Diff: main.cpp

Revision:

29:526970c1d998

Parent:

28:3f17a4152bcf

Child:

30:f3d8978c68d4

--- a/main.cpp	Wed Mar 01 13:32:24 2017 +0000
+++ b/main.cpp	Fri Mar 10 14:23:19 2017 +0000
@@ -46,7 +46,7 @@
 #include "DevSPI.h"
 
 /* Component specific header files. */
-#include "l6474_class.h"
+#include "L6474.h"
 
 
 /* Definitions ---------------------------------------------------------------*/
@@ -85,10 +85,10 @@
     /* Initializing Motor Control Components. */
     motor1 = new L6474(D2, D8, D7, D9, D10, dev_spi);
     motor2 = new L6474(D2, D8, D4, D3, D10, dev_spi);
-    if (motor1->Init() != COMPONENT_OK) {
+    if (motor1->init() != COMPONENT_OK) {
         exit(EXIT_FAILURE);
     }
-    if (motor2->Init() != COMPONENT_OK) {
+    if (motor2->init() != COMPONENT_OK) {
         exit(EXIT_FAILURE);
     }
 
@@ -102,16 +102,16 @@
     printf("--> Moving forward: M1 %d steps, M2 %d steps.\r\n", STEPS >> 1, STEPS);
 
     /* Moving N steps in the forward direction. */
-    motor1->Move(StepperMotor::FWD, STEPS >> 1);
-    motor2->Move(StepperMotor::FWD, STEPS);
+    motor1->move(StepperMotor::FWD, STEPS >> 1);
+    motor2->move(StepperMotor::FWD, STEPS);
 
     /* Waiting while the motor is active. */
-    motor1->WaitWhileActive();
-    motor2->WaitWhileActive();
+    motor1->wait_while_active();
+    motor2->wait_while_active();
 
     /* Getting current position. */
-    int position1 = motor1->GetPosition();
-    int position2 = motor2->GetPosition();
+    int position1 = motor1->get_position();
+    int position2 = motor2->get_position();
     
     /* Printing to the console. */
     printf("    Position: M1 %d, M2 %d.\r\n", position1, position2);
@@ -127,24 +127,24 @@
 
     
     /* Moving N steps in the backward direction. */
-    motor1->Move(StepperMotor::BWD, STEPS >> 1);
-    motor2->Move(StepperMotor::BWD, STEPS);
+    motor1->move(StepperMotor::BWD, STEPS >> 1);
+    motor2->move(StepperMotor::BWD, STEPS);
     
     /* Waiting while the motor is active. */
-    motor1->WaitWhileActive();
-    motor2->WaitWhileActive();
+    motor1->wait_while_active();
+    motor2->wait_while_active();
 
     /* Getting current position. */
-    position1 = motor1->GetPosition();
-    position2 = motor2->GetPosition();
+    position1 = motor1->get_position();
+    position2 = motor2->get_position();
     
     /* Printing to the console. */
     printf("    Position: M1 %d, M2 %d.\r\n", position1, position2);
     printf("--> Setting Home.\r\n");
 
     /* Setting the current position to be the home position. */
-    motor1->SetHome();
-    motor2->SetHome();
+    motor1->set_home();
+    motor2->set_home();
 
     /* Waiting 2 seconds. */
     wait_ms(DELAY_1);
@@ -156,16 +156,16 @@
     printf("--> Going to position: M1 %d, M2 %d.\r\n", STEPS, STEPS >> 1);
     
     /* Requesting to go to a specified position. */
-    motor1->GoTo(STEPS);
-    motor2->GoTo(STEPS >> 1);
+    motor1->go_to(STEPS);
+    motor2->go_to(STEPS >> 1);
     
     /* Waiting while the motor is active. */
-    motor1->WaitWhileActive();
-    motor2->WaitWhileActive();
+    motor1->wait_while_active();
+    motor2->wait_while_active();
 
     /* Getting current position. */
-    position1 = motor1->GetPosition();
-    position2 = motor2->GetPosition();
+    position1 = motor1->get_position();
+    position2 = motor2->get_position();
     
     /* Printing to the console. */
     printf("    Position: M1 %d, M2 %d.\r\n", position1, position2);
@@ -180,16 +180,16 @@
     printf("--> Going Home.\r\n");
     
     /* Requesting to go to home. */
-    motor1->GoHome();
-    motor2->GoHome();
+    motor1->go_home();
+    motor2->go_home();
     
     /* Waiting while the motor is active. */
-    motor1->WaitWhileActive();
-    motor2->WaitWhileActive();
+    motor1->wait_while_active();
+    motor2->wait_while_active();
 
     /* Getting current position. */
-    position1 = motor1->GetPosition();
-    position2 = motor2->GetPosition();
+    position1 = motor1->get_position();
+    position2 = motor2->get_position();
 
     /* Printing to the console. */
     printf("    Position: M1 %d, M2 %d.\r\n", position1, position2);
@@ -204,15 +204,15 @@
     printf("--> M1 running backward, M2 running forward.\r\n");
 
     /* Requesting to run backward. */
-    motor1->Run(StepperMotor::BWD);
-    motor2->Run(StepperMotor::FWD);
+    motor1->run(StepperMotor::BWD);
+    motor2->run(StepperMotor::FWD);
 
     /* Waiting until delay has expired. */
     wait_ms(DELAY_2);
 
     /* Getting current speed. */
-    int speed1 = motor1->GetSpeed();
-    int speed2 = motor2->GetSpeed();
+    int speed1 = motor1->get_speed();
+    int speed2 = motor2->get_speed();
 
     /* Printing to the console. */
     printf("    Speed: M1 %d, M2 %d.\r\n", speed1, speed2);
@@ -223,15 +223,15 @@
     printf("--> Increasing the speed while running.\r\n");
 
     /* Increasing the speed. */
-    motor1->SetMaxSpeed(SPEED_1);
-    motor2->SetMaxSpeed(SPEED_1);
+    motor1->set_max_speed(SPEED_1);
+    motor2->set_max_speed(SPEED_1);
 
     /* Waiting until delay has expired. */
     wait_ms(DELAY_2);
 
     /* Getting current speed. */
-    speed1 = motor1->GetSpeed();
-    speed2 = motor2->GetSpeed();
+    speed1 = motor1->get_speed();
+    speed2 = motor2->get_speed();
 
     /* Printing to the console. */
     printf("    Speed: M1 %d, M2 %d.\r\n", speed1, speed2);
@@ -243,15 +243,15 @@
     printf("--> Decreasing the speed while running.\r\n");
 
     /* Decreasing the speed. */
-    motor1->SetMaxSpeed(SPEED_2);
-    motor2->SetMaxSpeed(SPEED_2);
+    motor1->set_max_speed(SPEED_2);
+    motor2->set_max_speed(SPEED_2);
 
     /* Waiting until delay has expired. */
     wait_ms(DELAY_3);
 
     /* Getting current speed. */
-    speed1 = motor1->GetSpeed();
-    speed2 = motor2->GetSpeed();
+    speed1 = motor1->get_speed();
+    speed2 = motor2->get_speed();
 
     /* Printing to the console. */
     printf("    Speed: M1 %d, M2 %d.\r\n", speed1, speed2);
@@ -263,12 +263,12 @@
     printf("--> Requiring hard-stop while running.\r\n");
 
     /* Requesting to immediatly stop. */
-    motor1->HardStop();
-    motor2->HardStop();
+    motor1->hard_stop();
+    motor2->hard_stop();
 
     /* Waiting while the motor is active. */
-    motor1->WaitWhileActive();
-    motor2->WaitWhileActive();
+    motor1->wait_while_active();
+    motor2->wait_while_active();
 
     /* Waiting 2 seconds. */
     wait_ms(DELAY_1);
@@ -280,25 +280,25 @@
     printf("--> Infinite Loop...\r\n");
 
     /* Setting the current position to be the home position. */
-    motor1->SetHome();
-    motor2->SetHome();
+    motor1->set_home();
+    motor2->set_home();
 
     /* Infinite Loop. */
     while(true) {
         /* Requesting to go to a specified position. */
-        motor1->GoTo(STEPS >> 1);
-        motor2->GoTo(- (STEPS >> 1));
+        motor1->go_to(STEPS >> 1);
+        motor2->go_to(- (STEPS >> 1));
 
         /* Waiting while the motor is active. */
-        motor1->WaitWhileActive();
-        motor2->WaitWhileActive();
+        motor1->wait_while_active();
+        motor2->wait_while_active();
 
         /* Requesting to go to a specified position. */
-        motor1->GoTo(- (STEPS >> 1));
-        motor2->GoTo(STEPS >> 1);
+        motor1->go_to(- (STEPS >> 1));
+        motor2->go_to(STEPS >> 1);
 
         /* Waiting while the motor is active. */
-        motor1->WaitWhileActive();
-        motor2->WaitWhileActive();
+        motor1->wait_while_active();
+        motor2->wait_while_active();
     }
 }