Amaldi Robot Ver. 1.0
Dependencies: mbed X-NUCLEO-IHM05A1
Diff: Exercise_IHM05A1.cpp
- Revision:
- 12:00ce5d30b82c
- Parent:
- 11:a7e099ee909e
--- a/Exercise_IHM05A1.cpp Wed Nov 21 15:52:33 2018 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,222 +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" - - 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); - - - - -//----- 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(myButton==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****/