.h"
Davidroid 0:e6a49a092e2a 44
Davidroid 0:e6a49a092e2a 45 /* Helper header files. */
Davidroid 0:e6a49a092e2a 46 #include "DevSPI.h"
Davidroid 0:e6a49a092e2a 47
Davidroid 0:e6a49a092e2a 48 /* Component specific header files. */
Davidroid 0:e6a49a092e2a 49 #include "l6474_class.h"
Davidroid 0:e6a49a092e2a 50
Davidroid 0:e6a49a092e2a 51
Davidroid 0:e6a49a092e2a 52 /* Definitions ---------------------------------------------------------------*/
Davidroid 0:e6a49a092e2a 53
Davidroid 24:8cb3c4ad055f 54 /* Number of steps. */
Davidroid 9:a9e51320aee4 55 #define STEPS 3200
Davidroid 0:e6a49a092e2a 56
Davidroid 24:8cb3c4ad055f 57 /* Delay in milliseconds. */
Davidroid 24:8cb3c4ad055f 58 #define DELAY_1 2000
Davidroid 24:8cb3c4ad055f 59 #define DELAY_2 6000
Davidroid 24:8cb3c4ad055f 60 #define DELAY_3 8000
Davidroid 24:8cb3c4ad055f 61
Davidroid 24:8cb3c4ad055f 62 /* Speed in pps (Pulses Per Second).
Davidroid 24:8cb3c4ad055f 63 In Full Step mode: 1 pps = 1 step/s).
Davidroid 24:8cb3c4ad055f 64 In 1/N Step Mode: N pps = 1 step/s). */
Davidroid 24:8cb3c4ad055f 65 #define SPEED_1 2400
Davidroid 24:8cb3c4ad055f 66 #define SPEED_2 1200
Davidroid 24:8cb3c4ad055f 67
Davidroid 0:e6a49a092e2a 68
Davidroid 0:e6a49a092e2a 69 /* Variables -----------------------------------------------------------------*/
Davidroid 0:e6a49a092e2a 70
Davidroid 0:e6a49a092e2a 71 /* Motor Control Component. */
Davidroid 3:02d9ec4f88b2 72 L6474 *motor1;
Davidroid 3:02d9ec4f88b2 73 L6474 *motor2;
Davidroid 0:e6a49a092e2a 74
Davidroid 0:e6a49a092e2a 75
Davidroid 0:e6a49a092e2a 76 /* Main ----------------------------------------------------------------------*/
Davidroid 0:e6a49a092e2a 77
Davidroid 0:e6a49a092e2a 78 int main()
Davidroid 0:e6a49a092e2a 79 {
Davidroid 8:cec4c2c03a27 80 /*----- Initialization. -----*/
Davidroid 8:cec4c2c03a27 81
Davidroid 0:e6a49a092e2a 82 /* Initializing SPI bus. */
Davidroid 0:e6a49a092e2a 83 DevSPI dev_spi(D11, D12, D13);
Davidroid 0:e6a49a092e2a 84
Davidroid 9:a9e51320aee4 85 /* Initializing Motor Control Components. */
Davidroid 5:a0268a435bb1 86 motor1 = new L6474(D2, D8, D7, D9, D10, dev_spi);
Davidroid 16:810667a9f31f 87 motor2 = new L6474(D2, D8, D4, D3, D10, dev_spi);
Davidroid 14:fcd452b03d1a 88 if (motor1->Init() != COMPONENT_OK)
Davidroid 14:fcd452b03d1a 89 exit(EXIT_FAILURE);
Davidroid 14:fcd452b03d1a 90 if (motor2->Init() != COMPONENT_OK)
Davidroid 14:fcd452b03d1a 91 exit(EXIT_FAILURE);
Davidroid 0:e6a49a092e2a 92
Davidroid 0:e6a49a092e2a 93 /* Printing to the console. */
Davidroid 3:02d9ec4f88b2 94 printf("Motor Control Application Example for 2 Motors\r\n\n");
Davidroid 0:e6a49a092e2a 95
Davidroid 8:cec4c2c03a27 96
Davidroid 8:cec4c2c03a27 97 /*----- Moving. -----*/
Davidroid 8:cec4c2c03a27 98
Davidroid 8:cec4c2c03a27 99 /* Printing to the console. */
Davidroid 9:a9e51320aee4 100 printf("--> Moving forward: M1 %d steps, M2 %d steps.\r\n", STEPS >> 1, STEPS);
Davidroid 8:cec4c2c03a27 101
Davidroid 8:cec4c2c03a27 102 /* Moving N steps in the forward direction. */
Davidroid 9:a9e51320aee4 103 motor1->Move(StepperMotor::FWD, STEPS >> 1);
Davidroid 9:a9e51320aee4 104 motor2->Move(StepperMotor::FWD, STEPS);
Davidroid 8:cec4c2c03a27 105
Davidroid 8:cec4c2c03a27 106 /* Waiting while the motor is active. */
Davidroid 8:cec4c2c03a27 107 motor1->WaitWhileActive();
Davidroid 8:cec4c2c03a27 108 motor2->WaitWhileActive();
Davidroid 8:cec4c2c03a27 109
Davidroid 8:cec4c2c03a27 110 /* Getting current position. */
Davidroid 8:cec4c2c03a27 111 int position1 = motor1->GetPosition();
Davidroid 8:cec4c2c03a27 112 int position2 = motor2->GetPosition();
Davidroid 8:cec4c2c03a27 113
Davidroid 8:cec4c2c03a27 114 /* Printing to the console. */
Davidroid 8:cec4c2c03a27 115 printf(" Position: M1 %d, M2 %d.\r\n", position1, position2);
Davidroid 8:cec4c2c03a27 116
Davidroid 8:cec4c2c03a27 117 /* Waiting 2 seconds. */
Davidroid 24:8cb3c4ad055f 118 wait_ms(DELAY_1);
Davidroid 8:cec4c2c03a27 119
Davidroid 8:cec4c2c03a27 120
Davidroid 8:cec4c2c03a27 121 /*----- Moving. -----*/
Davidroid 8:cec4c2c03a27 122
Davidroid 8:cec4c2c03a27 123 /* Printing to the console. */
Davidroid 9:a9e51320aee4 124 printf("--> Moving backward: M1 %d steps, M2 %d steps.\r\n", STEPS >> 1, STEPS);
Davidroid 8:cec4c2c03a27 125
Davidroid 8:cec4c2c03a27 126
Davidroid 8:cec4c2c03a27 127 /* Moving N steps in the backward direction. */
Davidroid 9:a9e51320aee4 128 motor1->Move(StepperMotor::BWD, STEPS >> 1);
Davidroid 9:a9e51320aee4 129 motor2->Move(StepperMotor::BWD, STEPS);
Davidroid 8:cec4c2c03a27 130
Davidroid 8:cec4c2c03a27 131 /* Waiting while the motor is active. */
Davidroid 8:cec4c2c03a27 132 motor1->WaitWhileActive();
Davidroid 8:cec4c2c03a27 133 motor2->WaitWhileActive();
Davidroid 8:cec4c2c03a27 134
Davidroid 8:cec4c2c03a27 135 /* Getting current position. */
Davidroid 8:cec4c2c03a27 136 position1 = motor1->GetPosition();
Davidroid 8:cec4c2c03a27 137 position2 = motor2->GetPosition();
Davidroid 8:cec4c2c03a27 138
Davidroid 8:cec4c2c03a27 139 /* Printing to the console. */
Davidroid 8:cec4c2c03a27 140 printf(" Position: M1 %d, M2 %d.\r\n", position1, position2);
Davidroid 8:cec4c2c03a27 141 printf("--> Setting Home.\r\n");
Davidroid 8:cec4c2c03a27 142
Davidroid 8:cec4c2c03a27 143 /* Setting the current position to be the home position. */
Davidroid 8:cec4c2c03a27 144 motor1->SetHome();
Davidroid 8:cec4c2c03a27 145 motor2->SetHome();
Davidroid 8:cec4c2c03a27 146
Davidroid 8:cec4c2c03a27 147 /* Waiting 2 seconds. */
Davidroid 24:8cb3c4ad055f 148 wait_ms(DELAY_1);
Davidroid 8:cec4c2c03a27 149
Davidroid 8:cec4c2c03a27 150
Davidroid 8:cec4c2c03a27 151 /*----- Going to a specified position. -----*/
Davidroid 8:cec4c2c03a27 152
Davidroid 8:cec4c2c03a27 153 /* Printing to the console. */
Davidroid 9:a9e51320aee4 154 printf("--> Going to position: M1 %d, M2 %d.\r\n", STEPS, STEPS >> 1);
Davidroid 8:cec4c2c03a27 155
Davidroid 8:cec4c2c03a27 156 /* Requesting to go to a specified position. */
Davidroid 9:a9e51320aee4 157 motor1->GoTo(STEPS);
Davidroid 9:a9e51320aee4 158 motor2->GoTo(STEPS >> 1);
Davidroid 8:cec4c2c03a27 159
Davidroid 8:cec4c2c03a27 160 /* Waiting while the motor is active. */
Davidroid 8:cec4c2c03a27 161 motor1->WaitWhileActive();
Davidroid 8:cec4c2c03a27 162 motor2->WaitWhileActive();
Davidroid 8:cec4c2c03a27 163
Davidroid 8:cec4c2c03a27 164 /* Getting current position. */
Davidroid 8:cec4c2c03a27 165 position1 = motor1->GetPosition();
Davidroid 8:cec4c2c03a27 166 position2 = motor2->GetPosition();
Davidroid 8:cec4c2c03a27 167
Davidroid 8:cec4c2c03a27 168 /* Printing to the console. */
Davidroid 8:cec4c2c03a27 169 printf(" Position: M1 %d, M2 %d.\r\n", position1, position2);
Davidroid 8:cec4c2c03a27 170
Davidroid 8:cec4c2c03a27 171 /* Waiting 2 seconds. */
Davidroid 24:8cb3c4ad055f 172 wait_ms(DELAY_1);
Davidroid 8:cec4c2c03a27 173
Davidroid 8:cec4c2c03a27 174
Davidroid 8:cec4c2c03a27 175 /*----- Going Home. -----*/
Davidroid 8:cec4c2c03a27 176
Davidroid 8:cec4c2c03a27 177 /* Printing to the console. */
Davidroid 8:cec4c2c03a27 178 printf("--> Going Home.\r\n");
Davidroid 8:cec4c2c03a27 179
Davidroid 8:cec4c2c03a27 180 /* Requesting to go to home. */
Davidroid 8:cec4c2c03a27 181 motor1->GoHome();
Davidroid 8:cec4c2c03a27 182 motor2->GoHome();
Davidroid 8:cec4c2c03a27 183
Davidroid 8:cec4c2c03a27 184 /* Waiting while the motor is active. */
Davidroid 8:cec4c2c03a27 185 motor1->WaitWhileActive();
Davidroid 8:cec4c2c03a27 186 motor2->WaitWhileActive();
Davidroid 8:cec4c2c03a27 187
Davidroid 8:cec4c2c03a27 188 /* Getting current position. */
Davidroid 8:cec4c2c03a27 189 position1 = motor1->GetPosition();
Davidroid 8:cec4c2c03a27 190 position2 = motor2->GetPosition();
Davidroid 0:e6a49a092e2a 191
Davidroid 8:cec4c2c03a27 192 /* Printing to the console. */
Davidroid 8:cec4c2c03a27 193 printf(" Position: M1 %d, M2 %d.\r\n", position1, position2);
Davidroid 8:cec4c2c03a27 194
Davidroid 8:cec4c2c03a27 195 /* Waiting 2 seconds. */
Davidroid 24:8cb3c4ad055f 196 wait_ms(DELAY_1);
Davidroid 8:cec4c2c03a27 197
Davidroid 8:cec4c2c03a27 198
Davidroid 8:cec4c2c03a27 199 /*----- Running. -----*/
Davidroid 8:cec4c2c03a27 200
Davidroid 8:cec4c2c03a27 201 /* Printing to the console. */
Davidroid 8:cec4c2c03a27 202 printf("--> M1 running backward, M2 running forward.\r\n");
Davidroid 8:cec4c2c03a27 203
Davidroid 8:cec4c2c03a27 204 /* Requesting to run backward. */
Davidroid 8:cec4c2c03a27 205 motor1->Run(StepperMotor::BWD);
Davidroid 8:cec4c2c03a27 206 motor2->Run(StepperMotor::FWD);
Davidroid 8:cec4c2c03a27 207
Davidroid 8:cec4c2c03a27 208 /* Waiting until delay has expired. */
Davidroid 24:8cb3c4ad055f 209 wait_ms(DELAY_2);
Davidroid 8:cec4c2c03a27 210
Davidroid 8:cec4c2c03a27 211 /* Getting current speed. */
Davidroid 8:cec4c2c03a27 212 int speed1 = motor1->GetSpeed();
Davidroid 8:cec4c2c03a27 213 int speed2 = motor2->GetSpeed();
Davidroid 8:cec4c2c03a27 214
Davidroid 8:cec4c2c03a27 215 /* Printing to the console. */
Davidroid 8:cec4c2c03a27 216 printf(" Speed: M1 %d, M2 %d.\r\n", speed1, speed2);
Davidroid 8:cec4c2c03a27 217
Davidroid 8:cec4c2c03a27 218 /*----- Increasing the speed while running. -----*/
Davidroid 8:cec4c2c03a27 219
Davidroid 8:cec4c2c03a27 220 /* Printing to the console. */
Davidroid 8:cec4c2c03a27 221 printf("--> Increasing the speed while running.\r\n");
Davidroid 8:cec4c2c03a27 222
Davidroid 24:8cb3c4ad055f 223 /* Increasing the speed. */
Davidroid 24:8cb3c4ad055f 224 motor1->SetMaxSpeed(SPEED_1);
Davidroid 24:8cb3c4ad055f 225 motor2->SetMaxSpeed(SPEED_1);
Davidroid 8:cec4c2c03a27 226
Davidroid 8:cec4c2c03a27 227 /* Waiting until delay has expired. */
Davidroid 24:8cb3c4ad055f 228 wait_ms(DELAY_2);
Davidroid 8:cec4c2c03a27 229
Davidroid 8:cec4c2c03a27 230 /* Getting current speed. */
Davidroid 8:cec4c2c03a27 231 speed1 = motor1->GetSpeed();
Davidroid 8:cec4c2c03a27 232 speed2 = motor2->GetSpeed();
Davidroid 8:cec4c2c03a27 233
Davidroid 8:cec4c2c03a27 234 /* Printing to the console. */
Davidroid 8:cec4c2c03a27 235 printf(" Speed: M1 %d, M2 %d.\r\n", speed1, speed2);
Davidroid 8:cec4c2c03a27 236
Davidroid 8:cec4c2c03a27 237
Davidroid 8:cec4c2c03a27 238 /*----- Decreasing the speed while running. -----*/
Davidroid 0:e6a49a092e2a 239
Davidroid 8:cec4c2c03a27 240 /* Printing to the console. */
Davidroid 8:cec4c2c03a27 241 printf("--> Decreasing the speed while running.\r\n");
Davidroid 8:cec4c2c03a27 242
Davidroid 24:8cb3c4ad055f 243 /* Decreasing the speed. */
Davidroid 24:8cb3c4ad055f 244 motor1->SetMaxSpeed(SPEED_2);
Davidroid 24:8cb3c4ad055f 245 motor2->SetMaxSpeed(SPEED_2);
Davidroid 8:cec4c2c03a27 246
Davidroid 8:cec4c2c03a27 247 /* Waiting until delay has expired. */
Davidroid 24:8cb3c4ad055f 248 wait_ms(DELAY_3);
Davidroid 8:cec4c2c03a27 249
Davidroid 8:cec4c2c03a27 250 /* Getting current speed. */
Davidroid 8:cec4c2c03a27 251 speed1 = motor1->GetSpeed();
Davidroid 8:cec4c2c03a27 252 speed2 = motor2->GetSpeed();
Davidroid 8:cec4c2c03a27 253
Davidroid 8:cec4c2c03a27 254 /* Printing to the console. */
Davidroid 8:cec4c2c03a27 255 printf(" Speed: M1 %d, M2 %d.\r\n", speed1, speed2);
Davidroid 8:cec4c2c03a27 256
Davidroid 8:cec4c2c03a27 257
Davidroid 8:cec4c2c03a27 258 /*----- Requiring hard-stop while running. -----*/
Davidroid 8:cec4c2c03a27 259
Davidroid 8:cec4c2c03a27 260 /* Printing to the console. */
Davidroid 8:cec4c2c03a27 261 printf("--> Requiring hard-stop while running.\r\n");
Davidroid 8:cec4c2c03a27 262
Davidroid 8:cec4c2c03a27 263 /* Requesting to immediatly stop. */
Davidroid 8:cec4c2c03a27 264 motor1->HardStop();
Davidroid 8:cec4c2c03a27 265 motor2->HardStop();
Davidroid 8:cec4c2c03a27 266
Davidroid 8:cec4c2c03a27 267 /* Waiting while the motor is active. */
Davidroid 8:cec4c2c03a27 268 motor1->WaitWhileActive();
Davidroid 8:cec4c2c03a27 269 motor2->WaitWhileActive();
Davidroid 8:cec4c2c03a27 270
Davidroid 8:cec4c2c03a27 271 /* Waiting 2 seconds. */
Davidroid 24:8cb3c4ad055f 272 wait_ms(DELAY_1);
Davidroid 8:cec4c2c03a27 273
Davidroid 8:cec4c2c03a27 274
Davidroid 8:cec4c2c03a27 275 /*----- Infinite Loop. -----*/
Davidroid 8:cec4c2c03a27 276
Davidroid 8:cec4c2c03a27 277 /* Printing to the console. */
Davidroid 8:cec4c2c03a27 278 printf("--> Infinite Loop...\r\n");
Davidroid 8:cec4c2c03a27 279
Davidroid 8:cec4c2c03a27 280 /* Setting the current position to be the home position. */
Davidroid 8:cec4c2c03a27 281 motor1->SetHome();
Davidroid 8:cec4c2c03a27 282 motor2->SetHome();
Davidroid 8:cec4c2c03a27 283
Davidroid 8:cec4c2c03a27 284 /* Infinite Loop. */
Davidroid 8:cec4c2c03a27 285 while(1)
Davidroid 8:cec4c2c03a27 286 {
Davidroid 8:cec4c2c03a27 287 /* Requesting to go to a specified position. */
Davidroid 9:a9e51320aee4 288 motor1->GoTo(STEPS >> 1);
Davidroid 9:a9e51320aee4 289 motor2->GoTo(- (STEPS >> 1));
Davidroid 3:02d9ec4f88b2 290
Davidroid 0:e6a49a092e2a 291 /* Waiting while the motor is active. */
Davidroid 3:02d9ec4f88b2 292 motor1->WaitWhileActive();
Davidroid 3:02d9ec4f88b2 293 motor2->WaitWhileActive();
Davidroid 0:e6a49a092e2a 294
Davidroid 0:e6a49a092e2a 295 /* Requesting to go to a specified position. */
Davidroid 9:a9e51320aee4 296 motor1->GoTo(- (STEPS >> 1));
Davidroid 9:a9e51320aee4 297 motor2->GoTo(STEPS >> 1);
Davidroid 0:e6a49a092e2a 298
Davidroid 0:e6a49a092e2a 299 /* Waiting while the motor is active. */
Davidroid 3:02d9ec4f88b2 300 motor1->WaitWhileActive();
Davidroid 3:02d9ec4f88b2 301 motor2->WaitWhileActive();
Davidroid 0:e6a49a092e2a 302 }
Davidroid 0:e6a49a092e2a 303 }