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teste 1 motor para Bruno
Dependencies: X_NUCLEO_IHM01A1 mbed
Fork of HelloWorld_IHM01A1 by
main.cpp@37:70d96b1ecb98, 2017-03-13 (annotated)
- Committer:
- Davidroid
- Date:
- Mon Mar 13 17:46:46 2017 +0000
- Revision:
- 37:70d96b1ecb98
- Parent:
- 35:2b44ed4ec7a0
Updated with the new version of the library.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Davidroid | 0:e6a49a092e2a | 1 | /** |
Davidroid | 0:e6a49a092e2a | 2 | ****************************************************************************** |
Davidroid | 0:e6a49a092e2a | 3 | * @file main.cpp |
Davidroid | 21:0189493b15ec | 4 | * @author Davide Aliprandi, STMicroelectronics |
Davidroid | 0:e6a49a092e2a | 5 | * @version V1.0.0 |
Davidroid | 0:e6a49a092e2a | 6 | * @date October 14th, 2015 |
Davidroid | 21:0189493b15ec | 7 | * @brief mbed test application for the STMicroelectronics X-NUCLEO-IHM01A1 |
Davidroid | 0:e6a49a092e2a | 8 | * Motor Control Expansion Board: control of 1 motor. |
Davidroid | 0:e6a49a092e2a | 9 | ****************************************************************************** |
Davidroid | 0:e6a49a092e2a | 10 | * @attention |
Davidroid | 0:e6a49a092e2a | 11 | * |
Davidroid | 0:e6a49a092e2a | 12 | * <h2><center>© COPYRIGHT(c) 2015 STMicroelectronics</center></h2> |
Davidroid | 0:e6a49a092e2a | 13 | * |
Davidroid | 0:e6a49a092e2a | 14 | * Redistribution and use in source and binary forms, with or without modification, |
Davidroid | 0:e6a49a092e2a | 15 | * are permitted provided that the following conditions are met: |
Davidroid | 0:e6a49a092e2a | 16 | * 1. Redistributions of source code must retain the above copyright notice, |
Davidroid | 0:e6a49a092e2a | 17 | * this list of conditions and the following disclaimer. |
Davidroid | 0:e6a49a092e2a | 18 | * 2. Redistributions in binary form must reproduce the above copyright notice, |
Davidroid | 0:e6a49a092e2a | 19 | * this list of conditions and the following disclaimer in the documentation |
Davidroid | 0:e6a49a092e2a | 20 | * and/or other materials provided with the distribution. |
Davidroid | 0:e6a49a092e2a | 21 | * 3. Neither the name of STMicroelectronics nor the names of its contributors |
Davidroid | 0:e6a49a092e2a | 22 | * may be used to endorse or promote products derived from this software |
Davidroid | 0:e6a49a092e2a | 23 | * without specific prior written permission. |
Davidroid | 0:e6a49a092e2a | 24 | * |
Davidroid | 0:e6a49a092e2a | 25 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
Davidroid | 0:e6a49a092e2a | 26 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
Davidroid | 0:e6a49a092e2a | 27 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE |
Davidroid | 0:e6a49a092e2a | 28 | * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE |
Davidroid | 0:e6a49a092e2a | 29 | * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL |
Davidroid | 0:e6a49a092e2a | 30 | * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR |
Davidroid | 0:e6a49a092e2a | 31 | * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
Davidroid | 0:e6a49a092e2a | 32 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, |
Davidroid | 0:e6a49a092e2a | 33 | * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
Davidroid | 0:e6a49a092e2a | 34 | * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
Davidroid | 0:e6a49a092e2a | 35 | * |
Davidroid | 0:e6a49a092e2a | 36 | ****************************************************************************** |
Davidroid | 0:e6a49a092e2a | 37 | */ |
Davidroid | 0:e6a49a092e2a | 38 | |
Davidroid | 0:e6a49a092e2a | 39 | |
Davidroid | 0:e6a49a092e2a | 40 | /* Includes ------------------------------------------------------------------*/ |
Davidroid | 0:e6a49a092e2a | 41 | |
Davidroid | 0:e6a49a092e2a | 42 | /* mbed specific header files. */ |
Davidroid | 0:e6a49a092e2a | 43 | #include "mbed.h" |
Davidroid | 0:e6a49a092e2a | 44 | |
Davidroid | 0:e6a49a092e2a | 45 | /* Helper header files. */ |
Davidroid | 0:e6a49a092e2a | 46 | #include "DevSPI.h" |
Davidroid | 0:e6a49a092e2a | 47 | |
Davidroid | 0:e6a49a092e2a | 48 | /* Component specific header files. */ |
davide.aliprandi@st.com | 35:2b44ed4ec7a0 | 49 | #include "L6474.h" |
Davidroid | 0:e6a49a092e2a | 50 | |
Davidroid | 0:e6a49a092e2a | 51 | |
Davidroid | 0:e6a49a092e2a | 52 | /* Definitions ---------------------------------------------------------------*/ |
Davidroid | 0:e6a49a092e2a | 53 | |
Davidroid | 26:b0203c2265e5 | 54 | /* Number of steps. */ |
Davidroid | 26:b0203c2265e5 | 55 | #define STEPS_1 (400 * 8) /* 1 revolution given a 400 steps motor configured at 1/8 microstep mode. */ |
Davidroid | 26:b0203c2265e5 | 56 | |
Davidroid | 26:b0203c2265e5 | 57 | /* Delay in milliseconds. */ |
Davidroid | 26:b0203c2265e5 | 58 | #define DELAY_1 1000 |
Davidroid | 26:b0203c2265e5 | 59 | #define DELAY_2 2000 |
Davidroid | 26:b0203c2265e5 | 60 | #define DELAY_3 6000 |
Davidroid | 26:b0203c2265e5 | 61 | #define DELAY_4 8000 |
Davidroid | 26:b0203c2265e5 | 62 | |
Davidroid | 29:a80a213c3c94 | 63 | /* Speed in pps (Pulses Per Second). |
Davidroid | 29:a80a213c3c94 | 64 | In Full Step mode: 1 pps = 1 step/s). |
Davidroid | 29:a80a213c3c94 | 65 | In 1/N Step Mode: N pps = 1 step/s). */ |
Davidroid | 26:b0203c2265e5 | 66 | #define SPEED_1 2400 |
Davidroid | 26:b0203c2265e5 | 67 | #define SPEED_2 1200 |
Davidroid | 0:e6a49a092e2a | 68 | |
Davidroid | 0:e6a49a092e2a | 69 | |
Davidroid | 0:e6a49a092e2a | 70 | /* Variables -----------------------------------------------------------------*/ |
Davidroid | 0:e6a49a092e2a | 71 | |
Davidroid | 19:1cd7f65c155c | 72 | /* Initialization parameters. */ |
davide.aliprandi@st.com | 35:2b44ed4ec7a0 | 73 | L6474_init_t init = { |
Davidroid | 29:a80a213c3c94 | 74 | 160, /* Acceleration rate in pps^2. Range: (0..+inf). */ |
Davidroid | 29:a80a213c3c94 | 75 | 160, /* Deceleration rate in pps^2. Range: (0..+inf). */ |
Davidroid | 29:a80a213c3c94 | 76 | 1600, /* Maximum speed in pps. Range: (30..10000]. */ |
Davidroid | 29:a80a213c3c94 | 77 | 800, /* Minimum speed in pps. Range: [30..10000). */ |
Davidroid | 19:1cd7f65c155c | 78 | 250, /* Torque regulation current in mA. Range: 31.25mA to 4000mA. */ |
Davidroid | 19:1cd7f65c155c | 79 | L6474_OCD_TH_750mA, /* Overcurrent threshold (OCD_TH register). */ |
Davidroid | 19:1cd7f65c155c | 80 | L6474_CONFIG_OC_SD_ENABLE, /* Overcurrent shutwdown (OC_SD field of CONFIG register). */ |
Davidroid | 19:1cd7f65c155c | 81 | L6474_CONFIG_EN_TQREG_TVAL_USED, /* Torque regulation method (EN_TQREG field of CONFIG register). */ |
Davidroid | 26:b0203c2265e5 | 82 | L6474_STEP_SEL_1_8, /* Step selection (STEP_SEL field of STEP_MODE register). */ |
Davidroid | 19:1cd7f65c155c | 83 | L6474_SYNC_SEL_1_2, /* Sync selection (SYNC_SEL field of STEP_MODE register). */ |
Davidroid | 19:1cd7f65c155c | 84 | L6474_FAST_STEP_12us, /* Fall time value (T_FAST field of T_FAST register). Range: 2us to 32us. */ |
Davidroid | 19:1cd7f65c155c | 85 | L6474_TOFF_FAST_8us, /* Maximum fast decay time (T_OFF field of T_FAST register). Range: 2us to 32us. */ |
Davidroid | 19:1cd7f65c155c | 86 | 3, /* Minimum ON time in us (TON_MIN register). Range: 0.5us to 64us. */ |
Davidroid | 19:1cd7f65c155c | 87 | 21, /* Minimum OFF time in us (TOFF_MIN register). Range: 0.5us to 64us. */ |
Davidroid | 19:1cd7f65c155c | 88 | L6474_CONFIG_TOFF_044us, /* Target Swicthing Period (field TOFF of CONFIG register). */ |
Davidroid | 19:1cd7f65c155c | 89 | L6474_CONFIG_SR_320V_us, /* Slew rate (POW_SR field of CONFIG register). */ |
Davidroid | 19:1cd7f65c155c | 90 | L6474_CONFIG_INT_16MHZ, /* Clock setting (OSC_CLK_SEL field of CONFIG register). */ |
Davidroid | 19:1cd7f65c155c | 91 | L6474_ALARM_EN_OVERCURRENT | |
Davidroid | 19:1cd7f65c155c | 92 | L6474_ALARM_EN_THERMAL_SHUTDOWN | |
Davidroid | 19:1cd7f65c155c | 93 | L6474_ALARM_EN_THERMAL_WARNING | |
Davidroid | 19:1cd7f65c155c | 94 | L6474_ALARM_EN_UNDERVOLTAGE | |
Davidroid | 19:1cd7f65c155c | 95 | L6474_ALARM_EN_SW_TURN_ON | |
Davidroid | 19:1cd7f65c155c | 96 | L6474_ALARM_EN_WRONG_NPERF_CMD /* Alarm (ALARM_EN register). */ |
Davidroid | 19:1cd7f65c155c | 97 | }; |
Davidroid | 19:1cd7f65c155c | 98 | |
Davidroid | 0:e6a49a092e2a | 99 | /* Motor Control Component. */ |
Davidroid | 1:fbf28f3367aa | 100 | L6474 *motor; |
Davidroid | 0:e6a49a092e2a | 101 | |
Davidroid | 0:e6a49a092e2a | 102 | |
Davidroid | 19:1cd7f65c155c | 103 | /* Functions -----------------------------------------------------------------*/ |
Davidroid | 19:1cd7f65c155c | 104 | |
Davidroid | 19:1cd7f65c155c | 105 | /** |
Davidroid | 25:3c863b420ac5 | 106 | * @brief This is an example of user handler for the flag interrupt. |
Davidroid | 25:3c863b420ac5 | 107 | * @param None |
Davidroid | 25:3c863b420ac5 | 108 | * @retval None |
Davidroid | 25:3c863b420ac5 | 109 | * @note If needed, implement it, and then attach and enable it: |
davide.aliprandi@st.com | 35:2b44ed4ec7a0 | 110 | * + motor->attach_flag_irq(&flag_irq_handler); |
davide.aliprandi@st.com | 35:2b44ed4ec7a0 | 111 | * + motor->enable_flag_irq(); |
Davidroid | 25:3c863b420ac5 | 112 | * To disable it: |
davide.aliprandi@st.com | 35:2b44ed4ec7a0 | 113 | * + motor->disble_flag_irq(); |
Davidroid | 25:3c863b420ac5 | 114 | */ |
davide.aliprandi@st.com | 35:2b44ed4ec7a0 | 115 | void flag_irq_handler(void) |
Davidroid | 19:1cd7f65c155c | 116 | { |
Davidroid | 19:1cd7f65c155c | 117 | /* Set ISR flag. */ |
Davidroid | 19:1cd7f65c155c | 118 | motor->isr_flag = TRUE; |
Davidroid | 19:1cd7f65c155c | 119 | |
Davidroid | 19:1cd7f65c155c | 120 | /* Get the value of the status register. */ |
davide.aliprandi@st.com | 35:2b44ed4ec7a0 | 121 | unsigned int status = motor->get_status(); |
Davidroid | 34:543d0d1147d9 | 122 | |
Davidroid | 19:1cd7f65c155c | 123 | /* Check NOTPERF_CMD flag: if set, the command received by SPI can't be performed. */ |
Davidroid | 19:1cd7f65c155c | 124 | /* This often occures when a command is sent to the L6474 while it is not in HiZ state. */ |
Davidroid | 34:543d0d1147d9 | 125 | if ((status & L6474_STATUS_NOTPERF_CMD) == L6474_STATUS_NOTPERF_CMD) { |
Davidroid | 19:1cd7f65c155c | 126 | printf(" WARNING: \"FLAG\" interrupt triggered. Non-performable command detected when updating L6474's registers while not in HiZ state.\r\n"); |
Davidroid | 34:543d0d1147d9 | 127 | } |
Davidroid | 19:1cd7f65c155c | 128 | |
Davidroid | 19:1cd7f65c155c | 129 | /* Reset ISR flag. */ |
Davidroid | 19:1cd7f65c155c | 130 | motor->isr_flag = FALSE; |
Davidroid | 19:1cd7f65c155c | 131 | } |
Davidroid | 19:1cd7f65c155c | 132 | |
Davidroid | 19:1cd7f65c155c | 133 | |
Davidroid | 0:e6a49a092e2a | 134 | /* Main ----------------------------------------------------------------------*/ |
Davidroid | 0:e6a49a092e2a | 135 | |
Davidroid | 0:e6a49a092e2a | 136 | int main() |
Davidroid | 0:e6a49a092e2a | 137 | { |
Davidroid | 6:32166bfc04b0 | 138 | /*----- Initialization. -----*/ |
Davidroid | 6:32166bfc04b0 | 139 | |
Davidroid | 0:e6a49a092e2a | 140 | /* Initializing SPI bus. */ |
Davidroid | 0:e6a49a092e2a | 141 | DevSPI dev_spi(D11, D12, D13); |
Davidroid | 0:e6a49a092e2a | 142 | |
Davidroid | 11:3e303a25770d | 143 | /* Initializing Motor Control Component. */ |
Davidroid | 5:8065b587ade0 | 144 | motor = new L6474(D2, D8, D7, D9, D10, dev_spi); |
davide.aliprandi@st.com | 35:2b44ed4ec7a0 | 145 | if (motor->init(&init) != COMPONENT_OK) { |
Davidroid | 17:4830b25fec7f | 146 | exit(EXIT_FAILURE); |
Davidroid | 34:543d0d1147d9 | 147 | } |
Davidroid | 0:e6a49a092e2a | 148 | |
Davidroid | 19:1cd7f65c155c | 149 | /* Attaching and enabling interrupt handlers. */ |
davide.aliprandi@st.com | 35:2b44ed4ec7a0 | 150 | motor->attach_flag_irq(&flag_irq_handler); |
davide.aliprandi@st.com | 35:2b44ed4ec7a0 | 151 | motor->enable_flag_irq(); |
Davidroid | 19:1cd7f65c155c | 152 | |
Davidroid | 0:e6a49a092e2a | 153 | /* Printing to the console. */ |
Davidroid | 0:e6a49a092e2a | 154 | printf("Motor Control Application Example for 1 Motor\r\n\n"); |
Davidroid | 0:e6a49a092e2a | 155 | |
Davidroid | 6:32166bfc04b0 | 156 | |
Davidroid | 6:32166bfc04b0 | 157 | /*----- Moving. -----*/ |
Davidroid | 6:32166bfc04b0 | 158 | |
Davidroid | 6:32166bfc04b0 | 159 | /* Printing to the console. */ |
Davidroid | 26:b0203c2265e5 | 160 | printf("--> Moving forward %d steps.\r\n", STEPS_1); |
Davidroid | 6:32166bfc04b0 | 161 | |
Davidroid | 6:32166bfc04b0 | 162 | /* Moving N steps in the forward direction. */ |
davide.aliprandi@st.com | 35:2b44ed4ec7a0 | 163 | motor->move(StepperMotor::FWD, STEPS_1); |
Davidroid | 6:32166bfc04b0 | 164 | |
Davidroid | 6:32166bfc04b0 | 165 | /* Waiting while the motor is active. */ |
davide.aliprandi@st.com | 35:2b44ed4ec7a0 | 166 | motor->wait_while_active(); |
Davidroid | 6:32166bfc04b0 | 167 | |
Davidroid | 6:32166bfc04b0 | 168 | /* Getting current position. */ |
davide.aliprandi@st.com | 35:2b44ed4ec7a0 | 169 | int position = motor->get_position(); |
Davidroid | 6:32166bfc04b0 | 170 | |
Davidroid | 6:32166bfc04b0 | 171 | /* Printing to the console. */ |
Davidroid | 6:32166bfc04b0 | 172 | printf(" Position: %d.\r\n", position); |
Davidroid | 6:32166bfc04b0 | 173 | |
Davidroid | 26:b0203c2265e5 | 174 | /* Waiting. */ |
Davidroid | 26:b0203c2265e5 | 175 | wait_ms(DELAY_1); |
Davidroid | 6:32166bfc04b0 | 176 | |
Davidroid | 19:1cd7f65c155c | 177 | |
Davidroid | 26:b0203c2265e5 | 178 | /*----- Changing the motor setting. -----*/ |
Davidroid | 19:1cd7f65c155c | 179 | |
Davidroid | 19:1cd7f65c155c | 180 | /* Printing to the console. */ |
Davidroid | 27:e09aa231c16d | 181 | printf("--> Setting Torque Regulation Current to 500[mA].\r\n"); |
Davidroid | 27:e09aa231c16d | 182 | |
Davidroid | 27:e09aa231c16d | 183 | /* Increasing the torque regulation current to 500[mA]. */ |
davide.aliprandi@st.com | 35:2b44ed4ec7a0 | 184 | motor->set_parameter(L6474_TVAL, 500); |
Davidroid | 27:e09aa231c16d | 185 | |
Davidroid | 27:e09aa231c16d | 186 | /* Printing to the console. */ |
Davidroid | 26:b0203c2265e5 | 187 | printf("--> Doubling the microsteps.\r\n"); |
Davidroid | 19:1cd7f65c155c | 188 | |
Davidroid | 26:b0203c2265e5 | 189 | /* Doubling the microsteps. */ |
davide.aliprandi@st.com | 35:2b44ed4ec7a0 | 190 | if (!motor->set_step_mode((StepperMotor::step_mode_t) STEP_MODE_1_16)) { |
Davidroid | 26:b0203c2265e5 | 191 | printf(" Step Mode not allowed.\r\n"); |
Davidroid | 34:543d0d1147d9 | 192 | } |
Davidroid | 19:1cd7f65c155c | 193 | |
Davidroid | 26:b0203c2265e5 | 194 | /* Waiting. */ |
Davidroid | 26:b0203c2265e5 | 195 | wait_ms(DELAY_1); |
Davidroid | 19:1cd7f65c155c | 196 | |
Davidroid | 27:e09aa231c16d | 197 | /* Printing to the console. */ |
Davidroid | 27:e09aa231c16d | 198 | printf("--> Setting Home.\r\n"); |
Davidroid | 27:e09aa231c16d | 199 | |
Davidroid | 27:e09aa231c16d | 200 | /* Setting the current position to be the home position. */ |
davide.aliprandi@st.com | 35:2b44ed4ec7a0 | 201 | motor->set_home(); |
Davidroid | 27:e09aa231c16d | 202 | |
Davidroid | 27:e09aa231c16d | 203 | /* Getting current position. */ |
davide.aliprandi@st.com | 35:2b44ed4ec7a0 | 204 | position = motor->get_position(); |
Davidroid | 27:e09aa231c16d | 205 | |
Davidroid | 27:e09aa231c16d | 206 | /* Printing to the console. */ |
Davidroid | 27:e09aa231c16d | 207 | printf(" Position: %d.\r\n", position); |
Davidroid | 27:e09aa231c16d | 208 | |
Davidroid | 27:e09aa231c16d | 209 | /* Waiting. */ |
Davidroid | 27:e09aa231c16d | 210 | wait_ms(DELAY_2); |
Davidroid | 27:e09aa231c16d | 211 | |
Davidroid | 19:1cd7f65c155c | 212 | |
Davidroid | 6:32166bfc04b0 | 213 | /*----- Moving. -----*/ |
Davidroid | 6:32166bfc04b0 | 214 | |
Davidroid | 6:32166bfc04b0 | 215 | /* Printing to the console. */ |
Davidroid | 26:b0203c2265e5 | 216 | printf("--> Moving backward %d steps.\r\n", STEPS_1); |
Davidroid | 6:32166bfc04b0 | 217 | |
Davidroid | 6:32166bfc04b0 | 218 | /* Moving N steps in the backward direction. */ |
davide.aliprandi@st.com | 35:2b44ed4ec7a0 | 219 | motor->move(StepperMotor::BWD, STEPS_1); |
Davidroid | 6:32166bfc04b0 | 220 | |
Davidroid | 6:32166bfc04b0 | 221 | /* Waiting while the motor is active. */ |
davide.aliprandi@st.com | 35:2b44ed4ec7a0 | 222 | motor->wait_while_active(); |
Davidroid | 6:32166bfc04b0 | 223 | |
Davidroid | 6:32166bfc04b0 | 224 | /* Getting current position. */ |
davide.aliprandi@st.com | 35:2b44ed4ec7a0 | 225 | position = motor->get_position(); |
Davidroid | 6:32166bfc04b0 | 226 | |
Davidroid | 6:32166bfc04b0 | 227 | /* Printing to the console. */ |
Davidroid | 6:32166bfc04b0 | 228 | printf(" Position: %d.\r\n", position); |
Davidroid | 6:32166bfc04b0 | 229 | |
Davidroid | 26:b0203c2265e5 | 230 | /* Waiting. */ |
Davidroid | 26:b0203c2265e5 | 231 | wait_ms(DELAY_1); |
Davidroid | 6:32166bfc04b0 | 232 | |
Davidroid | 6:32166bfc04b0 | 233 | |
Davidroid | 6:32166bfc04b0 | 234 | /*----- Going to a specified position. -----*/ |
Davidroid | 6:32166bfc04b0 | 235 | |
Davidroid | 6:32166bfc04b0 | 236 | /* Printing to the console. */ |
Davidroid | 26:b0203c2265e5 | 237 | printf("--> Going to position %d.\r\n", STEPS_1); |
Davidroid | 6:32166bfc04b0 | 238 | |
Davidroid | 6:32166bfc04b0 | 239 | /* Requesting to go to a specified position. */ |
davide.aliprandi@st.com | 35:2b44ed4ec7a0 | 240 | motor->go_to(STEPS_1); |
Davidroid | 6:32166bfc04b0 | 241 | |
Davidroid | 6:32166bfc04b0 | 242 | /* Waiting while the motor is active. */ |
davide.aliprandi@st.com | 35:2b44ed4ec7a0 | 243 | motor->wait_while_active(); |
Davidroid | 6:32166bfc04b0 | 244 | |
Davidroid | 6:32166bfc04b0 | 245 | /* Getting current position. */ |
davide.aliprandi@st.com | 35:2b44ed4ec7a0 | 246 | position = motor->get_position(); |
Davidroid | 6:32166bfc04b0 | 247 | |
Davidroid | 6:32166bfc04b0 | 248 | /* Printing to the console. */ |
Davidroid | 6:32166bfc04b0 | 249 | printf(" Position: %d.\r\n", position); |
Davidroid | 6:32166bfc04b0 | 250 | |
Davidroid | 26:b0203c2265e5 | 251 | /* Waiting. */ |
Davidroid | 26:b0203c2265e5 | 252 | wait_ms(DELAY_2); |
Davidroid | 6:32166bfc04b0 | 253 | |
Davidroid | 6:32166bfc04b0 | 254 | |
Davidroid | 6:32166bfc04b0 | 255 | /*----- Going Home. -----*/ |
Davidroid | 6:32166bfc04b0 | 256 | |
Davidroid | 6:32166bfc04b0 | 257 | /* Printing to the console. */ |
Davidroid | 6:32166bfc04b0 | 258 | printf("--> Going Home.\r\n"); |
Davidroid | 6:32166bfc04b0 | 259 | |
Davidroid | 6:32166bfc04b0 | 260 | /* Requesting to go to home. */ |
davide.aliprandi@st.com | 35:2b44ed4ec7a0 | 261 | motor->go_home(); |
Davidroid | 6:32166bfc04b0 | 262 | |
Davidroid | 6:32166bfc04b0 | 263 | /* Waiting while the motor is active. */ |
davide.aliprandi@st.com | 35:2b44ed4ec7a0 | 264 | motor->wait_while_active(); |
Davidroid | 6:32166bfc04b0 | 265 | |
Davidroid | 6:32166bfc04b0 | 266 | /* Getting current position. */ |
davide.aliprandi@st.com | 35:2b44ed4ec7a0 | 267 | position = motor->get_position(); |
Davidroid | 6:32166bfc04b0 | 268 | |
Davidroid | 6:32166bfc04b0 | 269 | /* Printing to the console. */ |
Davidroid | 6:32166bfc04b0 | 270 | printf(" Position: %d.\r\n", position); |
Davidroid | 0:e6a49a092e2a | 271 | |
Davidroid | 26:b0203c2265e5 | 272 | /* Waiting. */ |
Davidroid | 26:b0203c2265e5 | 273 | wait_ms(DELAY_2); |
Davidroid | 6:32166bfc04b0 | 274 | |
Davidroid | 6:32166bfc04b0 | 275 | |
Davidroid | 6:32166bfc04b0 | 276 | /*----- Running. -----*/ |
Davidroid | 6:32166bfc04b0 | 277 | |
Davidroid | 6:32166bfc04b0 | 278 | /* Printing to the console. */ |
Davidroid | 26:b0203c2265e5 | 279 | printf("--> Running backward for %d seconds.\r\n", DELAY_3 / 1000); |
Davidroid | 6:32166bfc04b0 | 280 | |
Davidroid | 6:32166bfc04b0 | 281 | /* Requesting to run backward. */ |
davide.aliprandi@st.com | 35:2b44ed4ec7a0 | 282 | motor->run(StepperMotor::BWD); |
Davidroid | 6:32166bfc04b0 | 283 | |
Davidroid | 26:b0203c2265e5 | 284 | /* Waiting. */ |
Davidroid | 26:b0203c2265e5 | 285 | wait_ms(DELAY_3); |
Davidroid | 6:32166bfc04b0 | 286 | |
Davidroid | 6:32166bfc04b0 | 287 | /* Getting current speed. */ |
davide.aliprandi@st.com | 35:2b44ed4ec7a0 | 288 | int speed = motor->get_speed(); |
Davidroid | 6:32166bfc04b0 | 289 | |
Davidroid | 6:32166bfc04b0 | 290 | /* Printing to the console. */ |
Davidroid | 6:32166bfc04b0 | 291 | printf(" Speed: %d.\r\n", speed); |
Davidroid | 6:32166bfc04b0 | 292 | |
Davidroid | 6:32166bfc04b0 | 293 | /*----- Increasing the speed while running. -----*/ |
Davidroid | 6:32166bfc04b0 | 294 | |
Davidroid | 6:32166bfc04b0 | 295 | /* Printing to the console. */ |
Davidroid | 26:b0203c2265e5 | 296 | printf("--> Increasing the speed while running again for %d seconds.\r\n", DELAY_3 / 1000); |
Davidroid | 6:32166bfc04b0 | 297 | |
Davidroid | 26:b0203c2265e5 | 298 | /* Increasing the speed. */ |
davide.aliprandi@st.com | 35:2b44ed4ec7a0 | 299 | motor->set_max_speed(SPEED_1); |
Davidroid | 6:32166bfc04b0 | 300 | |
Davidroid | 26:b0203c2265e5 | 301 | /* Waiting. */ |
Davidroid | 26:b0203c2265e5 | 302 | wait_ms(DELAY_3); |
Davidroid | 6:32166bfc04b0 | 303 | |
Davidroid | 6:32166bfc04b0 | 304 | /* Getting current speed. */ |
davide.aliprandi@st.com | 35:2b44ed4ec7a0 | 305 | speed = motor->get_speed(); |
Davidroid | 6:32166bfc04b0 | 306 | |
Davidroid | 6:32166bfc04b0 | 307 | /* Printing to the console. */ |
Davidroid | 6:32166bfc04b0 | 308 | printf(" Speed: %d.\r\n", speed); |
Davidroid | 6:32166bfc04b0 | 309 | |
Davidroid | 6:32166bfc04b0 | 310 | |
Davidroid | 6:32166bfc04b0 | 311 | /*----- Decreasing the speed while running. -----*/ |
Davidroid | 0:e6a49a092e2a | 312 | |
Davidroid | 6:32166bfc04b0 | 313 | /* Printing to the console. */ |
Davidroid | 26:b0203c2265e5 | 314 | printf("--> Decreasing the speed while running again for %d seconds.\r\n", DELAY_4 / 1000); |
Davidroid | 6:32166bfc04b0 | 315 | |
Davidroid | 26:b0203c2265e5 | 316 | /* Decreasing the speed. */ |
davide.aliprandi@st.com | 35:2b44ed4ec7a0 | 317 | motor->set_max_speed(SPEED_2); |
Davidroid | 6:32166bfc04b0 | 318 | |
Davidroid | 26:b0203c2265e5 | 319 | /* Waiting. */ |
Davidroid | 26:b0203c2265e5 | 320 | wait_ms(DELAY_4); |
Davidroid | 6:32166bfc04b0 | 321 | |
Davidroid | 6:32166bfc04b0 | 322 | /* Getting current speed. */ |
davide.aliprandi@st.com | 35:2b44ed4ec7a0 | 323 | speed = motor->get_speed(); |
Davidroid | 6:32166bfc04b0 | 324 | |
Davidroid | 6:32166bfc04b0 | 325 | /* Printing to the console. */ |
Davidroid | 6:32166bfc04b0 | 326 | printf(" Speed: %d.\r\n", speed); |
Davidroid | 6:32166bfc04b0 | 327 | |
Davidroid | 6:32166bfc04b0 | 328 | |
Davidroid | 26:b0203c2265e5 | 329 | /*----- Hard Stop. -----*/ |
Davidroid | 6:32166bfc04b0 | 330 | |
Davidroid | 6:32166bfc04b0 | 331 | /* Printing to the console. */ |
Davidroid | 26:b0203c2265e5 | 332 | printf("--> Hard Stop.\r\n"); |
Davidroid | 6:32166bfc04b0 | 333 | |
Davidroid | 6:32166bfc04b0 | 334 | /* Requesting to immediatly stop. */ |
davide.aliprandi@st.com | 35:2b44ed4ec7a0 | 335 | motor->hard_stop(); |
Davidroid | 6:32166bfc04b0 | 336 | |
Davidroid | 6:32166bfc04b0 | 337 | /* Waiting while the motor is active. */ |
davide.aliprandi@st.com | 35:2b44ed4ec7a0 | 338 | motor->wait_while_active(); |
Davidroid | 6:32166bfc04b0 | 339 | |
Davidroid | 26:b0203c2265e5 | 340 | /* Waiting. */ |
Davidroid | 26:b0203c2265e5 | 341 | wait_ms(DELAY_2); |
Davidroid | 6:32166bfc04b0 | 342 | |
Davidroid | 6:32166bfc04b0 | 343 | |
Davidroid | 6:32166bfc04b0 | 344 | /*----- Infinite Loop. -----*/ |
Davidroid | 6:32166bfc04b0 | 345 | |
Davidroid | 6:32166bfc04b0 | 346 | /* Printing to the console. */ |
Davidroid | 6:32166bfc04b0 | 347 | printf("--> Infinite Loop...\r\n"); |
Davidroid | 6:32166bfc04b0 | 348 | |
Davidroid | 6:32166bfc04b0 | 349 | /* Setting the current position to be the home position. */ |
davide.aliprandi@st.com | 35:2b44ed4ec7a0 | 350 | motor->set_home(); |
Davidroid | 6:32166bfc04b0 | 351 | |
Davidroid | 6:32166bfc04b0 | 352 | /* Infinite Loop. */ |
Davidroid | 34:543d0d1147d9 | 353 | while (true) { |
Davidroid | 6:32166bfc04b0 | 354 | /* Requesting to go to a specified position. */ |
davide.aliprandi@st.com | 35:2b44ed4ec7a0 | 355 | motor->go_to(STEPS_1 >> 1); |
Davidroid | 3:fffa53c7aed2 | 356 | |
Davidroid | 0:e6a49a092e2a | 357 | /* Waiting while the motor is active. */ |
davide.aliprandi@st.com | 35:2b44ed4ec7a0 | 358 | motor->wait_while_active(); |
Davidroid | 0:e6a49a092e2a | 359 | |
Davidroid | 0:e6a49a092e2a | 360 | /* Requesting to go to a specified position. */ |
davide.aliprandi@st.com | 35:2b44ed4ec7a0 | 361 | motor->go_to(- (STEPS_1 >> 1)); |
Davidroid | 0:e6a49a092e2a | 362 | |
Davidroid | 0:e6a49a092e2a | 363 | /* Waiting while the motor is active. */ |
davide.aliprandi@st.com | 35:2b44ed4ec7a0 | 364 | motor->wait_while_active(); |
Davidroid | 0:e6a49a092e2a | 365 | } |
Davidroid | 0:e6a49a092e2a | 366 | } |