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teste 1 motor para Bruno
Dependencies: X_NUCLEO_IHM01A1 mbed
Fork of HelloWorld_IHM01A1 by
Diff: main.cpp
- Revision:
- 26:b0203c2265e5
- Parent:
- 25:3c863b420ac5
- Child:
- 27:e09aa231c16d
--- a/main.cpp Fri Mar 11 16:12:03 2016 +0000 +++ b/main.cpp Thu Apr 07 16:33:42 2016 +0000 @@ -51,8 +51,18 @@ /* Definitions ---------------------------------------------------------------*/ -/* Number of steps to move. */ -#define STEPS 3200 +/* 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 6000 +#define DELAY_4 8000 + +/* Speed in step/s. */ +#define SPEED_1 2400 +#define SPEED_2 1200 /* Variables -----------------------------------------------------------------*/ @@ -68,7 +78,7 @@ L6474_OCD_TH_750mA, /* 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_4, /* Step selection (STEP_SEL field of STEP_MODE 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. */ @@ -144,10 +154,10 @@ /*----- Moving. -----*/ /* Printing to the console. */ - printf("--> Moving forward %d steps.\r\n", STEPS); + printf("--> Moving forward %d steps.\r\n", STEPS_1); /* Moving N steps in the forward direction. */ - motor->Move(StepperMotor::FWD, STEPS); + motor->Move(StepperMotor::FWD, STEPS_1); /* Waiting while the motor is active. */ motor->WaitWhileActive(); @@ -158,35 +168,36 @@ /* Printing to the console. */ printf(" Position: %d.\r\n", position); - /* Waiting 2 seconds. */ - wait_ms(2000); + /* Waiting. */ + wait_ms(DELAY_1); - /*----- Changing motor setting. -----*/ + /*----- Changing the motor setting. -----*/ /* Printing to the console. */ - printf("--> Changing Step Mode and Torque.\r\n"); - - /* Setting High Impedance State to update L6474's registers. */ - motor->SoftHiZ(); + printf("--> Doubling the microsteps.\r\n"); - /* Changing step mode. */ - motor->SetParameter(L6474_STEP_MODE, (unsigned int) L6474_STEP_SEL_1_16 | (unsigned int) L6474_SYNC_SEL_1_2); + /* Doubling the microsteps. */ + if (!motor->SetStepMode((StepperMotor::step_mode_t) STEP_MODE_1_16)) + printf(" Step Mode not allowed.\r\n"); - /* Increasing the torque regulation current to 500mA. */ + /* Printing to the console. */ + printf("--> Setting Torque Regulation Current to 500[mA].\r\n"); + + /* Increasing the torque regulation current to 500[mA]. */ motor->SetParameter(L6474_TVAL, 500); - /* Waiting 1 second. */ - wait_ms(1000); + /* Waiting. */ + wait_ms(DELAY_1); /*----- Moving. -----*/ /* Printing to the console. */ - printf("--> Moving backward %d steps.\r\n", STEPS); + printf("--> Moving backward %d steps.\r\n", STEPS_1); /* Moving N steps in the backward direction. */ - motor->Move(StepperMotor::BWD, STEPS); + motor->Move(StepperMotor::BWD, STEPS_1); /* Waiting while the motor is active. */ motor->WaitWhileActive(); @@ -201,17 +212,17 @@ /* Setting the current position to be the home position. */ motor->SetHome(); - /* Waiting 2 seconds. */ - wait_ms(2000); + /* Waiting. */ + wait_ms(DELAY_1); /*----- Going to a specified position. -----*/ /* Printing to the console. */ - printf("--> Going to position %d.\r\n", STEPS); + printf("--> Going to position %d.\r\n", STEPS_1); /* Requesting to go to a specified position. */ - motor->GoTo(STEPS); + motor->GoTo(STEPS_1); /* Waiting while the motor is active. */ motor->WaitWhileActive(); @@ -222,8 +233,8 @@ /* Printing to the console. */ printf(" Position: %d.\r\n", position); - /* Waiting 2 seconds. */ - wait_ms(2000); + /* Waiting. */ + wait_ms(DELAY_2); /*----- Going Home. -----*/ @@ -243,20 +254,20 @@ /* Printing to the console. */ printf(" Position: %d.\r\n", position); - /* Waiting 2 seconds. */ - wait_ms(2000); + /* Waiting. */ + wait_ms(DELAY_2); /*----- Running. -----*/ /* Printing to the console. */ - printf("--> Running backward.\r\n"); + printf("--> Running backward for %d seconds.\r\n", DELAY_3 / 1000); /* Requesting to run backward. */ motor->Run(StepperMotor::BWD); - /* Waiting until delay has expired. */ - wait_ms(6000); + /* Waiting. */ + wait_ms(DELAY_3); /* Getting current speed. */ int speed = motor->GetSpeed(); @@ -267,13 +278,13 @@ /*----- Increasing the speed while running. -----*/ /* Printing to the console. */ - printf("--> Increasing the speed while running.\r\n"); + printf("--> Increasing the speed while running again for %d seconds.\r\n", DELAY_3 / 1000); - /* Increasing speed to 2400 step/s. */ - motor->SetMaxSpeed(2400); + /* Increasing the speed. */ + motor->SetMaxSpeed(SPEED_1); - /* Waiting until delay has expired. */ - wait_ms(6000); + /* Waiting. */ + wait_ms(DELAY_3); /* Getting current speed. */ speed = motor->GetSpeed(); @@ -285,13 +296,13 @@ /*----- Decreasing the speed while running. -----*/ /* Printing to the console. */ - printf("--> Decreasing the speed while running.\r\n"); + printf("--> Decreasing the speed while running again for %d seconds.\r\n", DELAY_4 / 1000); - /* Decreasing speed to 1200 step/s. */ - motor->SetMaxSpeed(1200); + /* Decreasing the speed. */ + motor->SetMaxSpeed(SPEED_2); - /* Waiting until delay has expired. */ - wait_ms(8000); + /* Waiting. */ + wait_ms(DELAY_4); /* Getting current speed. */ speed = motor->GetSpeed(); @@ -300,10 +311,10 @@ printf(" Speed: %d.\r\n", speed); - /*----- Requiring hard-stop while running. -----*/ + /*----- Hard Stop. -----*/ /* Printing to the console. */ - printf("--> Requiring hard-stop while running.\r\n"); + printf("--> Hard Stop.\r\n"); /* Requesting to immediatly stop. */ motor->HardStop(); @@ -311,8 +322,8 @@ /* Waiting while the motor is active. */ motor->WaitWhileActive(); - /* Waiting 2 seconds. */ - wait_ms(2000); + /* Waiting. */ + wait_ms(DELAY_2); /*----- Infinite Loop. -----*/ @@ -327,13 +338,13 @@ while (1) { /* Requesting to go to a specified position. */ - motor->GoTo(STEPS >> 1); + motor->GoTo(STEPS_1 >> 1); /* Waiting while the motor is active. */ motor->WaitWhileActive(); /* Requesting to go to a specified position. */ - motor->GoTo(- (STEPS >> 1)); + motor->GoTo(- (STEPS_1 >> 1)); /* Waiting while the motor is active. */ motor->WaitWhileActive();