motore cofano
Dependencies: mbed X-NUCLEO-IHM05A1
Diff: Exercise_IHM05A1.cpp
- Revision:
- 10:2622d1ab5984
- Parent:
- 9:900e18a2310b
- Child:
- 11:196c4677e0ca
--- a/Exercise_IHM05A1.cpp Thu Nov 08 12:20:59 2018 +0000 +++ b/Exercise_IHM05A1.cpp Sat Nov 17 14:19:06 2018 +0000 @@ -44,8 +44,8 @@ /* Component specific header files. */ #include "L6208.h" - - + DigitalIn myButton(USER_BUTTON); + DigitalIn Input (PC_0); /* Definitions ---------------------------------------------------------------*/ #ifdef TARGET_NUCLEO_F334R8 @@ -66,8 +66,9 @@ /* 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) + 20, //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 @@ -167,32 +168,13 @@ /* 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 */ - pc.printf(" Reached Speed: %d microstep/s.\r\n", motor->get_speed()); - wait_ms(50); - } - pc.printf(" Reached Speed: %d microstep/s.\r\n", motor->get_speed()); - /* Wait for 5 seconds */ - wait_ms(5000); //----- Soft stop required while running pc.printf("--> Soft stop requested.\r\n"); - motor->soft_stop(); + 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); pc.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()); @@ -213,110 +195,37 @@ //----- move of 200 steps in the FW direction pc.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 */ - pc.printf(" Position: %d.\r\n", motor->get_position()); - - /* Disable the power bridges */ - motor->disable(); +int i,a=0; - /* Check that the power bridges are actually disabled */ - if (motor->check_status_hw()!=0) { - pc.printf(" Motor driver disabled.\r\n"); - } else { - pc.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); - pc.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()); + while (true) { - /* Get current position of device and print to the console */ - pc.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 */ - pc.printf(" Motor Max Speed: %d step/s.\r\n", motor->get_max_speed()); - pc.printf(" Motor Min Speed: %d step/s.\r\n", motor->get_min_speed()); - pc.printf(" Motor Acceleration: %d step/s.\r\n", motor->get_acceleration()); - pc.printf(" Motor Deceleration: %d step/s.\r\n", motor->get_deceleration()); + if ( Input == 0 ) + { + a=a+1; + } + if(a>1) + { + a=0; + + } + + if(a==0) + { + /* Request device to go position -3200 */ + motor->go_to(150); + /* Waiting while the motor is active. */ + motor->wait_while_active(); + } + else + { + /* Request device to go position -3200 */ + motor->go_to(-150); + /* Waiting while the motor is active. */ + motor->wait_while_active(); - /* 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 */ - pc.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); - pc.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 */ - pc.printf(" Position: %d.\r\n", motor->get_position()); - -//----- Change decay mode - motor->set_decay_mode(SLOW_DECAY); - pc.printf(" Motor decay mode: %d (0:slow decay, 1:fast decay).\r\n", motor->get_decay_mode()); - -//----- Go to position -6400 - pc.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 */ - pc.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); - pc.printf(" Motor decay mode: %d (0:slow decay, 1:fast decay).\r\n", motor->get_decay_mode()); - -//----- Go Home - pc.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. */ - pc.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****/