Revision 10:2622d1ab5984, committed 2018-11-17

Comitter:

francesco01

Date:

Sat Nov 17 14:19:06 2018 +0000

Parent:

9:900e18a2310b

Child:

11:a7e099ee909e

Commit message:

final robot motor

Changed in this revision

--- 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****/