motore cofano
Dependencies: mbed X-NUCLEO-IHM05A1
Exercise_IHM05A1.cpp
- Committer:
- francesco01
- Date:
- 2018-11-17
- Revision:
- 10:2622d1ab5984
- Parent:
- 9:900e18a2310b
- Child:
- 11:196c4677e0ca
File content as of revision 10:2622d1ab5984:
/** ****************************************************************************** * @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" DigitalIn myButton(USER_BUTTON); DigitalIn Input (PC_0); /* 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 Serial pc(SERIAL_TX, SERIAL_RX); /* 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 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 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) { pc.printf(" WARNING: \"FLAG\" interrupt triggered:\r\n"); motor->disable(); pc.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. */ pc.printf("Error %d detected\r\n\n", error); /* Infinite loop */ while (true) { } } /* Main ----------------------------------------------------------------------*/ int main() { // configura velocità della comunicazione seriale su USB-VirtualCom e invia messaggio di benvenuto pc.baud(921600); //921600 bps //pc.baud(9600); //256000 bps pc.printf("*** Test Motor ***\n\r"); /* Printing to the console. */ pc.printf("STARTING MAIN PROGRAM\r\n"); pc.printf(" Reminder:\r\n"); pc.printf(" The position unit is in agreement to the step mode.\r\n"); pc.printf(" The speed, acceleration or deceleration unit depend on the step mode:\r\n"); pc.printf(" - For normal mode and half step mode, the unit is steps/s or /s^2.\r\n"); pc.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. */ pc.printf("Motor Control Application Example for 1 Motor\r\n"); //----- run the motor BACKWARD pc.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 */ 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 1 second */ wait_ms(1000); //----- Soft stop required while running pc.printf("--> Soft stop requested.\r\n"); motor->soft_stop(); //----- 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()); /* 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 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 */ 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()); //----- move of 200 steps in the FW direction pc.printf("--> Moving forward 200 steps.\r\n"); motor->move(StepperMotor::FWD, 200); int i,a=0; while (true) { 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(); } } } /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/