Prova con controller motore
Dependencies: X-NUCLEO-IHM05A1 mbed
Fork of HelloWorld_IHM05A1 by
Diff: main.cpp
- Revision:
- 9:900e18a2310b
- Parent:
- 8:baedd289a8cc
--- a/main.cpp Fri Jul 28 13:07:13 2017 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,313 +0,0 @@ -/** - ****************************************************************************** - * @file main.cpp - * @author IPC Rennes - * @version V1.0.0 - * @date April 13th, 2016 - * @brief mbed simple application for the STMicroelectronics X-NUCLEO-IHM05A1 - * Motor Control Expansion Board: control of 1 motor. - ****************************************************************************** - * @attention - * - * <h2><center>© COPYRIGHT(c) 2016 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" - -/* Component specific header files. */ -#include "L6208.h" - - -/* Definitions ---------------------------------------------------------------*/ -#ifdef TARGET_NUCLEO_F334R8 -#define VREFA_PWM_PIN D11 -#define VREFB_PWM_PIN D9 -#elif TARGET_NUCLEO_F302R8 -#define VREFA_PWM_PIN D11 -#define VREFB_PWM_PIN D15 /* HW mandatory patch: bridge manually D9 with D15 */ -#else -#define VREFA_PWM_PIN D3 -#define VREFB_PWM_PIN D9 -#endif - -/* Variables -----------------------------------------------------------------*/ - -/* Initialization parameters of the motor connected to the expansion board. */ -l6208_init_t init = -{ - 1500, //Acceleration rate in step/s^2 or (1/16)th step/s^2 for microstep modes - 40, //Acceleration current torque in % (from 0 to 100) - 1500, //Deceleration rate in step/s^2 or (1/16)th step/s^2 for microstep modes - 30, //Deceleration current torque in % (from 0 to 100) - 1500, //Running speed in step/s or (1/16)th step/s for microstep modes - 50, //Running current torque in % (from 0 to 100) - 20, //Holding current torque in % (from 0 to 100) - STEP_MODE_1_16, //Step mode via enum motorStepMode_t - FAST_DECAY, //Decay mode via enum motorDecayMode_t - 0, //Dwelling time in ms - FALSE, //Automatic HIZ STOP - 100000 //VREFA and VREFB PWM frequency (Hz) -}; - -/* Motor Control Component. */ -L6208 *motor; - -/* Functions -----------------------------------------------------------------*/ - -/** - * @brief This is an example of user handler for the flag interrupt. - * @param None - * @retval None - * @note If needed, implement it, and then attach and enable it: - * + motor->attach_flag_irq(&my_flag_irq_handler); - * + motor->enable_flag_irq(); - * To disable it: - * + motor->DisbleFlagIRQ(); - */ -void my_flag_irq_handler(void) -{ - printf(" WARNING: \"FLAG\" interrupt triggered:\r\n"); - motor->disable(); - printf(" Motor disabled.\r\n\n"); -} - -/** - * @brief This is an example of error handler. - * @param[in] error Number of the error - * @retval None - * @note If needed, implement it, and then attach it: - * + motor->attach_error_handler(&my_error_handler); - */ -void my_error_handler(uint16_t error) -{ - /* Printing to the console. */ - printf("Error %d detected\r\n\n", error); - - /* Infinite loop */ - while (true) { - } -} - -/* Main ----------------------------------------------------------------------*/ - -int main() -{ - /* Printing to the console. */ - printf("STARTING MAIN PROGRAM\r\n"); - printf(" Reminder:\r\n"); - printf(" The position unit is in agreement to the step mode.\r\n"); - printf(" The speed, acceleration or deceleration unit depend on the step mode:\r\n"); - printf(" - For normal mode and half step mode, the unit is steps/s or /s^2.\r\n"); - printf(" - For microstep modes, the unit is (1/16)steps/s or /s^2.\r\n"); - -//----- Initialization - /* Initializing Motor Control Component. */ - motor = new L6208(D2, D8, D7, D4, D5, D6, VREFA_PWM_PIN, VREFB_PWM_PIN); - if (motor->init(&init) != COMPONENT_OK) { - exit(EXIT_FAILURE); - } - - /* Attaching and enabling an interrupt handler. */ - motor->attach_flag_irq(&my_flag_irq_handler); - motor->enable_flag_irq(); - - /* Attaching an error handler */ - motor->attach_error_handler(&my_error_handler); - - /* Printing to the console. */ - printf("Motor Control Application Example for 1 Motor\r\n"); - -//----- run the motor BACKWARD - printf("--> Running the motor backward.\r\n"); - motor->run(StepperMotor::BWD); - - while (motor->get_status()!=STEADY) { - /* Print reached speed to the console in step/s or microsteps/s */ - printf(" Reached Speed: %d microstep/s.\r\n", motor->get_speed()); - wait_ms(50); - } - printf(" Reached Speed: %d microstep/s.\r\n", motor->get_speed()); - - /* Wait for 1 second */ - wait_ms(1000); - -//----- Decrease speed while running to one quarter of the previous speed - motor->set_max_speed(motor->get_speed()>>2); - - /* Wait until the motor starts decelerating */ - while (motor->get_status()==STEADY); - /* Wait and print speed while the motor is not steady running */ - while (motor->get_status()!=STEADY) { - /* Print reached speed to the console in step/s or microsteps/s */ - printf(" Reached Speed: %d microstep/s.\r\n", motor->get_speed()); - wait_ms(50); - } - printf(" Reached Speed: %d microstep/s.\r\n", motor->get_speed()); - - /* Wait for 5 seconds */ - wait_ms(5000); - -//----- Soft stop required while running - printf("--> Soft stop requested.\r\n"); - motor->soft_stop(); - - /* Wait for the motor of device ends moving */ - motor->wait_while_active(); - - /* Wait for 2 seconds */ - wait_ms(2000); - -//----- Change step mode to full step mode - motor->set_step_mode(StepperMotor::STEP_MODE_FULL); - printf(" Motor step mode: %d (0:FS, 1:1/2, 2:1/4, 3:1/8, 4:1/16).\r\n", motor->get_step_mode()); - - /* Get current position of device and print to the console */ - printf(" Position: %d.\r\n", motor->get_position()); - - /* Set speed, acceleration and deceleration to scale with normal mode */ - motor->set_max_speed(init.maxSpeedSps>>4); - motor->set_acceleration(motor->get_acceleration()>>4); - motor->set_deceleration(motor->get_deceleration()>>4); - /* Print parameters to the console */ - printf(" Motor Max Speed: %d step/s.\r\n", motor->get_max_speed()); - printf(" Motor Min Speed: %d step/s.\r\n", motor->get_min_speed()); - printf(" Motor Acceleration: %d step/s.\r\n", motor->get_acceleration()); - printf(" Motor Deceleration: %d step/s.\r\n", motor->get_deceleration()); - -//----- move of 200 steps in the FW direction - printf("--> Moving forward 200 steps.\r\n"); - motor->move(StepperMotor::FWD, 200); - - /* Waiting while the motor is active. */ - motor->wait_while_active(); - - /* Get current position of device and print to the console */ - printf(" Position: %d.\r\n", motor->get_position()); - - /* Disable the power bridges */ - motor->disable(); - - /* Check that the power bridges are actually disabled */ - if (motor->check_status_hw()!=0) { - printf(" Motor driver disabled.\r\n"); - } else { - printf(" Failed to disable the motor driver.\r\n"); - } - - /* Wait for 2 seconds */ - wait_ms(2000); - - //----- Change step mode to 1/4 microstepping mode - motor->set_step_mode(StepperMotor::STEP_MODE_1_4); - printf(" Motor step mode: %d (0:FS, 1:1/2, 2:1/4, 3:1/8, 4:1/16).\r\n", motor->get_step_mode()); - - /* Get current position of device and print to the console */ - printf(" Position: %d.\r\n", motor->get_position()); - - /* Set speed, acceleration and deceleration to scale with microstep mode */ - motor->set_max_speed(motor->get_max_speed()<<4); - motor->set_acceleration(motor->get_acceleration()<<4); - motor->set_deceleration(motor->get_deceleration()<<4); - /* Print parameters to the console */ - printf(" Motor Max Speed: %d step/s.\r\n", motor->get_max_speed()); - printf(" Motor Min Speed: %d step/s.\r\n", motor->get_min_speed()); - printf(" Motor Acceleration: %d step/s.\r\n", motor->get_acceleration()); - printf(" Motor Deceleration: %d step/s.\r\n", motor->get_deceleration()); - - /* Request to go position 800 (quarter steps) */ - motor->go_to(800); - - /* Wait for the motor ends moving */ - motor->wait_while_active(); - - /* Get current position of device and print to the console */ - printf(" Position: %d.\r\n", motor->get_position()); - - /* Wait for 2 seconds */ - wait_ms(2000); - -//----- Restore step mode to its initialization value - motor->set_step_mode((StepperMotor::step_mode_t)init.stepMode); - printf(" Motor step mode: %d (0:FS, 1:1/2, 2:1/4, 3:1/8, 4:1/16).\r\n", motor->get_step_mode()); - - /* Get current position of device and print to the console */ - printf(" Position: %d.\r\n", motor->get_position()); - -//----- Change decay mode - motor->set_decay_mode(SLOW_DECAY); - printf(" Motor decay mode: %d (0:slow decay, 1:fast decay).\r\n", motor->get_decay_mode()); - -//----- Go to position -6400 - printf("--> Go to position -6400 steps.\r\n"); - motor->go_to(-6400); - - /* Wait for the motor ends moving */ - motor->wait_while_active(); - - /* Get current position of device and print to the console */ - printf(" Position: %d.\r\n", motor->get_position()); - - /* Wait for 2 seconds */ - wait_ms(2000); - -//----- Restore decay mode to its initialization value - motor->set_decay_mode(init.decayMode); - printf(" Motor decay mode: %d (0:slow decay, 1:fast decay).\r\n", motor->get_decay_mode()); - -//----- Go Home - printf("--> Go to home position.\r\n"); - motor->go_home(); - - /* Wait for the motor ends moving */ - motor->wait_while_active(); - - /* Wait for 1 second */ - wait_ms(1000); - - /* Infinite Loop. */ - printf("--> Infinite Loop...\r\n"); - //while (true) { - int i; - for (i = 0; i < 2; i++) { - /* Request device to go position -3200 */ - motor->go_to(-3200); - - /* Waiting while the motor is active. */ - motor->wait_while_active(); - - /* Request device to go position 3200 */ - motor->go_to(3200); - - /* Waiting while the motor is active. */ - motor->wait_while_active(); - } -} - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/