Revision 36:0cd4fdbb40af, committed 2018-04-25

Comitter:

leogrotti

Date:

Wed Apr 25 14:26:35 2018 +0000

Parent:

35:a05bef8dd995

Child:

37:d5d1468f1dd2

Commit message:

2 motores+joystick +motores configurados;

Changed in this revision

--- a/X_NUCLEO_IHM01A1.lib	Tue Apr 24 15:09:16 2018 +0000
+++ b/X_NUCLEO_IHM01A1.lib	Wed Apr 25 14:26:35 2018 +0000
@@ -1,1 +1,1 @@
-https://developer.mbed.org/teams/ST/code/X_NUCLEO_IHM01A1/#974ca699c792
+https://developer.mbed.org/teams/ST/code/X_NUCLEO_IHM01A1/#a3d9b5f641e7

--- a/main.cpp	Tue Apr 24 15:09:16 2018 +0000
+++ b/main.cpp	Wed Apr 25 14:26:35 2018 +0000
@@ -107,6 +107,8 @@
 float w;
 float u;
 
+float a;
+
 
 
 unsigned int minspeed = 1300;
@@ -115,11 +117,15 @@
 
 unsigned int speed1;
 unsigned int speed2;
+unsigned int speed3;
+
+unsigned int pos3;
 
 
 /* Motor Control Component. */
 L6474 *motor1;
 L6474 *motor2;
+L6474 *motor3;
 
 
 /* Main ----------------------------------------------------------------------*/
@@ -134,12 +140,16 @@
     /* Initializing Motor Control Components. */
     motor1 = new L6474(D2, D8, D7, D9, D10, dev_spi);
     motor2 = new L6474(D2, D8, D4, D3, D10, dev_spi);
+    motor3 = new L6474(D2, D8, D5, D6, D10, dev_spi);
     if (motor1->init() != COMPONENT_OK) {
         exit(EXIT_FAILURE);
     }
     if (motor2->init() != COMPONENT_OK) {
         exit(EXIT_FAILURE);
     }
+        if (motor3->init() != COMPONENT_OK) {
+        exit(EXIT_FAILURE);
+    }
 
  
 
@@ -147,7 +157,15 @@
         motor2->set_acceleration(160);
         motor1->set_max_speed(speed1);
         motor2->set_max_speed(speed2);*/
+        
 
+ 
+ 
+//motor1->set_min_speed(1300);
+//motor2->set_min_speed(1300);
+
+//motor1->set_parameter(L6474_STEP_MODE,L6474_STEP_SEL_1_2);
+//motor2->set_parameter(L6474_STEP_MODE,L6474_STEP_SEL_1_2);
 
     while(true) {
         u = eixo_X.read();
@@ -156,17 +174,16 @@
   //      wait (1.5);
   //      pc.printf ("X:   %f \r\n",u);
   //      pc.printf ("Y:    %f  \r\n",w);
-  
 
-
+ 
   
         if (u>0.740) {
 
            motor1->run(StepperMotor::FWD);
            speed1 = motor1->get_speed();
            
-            printf("speed1 =%d \r\n\n", speed1);
-            printf("U =%f \r\n\n", u);
+            //printf("speed1 =%d \r\n\n", speed1);
+            //printf("U =%f \r\n\n", u);
 
            }
             else{ if(u<0.65) {
@@ -174,17 +191,17 @@
                 motor1->run(StepperMotor::BWD);
                 speed1 = motor1->get_speed();
                 
-                printf("speed1 =%d \r\n\n", speed1);
+                //printf("speed1 =%d \r\n\n", speed1);
                 
-                printf("U =%f \r\n\n", u);
+               // printf("U =%f \r\n\n", u);
 
                 }
                else 
                motor1->hard_stop();
                 speed1 = 0;
-                printf("speed1 =%d \r\n\n", speed1);
+                //printf("speed1 =%d \r\n\n", speed1);
                
-                printf("U =%f \r\n\n", u);
+               // printf("U =%f \r\n\n", u);
 
                }
         
@@ -193,8 +210,8 @@
             motor2->run(StepperMotor::BWD);
            speed2 = motor2->get_speed();
            
-            printf("speed2 =%d \r\n\n", speed2);
-            printf("W =%f \r\n\n", w);
+            //printf("speed2 =%d \r\n\n", speed2);
+            //printf("W =%f \r\n\n", w);
 
            }
             else{ if(w<0.67) {
@@ -203,16 +220,18 @@
                 motor2->run(StepperMotor::FWD);
                 speed2 = motor2->get_speed();
                 
-                printf("speed2 =%d \r\n\n", speed2);
-                printf("W =%f \r\n\n", w);
+              //  printf("speed2 =%d \r\n\n", speed2);
+               // printf("W =%f \r\n\n", w);
  
                }
                 else
                 motor2->hard_stop();
                 speed2 = 0;
-                printf("speed2 =%d \r\n\n", speed2);
-                printf("W =%f \r\n\n", w);
+               // printf("speed2 =%d \r\n\n", speed2);
+                //printf("W =%f \r\n\n", w);
 
                }
+
+               
     }
 }
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