Duckiebot / Mbed 2 deprecated SchedamotoriIHM12A1

Scheda Motori

Dependencies:   X_NUCLEO_IHM12A1 mbed

Fork of HelloWorld_IHM12A1 by ST

main.cpp@5:21a4085d2057, 2017-02-15 (annotated)

Committer:
DonatoSt
Date:
Wed Feb 15 11:09:44 2017 +0000
Revision:
5:21a4085d2057
Parent:
2:1e4061cedf1d 
Scheda motori

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Manu_L 0:773e2a2be16f 1 #include "mbed.h"
Manu_L 0:773e2a2be16f 2 #include "stspin240_250_class.h"
Manu_L 0:773e2a2be16f 3
Manu_L 0:773e2a2be16f 4 /* Initialization parameters of the motor connected to the expansion board. */
Manu_L 0:773e2a2be16f 5 Stspin240_250_Init_t initDeviceParameters =
Manu_L 0:773e2a2be16f 6 {
Manu_L 0:773e2a2be16f 7 20000, /* Frequency of PWM of Input Bridge A in Hz up to 100000Hz */
Manu_L 0:773e2a2be16f 8 20000, /* Frequency of PWM of Input Bridge B in Hz up to 100000Hz */
Manu_L 0:773e2a2be16f 9 20000, /* Frequency of PWM used for Ref pin in Hz up to 100000Hz */
Manu_L 0:773e2a2be16f 10 50, /* Duty cycle of PWM used for Ref pin (from 0 to 100) */
Manu_L 0:773e2a2be16f 11 TRUE /* Dual Bridge configuration (FALSE for mono, TRUE for dual brush dc) */
Manu_L 0:773e2a2be16f 12 };
Manu_L 0:773e2a2be16f 13
Manu_L 0:773e2a2be16f 14 /* Motor Control Component. */
Manu_L 0:773e2a2be16f 15 STSPIN240_250 *motor;
Manu_L 0:773e2a2be16f 16
Manu_L 0:773e2a2be16f 17 int main()
Manu_L 0:773e2a2be16f 18 {
Manu_L 0:773e2a2be16f 19 uint8_t demoStep = 0;
DonatoSt 5:21a4085d2057 20
Manu_L 0:773e2a2be16f 21 /* Initializing Motor Control Component. */
Manu_L 0:773e2a2be16f 22 #if (defined TARGET_NUCLEO_F030R8)||(defined TARGET_NUCLEO_F334R8)
Manu_L 0:773e2a2be16f 23 motor = new STSPIN240_250(D2, D9, D6, D7, D5, D4, A2);
Manu_L 0:773e2a2be16f 24 #elif (defined TARGET_NUCLEO_L152RE)
Manu_L 0:773e2a2be16f 25 motor = new STSPIN240_250(D2, D9, D6, D7, D5, D4, A3);
Manu_L 0:773e2a2be16f 26 #else
Manu_L 0:773e2a2be16f 27 motor = new STSPIN240_250(D2, D9, D6, D7, D5, D4, A0);
Manu_L 0:773e2a2be16f 28 #endif
Manu_L 0:773e2a2be16f 29 if (motor->Init(&initDeviceParameters) != COMPONENT_OK) exit(EXIT_FAILURE);
Manu_L 0:773e2a2be16f 30
Manu_L 0:773e2a2be16f 31 /* Set dual bridge enabled as two motors are used*/
Manu_L 2:1e4061cedf1d 32 motor->SetDualFullBridgeConfig(1);
Manu_L 0:773e2a2be16f 33
Manu_L 0:773e2a2be16f 34
Manu_L 0:773e2a2be16f 35 /* Set PWM Frequency of Ref to 15000 Hz */
Manu_L 0:773e2a2be16f 36 motor->SetRefPwmFreq(0, 15000);
Manu_L 0:773e2a2be16f 37
Manu_L 0:773e2a2be16f 38 /* Set PWM duty cycle of Ref to 60% */
Manu_L 0:773e2a2be16f 39 motor->SetRefPwmDc(0, 60);
Manu_L 0:773e2a2be16f 40
Manu_L 0:773e2a2be16f 41 /* Set PWM Frequency of bridge A inputs to 10000 Hz */
Manu_L 0:773e2a2be16f 42 motor->SetBridgeInputPwmFreq(0,10000);
Manu_L 0:773e2a2be16f 43
Manu_L 0:773e2a2be16f 44 /* Set PWM Frequency of bridge B inputs to 10000 Hz */
Manu_L 0:773e2a2be16f 45 motor->SetBridgeInputPwmFreq(1,10000);
Manu_L 0:773e2a2be16f 46
Manu_L 0:773e2a2be16f 47 while (1)
Manu_L 0:773e2a2be16f 48 {
Manu_L 0:773e2a2be16f 49 switch (demoStep)
Manu_L 0:773e2a2be16f 50 {
Manu_L 0:773e2a2be16f 51 case 0:
Manu_L 0:773e2a2be16f 52 /* Set speed of motor 0 to 100 % */
DonatoSt 5:21a4085d2057 53 motor->SetSpeed(0,50);
DonatoSt 5:21a4085d2057 54 motor->SetSpeed(1,50);
Manu_L 0:773e2a2be16f 55 /* start motor 0 to run forward*/
Manu_L 0:773e2a2be16f 56 /* if chip is in standby mode */
Manu_L 0:773e2a2be16f 57 /* it is automatically awakened */
Manu_L 0:773e2a2be16f 58 motor->Run(0, BDCMotor::FWD);
Manu_L 0:773e2a2be16f 59 motor->Run(1, BDCMotor::FWD);
Manu_L 0:773e2a2be16f 60 break;
DonatoSt 5:21a4085d2057 61 case 1:
DonatoSt 5:21a4085d2057 62 /* Set speed of motor 0 to 100 % */
DonatoSt 5:21a4085d2057 63 motor->SetSpeed(0,50);
DonatoSt 5:21a4085d2057 64 motor->SetSpeed(1,50);
DonatoSt 5:21a4085d2057 65 /* start motor 0 to run forward*/
DonatoSt 5:21a4085d2057 66 /* if chip is in standby mode */
DonatoSt 5:21a4085d2057 67 /* it is automatically awakened */
DonatoSt 5:21a4085d2057 68 motor->Run(0, BDCMotor::BWD);
DonatoSt 5:21a4085d2057 69 motor->Run(1, BDCMotor::BWD);
DonatoSt 5:21a4085d2057 70 break;
DonatoSt 5:21a4085d2057 71 case 2:
DonatoSt 5:21a4085d2057 72 /* Set speed of motor 0 to 100 % */
DonatoSt 5:21a4085d2057 73 motor->SetSpeed(0,32);
DonatoSt 5:21a4085d2057 74 motor->SetSpeed(1,25);
DonatoSt 5:21a4085d2057 75 /* start motor 0 to run forward*/
DonatoSt 5:21a4085d2057 76 /* if chip is in standby mode */
DonatoSt 5:21a4085d2057 77 /* it is automatically awakened */
DonatoSt 5:21a4085d2057 78 motor->Run(0, BDCMotor::BWD);
DonatoSt 5:21a4085d2057 79 motor->Run(1, BDCMotor::BWD);
DonatoSt 5:21a4085d2057 80 break;
DonatoSt 5:21a4085d2057 81 case 3:
DonatoSt 5:21a4085d2057 82 /* Set speed of motor 0 to 100 % */
DonatoSt 5:21a4085d2057 83 motor->SetSpeed(0,25);
DonatoSt 5:21a4085d2057 84 motor->SetSpeed(1,40);
DonatoSt 5:21a4085d2057 85 /* start motor 0 to run forward*/
DonatoSt 5:21a4085d2057 86 /* if chip is in standby mode */
DonatoSt 5:21a4085d2057 87 /* it is automatically awakened */
DonatoSt 5:21a4085d2057 88 motor->Run(0, BDCMotor::BWD);
DonatoSt 5:21a4085d2057 89 motor->Run(1, BDCMotor::BWD);
DonatoSt 5:21a4085d2057 90 break;
DonatoSt 5:21a4085d2057 91
DonatoSt 5:21a4085d2057 92
DonatoSt 5:21a4085d2057 93
DonatoSt 5:21a4085d2057 94
Manu_L 0:773e2a2be16f 95 }
Manu_L 0:773e2a2be16f 96
Manu_L 0:773e2a2be16f 97 /* Wait for 5 seconds */
Manu_L 0:773e2a2be16f 98 wait_ms(5000);
Manu_L 0:773e2a2be16f 99
Manu_L 0:773e2a2be16f 100 /* Increment demostep*/
Manu_L 0:773e2a2be16f 101 demoStep++;
Manu_L 0:773e2a2be16f 102 if (demoStep > 12)
Manu_L 0:773e2a2be16f 103 {
Manu_L 0:773e2a2be16f 104 demoStep = 0;
Manu_L 0:773e2a2be16f 105 }
Manu_L 0:773e2a2be16f 106 }
Manu_L 0:773e2a2be16f 107 }
DonatoSt 5:21a4085d2057 108