Duckiebot
Scheda motori funzionante (demostep)
Dependencies: X_NUCLEO_IHM12A1 mbed
Fork of
SchedamotoriIHM12A1
by 
Duckiebot
Diff: main.cpp
- Revision:
- 5:21a4085d2057
- Parent:
- 2:1e4061cedf1d
- Child:
- 6:b5d006c1eb59
diff -r d6077c2bfddd -r 21a4085d2057 main.cpp
--- a/main.cpp Wed Nov 23 09:19:34 2016 +0000
+++ b/main.cpp Wed Feb 15 11:09:44 2017 +0000
@@ -1,51 +1,6 @@
-/**
- ******************************************************************************
- * @file main.cpp
- * @author IPC Rennes
- * @version V1.0.0
- * @date April 25th, 2016
- * @brief mbed simple application for the STMicroelectronics X-NUCLEO-IHM12A1
- * Motor Control Expansion Board: control of 2 Brush DC motors.
- ******************************************************************************
- * @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 "stspin240_250_class.h"
-/* Variables -----------------------------------------------------------------*/
-
/* Initialization parameters of the motor connected to the expansion board. */
Stspin240_250_Init_t initDeviceParameters =
{
@@ -59,68 +14,10 @@
/* Motor Control Component. */
STSPIN240_250 *motor;
-/* Functions -----------------------------------------------------------------*/
-
-/**
- * @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->AttachErrorHandler(&myErrorHandler);
- */
-void myErrorHandler(uint16_t error)
-{
- /* Printing to the console. */
- printf("Error %d detected\r\n\n", error);
-
- /* Infinite loop */
- while(1)
- {
- }
-}
-
-/**
- * @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->AttachFlagIRQ(&myFlagIRQHandler);
- * + motor->EnableFlagIRQ();
- * To disable it:
- * + motor->DisbleFlagIRQ();
- */
-void myFlagIRQHandler(void)
-{
- /* Code to be customised */
- /************************/
-
- printf(" WARNING: \"FLAG\" interrupt triggered.\r\n");
-
- /* Get the state of bridge A */
- uint16_t bridgeState = motor->GetBridgeStatus(0);
-
- if (bridgeState == 0)
- {
- if (motor->GetDeviceState(0) != INACTIVE)
- {
- /* Bridges were disabled due to overcurrent or over temperature */
- /* When motor was running */
- myErrorHandler(0XBAD0);
- }
- }
-}
-
-/* Main ----------------------------------------------------------------------*/
-
int main()
{
uint8_t demoStep = 0;
-
- /* Printing to the console. */
- printf("STARTING MAIN PROGRAM\r\n");
-
-//----- Initialization
-
+
/* Initializing Motor Control Component. */
#if (defined TARGET_NUCLEO_F030R8)||(defined TARGET_NUCLEO_F334R8)
motor = new STSPIN240_250(D2, D9, D6, D7, D5, D4, A2);
@@ -134,15 +31,6 @@
/* Set dual bridge enabled as two motors are used*/
motor->SetDualFullBridgeConfig(1);
- /* Attaching and enabling an interrupt handler. */
- motor->AttachFlagIRQ(&myFlagIRQHandler);
- motor->EnableFlagIRQ();
-
- /* Attaching an error handler */
- motor->AttachErrorHandler(&myErrorHandler);
-
- /* Printing to the console. */
- printf("Motor Control Application Example for 2 brush DC motors\r\n");
/* Set PWM Frequency of Ref to 15000 Hz */
motor->SetRefPwmFreq(0, 15000);
@@ -156,106 +44,54 @@
/* Set PWM Frequency of bridge B inputs to 10000 Hz */
motor->SetBridgeInputPwmFreq(1,10000);
- /* Infinite Loop. */
- printf("--> Infinite Loop...\r\n");
while (1)
{
switch (demoStep)
{
case 0:
- printf("STEP 0: Motor(0) FWD Speed=100%% - Motor(1) Inactive\r\n");
/* Set speed of motor 0 to 100 % */
- motor->SetSpeed(0,100);
+ motor->SetSpeed(0,50);
+ motor->SetSpeed(1,50);
/* start motor 0 to run forward*/
/* if chip is in standby mode */
/* it is automatically awakened */
motor->Run(0, BDCMotor::FWD);
- break;
- case 1:
- printf("STEP 1: Motor(0) FWD Speed=75%% - Motor(1) BWD Speed=100%%\r\n");
- /* Set speed of motor 0 to 75 % */
- motor->SetSpeed(0,75);
- /* Set speed of motor 1 to 100 % */
- motor->SetSpeed(1,100);
- /* start motor 1 to run backward */
- motor->Run(1, BDCMotor::BWD);
- break;
- case 2:
- printf("STEP 2: Motor(0) FWD Speed=50%% - Motor(1) BWD Speed=75%%\r\n");
- /* Set speed of motor 0 to 50 % */
- motor->SetSpeed(0,50);
- /* Set speed of motor 1 to 75% */
- motor->SetSpeed(1,75);
- break;
- case 3:
- printf("STEP 3: Motor(0) FWD Speed=25%% - Motor(1) BWD Speed=50%%\r\n");
- /* Set speed of motor 0 to 25 % */
- motor->SetSpeed(0,25);
- /* Set speed of motor 1 to 50% */
- motor->SetSpeed(1,50);
- break;
- case 4:
- printf("STEP 4: Motor(0) Stopped - Motor(1) BWD Speed=25%%\r\n");
- /* Stop Motor 0 */
- motor->HardStop(0);
- /* Set speed of motor 1 to 25% */
- motor->SetSpeed(1,25);
- break;
- case 5:
- printf("STEP 5: Motor(0) BWD Speed=25%% - Motor(1) Stopped\r\n");
- /* Set speed of motor 0 to 25 % */
- motor->SetSpeed(0,25);
- /* start motor 0 to run backward */
- motor->Run(0, BDCMotor::BWD);
- /* Stop Motor 1 */
- motor->HardStop(1);
- break;
- case 6:
- printf("STEP 6: Motor(0) BWD Speed=50%% - Motor(1) FWD Speed=25%%\r\n");
- /* Set speed of motor 0 to 50 % */
- motor->SetSpeed(0,50);
- /* Set speed of motor 1 to 25 % */
- motor->SetSpeed(1,25);
- /* start motor 1 to run backward */
motor->Run(1, BDCMotor::FWD);
break;
- case 7:
- printf("STEP 7: Motor(0) BWD Speed=75%% - Motor(1) FWD Speed=50%%\r\n");
- /* Set speed of motor 0 to 75 % */
- motor->SetSpeed(0,75);
- /* Set speed of motor 1 to 50 % */
- motor->SetSpeed(1,50);
- break;
- case 8:
- printf("STEP 8: Motor(0) BWD Speed=100%% - Motor(1) FWD Speed=75%%\r\n");
- /* Set speed of motor 0 to 100 % */
- motor->SetSpeed(0,100);
- /* Set speed of motor 1 to 75 % */
- motor->SetSpeed(1,75);
- break;
- case 9:
- printf("STEP 9: Motor(0) BWD Speed=100%% - Motor(1) FWD Speed=100%%\r\n");
- /* Set speed of motor 1 to 100 % */
- motor->SetSpeed(1,100);
- break;
- case 10:
- printf("STEP 10\r\n: Stop both motors and disable bridges\r\n");
- /* Stop both motors and disable bridge */
- motor->HardHiZ(0);
- motor->HardHiZ(1);
- break;
- case 11:
- printf("STEP 11: Motor(0) FWD Speed=100%% - Motor(1) FWD Speed=100%%\r\n");
- /* Start both motors to go forward*/
- motor->Run(0,BDCMotor::FWD);
- motor->Run(1,BDCMotor::FWD);
- break;
- case 12:
- default:
- printf("STEP 12: Stop both motors and enter standby mode\r\n");
- /* Stop both motors and put chip in standby mode */
- motor->Reset();
- break;
+ case 1:
+ /* Set speed of motor 0 to 100 % */
+ motor->SetSpeed(0,50);
+ motor->SetSpeed(1,50);
+ /* start motor 0 to run forward*/
+ /* if chip is in standby mode */
+ /* it is automatically awakened */
+ motor->Run(0, BDCMotor::BWD);
+ motor->Run(1, BDCMotor::BWD);
+ break;
+ case 2:
+ /* Set speed of motor 0 to 100 % */
+ motor->SetSpeed(0,32);
+ motor->SetSpeed(1,25);
+ /* start motor 0 to run forward*/
+ /* if chip is in standby mode */
+ /* it is automatically awakened */
+ motor->Run(0, BDCMotor::BWD);
+ motor->Run(1, BDCMotor::BWD);
+ break;
+ case 3:
+ /* Set speed of motor 0 to 100 % */
+ motor->SetSpeed(0,25);
+ motor->SetSpeed(1,40);
+ /* start motor 0 to run forward*/
+ /* if chip is in standby mode */
+ /* it is automatically awakened */
+ motor->Run(0, BDCMotor::BWD);
+ motor->Run(1, BDCMotor::BWD);
+ break;
+
+
+
+
}
/* Wait for 5 seconds */
@@ -269,4 +105,4 @@
}
}
}
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
+