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@30:f3d8978c68d4, 2017-03-13 (annotated)

Committer:
Wonderjack996
Date:
Mon Mar 13 16:07:17 2017 +0000
Revision:
30:f3d8978c68d4
Parent:
29:526970c1d998
Child:
31:1a64d3e86c03
motore

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 29:526970c1d998 49 #include "L6474.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 29:526970c1d998 88 if (motor1->init() != COMPONENT_OK) {
Davidroid 14:fcd452b03d1a 89 exit(EXIT_FAILURE);
Davidroid 28:3f17a4152bcf 90 }
Davidroid 29:526970c1d998 91 if (motor2->init() != COMPONENT_OK) {
Davidroid 14:fcd452b03d1a 92 exit(EXIT_FAILURE);
Davidroid 28:3f17a4152bcf 93 }
Davidroid 8:cec4c2c03a27 94
Wonderjack996 30:f3d8978c68d4 95 while(true){
Wonderjack996 30:f3d8978c68d4 96 /* Moving N steps in the forward direction. */
Wonderjack996 30:f3d8978c68d4 97 motor1->run(StepperMotor::FWD);
Wonderjack996 30:f3d8978c68d4 98 //motor2->run(StepperMotor::FWD);
Davidroid 0:e6a49a092e2a 99 }
Davidroid 0:e6a49a092e2a 100 }