Revision 5:21a4085d2057, committed 2017-02-15

Comitter:

DonatoSt

Date:

Wed Feb 15 11:09:44 2017 +0000

Parent:

4:d6077c2bfddd

Child:

6:b5d006c1eb59

Commit message:

Scheda motori

Changed in this revision

--- 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>&copy; 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****/
+