funzionamento un motore
Dependencies: X_NUCLEO_IHM01A1 mbed Motori_ultrasuoni_prova
Fork of HelloWorld_IHM01A1_2Motors by
main.cpp
- Committer:
- Wonderjack996
- Date:
- 2017-03-13
- Revision:
- 30:f3d8978c68d4
- Parent:
- 29:526970c1d998
- Child:
- 31:1a64d3e86c03
File content as of revision 30:f3d8978c68d4:
/** ****************************************************************************** * @file main.cpp * @author Davide Aliprandi, STMicroelectronics * @version V1.0.0 * @date October 14th, 2015 * @brief mbed test application for the STMicroelectronics X-NUCLEO-IHM01A1 * Motor Control Expansion Board: control of 2 motors. ****************************************************************************** * @attention * * <h2><center>© COPYRIGHT(c) 2015 STMicroelectronics</center></h2> * * Redistribution and use in source and binary forms, with or without modification, * are permitted provided that the following conditions are met: * 1. Redistributions of source code must retain the above copyright notice, * this list of conditions and the following disclaimer. * 2. Redistributions in binary form must reproduce the above copyright notice, * this list of conditions and the following disclaimer in the documentation * and/or other materials provided with the distribution. * 3. Neither the name of STMicroelectronics nor the names of its contributors * may be used to endorse or promote products derived from this software * without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * ****************************************************************************** */ /* Includes ------------------------------------------------------------------*/ /* mbed specific header files. */ #include "mbed.h" /* Helper header files. */ #include "DevSPI.h" /* Component specific header files. */ #include "L6474.h" /* Definitions ---------------------------------------------------------------*/ /* Number of steps. */ #define STEPS 3200 /* Delay in milliseconds. */ #define DELAY_1 2000 #define DELAY_2 6000 #define DELAY_3 8000 /* Speed in pps (Pulses Per Second). In Full Step mode: 1 pps = 1 step/s). In 1/N Step Mode: N pps = 1 step/s). */ #define SPEED_1 2400 #define SPEED_2 1200 /* Variables -----------------------------------------------------------------*/ /* Motor Control Component. */ L6474 *motor1; L6474 *motor2; /* Main ----------------------------------------------------------------------*/ int main() { /*----- Initialization. -----*/ /* Initializing SPI bus. */ DevSPI dev_spi(D11, D12, D13); /* 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) { exit(EXIT_FAILURE); } if (motor2->init() != COMPONENT_OK) { exit(EXIT_FAILURE); } while(true){ /* Moving N steps in the forward direction. */ motor1->run(StepperMotor::FWD); //motor2->run(StepperMotor::FWD); } }