Mayu Wire Winding Setup With stepper motor ans Servos
Dependencies: BufferedSerial Servo X_NUCLEO_IHM01A1 mbed
Fork of WireWinding_Stepper by
main.cpp@24:77e407b5d247, 2016-05-23 (annotated)
- Committer:
- Arkadi
- Date:
- Mon May 23 13:52:57 2016 +0000
- Revision:
- 24:77e407b5d247
- Parent:
- 23:ef6c5c0d33b2
- Child:
- 25:7f8fd0790b13
Combination servo and stepper, stand alone mode with 600 rotation after power up.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Davidroid | 0:e6a49a092e2a | 1 | /** |
Davidroid | 0:e6a49a092e2a | 2 | ****************************************************************************** |
Arkadi | 24:77e407b5d247 | 3 | Wire Winding Setup Arkadiraf@gmail.com 23/5/2016 |
Davidroid | 0:e6a49a092e2a | 4 | ****************************************************************************** |
Davidroid | 0:e6a49a092e2a | 5 | */ |
Davidroid | 0:e6a49a092e2a | 6 | |
Davidroid | 0:e6a49a092e2a | 7 | |
Davidroid | 0:e6a49a092e2a | 8 | /* Includes ------------------------------------------------------------------*/ |
Davidroid | 0:e6a49a092e2a | 9 | |
Davidroid | 0:e6a49a092e2a | 10 | /* mbed specific header files. */ |
Davidroid | 0:e6a49a092e2a | 11 | #include "mbed.h" |
Davidroid | 0:e6a49a092e2a | 12 | |
Davidroid | 0:e6a49a092e2a | 13 | /* Helper header files. */ |
Davidroid | 0:e6a49a092e2a | 14 | #include "DevSPI.h" |
Davidroid | 0:e6a49a092e2a | 15 | |
Davidroid | 0:e6a49a092e2a | 16 | /* Component specific header files. */ |
Davidroid | 0:e6a49a092e2a | 17 | #include "l6474_class.h" |
Davidroid | 0:e6a49a092e2a | 18 | |
Arkadi | 23:ef6c5c0d33b2 | 19 | #include "BufferedSerial.h" |
Davidroid | 0:e6a49a092e2a | 20 | |
Arkadi | 24:77e407b5d247 | 21 | |
Arkadi | 24:77e407b5d247 | 22 | #include "Servo.h" |
Arkadi | 24:77e407b5d247 | 23 | |
Arkadi | 24:77e407b5d247 | 24 | Servo Servo1(D6); |
Arkadi | 24:77e407b5d247 | 25 | Servo Servo2(D3); |
Arkadi | 24:77e407b5d247 | 26 | |
Arkadi | 23:ef6c5c0d33b2 | 27 | /////////////// |
Arkadi | 23:ef6c5c0d33b2 | 28 | // variables // |
Arkadi | 23:ef6c5c0d33b2 | 29 | /////////////// |
Arkadi | 23:ef6c5c0d33b2 | 30 | BufferedSerial pc(USBTX, USBRX); |
Davidroid | 0:e6a49a092e2a | 31 | |
Arkadi | 23:ef6c5c0d33b2 | 32 | char BufferCMD[64]={0}; |
Arkadi | 23:ef6c5c0d33b2 | 33 | uint16_t BufferIndex=0; |
Arkadi | 23:ef6c5c0d33b2 | 34 | int32_t CMDValue=0; // CMD at which speed to run |
Arkadi | 23:ef6c5c0d33b2 | 35 | char inbyte=' '; |
Arkadi | 23:ef6c5c0d33b2 | 36 | // variable to store stepper position |
Arkadi | 23:ef6c5c0d33b2 | 37 | int32_t StepperPos=0; |
Arkadi | 23:ef6c5c0d33b2 | 38 | int32_t StepperSetPos=0; |
Davidroid | 10:8f031470ca9f | 39 | /* Number of steps to move. */ |
Arkadi | 23:ef6c5c0d33b2 | 40 | #define STEPS2Rotation 3200 |
Davidroid | 0:e6a49a092e2a | 41 | |
Davidroid | 0:e6a49a092e2a | 42 | |
Arkadi | 24:77e407b5d247 | 43 | Ticker ServoCorrect; |
Davidroid | 0:e6a49a092e2a | 44 | /* Variables -----------------------------------------------------------------*/ |
Davidroid | 0:e6a49a092e2a | 45 | |
Davidroid | 19:1cd7f65c155c | 46 | /* Initialization parameters. */ |
Davidroid | 19:1cd7f65c155c | 47 | L6474_InitTypeDef init = |
Davidroid | 19:1cd7f65c155c | 48 | { |
Arkadi | 23:ef6c5c0d33b2 | 49 | 1800, /* Acceleration rate in step/s2. Range: (0..+inf). */ |
Arkadi | 23:ef6c5c0d33b2 | 50 | 1800, /* Deceleration rate in step/s2. Range: (0..+inf). */ |
Davidroid | 19:1cd7f65c155c | 51 | 1600, /* Maximum speed in step/s. Range: (30..10000]. */ |
Arkadi | 23:ef6c5c0d33b2 | 52 | 200, /* Minimum speed in step/s. Range: [30..10000). */ |
Arkadi | 23:ef6c5c0d33b2 | 53 | 400, /* Torque regulation current in mA. Range: 31.25mA to 4000mA. */ |
Arkadi | 24:77e407b5d247 | 54 | L6474_OCD_TH_3000mA, /* Overcurrent threshold (OCD_TH register). */ |
Davidroid | 19:1cd7f65c155c | 55 | L6474_CONFIG_OC_SD_ENABLE, /* Overcurrent shutwdown (OC_SD field of CONFIG register). */ |
Davidroid | 19:1cd7f65c155c | 56 | L6474_CONFIG_EN_TQREG_TVAL_USED, /* Torque regulation method (EN_TQREG field of CONFIG register). */ |
Davidroid | 19:1cd7f65c155c | 57 | L6474_STEP_SEL_1_4, /* Step selection (STEP_SEL field of STEP_MODE register). */ |
Davidroid | 19:1cd7f65c155c | 58 | L6474_SYNC_SEL_1_2, /* Sync selection (SYNC_SEL field of STEP_MODE register). */ |
Davidroid | 19:1cd7f65c155c | 59 | L6474_FAST_STEP_12us, /* Fall time value (T_FAST field of T_FAST register). Range: 2us to 32us. */ |
Davidroid | 19:1cd7f65c155c | 60 | L6474_TOFF_FAST_8us, /* Maximum fast decay time (T_OFF field of T_FAST register). Range: 2us to 32us. */ |
Davidroid | 19:1cd7f65c155c | 61 | 3, /* Minimum ON time in us (TON_MIN register). Range: 0.5us to 64us. */ |
Davidroid | 19:1cd7f65c155c | 62 | 21, /* Minimum OFF time in us (TOFF_MIN register). Range: 0.5us to 64us. */ |
Davidroid | 19:1cd7f65c155c | 63 | L6474_CONFIG_TOFF_044us, /* Target Swicthing Period (field TOFF of CONFIG register). */ |
Davidroid | 19:1cd7f65c155c | 64 | L6474_CONFIG_SR_320V_us, /* Slew rate (POW_SR field of CONFIG register). */ |
Davidroid | 19:1cd7f65c155c | 65 | L6474_CONFIG_INT_16MHZ, /* Clock setting (OSC_CLK_SEL field of CONFIG register). */ |
Davidroid | 19:1cd7f65c155c | 66 | L6474_ALARM_EN_OVERCURRENT | |
Davidroid | 19:1cd7f65c155c | 67 | L6474_ALARM_EN_THERMAL_SHUTDOWN | |
Davidroid | 19:1cd7f65c155c | 68 | L6474_ALARM_EN_THERMAL_WARNING | |
Davidroid | 19:1cd7f65c155c | 69 | L6474_ALARM_EN_UNDERVOLTAGE | |
Davidroid | 19:1cd7f65c155c | 70 | L6474_ALARM_EN_SW_TURN_ON | |
Davidroid | 19:1cd7f65c155c | 71 | L6474_ALARM_EN_WRONG_NPERF_CMD /* Alarm (ALARM_EN register). */ |
Davidroid | 19:1cd7f65c155c | 72 | }; |
Davidroid | 19:1cd7f65c155c | 73 | |
Davidroid | 0:e6a49a092e2a | 74 | /* Motor Control Component. */ |
Davidroid | 1:fbf28f3367aa | 75 | L6474 *motor; |
Davidroid | 0:e6a49a092e2a | 76 | |
Davidroid | 0:e6a49a092e2a | 77 | |
Davidroid | 19:1cd7f65c155c | 78 | /* Functions -----------------------------------------------------------------*/ |
Davidroid | 19:1cd7f65c155c | 79 | |
Davidroid | 19:1cd7f65c155c | 80 | /** |
Davidroid | 19:1cd7f65c155c | 81 | * @brief This is an example of user handler for the flag interrupt. |
Davidroid | 19:1cd7f65c155c | 82 | * @param None |
Davidroid | 19:1cd7f65c155c | 83 | * @retval None |
Davidroid | 19:1cd7f65c155c | 84 | * @note If needed, implement it, and then attach and enable it: |
Davidroid | 19:1cd7f65c155c | 85 | * + motor->AttachFlagIRQ(&FlagIRQHandler); |
Davidroid | 19:1cd7f65c155c | 86 | * + motor->EnableFlagIRQ(); |
Davidroid | 19:1cd7f65c155c | 87 | * To disable it: |
Davidroid | 19:1cd7f65c155c | 88 | * + motor->DisbleFlagIRQ(); |
Davidroid | 19:1cd7f65c155c | 89 | */ |
Davidroid | 19:1cd7f65c155c | 90 | void FlagIRQHandler(void) |
Davidroid | 19:1cd7f65c155c | 91 | { |
Davidroid | 19:1cd7f65c155c | 92 | /* Set ISR flag. */ |
Davidroid | 19:1cd7f65c155c | 93 | motor->isr_flag = TRUE; |
Davidroid | 19:1cd7f65c155c | 94 | |
Davidroid | 19:1cd7f65c155c | 95 | /* Get the value of the status register. */ |
Davidroid | 19:1cd7f65c155c | 96 | unsigned int status = motor->GetStatus(); |
Davidroid | 19:1cd7f65c155c | 97 | |
Davidroid | 19:1cd7f65c155c | 98 | /* Check NOTPERF_CMD flag: if set, the command received by SPI can't be performed. */ |
Davidroid | 19:1cd7f65c155c | 99 | /* This often occures when a command is sent to the L6474 while it is not in HiZ state. */ |
Davidroid | 19:1cd7f65c155c | 100 | if ((status & L6474_STATUS_NOTPERF_CMD) == L6474_STATUS_NOTPERF_CMD) |
Arkadi | 23:ef6c5c0d33b2 | 101 | pc.printf(" WARNING: \"FLAG\" interrupt triggered. Non-performable command detected when updating L6474's registers while not in HiZ state.\r\n"); |
Davidroid | 19:1cd7f65c155c | 102 | |
Davidroid | 19:1cd7f65c155c | 103 | /* Reset ISR flag. */ |
Davidroid | 19:1cd7f65c155c | 104 | motor->isr_flag = FALSE; |
Davidroid | 19:1cd7f65c155c | 105 | } |
Davidroid | 19:1cd7f65c155c | 106 | |
Arkadi | 24:77e407b5d247 | 107 | void ServoUpdate(){ |
Arkadi | 24:77e407b5d247 | 108 | int32_t Rotations=motor->GetPosition()/STEPS2Rotation; |
Arkadi | 24:77e407b5d247 | 109 | int32_t amplitude=76; // number of rotation for full triangle wave 15/0.4/2*4 for 15 mm translation 0.4 wire diameter = |
Arkadi | 24:77e407b5d247 | 110 | float Y_New=(float) (abs(Rotations%amplitude-amplitude/2)-amplitude/4); |
Arkadi | 24:77e407b5d247 | 111 | float centr_Angle=0.30; // 0.55 minimum down , 0.05 minimum up. |
Arkadi | 24:77e407b5d247 | 112 | float Angle_Amplitude=0.25f; |
Arkadi | 24:77e407b5d247 | 113 | float Angle=centr_Angle+(Y_New/(amplitude/4))*Angle_Amplitude; |
Arkadi | 24:77e407b5d247 | 114 | |
Arkadi | 24:77e407b5d247 | 115 | //pc.printf("ServoUpdate %d, %d, %f \r\n",motor->GetPosition(),Rotations,Angle); // debug check/ |
Arkadi | 24:77e407b5d247 | 116 | |
Arkadi | 24:77e407b5d247 | 117 | Servo1=(Angle); |
Arkadi | 24:77e407b5d247 | 118 | Servo2=(1-Angle); |
Arkadi | 24:77e407b5d247 | 119 | } |
Arkadi | 24:77e407b5d247 | 120 | |
Davidroid | 19:1cd7f65c155c | 121 | |
Davidroid | 0:e6a49a092e2a | 122 | /* Main ----------------------------------------------------------------------*/ |
Davidroid | 0:e6a49a092e2a | 123 | |
Davidroid | 0:e6a49a092e2a | 124 | int main() |
Davidroid | 0:e6a49a092e2a | 125 | { |
Arkadi | 23:ef6c5c0d33b2 | 126 | pc.baud(57600); |
Davidroid | 6:32166bfc04b0 | 127 | /*----- Initialization. -----*/ |
Davidroid | 6:32166bfc04b0 | 128 | |
Davidroid | 0:e6a49a092e2a | 129 | /* Initializing SPI bus. */ |
Davidroid | 0:e6a49a092e2a | 130 | DevSPI dev_spi(D11, D12, D13); |
Davidroid | 0:e6a49a092e2a | 131 | |
Davidroid | 11:3e303a25770d | 132 | /* Initializing Motor Control Component. */ |
Davidroid | 5:8065b587ade0 | 133 | motor = new L6474(D2, D8, D7, D9, D10, dev_spi); |
Davidroid | 19:1cd7f65c155c | 134 | if (motor->Init(&init) != COMPONENT_OK) |
Davidroid | 17:4830b25fec7f | 135 | exit(EXIT_FAILURE); |
Davidroid | 0:e6a49a092e2a | 136 | |
Davidroid | 19:1cd7f65c155c | 137 | /* Attaching and enabling interrupt handlers. */ |
Davidroid | 19:1cd7f65c155c | 138 | motor->AttachFlagIRQ(&FlagIRQHandler); |
Davidroid | 19:1cd7f65c155c | 139 | motor->EnableFlagIRQ(); |
Davidroid | 19:1cd7f65c155c | 140 | |
Davidroid | 19:1cd7f65c155c | 141 | /*----- Changing motor setting. -----*/ |
Davidroid | 19:1cd7f65c155c | 142 | |
Davidroid | 19:1cd7f65c155c | 143 | /* Setting High Impedance State to update L6474's registers. */ |
Davidroid | 19:1cd7f65c155c | 144 | motor->SoftHiZ(); |
Davidroid | 19:1cd7f65c155c | 145 | |
Davidroid | 19:1cd7f65c155c | 146 | /* Changing step mode. */ |
Arkadi | 23:ef6c5c0d33b2 | 147 | motor->SetStepMode(STEP_MODE_1_16); //STEP_MODE_1_16 STEP_MODE_FULL |
Arkadi | 23:ef6c5c0d33b2 | 148 | |
Arkadi | 23:ef6c5c0d33b2 | 149 | /* Increasing the torque regulation current to 400mA. */ |
Arkadi | 24:77e407b5d247 | 150 | motor->SetParameter(L6474_TVAL, 1500); |
Davidroid | 19:1cd7f65c155c | 151 | |
Arkadi | 23:ef6c5c0d33b2 | 152 | /* Max speed to 2400 step/s. */ |
Arkadi | 23:ef6c5c0d33b2 | 153 | motor->SetMaxSpeed(6400); |
Davidroid | 6:32166bfc04b0 | 154 | |
Arkadi | 23:ef6c5c0d33b2 | 155 | /* Min speed to 200 step/s. */ |
Arkadi | 23:ef6c5c0d33b2 | 156 | motor->SetMinSpeed(500); |
Davidroid | 6:32166bfc04b0 | 157 | |
Arkadi | 23:ef6c5c0d33b2 | 158 | /* set accelerations */ |
Arkadi | 23:ef6c5c0d33b2 | 159 | motor->SetAcceleration(500); |
Arkadi | 23:ef6c5c0d33b2 | 160 | motor->SetDeceleration(500); |
Davidroid | 6:32166bfc04b0 | 161 | |
Davidroid | 6:32166bfc04b0 | 162 | /* Setting the current position to be the home position. */ |
Davidroid | 6:32166bfc04b0 | 163 | motor->SetHome(); |
Davidroid | 6:32166bfc04b0 | 164 | |
Arkadi | 24:77e407b5d247 | 165 | ServoCorrect.attach(&ServoUpdate,0.1f); |
Arkadi | 24:77e407b5d247 | 166 | |
Arkadi | 24:77e407b5d247 | 167 | /* Requesting to go to a specified position. */ |
Arkadi | 24:77e407b5d247 | 168 | StepperSetPos=600*STEPS2Rotation; |
Arkadi | 24:77e407b5d247 | 169 | motor->GoTo(StepperSetPos); |
Arkadi | 24:77e407b5d247 | 170 | motor->WaitWhileActive(); |
Arkadi | 24:77e407b5d247 | 171 | StepperPos = motor->GetPosition(); |
Arkadi | 24:77e407b5d247 | 172 | |
Davidroid | 6:32166bfc04b0 | 173 | /* Infinite Loop. */ |
Arkadi | 24:77e407b5d247 | 174 | while (0) |
Davidroid | 6:32166bfc04b0 | 175 | { |
Arkadi | 23:ef6c5c0d33b2 | 176 | |
Arkadi | 23:ef6c5c0d33b2 | 177 | // receive Motor Command |
Arkadi | 23:ef6c5c0d33b2 | 178 | while (pc.readable()) { |
Arkadi | 23:ef6c5c0d33b2 | 179 | inbyte=pc.getc(); |
Arkadi | 23:ef6c5c0d33b2 | 180 | pc.printf("%c" ,inbyte); // debug check/ |
Arkadi | 23:ef6c5c0d33b2 | 181 | BufferCMD[BufferIndex]=inbyte; |
Arkadi | 23:ef6c5c0d33b2 | 182 | BufferIndex++; |
Arkadi | 23:ef6c5c0d33b2 | 183 | // parse incoming message format: "$<value>\r\n" |
Arkadi | 23:ef6c5c0d33b2 | 184 | if (inbyte=='$'){ // start of message |
Arkadi | 23:ef6c5c0d33b2 | 185 | BufferIndex=0; // initialize to start of parser |
Arkadi | 23:ef6c5c0d33b2 | 186 | }else if(inbyte=='\r'){ // end of message |
Arkadi | 23:ef6c5c0d33b2 | 187 | CMDValue=atoi(BufferCMD); |
Arkadi | 23:ef6c5c0d33b2 | 188 | BufferIndex=0; |
Arkadi | 23:ef6c5c0d33b2 | 189 | pc.printf("CMD: %d \r\n" ,CMDValue); // debug check/ |
Arkadi | 23:ef6c5c0d33b2 | 190 | StepperSetPos=CMDValue*STEPS2Rotation; |
Arkadi | 23:ef6c5c0d33b2 | 191 | /* Update Stepper Commad */ |
Arkadi | 23:ef6c5c0d33b2 | 192 | }//end parser |
Arkadi | 23:ef6c5c0d33b2 | 193 | }//end serial |
Arkadi | 23:ef6c5c0d33b2 | 194 | |
Davidroid | 6:32166bfc04b0 | 195 | /* Requesting to go to a specified position. */ |
Arkadi | 23:ef6c5c0d33b2 | 196 | motor->GoTo(StepperSetPos); |
Davidroid | 1:fbf28f3367aa | 197 | motor->WaitWhileActive(); |
Arkadi | 23:ef6c5c0d33b2 | 198 | StepperPos = motor->GetPosition(); |
Davidroid | 0:e6a49a092e2a | 199 | |
Arkadi | 23:ef6c5c0d33b2 | 200 | pc.printf("Rotations: %d \r\n", StepperPos/STEPS2Rotation); |
Arkadi | 23:ef6c5c0d33b2 | 201 | wait(1); |
Davidroid | 0:e6a49a092e2a | 202 | } |
Davidroid | 0:e6a49a092e2a | 203 | } |