Diff: main.cpp

Revision:

3:eb9bd4131e95

Parent:

2:73d24891eef6

Child:

4:48717b42eab2

--- a/main.cpp	Wed Apr 25 11:42:40 2018 +0000
+++ b/main.cpp	Thu Apr 26 17:16:54 2018 +0000
@@ -1,268 +1,15 @@
-/* Includes ------------------------------------------------------------------*/
-
-/* mbed specific header files. */
 #include "mbed.h"
-#include "rtos.h"
-
-/*OI LUKS
-
-/* Helper header files. */
-#include "DevSPI.h"
-
-/* Component specific header files. */
-#include "L6474.h"
-
-
-/* Definitions ---------------------------------------------------------------*/
-
-/* Number of steps. */
-#define STEPS_1 (400 * 8)   /* 1 revolution given a 400 steps motor configured at 1/8 microstep mode. */
-
-/* Delay in milliseconds. */
-#define DELAY_1 1000
-#define DELAY_2 2000
-#define DELAY_3 2000
-#define DELAY_4 2000
-
-/* Speed in pps (Pulses Per Second).
-   In Full Step mode: 1 pps = 1 step/s).
-   In 1/N Step Mode:  N pps = 1 step/s). */
-#define SPEED_1 2400
-#define SPEED_2 1200
-
-AnalogIn joyx(A5);
-AnalogIn joyy(A4);
-
-DigitalIn bup(D12);
-DigitalIn bdown(D13);
-
-/* Variables -----------------------------------------------------------------*/
 
-/* Initialization parameters. */
-L6474_init_t init = {
-    300,                              /* Acceleration rate in pps^2. Range: (0..+inf). */
-    300,                              /* Deceleration rate in pps^2. Range: (0..+inf). */
-    2400,                             /* Maximum speed in pps. Range: (30..10000]. */
-    30,                              /* Minimum speed in pps. Range: [30..10000). */
-    250,                              /* Torque regulation current in mA. Range: 31.25mA to 4000mA. */
-    L6474_OCD_TH_2250mA,               /* Overcurrent threshold (OCD_TH register). */
-    L6474_CONFIG_OC_SD_ENABLE,        /* Overcurrent shutwdown (OC_SD field of CONFIG register). */
-    L6474_CONFIG_EN_TQREG_TVAL_USED,  /* Torque regulation method (EN_TQREG field of CONFIG register). */
-    L6474_STEP_SEL_1_8,               /* Step selection (STEP_SEL field of STEP_MODE register). */
-    L6474_SYNC_SEL_1_2,               /* Sync selection (SYNC_SEL field of STEP_MODE register). */
-    L6474_FAST_STEP_12us,             /* Fall time value (T_FAST field of T_FAST register). Range: 2us to 32us. */
-    L6474_TOFF_FAST_8us,              /* Maximum fast decay time (T_OFF field of T_FAST register). Range: 2us to 32us. */
-    3,                                /* Minimum ON time in us (TON_MIN register). Range: 0.5us to 64us. */
-    21,                               /* Minimum OFF time in us (TOFF_MIN register). Range: 0.5us to 64us. */
-    L6474_CONFIG_TOFF_044us,          /* Target Swicthing Period (field TOFF of CONFIG register). */
-    L6474_CONFIG_SR_320V_us,          /* Slew rate (POW_SR field of CONFIG register). */
-    L6474_CONFIG_INT_16MHZ,           /* Clock setting (OSC_CLK_SEL field of CONFIG register). */
-    L6474_ALARM_EN_OVERCURRENT |
-    L6474_ALARM_EN_THERMAL_SHUTDOWN |
-    L6474_ALARM_EN_THERMAL_WARNING |
-    L6474_ALARM_EN_UNDERVOLTAGE |
-    L6474_ALARM_EN_SW_TURN_ON |
-    L6474_ALARM_EN_WRONG_NPERF_CMD    /* Alarm (ALARM_EN register). */
-};
-
-float value_x = 0;
-float value_y = 0;
-
-int value_bup = 0;
-int value_bdown = 0;
-
-unsigned int z_speed = 2000;
-
-int read = 0;
-int previous = 0;
-int speed_read;
-
-unsigned int maxSpeed = 2000;
-unsigned int minSpeed = 30;
-
-unsigned int speedFWDX = 0;
-unsigned int speedBWDX = 0;
-
-unsigned int speedFWDY = 0;
-unsigned int speedBWDY = 0;
-
-/* Motor Control Component. */
-L6474 *motor;
-L6474 *motor2;
-L6474 *motor3;
-
-
-/* Functions -----------------------------------------------------------------*/
-void flag_irq_handler(void)
-{
-    /* Set ISR flag. */
-    motor->isr_flag = TRUE;
-
-    /* Get the value of the status register. */
-    unsigned int status = motor->get_status();
-
-    /* Check NOTPERF_CMD flag: if set, the command received by SPI can't be performed. */
-    /* This often occures when a command is sent to the L6474 while it is not in HiZ state. */
-    if ((status & L6474_STATUS_NOTPERF_CMD) == L6474_STATUS_NOTPERF_CMD) {
-        printf("    WARNING: \"FLAG\" interrupt triggered. Non-performable command detected when updating L6474's registers while not in HiZ state.\r\n");
-    }
-    
-    /* Reset ISR flag. */
-    motor->isr_flag = FALSE;
-}
-
-/* Main ----------------------------------------------------------------------*/
-
-float upper = 0.5;
-float lower = 0.42;
+DigitalOut step(D7);
+DigitalOut dir(D8);
 
 int main(){
-    /*----- Initialization. -----*/
-
-    /* Initializing SPI bus. */
-    DevSPI dev_spi(D11, D12, D13);
-
-    // MOTOR 1 INIT ------------------------------------------------------------
-    motor = new L6474(D2, D8, D7, D9, D10, dev_spi);
-    
-    if (motor->init(&init) != COMPONENT_OK) {
-        exit(EXIT_FAILURE);
-        printf("Motor Error");
-    } 
-    else {
-        printf("Motor 1 started");
-    }
-    
-    /* Attaching and enabling interrupt handlers. */
-    motor->attach_flag_irq(&flag_irq_handler);
-    motor->enable_flag_irq(); 
-
-    /* Printing to the console. */
-    printf("--> Setting Torque Regulation Current to 500[mA].\r\n");
-
-    /* Increasing the torque regulation current to 500[mA]. */
-    motor->set_parameter(L6474_TVAL, 500);
-
-    /* Doubling the microsteps. */
-    if (!motor->set_step_mode((StepperMotor::step_mode_t) STEP_MODE_FULL)) {
-        printf("Motor 1 Step Mode not allowed.\r\n");
-    }
-    
-    // MOTOR 2 INIT ------------------------------------------------------------
-    motor2 = new L6474(D2, D8, D4, D3, D10, dev_spi);
-    
-    if (motor2->init(&init) != COMPONENT_OK) {
-        exit(EXIT_FAILURE);
-        printf("Motor 2 Error");
-    } else {
-        printf("Motor 2 started");
-    }
-    
-    /* Attaching and enabling interrupt handlers. */
-    motor2->attach_flag_irq(&flag_irq_handler);
-    motor2->enable_flag_irq();
-
-    /* Printing to the console. */
-    printf("--> Setting Torque Regulation Current to 500[mA].\r\n");
-
-    /* Increasing the torque regulation current to 500[mA]. */
-    motor2->set_parameter(L6474_TVAL, 500);
-
-    /* Doubling the microsteps. */
-    if (!motor2->set_step_mode((StepperMotor::step_mode_t) STEP_MODE_FULL)) {
-        printf(" Motor 2 Step Mode not allowed.\r\n");
-    }
-    
-    // MOTOR 1 INIT ------------------------------------------------------------
-    motor3 = new L6474(D2, D8, D5, D6, D10, dev_spi);
-    
-    if (motor3->init(&init) != COMPONENT_OK) {
-        exit(EXIT_FAILURE);
-        printf("Motor 3 Error");
-    } 
-    else {
-        printf("Motor 3 started");
-    }
+    dir = 1;
     
-    /* Attaching and enabling interrupt handlers. */
-    motor3->attach_flag_irq(&flag_irq_handler);
-    motor3->enable_flag_irq(); 
-
-    /* Printing to the console. */
-    printf("--> Setting Torque Regulation Current to 500[mA].\r\n");
-
-    /* Increasing the torque regulation current to 500[mA]. */
-    motor3->set_parameter(L6474_TVAL, 500);
-
-    /* Doubling the microsteps. */
-    if (!motor3->set_step_mode((StepperMotor::step_mode_t) STEP_MODE_FULL)) {
-        printf("Motor 3 Step Mode not allowed.\r\n");
-    }
-    
-    //------------------------------------------------------------------------------------------------------------------------
-
-    while(1){        
-        value_x = joyx;
-        value_y = joyy;
-        
-        wait(0.05);
-        
-        value_bup = !bup;
-        value_bdown = !bdown;
-        
-        //motor1
-        
-        if(value_x < upper && value_x > lower){
-            motor->hard_stop();    
-        }
-        else if(value_x > upper){
-            speedFWDX = (int)((float)maxSpeed-(float)minSpeed)*(value_x-upper)/((float)1-upper)+(float)minSpeed;
-            motor->set_min_speed(speedFWDX);
-            motor->run(StepperMotor::FWD);
-            printf("upper X %d\r\n",motor->get_speed());
-        }
-        else if(value_x < lower){
-            speedBWDX = (int)((float)maxSpeed - ((float)maxSpeed-(float)minSpeed)*value_x/lower);
-            motor->set_min_speed(speedBWDX);
-            motor->run(StepperMotor::BWD);
-            printf("lower X %d\r\n", motor->get_speed());
-        }
-                    
-        //motor2
-        
-        if(value_y < upper && value_y > lower){
-            motor2->hard_stop();    
-        }
-        else if(value_y > upper){
-            speedFWDY = (int)((float)maxSpeed-(float)minSpeed)*(value_y-upper)/((float)1-upper)+(float)minSpeed;
-            motor2->set_min_speed(speedFWDY);
-            motor2->run(StepperMotor::FWD);
-            printf("upper Y %d\r\n",motor2->get_speed());
-        }
-        else if(value_y < lower){
-            speedBWDY = (int)((float)maxSpeed - ((float)maxSpeed-(float)minSpeed)*value_y/lower);
-            motor2->set_min_speed(speedBWDY);
-            motor2->run(StepperMotor::BWD);
-            printf("lower Y %d\r\n", motor2->get_speed());
-        }
-        
-        //motor 3
-        if(value_bup && value_bdown){
-            motor3->hard_stop();
-        }
-        else if(!value_bup && !value_bdown){
-            motor3->hard_stop();
-        }        
-        else if(value_bup && !value_bdown){
-            motor3->set_min_speed(z_speed);
-            motor3->run(StepperMotor::FWD);
-            printf("upper Z %d\r\n",motor3->get_speed());
-        }
-        else if(value_bdown && !value_bup){
-            motor3->set_min_speed(z_speed);
-            motor3->run(StepperMotor::BWD);
-            printf("lower Z %d\r\n", motor3->get_speed());
-        }
-                    
-    }
-}
+    while(1){
+        step = 1;
+        wait(1);
+        step = 0;
+        wait(1);   
+    }   
+}
\ No newline at end of file