programma motori
Dependencies: X_NUCLEO_IHM01A1 mbed
Fork of HelloWorld_IHM01A1_2Motors by
main.cpp@3:02d9ec4f88b2, 2015-11-18 (annotated)
- Committer:
- Davidroid
- Date:
- Wed Nov 18 18:46:58 2015 +0000
- Revision:
- 3:02d9ec4f88b2
- Parent:
- 2:e12e4df7a486
- Child:
- 5:a0268a435bb1
mbed test application for the STMicrolectronics X-NUCLEO-IHM01A1 Motor Control Expansion Board: control of 2 motors.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Davidroid | 0:e6a49a092e2a | 1 | /** |
Davidroid | 0:e6a49a092e2a | 2 | ****************************************************************************** |
Davidroid | 0:e6a49a092e2a | 3 | * @file main.cpp |
Davidroid | 0:e6a49a092e2a | 4 | * @author Davide Aliprandi / AST |
Davidroid | 0:e6a49a092e2a | 5 | * @version V1.0.0 |
Davidroid | 0:e6a49a092e2a | 6 | * @date October 14th, 2015 |
Davidroid | 0:e6a49a092e2a | 7 | * @brief mbed test application for the STMicrolectronics X-NUCLEO-IHM01A1 |
Davidroid | 3:02d9ec4f88b2 | 8 | * Motor Control Expansion Board: control of 2 motors. |
Davidroid | 0:e6a49a092e2a | 9 | * This application makes use of a C++ component architecture obtained |
Davidroid | 0:e6a49a092e2a | 10 | * from the C component architecture through the Stm32CubeTOO tool. |
Davidroid | 0:e6a49a092e2a | 11 | ****************************************************************************** |
Davidroid | 0:e6a49a092e2a | 12 | * @attention |
Davidroid | 0:e6a49a092e2a | 13 | * |
Davidroid | 0:e6a49a092e2a | 14 | * <h2><center>© COPYRIGHT(c) 2015 STMicroelectronics</center></h2> |
Davidroid | 0:e6a49a092e2a | 15 | * |
Davidroid | 0:e6a49a092e2a | 16 | * Redistribution and use in source and binary forms, with or without modification, |
Davidroid | 0:e6a49a092e2a | 17 | * are permitted provided that the following conditions are met: |
Davidroid | 0:e6a49a092e2a | 18 | * 1. Redistributions of source code must retain the above copyright notice, |
Davidroid | 0:e6a49a092e2a | 19 | * this list of conditions and the following disclaimer. |
Davidroid | 0:e6a49a092e2a | 20 | * 2. Redistributions in binary form must reproduce the above copyright notice, |
Davidroid | 0:e6a49a092e2a | 21 | * this list of conditions and the following disclaimer in the documentation |
Davidroid | 0:e6a49a092e2a | 22 | * and/or other materials provided with the distribution. |
Davidroid | 0:e6a49a092e2a | 23 | * 3. Neither the name of STMicroelectronics nor the names of its contributors |
Davidroid | 0:e6a49a092e2a | 24 | * may be used to endorse or promote products derived from this software |
Davidroid | 0:e6a49a092e2a | 25 | * without specific prior written permission. |
Davidroid | 0:e6a49a092e2a | 26 | * |
Davidroid | 0:e6a49a092e2a | 27 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
Davidroid | 0:e6a49a092e2a | 28 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
Davidroid | 0:e6a49a092e2a | 29 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE |
Davidroid | 0:e6a49a092e2a | 30 | * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE |
Davidroid | 0:e6a49a092e2a | 31 | * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL |
Davidroid | 0:e6a49a092e2a | 32 | * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR |
Davidroid | 0:e6a49a092e2a | 33 | * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
Davidroid | 0:e6a49a092e2a | 34 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, |
Davidroid | 0:e6a49a092e2a | 35 | * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
Davidroid | 0:e6a49a092e2a | 36 | * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
Davidroid | 0:e6a49a092e2a | 37 | * |
Davidroid | 0:e6a49a092e2a | 38 | ****************************************************************************** |
Davidroid | 0:e6a49a092e2a | 39 | */ |
Davidroid | 0:e6a49a092e2a | 40 | |
Davidroid | 0:e6a49a092e2a | 41 | |
Davidroid | 0:e6a49a092e2a | 42 | /* Includes ------------------------------------------------------------------*/ |
Davidroid | 0:e6a49a092e2a | 43 | |
Davidroid | 0:e6a49a092e2a | 44 | /* mbed specific header files. */ |
Davidroid | 0:e6a49a092e2a | 45 | #include "mbed.h" |
Davidroid | 0:e6a49a092e2a | 46 | |
Davidroid | 0:e6a49a092e2a | 47 | /* Helper header files. */ |
Davidroid | 0:e6a49a092e2a | 48 | #include "DevSPI.h" |
Davidroid | 0:e6a49a092e2a | 49 | |
Davidroid | 0:e6a49a092e2a | 50 | /* Component specific header files. */ |
Davidroid | 0:e6a49a092e2a | 51 | #include "l6474_class.h" |
Davidroid | 0:e6a49a092e2a | 52 | |
Davidroid | 0:e6a49a092e2a | 53 | |
Davidroid | 0:e6a49a092e2a | 54 | /* Definitions ---------------------------------------------------------------*/ |
Davidroid | 0:e6a49a092e2a | 55 | |
Davidroid | 0:e6a49a092e2a | 56 | /* Number of steps corresponding to one round angle of the motor. */ |
Davidroid | 3:02d9ec4f88b2 | 57 | #define ROUND_ANGLE_STEPS 3200 |
Davidroid | 0:e6a49a092e2a | 58 | |
Davidroid | 0:e6a49a092e2a | 59 | |
Davidroid | 0:e6a49a092e2a | 60 | /* Variables -----------------------------------------------------------------*/ |
Davidroid | 0:e6a49a092e2a | 61 | |
Davidroid | 0:e6a49a092e2a | 62 | /* Motor Control Component. */ |
Davidroid | 3:02d9ec4f88b2 | 63 | L6474 *motor1; |
Davidroid | 3:02d9ec4f88b2 | 64 | L6474 *motor2; |
Davidroid | 0:e6a49a092e2a | 65 | |
Davidroid | 0:e6a49a092e2a | 66 | |
Davidroid | 0:e6a49a092e2a | 67 | /* Main ----------------------------------------------------------------------*/ |
Davidroid | 0:e6a49a092e2a | 68 | |
Davidroid | 0:e6a49a092e2a | 69 | int main() |
Davidroid | 0:e6a49a092e2a | 70 | { |
Davidroid | 0:e6a49a092e2a | 71 | /* Initializing SPI bus. */ |
Davidroid | 0:e6a49a092e2a | 72 | DevSPI dev_spi(D11, D12, D13); |
Davidroid | 0:e6a49a092e2a | 73 | |
Davidroid | 0:e6a49a092e2a | 74 | /* Initializing Motor Control Component. */ |
Davidroid | 3:02d9ec4f88b2 | 75 | motor1 = new L6474(D8, D7, D9, D10, dev_spi); |
Davidroid | 3:02d9ec4f88b2 | 76 | if (motor1->Init(NULL) != COMPONENT_OK) |
Davidroid | 3:02d9ec4f88b2 | 77 | return false; |
Davidroid | 3:02d9ec4f88b2 | 78 | motor2 = new L6474(D8, D4, D3, D10, dev_spi); |
Davidroid | 3:02d9ec4f88b2 | 79 | if (motor2->Init(NULL) != COMPONENT_OK) |
Davidroid | 0:e6a49a092e2a | 80 | return false; |
Davidroid | 0:e6a49a092e2a | 81 | |
Davidroid | 0:e6a49a092e2a | 82 | /* Printing to the console. */ |
Davidroid | 3:02d9ec4f88b2 | 83 | printf("Motor Control Application Example for 2 Motors\r\n\n"); |
Davidroid | 0:e6a49a092e2a | 84 | |
Davidroid | 0:e6a49a092e2a | 85 | /* Main Loop. */ |
Davidroid | 0:e6a49a092e2a | 86 | while(true) |
Davidroid | 0:e6a49a092e2a | 87 | { |
Davidroid | 3:02d9ec4f88b2 | 88 | /*----- Moving. -----*/ |
Davidroid | 0:e6a49a092e2a | 89 | |
Davidroid | 0:e6a49a092e2a | 90 | /* Printing to the console. */ |
Davidroid | 3:02d9ec4f88b2 | 91 | printf("--> Moving forward: M1 %d steps, M2 %d steps.\r\n", ROUND_ANGLE_STEPS >> 1, ROUND_ANGLE_STEPS); |
Davidroid | 0:e6a49a092e2a | 92 | |
Davidroid | 0:e6a49a092e2a | 93 | /* Moving N steps in the forward direction. */ |
Davidroid | 3:02d9ec4f88b2 | 94 | motor1->Move(StepperMotor::FWD, ROUND_ANGLE_STEPS >> 1); |
Davidroid | 3:02d9ec4f88b2 | 95 | motor2->Move(StepperMotor::FWD, ROUND_ANGLE_STEPS); |
Davidroid | 3:02d9ec4f88b2 | 96 | |
Davidroid | 0:e6a49a092e2a | 97 | /* Waiting while the motor is active. */ |
Davidroid | 3:02d9ec4f88b2 | 98 | motor1->WaitWhileActive(); |
Davidroid | 3:02d9ec4f88b2 | 99 | motor2->WaitWhileActive(); |
Davidroid | 0:e6a49a092e2a | 100 | |
Davidroid | 0:e6a49a092e2a | 101 | /* Getting current position. */ |
Davidroid | 3:02d9ec4f88b2 | 102 | int position1 = motor1->GetPosition(); |
Davidroid | 3:02d9ec4f88b2 | 103 | int position2 = motor2->GetPosition(); |
Davidroid | 0:e6a49a092e2a | 104 | |
Davidroid | 0:e6a49a092e2a | 105 | /* Printing to the console. */ |
Davidroid | 3:02d9ec4f88b2 | 106 | printf(" Position: M1 %d, M2 %d.\r\n", position1, position2); |
Davidroid | 0:e6a49a092e2a | 107 | |
Davidroid | 0:e6a49a092e2a | 108 | /* Waiting 2 seconds. */ |
Davidroid | 0:e6a49a092e2a | 109 | wait_ms(2000); |
Davidroid | 0:e6a49a092e2a | 110 | |
Davidroid | 0:e6a49a092e2a | 111 | |
Davidroid | 3:02d9ec4f88b2 | 112 | /*----- Moving. -----*/ |
Davidroid | 0:e6a49a092e2a | 113 | |
Davidroid | 0:e6a49a092e2a | 114 | /* Printing to the console. */ |
Davidroid | 3:02d9ec4f88b2 | 115 | printf("--> Moving backward: M1 %d steps, M2 %d steps.\r\n", ROUND_ANGLE_STEPS >> 1, ROUND_ANGLE_STEPS); |
Davidroid | 3:02d9ec4f88b2 | 116 | |
Davidroid | 0:e6a49a092e2a | 117 | |
Davidroid | 0:e6a49a092e2a | 118 | /* Moving N steps in the backward direction. */ |
Davidroid | 3:02d9ec4f88b2 | 119 | motor1->Move(StepperMotor::BWD, ROUND_ANGLE_STEPS >> 1); |
Davidroid | 3:02d9ec4f88b2 | 120 | motor2->Move(StepperMotor::BWD, ROUND_ANGLE_STEPS); |
Davidroid | 0:e6a49a092e2a | 121 | |
Davidroid | 0:e6a49a092e2a | 122 | /* Waiting while the motor is active. */ |
Davidroid | 3:02d9ec4f88b2 | 123 | motor1->WaitWhileActive(); |
Davidroid | 3:02d9ec4f88b2 | 124 | motor2->WaitWhileActive(); |
Davidroid | 0:e6a49a092e2a | 125 | |
Davidroid | 0:e6a49a092e2a | 126 | /* Getting current position. */ |
Davidroid | 3:02d9ec4f88b2 | 127 | position1 = motor1->GetPosition(); |
Davidroid | 3:02d9ec4f88b2 | 128 | position2 = motor2->GetPosition(); |
Davidroid | 0:e6a49a092e2a | 129 | |
Davidroid | 0:e6a49a092e2a | 130 | /* Printing to the console. */ |
Davidroid | 3:02d9ec4f88b2 | 131 | printf(" Position: M1 %d, M2 %d.\r\n", position1, position2); |
Davidroid | 3:02d9ec4f88b2 | 132 | printf("--> Setting Home.\r\n"); |
Davidroid | 0:e6a49a092e2a | 133 | |
Davidroid | 0:e6a49a092e2a | 134 | /* Setting the current position to be the home position. */ |
Davidroid | 3:02d9ec4f88b2 | 135 | motor1->SetHome(); |
Davidroid | 3:02d9ec4f88b2 | 136 | motor2->SetHome(); |
Davidroid | 0:e6a49a092e2a | 137 | |
Davidroid | 0:e6a49a092e2a | 138 | /* Waiting 2 seconds. */ |
Davidroid | 0:e6a49a092e2a | 139 | wait_ms(2000); |
Davidroid | 0:e6a49a092e2a | 140 | |
Davidroid | 0:e6a49a092e2a | 141 | |
Davidroid | 0:e6a49a092e2a | 142 | /*----- Going to a specified position. -----*/ |
Davidroid | 0:e6a49a092e2a | 143 | |
Davidroid | 0:e6a49a092e2a | 144 | /* Printing to the console. */ |
Davidroid | 3:02d9ec4f88b2 | 145 | printf("--> Going to position: M1 %d, M2 %d.\r\n", ROUND_ANGLE_STEPS, ROUND_ANGLE_STEPS >> 1); |
Davidroid | 0:e6a49a092e2a | 146 | |
Davidroid | 0:e6a49a092e2a | 147 | /* Requesting to go to a specified position. */ |
Davidroid | 3:02d9ec4f88b2 | 148 | motor1->GoTo(ROUND_ANGLE_STEPS); |
Davidroid | 3:02d9ec4f88b2 | 149 | motor2->GoTo(ROUND_ANGLE_STEPS >> 1); |
Davidroid | 0:e6a49a092e2a | 150 | |
Davidroid | 0:e6a49a092e2a | 151 | /* Waiting while the motor is active. */ |
Davidroid | 3:02d9ec4f88b2 | 152 | motor1->WaitWhileActive(); |
Davidroid | 3:02d9ec4f88b2 | 153 | motor2->WaitWhileActive(); |
Davidroid | 0:e6a49a092e2a | 154 | |
Davidroid | 0:e6a49a092e2a | 155 | /* Getting current position. */ |
Davidroid | 3:02d9ec4f88b2 | 156 | position1 = motor1->GetPosition(); |
Davidroid | 3:02d9ec4f88b2 | 157 | position2 = motor2->GetPosition(); |
Davidroid | 0:e6a49a092e2a | 158 | |
Davidroid | 0:e6a49a092e2a | 159 | /* Printing to the console. */ |
Davidroid | 3:02d9ec4f88b2 | 160 | printf(" Position: M1 %d, M2 %d.\r\n", position1, position2); |
Davidroid | 0:e6a49a092e2a | 161 | |
Davidroid | 0:e6a49a092e2a | 162 | /* Waiting 2 seconds. */ |
Davidroid | 0:e6a49a092e2a | 163 | wait_ms(2000); |
Davidroid | 0:e6a49a092e2a | 164 | |
Davidroid | 0:e6a49a092e2a | 165 | |
Davidroid | 0:e6a49a092e2a | 166 | /*----- Going Home. -----*/ |
Davidroid | 0:e6a49a092e2a | 167 | |
Davidroid | 0:e6a49a092e2a | 168 | /* Printing to the console. */ |
Davidroid | 0:e6a49a092e2a | 169 | printf("--> Going Home.\r\n"); |
Davidroid | 0:e6a49a092e2a | 170 | |
Davidroid | 0:e6a49a092e2a | 171 | /* Requesting to go to home. */ |
Davidroid | 3:02d9ec4f88b2 | 172 | motor1->GoHome(); |
Davidroid | 3:02d9ec4f88b2 | 173 | motor2->GoHome(); |
Davidroid | 0:e6a49a092e2a | 174 | |
Davidroid | 0:e6a49a092e2a | 175 | /* Waiting while the motor is active. */ |
Davidroid | 3:02d9ec4f88b2 | 176 | motor1->WaitWhileActive(); |
Davidroid | 3:02d9ec4f88b2 | 177 | motor2->WaitWhileActive(); |
Davidroid | 0:e6a49a092e2a | 178 | |
Davidroid | 0:e6a49a092e2a | 179 | /* Getting current position. */ |
Davidroid | 3:02d9ec4f88b2 | 180 | position1 = motor1->GetPosition(); |
Davidroid | 3:02d9ec4f88b2 | 181 | position2 = motor2->GetPosition(); |
Davidroid | 0:e6a49a092e2a | 182 | |
Davidroid | 0:e6a49a092e2a | 183 | /* Printing to the console. */ |
Davidroid | 3:02d9ec4f88b2 | 184 | printf(" Position: M1 %d, M2 %d.\r\n", position1, position2); |
Davidroid | 0:e6a49a092e2a | 185 | |
Davidroid | 0:e6a49a092e2a | 186 | /* Waiting 2 seconds. */ |
Davidroid | 0:e6a49a092e2a | 187 | wait_ms(2000); |
Davidroid | 0:e6a49a092e2a | 188 | |
Davidroid | 0:e6a49a092e2a | 189 | |
Davidroid | 3:02d9ec4f88b2 | 190 | /*----- Running. -----*/ |
Davidroid | 0:e6a49a092e2a | 191 | |
Davidroid | 0:e6a49a092e2a | 192 | /* Printing to the console. */ |
Davidroid | 3:02d9ec4f88b2 | 193 | printf("--> M1 running backward, M2 running forward.\r\n"); |
Davidroid | 0:e6a49a092e2a | 194 | |
Davidroid | 0:e6a49a092e2a | 195 | /* Requesting to run backward. */ |
Davidroid | 3:02d9ec4f88b2 | 196 | motor1->Run(StepperMotor::BWD); |
Davidroid | 3:02d9ec4f88b2 | 197 | motor2->Run(StepperMotor::FWD); |
Davidroid | 0:e6a49a092e2a | 198 | |
Davidroid | 0:e6a49a092e2a | 199 | /* Waiting until delay has expired. */ |
Davidroid | 1:fbf28f3367aa | 200 | wait_ms(6000); |
Davidroid | 0:e6a49a092e2a | 201 | |
Davidroid | 0:e6a49a092e2a | 202 | /* Getting current speed. */ |
Davidroid | 3:02d9ec4f88b2 | 203 | int speed1 = motor1->GetSpeed(); |
Davidroid | 3:02d9ec4f88b2 | 204 | int speed2 = motor2->GetSpeed(); |
Davidroid | 0:e6a49a092e2a | 205 | |
Davidroid | 0:e6a49a092e2a | 206 | /* Printing to the console. */ |
Davidroid | 3:02d9ec4f88b2 | 207 | printf(" Speed: M1 %d, M2 %d.\r\n", speed1, speed2); |
Davidroid | 0:e6a49a092e2a | 208 | |
Davidroid | 0:e6a49a092e2a | 209 | /*----- Increasing the speed while running. -----*/ |
Davidroid | 0:e6a49a092e2a | 210 | |
Davidroid | 0:e6a49a092e2a | 211 | /* Printing to the console. */ |
Davidroid | 0:e6a49a092e2a | 212 | printf("--> Increasing the speed while running.\r\n"); |
Davidroid | 0:e6a49a092e2a | 213 | |
Davidroid | 0:e6a49a092e2a | 214 | /* Increasing speed to 2400 step/s. */ |
Davidroid | 3:02d9ec4f88b2 | 215 | motor1->SetMaxSpeed(2400); |
Davidroid | 3:02d9ec4f88b2 | 216 | motor2->SetMaxSpeed(2400); |
Davidroid | 0:e6a49a092e2a | 217 | |
Davidroid | 0:e6a49a092e2a | 218 | /* Waiting until delay has expired. */ |
Davidroid | 1:fbf28f3367aa | 219 | wait_ms(6000); |
Davidroid | 0:e6a49a092e2a | 220 | |
Davidroid | 0:e6a49a092e2a | 221 | /* Getting current speed. */ |
Davidroid | 3:02d9ec4f88b2 | 222 | speed1 = motor1->GetSpeed(); |
Davidroid | 3:02d9ec4f88b2 | 223 | speed2 = motor2->GetSpeed(); |
Davidroid | 0:e6a49a092e2a | 224 | |
Davidroid | 0:e6a49a092e2a | 225 | /* Printing to the console. */ |
Davidroid | 3:02d9ec4f88b2 | 226 | printf(" Speed: M1 %d, M2 %d.\r\n", speed1, speed2); |
Davidroid | 0:e6a49a092e2a | 227 | |
Davidroid | 0:e6a49a092e2a | 228 | |
Davidroid | 0:e6a49a092e2a | 229 | /*----- Decreasing the speed while running. -----*/ |
Davidroid | 0:e6a49a092e2a | 230 | |
Davidroid | 0:e6a49a092e2a | 231 | /* Printing to the console. */ |
Davidroid | 0:e6a49a092e2a | 232 | printf("--> Decreasing the speed while running.\r\n"); |
Davidroid | 0:e6a49a092e2a | 233 | |
Davidroid | 0:e6a49a092e2a | 234 | /* Decreasing speed to 1200 step/s. */ |
Davidroid | 3:02d9ec4f88b2 | 235 | motor1->SetMaxSpeed(1200); |
Davidroid | 3:02d9ec4f88b2 | 236 | motor2->SetMaxSpeed(1200); |
Davidroid | 0:e6a49a092e2a | 237 | |
Davidroid | 0:e6a49a092e2a | 238 | /* Waiting until delay has expired. */ |
Davidroid | 1:fbf28f3367aa | 239 | wait_ms(8000); |
Davidroid | 0:e6a49a092e2a | 240 | |
Davidroid | 0:e6a49a092e2a | 241 | /* Getting current speed. */ |
Davidroid | 3:02d9ec4f88b2 | 242 | speed1 = motor1->GetSpeed(); |
Davidroid | 3:02d9ec4f88b2 | 243 | speed2 = motor2->GetSpeed(); |
Davidroid | 0:e6a49a092e2a | 244 | |
Davidroid | 0:e6a49a092e2a | 245 | /* Printing to the console. */ |
Davidroid | 3:02d9ec4f88b2 | 246 | printf(" Speed: M1 %d, M2 %d.\r\n", speed1, speed2); |
Davidroid | 0:e6a49a092e2a | 247 | |
Davidroid | 0:e6a49a092e2a | 248 | |
Davidroid | 0:e6a49a092e2a | 249 | /*----- Requiring hard-stop while running. -----*/ |
Davidroid | 0:e6a49a092e2a | 250 | |
Davidroid | 0:e6a49a092e2a | 251 | /* Printing to the console. */ |
Davidroid | 0:e6a49a092e2a | 252 | printf("--> Requiring hard-stop while running.\r\n"); |
Davidroid | 0:e6a49a092e2a | 253 | |
Davidroid | 0:e6a49a092e2a | 254 | /* Requesting to immediatly stop. */ |
Davidroid | 3:02d9ec4f88b2 | 255 | motor1->HardStop(); |
Davidroid | 3:02d9ec4f88b2 | 256 | motor2->HardStop(); |
Davidroid | 0:e6a49a092e2a | 257 | |
Davidroid | 0:e6a49a092e2a | 258 | /* Waiting while the motor is active. */ |
Davidroid | 3:02d9ec4f88b2 | 259 | motor1->WaitWhileActive(); |
Davidroid | 3:02d9ec4f88b2 | 260 | motor2->WaitWhileActive(); |
Davidroid | 0:e6a49a092e2a | 261 | |
Davidroid | 0:e6a49a092e2a | 262 | /* Waiting 2 seconds. */ |
Davidroid | 0:e6a49a092e2a | 263 | wait_ms(2000); |
Davidroid | 0:e6a49a092e2a | 264 | |
Davidroid | 0:e6a49a092e2a | 265 | |
Davidroid | 0:e6a49a092e2a | 266 | /*----- Infinite Loop. -----*/ |
Davidroid | 0:e6a49a092e2a | 267 | |
Davidroid | 0:e6a49a092e2a | 268 | /* Printing to the console. */ |
Davidroid | 0:e6a49a092e2a | 269 | printf("--> Infinite Loop...\r\n"); |
Davidroid | 0:e6a49a092e2a | 270 | |
Davidroid | 0:e6a49a092e2a | 271 | /* Setting the current position to be the home position. */ |
Davidroid | 3:02d9ec4f88b2 | 272 | motor1->SetHome(); |
Davidroid | 3:02d9ec4f88b2 | 273 | motor2->SetHome(); |
Davidroid | 0:e6a49a092e2a | 274 | |
Davidroid | 0:e6a49a092e2a | 275 | /* Infinite Loop. */ |
Davidroid | 0:e6a49a092e2a | 276 | while(1) |
Davidroid | 0:e6a49a092e2a | 277 | { |
Davidroid | 0:e6a49a092e2a | 278 | /* Requesting to go to a specified position. */ |
Davidroid | 3:02d9ec4f88b2 | 279 | motor1->GoTo(ROUND_ANGLE_STEPS >> 1); |
Davidroid | 3:02d9ec4f88b2 | 280 | motor2->GoTo(- (ROUND_ANGLE_STEPS >> 1)); |
Davidroid | 0:e6a49a092e2a | 281 | |
Davidroid | 0:e6a49a092e2a | 282 | /* Waiting while the motor is active. */ |
Davidroid | 3:02d9ec4f88b2 | 283 | motor1->WaitWhileActive(); |
Davidroid | 3:02d9ec4f88b2 | 284 | motor2->WaitWhileActive(); |
Davidroid | 0:e6a49a092e2a | 285 | |
Davidroid | 0:e6a49a092e2a | 286 | /* Requesting to go to a specified position. */ |
Davidroid | 3:02d9ec4f88b2 | 287 | motor1->GoTo(- (ROUND_ANGLE_STEPS >> 1)); |
Davidroid | 3:02d9ec4f88b2 | 288 | motor2->GoTo(ROUND_ANGLE_STEPS >> 1); |
Davidroid | 0:e6a49a092e2a | 289 | |
Davidroid | 0:e6a49a092e2a | 290 | /* Waiting while the motor is active. */ |
Davidroid | 3:02d9ec4f88b2 | 291 | motor1->WaitWhileActive(); |
Davidroid | 3:02d9ec4f88b2 | 292 | motor2->WaitWhileActive(); |
Davidroid | 0:e6a49a092e2a | 293 | } |
Davidroid | 0:e6a49a092e2a | 294 | } |
Davidroid | 0:e6a49a092e2a | 295 | } |