Diff: botoesnh.cpp

Revision:

40:13d2c943dfe9

Parent:

39:8e6912132896

--- a/botoesnh.cpp	Wed Apr 18 20:33:33 2018 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,136 +0,0 @@
-/* Includes ------------------------------------------------------------------*/
-
-/* mbed specific header files. */
-#include "mbed.h"
-
-/* Helper header files. */
-#include "DevSPI.h"
-
-/* Component specific header files. */
-#include "L6474.h"
-
-
-/* Definitions ---------------------------------------------------------------*/
-
-/* Number of steps. */
-#define STEPS_1 (200 * 8)   /* 1 revolution given a 200 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 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
-
-
-/* Variables -----------------------------------------------------------------*/
-
-/* Initialization parameters. */
-L6474_init_t init = {
-    160,                              /* Acceleration rate in pps^2. Range: (0..+inf). */
-    160,                              /* Deceleration rate in pps^2. Range: (0..+inf). */
-    2600,                             /* Maximum speed in pps. Range: (30..10000]. */
-    800,                              /* Minimum speed in pps. Range: [30..10000). */
-    250,                              /* Torque regulation current in mA. Range: 31.25mA to 4000mA. */
-    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_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). */
-};
-
-/* Motor Control Component. */
-L6474 *motor1;
-L6474 *motor2;
-L6474 *motor3;
-
-
-
-/* Functions -----------------------------------------------------------------*/
-
-
-
-
-DigitalIn botao_A(A0);
-DigitalIn botao_B(A1);
-DigitalIn botao_C(A2);
-DigitalIn botao_D(A3);
-
-
-DigitalOut myled(LED1);
-Serial pc(USBTX, USBRX);
-
-int main() {
-    /*----- Initialization. -----*/
-
-    /* Initializing SPI bus. */
-    DevSPI dev_spi(D11, D12, D13);
-
-    /* Initializing Motor Control Component. */
-    motor1 = new L6474(D2, D8, D7, D9, D10, dev_spi);
-    motor2 = new L6474(D2, D8, D4, D3, D10, dev_spi);
-    motor3 = new L6474(D2, D8, D5, D6, D10, dev_spi);
-    if (motor1->init(&init) != COMPONENT_OK) {
-        exit(EXIT_FAILURE);
-    }
-    if (motor2->init(&init) != COMPONENT_OK) {
-        exit(EXIT_FAILURE);
-    }
-    if (motor3->init(&init) != COMPONENT_OK) {
-        exit(EXIT_FAILURE);
-    }
-
-   
-int a,b,c,d;
-pc.baud(9600);
-
-
-a=b=c=d=0;
-
-pc.printf("\f\rA=%d, B=%d, C=%d, D=%d",a,b,c,d);
-pc.printf("\n\rHello World!!!");
-
-    while(1) {
-        if (botao_A==0) {
-          a++;
-          pc.printf("\n\rTecla A=%d",a);
-          motor1->move(StepperMotor::FWD, 400);
-          motor2->move(StepperMotor::FWD, 400);
-          motor3->move(StepperMotor::FWD, 400);
-        }
-        if (botao_B==0) {
-          b++;
-          pc.printf("\n\rTecla B=%d",b);
-          motor1->move(StepperMotor::BWD, 400);
-          motor2->move(StepperMotor::BWD, 400);
-          motor3->move(StepperMotor::BWD, 400);
-        }
-        if (botao_C==0) {
-          c++;
-          pc.printf("\n\rTecla C=%d",c);
-        }
-        if (botao_D==0) {
-          d++;
-          pc.printf("\n\rTecla D=%d",d);
-        }
-          wait(0.2);
-    }
-}