50_135_507_38_Insper / Mbed OS Teste_2Motores_Joystick_copy

2 Motores + Joystick

Dependencies:   X_NUCLEO_IHM01A1 TextLCD

Fork of HelloWorld_IHM01A1_2Motors_mbedOS by ST

main.cpp@39:7e30bcc989d3, 2018-05-02 (annotated)

Committer:
leogrotti
Date:
Wed May 02 13:39:56 2018 +0000
Revision:
39:7e30bcc989d3
Parent:
38:c3d77ff8168a
Child:
40:0b517b49f70d
3 motores configurados

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). */
leogrotti 34:098efd69c86d 65 #define SPEED_1 1300
leogrotti 35:a05bef8dd995 66 #define SPEED_2 1300
Davidroid 24:8cb3c4ad055f 67
Davidroid 0:e6a49a092e2a 68
Brunoporto2702 32:481674c0f90d 69
Davidroid 0:e6a49a092e2a 70 /* Variables -----------------------------------------------------------------*/
Brunoporto2702 32:481674c0f90d 71 /* Initialization parameters. */
leogrotti 39:7e30bcc989d3 72 //L6474_init_t init = {
leogrotti 39:7e30bcc989d3 73 // 160, /* Acceleration rate in pps^2. Range: (0..+inf). */
leogrotti 39:7e30bcc989d3 74 // 160, /* Deceleration rate in pps^2. Range: (0..+inf). */
leogrotti 39:7e30bcc989d3 75 // 4000, /* Maximum speed in pps. Range: (30..10000]. */
leogrotti 39:7e30bcc989d3 76 // 1300, /* Minimum speed in pps. Range: [30..10000). */
leogrotti 39:7e30bcc989d3 77 // 1500, /* Torque regulation current in mA. Range: 31.25mA to 4000mA. */
leogrotti 39:7e30bcc989d3 78 // L6474_OCD_TH_1875mA, /* Overcurrent threshold (OCD_TH register). */
leogrotti 39:7e30bcc989d3 79 // L6474_CONFIG_OC_SD_ENABLE, /* Overcurrent shutwdown (OC_SD field of CONFIG register). */
leogrotti 39:7e30bcc989d3 80 // L6474_CONFIG_EN_TQREG_TVAL_USED, /* Torque regulation method (EN_TQREG field of CONFIG register). */
leogrotti 39:7e30bcc989d3 81 // L6474_STEP_SEL_1_2, /* Step selection (STEP_SEL field of STEP_MODE register). */
leogrotti 39:7e30bcc989d3 82 // L6474_SYNC_SEL_1_2, /* Sync selection (SYNC_SEL field of STEP_MODE register). */
leogrotti 39:7e30bcc989d3 83 // L6474_FAST_STEP_12us, /* Fall time value (T_FAST field of T_FAST register). Range: 2us to 32us. */
leogrotti 39:7e30bcc989d3 84 // L6474_TOFF_FAST_8us, /* Maximum fast decay time (T_OFF field of T_FAST register). Range: 2us to 32us. */
leogrotti 39:7e30bcc989d3 85 // 3, /* Minimum ON time in us (TON_MIN register). Range: 0.5us to 64us. */
leogrotti 39:7e30bcc989d3 86 // 21, /* Minimum OFF time in us (TOFF_MIN register). Range: 0.5us to 64us. */
leogrotti 39:7e30bcc989d3 87 // L6474_CONFIG_TOFF_044us, /* Target Swicthing Period (field TOFF of CONFIG register). */
leogrotti 39:7e30bcc989d3 88 // L6474_CONFIG_SR_320V_us, /* Slew rate (POW_SR field of CONFIG register). */
leogrotti 39:7e30bcc989d3 89 // L6474_CONFIG_INT_16MHZ, /* Clock setting (OSC_CLK_SEL field of CONFIG register). */
leogrotti 39:7e30bcc989d3 90 // L6474_ALARM_EN_OVERCURRENT |
leogrotti 39:7e30bcc989d3 91 // L6474_ALARM_EN_THERMAL_SHUTDOWN |
leogrotti 39:7e30bcc989d3 92 // L6474_ALARM_EN_THERMAL_WARNING |
leogrotti 39:7e30bcc989d3 93 // L6474_ALARM_EN_UNDERVOLTAGE |
leogrotti 39:7e30bcc989d3 94 // L6474_ALARM_EN_SW_TURN_ON |
leogrotti 39:7e30bcc989d3 95 // L6474_ALARM_EN_WRONG_NPERF_CMD /* Alarm (ALARM_EN register). */
leogrotti 39:7e30bcc989d3 96 //};
Brunoporto2702 32:481674c0f90d 97
Brunoporto2702 32:481674c0f90d 98 Serial pc(USBTX, USBRX);
Brunoporto2702 32:481674c0f90d 99
Brunoporto2702 32:481674c0f90d 100 AnalogIn eixo_X(A0);
Brunoporto2702 32:481674c0f90d 101 AnalogIn eixo_Y(A1);
Brunoporto2702 32:481674c0f90d 102
Brunoporto2702 32:481674c0f90d 103
Brunoporto2702 32:481674c0f90d 104
Brunoporto2702 32:481674c0f90d 105 float x;
Brunoporto2702 32:481674c0f90d 106 float y;
Brunoporto2702 32:481674c0f90d 107 float w;
Brunoporto2702 32:481674c0f90d 108 float u;
Brunoporto2702 32:481674c0f90d 109
leogrotti 38:c3d77ff8168a 110 //float a;
leogrotti 36:0cd4fdbb40af 111
leogrotti 35:a05bef8dd995 112
leogrotti 35:a05bef8dd995 113
leogrotti 34:098efd69c86d 114 unsigned int minspeed = 1300;
Brunoporto2702 32:481674c0f90d 115
leogrotti 34:098efd69c86d 116 //int step = 0x08;
Brunoporto2702 32:481674c0f90d 117
leogrotti 35:a05bef8dd995 118 unsigned int speed1;
leogrotti 35:a05bef8dd995 119 unsigned int speed2;
leogrotti 39:7e30bcc989d3 120 unsigned int speed3;
leogrotti 36:0cd4fdbb40af 121
leogrotti 38:c3d77ff8168a 122 //unsigned int pos3;
Brunoporto2702 32:481674c0f90d 123
Davidroid 0:e6a49a092e2a 124
Davidroid 0:e6a49a092e2a 125 /* Motor Control Component. */
Davidroid 3:02d9ec4f88b2 126 L6474 *motor1;
Davidroid 3:02d9ec4f88b2 127 L6474 *motor2;
leogrotti 39:7e30bcc989d3 128 L6474 *motor3;
Davidroid 0:e6a49a092e2a 129
Davidroid 0:e6a49a092e2a 130
Davidroid 0:e6a49a092e2a 131 /* Main ----------------------------------------------------------------------*/
Davidroid 0:e6a49a092e2a 132
Davidroid 0:e6a49a092e2a 133 int main()
Davidroid 0:e6a49a092e2a 134 {
Davidroid 8:cec4c2c03a27 135 /*----- Initialization. -----*/
Davidroid 8:cec4c2c03a27 136
Davidroid 0:e6a49a092e2a 137 /* Initializing SPI bus. */
Davidroid 0:e6a49a092e2a 138 DevSPI dev_spi(D11, D12, D13);
Davidroid 0:e6a49a092e2a 139
Davidroid 9:a9e51320aee4 140 /* Initializing Motor Control Components. */
Davidroid 5:a0268a435bb1 141 motor1 = new L6474(D2, D8, D7, D9, D10, dev_spi);
Davidroid 16:810667a9f31f 142 motor2 = new L6474(D2, D8, D4, D3, D10, dev_spi);
leogrotti 39:7e30bcc989d3 143 motor3 = new L6474(D2, D8, D5, D6, D10, dev_spi);
Davidroid 29:526970c1d998 144 if (motor1->init() != COMPONENT_OK) {
Davidroid 14:fcd452b03d1a 145 exit(EXIT_FAILURE);
Davidroid 28:3f17a4152bcf 146 }
Davidroid 29:526970c1d998 147 if (motor2->init() != COMPONENT_OK) {
Davidroid 14:fcd452b03d1a 148 exit(EXIT_FAILURE);
Davidroid 28:3f17a4152bcf 149 }
leogrotti 39:7e30bcc989d3 150 if (motor3->init() != COMPONENT_OK) {
leogrotti 39:7e30bcc989d3 151 exit(EXIT_FAILURE);
leogrotti 39:7e30bcc989d3 152 }
Davidroid 0:e6a49a092e2a 153
leogrotti 35:a05bef8dd995 154
Davidroid 8:cec4c2c03a27 155
leogrotti 35:a05bef8dd995 156 /*motor1->set_acceleration(160);
leogrotti 35:a05bef8dd995 157 motor2->set_acceleration(160);
leogrotti 35:a05bef8dd995 158 motor1->set_max_speed(speed1);
leogrotti 35:a05bef8dd995 159 motor2->set_max_speed(speed2);*/
leogrotti 36:0cd4fdbb40af 160
Davidroid 8:cec4c2c03a27 161
leogrotti 36:0cd4fdbb40af 162
leogrotti 36:0cd4fdbb40af 163
leogrotti 36:0cd4fdbb40af 164 //motor1->set_min_speed(1300);
leogrotti 36:0cd4fdbb40af 165 //motor2->set_min_speed(1300);
leogrotti 36:0cd4fdbb40af 166
leogrotti 36:0cd4fdbb40af 167 //motor1->set_parameter(L6474_STEP_MODE,L6474_STEP_SEL_1_2);
leogrotti 36:0cd4fdbb40af 168 //motor2->set_parameter(L6474_STEP_MODE,L6474_STEP_SEL_1_2);
Davidroid 8:cec4c2c03a27 169
leogrotti 39:7e30bcc989d3 170
leogrotti 39:7e30bcc989d3 171
leogrotti 39:7e30bcc989d3 172
Davidroid 28:3f17a4152bcf 173 while(true) {
Brunoporto2702 32:481674c0f90d 174 u = eixo_X.read();
Brunoporto2702 32:481674c0f90d 175 w = eixo_Y.read();
Brunoporto2702 32:481674c0f90d 176
Brunoporto2702 32:481674c0f90d 177 // wait (1.5);
Brunoporto2702 32:481674c0f90d 178 // pc.printf ("X: %f \r\n",u);
Brunoporto2702 32:481674c0f90d 179 // pc.printf ("Y: %f \r\n",w);
leogrotti 39:7e30bcc989d3 180
leogrotti 39:7e30bcc989d3 181 motor3->run(StepperMotor::FWD);
leogrotti 39:7e30bcc989d3 182 // motor3->move(StepperMotor::BWD, 100);
leogrotti 39:7e30bcc989d3 183 //motor3->wait_while_active();
leogrotti 39:7e30bcc989d3 184
leogrotti 39:7e30bcc989d3 185 // pc.printf ("bwd");
leogrotti 35:a05bef8dd995 186
leogrotti 35:a05bef8dd995 187
leogrotti 34:098efd69c86d 188 if (u>0.740) {
leogrotti 34:098efd69c86d 189
Brunoporto2702 32:481674c0f90d 190 motor1->run(StepperMotor::FWD);
leogrotti 39:7e30bcc989d3 191 //wait_ms(DELAY_1);
leogrotti 39:7e30bcc989d3 192
Brunoporto2702 32:481674c0f90d 193 speed1 = motor1->get_speed();
leogrotti 34:098efd69c86d 194
leogrotti 38:c3d77ff8168a 195 printf("speed1 =%d \r\n\n", speed1);
leogrotti 38:c3d77ff8168a 196 printf("U =%f \r\n\n", u);
leogrotti 34:098efd69c86d 197
Brunoporto2702 32:481674c0f90d 198 }
leogrotti 34:098efd69c86d 199 else{ if(u<0.65) {
leogrotti 34:098efd69c86d 200
Brunoporto2702 32:481674c0f90d 201 motor1->run(StepperMotor::BWD);
leogrotti 39:7e30bcc989d3 202 // wait_ms(DELAY_1);
leogrotti 39:7e30bcc989d3 203
Brunoporto2702 32:481674c0f90d 204 speed1 = motor1->get_speed();
leogrotti 34:098efd69c86d 205
leogrotti 38:c3d77ff8168a 206 printf("speed1 =%d \r\n\n", speed1);
leogrotti 35:a05bef8dd995 207
leogrotti 38:c3d77ff8168a 208 printf("U =%f \r\n\n", u);
leogrotti 34:098efd69c86d 209
Brunoporto2702 32:481674c0f90d 210 }
Brunoporto2702 32:481674c0f90d 211 else
Brunoporto2702 32:481674c0f90d 212 motor1->hard_stop();
leogrotti 39:7e30bcc989d3 213 // wait_ms(DELAY_1);
leogrotti 39:7e30bcc989d3 214
leogrotti 35:a05bef8dd995 215 speed1 = 0;
leogrotti 38:c3d77ff8168a 216 printf("speed1 =%d \r\n\n", speed1);
leogrotti 34:098efd69c86d 217
leogrotti 38:c3d77ff8168a 218 printf("U =%f \r\n\n", u);
leogrotti 34:098efd69c86d 219
Brunoporto2702 32:481674c0f90d 220 }
Brunoporto2702 32:481674c0f90d 221
leogrotti 34:098efd69c86d 222 if (w>0.76) {
leogrotti 34:098efd69c86d 223
leogrotti 34:098efd69c86d 224 motor2->run(StepperMotor::BWD);
Brunoporto2702 32:481674c0f90d 225 speed2 = motor2->get_speed();
leogrotti 35:a05bef8dd995 226
leogrotti 38:c3d77ff8168a 227 printf("speed2 =%d \r\n\n", speed2);
leogrotti 38:c3d77ff8168a 228 printf("W =%f \r\n\n", w);
leogrotti 34:098efd69c86d 229
Brunoporto2702 32:481674c0f90d 230 }
leogrotti 34:098efd69c86d 231 else{ if(w<0.67) {
leogrotti 34:098efd69c86d 232
leogrotti 34:098efd69c86d 233
leogrotti 34:098efd69c86d 234 motor2->run(StepperMotor::FWD);
leogrotti 35:a05bef8dd995 235 speed2 = motor2->get_speed();
leogrotti 35:a05bef8dd995 236
leogrotti 38:c3d77ff8168a 237 printf("speed2 =%d \r\n\n", speed2);
leogrotti 38:c3d77ff8168a 238 printf("W =%f \r\n\n", w);
leogrotti 34:098efd69c86d 239
Brunoporto2702 32:481674c0f90d 240 }
Brunoporto2702 32:481674c0f90d 241 else
Brunoporto2702 32:481674c0f90d 242 motor2->hard_stop();
leogrotti 35:a05bef8dd995 243 speed2 = 0;
leogrotti 38:c3d77ff8168a 244 printf("speed2 =%d \r\n\n", speed2);
leogrotti 38:c3d77ff8168a 245 printf("W =%f \r\n\n", w);
leogrotti 34:098efd69c86d 246
Brunoporto2702 32:481674c0f90d 247 }
leogrotti 36:0cd4fdbb40af 248
leogrotti 36:0cd4fdbb40af 249
Davidroid 0:e6a49a092e2a 250 }
Brunoporto2702 32:481674c0f90d 251 }