Diff: main.cpp

Revision:

30:f3d8978c68d4

Parent:

29:526970c1d998

Child:

31:1a64d3e86c03

--- a/main.cpp	Fri Mar 10 14:23:19 2017 +0000
+++ b/main.cpp	Mon Mar 13 16:07:17 2017 +0000
@@ -91,214 +91,10 @@
     if (motor2->init() != COMPONENT_OK) {
         exit(EXIT_FAILURE);
     }
-
-    /* Printing to the console. */
-    printf("Motor Control Application Example for 2 Motors\r\n\n");
-
-
-    /*----- Moving. -----*/
-
-    /* Printing to the console. */
-    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);
-
-    /* Waiting while the motor is active. */
-    motor1->wait_while_active();
-    motor2->wait_while_active();
-
-    /* Getting current position. */
-    int position1 = motor1->get_position();
-    int position2 = motor2->get_position();
     
-    /* Printing to the console. */
-    printf("    Position: M1 %d, M2 %d.\r\n", position1, position2);
-
-    /* Waiting 2 seconds. */
-    wait_ms(DELAY_1);
-
-    
-    /*----- Moving. -----*/
-    
-    /* Printing to the console. */
-    printf("--> Moving backward: M1 %d steps, M2 %d steps.\r\n", STEPS >> 1, STEPS);
-
-    
-    /* Moving N steps in the backward direction. */
-    motor1->move(StepperMotor::BWD, STEPS >> 1);
-    motor2->move(StepperMotor::BWD, STEPS);
-    
-    /* Waiting while the motor is active. */
-    motor1->wait_while_active();
-    motor2->wait_while_active();
-
-    /* Getting current position. */
-    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->set_home();
-    motor2->set_home();
-
-    /* Waiting 2 seconds. */
-    wait_ms(DELAY_1);
-
-
-    /*----- Going to a specified position. -----*/
-
-    /* Printing to the console. */
-    printf("--> Going to position: M1 %d, M2 %d.\r\n", STEPS, STEPS >> 1);
-    
-    /* Requesting to go to a specified position. */
-    motor1->go_to(STEPS);
-    motor2->go_to(STEPS >> 1);
-    
-    /* Waiting while the motor is active. */
-    motor1->wait_while_active();
-    motor2->wait_while_active();
-
-    /* Getting current position. */
-    position1 = motor1->get_position();
-    position2 = motor2->get_position();
-    
-    /* Printing to the console. */
-    printf("    Position: M1 %d, M2 %d.\r\n", position1, position2);
-    
-    /* Waiting 2 seconds. */
-    wait_ms(DELAY_1);
-
-    
-    /*----- Going Home. -----*/
-
-    /* Printing to the console. */
-    printf("--> Going Home.\r\n");
-    
-    /* Requesting to go to home. */
-    motor1->go_home();
-    motor2->go_home();
-    
-    /* Waiting while the motor is active. */
-    motor1->wait_while_active();
-    motor2->wait_while_active();
-
-    /* Getting current position. */
-    position1 = motor1->get_position();
-    position2 = motor2->get_position();
-
-    /* Printing to the console. */
-    printf("    Position: M1 %d, M2 %d.\r\n", position1, position2);
-
-    /* Waiting 2 seconds. */
-    wait_ms(DELAY_1);
-
-
-    /*----- Running. -----*/
-
-    /* Printing to the console. */
-    printf("--> M1 running backward, M2 running forward.\r\n");
-
-    /* Requesting to run backward. */
-    motor1->run(StepperMotor::BWD);
-    motor2->run(StepperMotor::FWD);
-
-    /* Waiting until delay has expired. */
-    wait_ms(DELAY_2);
-
-    /* Getting current speed. */
-    int speed1 = motor1->get_speed();
-    int speed2 = motor2->get_speed();
-
-    /* Printing to the console. */
-    printf("    Speed: M1 %d, M2 %d.\r\n", speed1, speed2);
-
-    /*----- Increasing the speed while running. -----*/
-
-    /* Printing to the console. */
-    printf("--> Increasing the speed while running.\r\n");
-
-    /* Increasing the speed. */
-    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->get_speed();
-    speed2 = motor2->get_speed();
-
-    /* Printing to the console. */
-    printf("    Speed: M1 %d, M2 %d.\r\n", speed1, speed2);
-
-
-    /*----- Decreasing the speed while running. -----*/
-
-    /* Printing to the console. */
-    printf("--> Decreasing the speed while running.\r\n");
-
-    /* Decreasing the speed. */
-    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->get_speed();
-    speed2 = motor2->get_speed();
-
-    /* Printing to the console. */
-    printf("    Speed: M1 %d, M2 %d.\r\n", speed1, speed2);
-
-
-    /*----- Requiring hard-stop while running. -----*/
-
-    /* Printing to the console. */
-    printf("--> Requiring hard-stop while running.\r\n");
-
-    /* Requesting to immediatly stop. */
-    motor1->hard_stop();
-    motor2->hard_stop();
-
-    /* Waiting while the motor is active. */
-    motor1->wait_while_active();
-    motor2->wait_while_active();
-
-    /* Waiting 2 seconds. */
-    wait_ms(DELAY_1);
-
-
-    /*----- Infinite Loop. -----*/
-
-    /* Printing to the console. */
-    printf("--> Infinite Loop...\r\n");
-
-    /* Setting the current position to be the home position. */
-    motor1->set_home();
-    motor2->set_home();
-
-    /* Infinite Loop. */
-    while(true) {
-        /* Requesting to go to a specified position. */
-        motor1->go_to(STEPS >> 1);
-        motor2->go_to(- (STEPS >> 1));
-
-        /* Waiting while the motor is active. */
-        motor1->wait_while_active();
-        motor2->wait_while_active();
-
-        /* Requesting to go to a specified position. */
-        motor1->go_to(- (STEPS >> 1));
-        motor2->go_to(STEPS >> 1);
-
-        /* Waiting while the motor is active. */
-        motor1->wait_while_active();
-        motor2->wait_while_active();
+    while(true){
+        /* Moving N steps in the forward direction. */
+        motor1->run(StepperMotor::FWD);
+        //motor2->run(StepperMotor::FWD);
     }
 }