Mecat
Joystick controlando 3 motores
Dependencies: mbed X_NUCLEO_IHM01A1
Diff: main.cpp
- Revision:
- 31:3aae82e6353c
- Parent:
- 29:526970c1d998
- Child:
- 32:74a4c733c11b
--- a/main.cpp Mon Mar 13 17:47:32 2017 +0000
+++ b/main.cpp Wed Apr 24 14:14:04 2019 +0000
@@ -1,42 +1,3 @@
-/**
- ******************************************************************************
- * @file main.cpp
- * @author Davide Aliprandi, STMicroelectronics
- * @version V1.0.0
- * @date October 14th, 2015
- * @brief mbed test application for the STMicroelectronics X-NUCLEO-IHM01A1
- * Motor Control Expansion Board: control of 2 motors.
- ******************************************************************************
- * @attention
- *
- * <h2><center>© COPYRIGHT(c) 2015 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. */
@@ -52,7 +13,8 @@
/* Definitions ---------------------------------------------------------------*/
/* Number of steps. */
-#define STEPS 3200
+#define STEPS 2400
+
/* Delay in milliseconds. */
#define DELAY_1 2000
@@ -65,6 +27,12 @@
#define SPEED_1 2400
#define SPEED_2 1200
+/* Joystick */
+
+#define T_MS 500 // Define the time between reads
+#define VRx A0 // Define the input pin for VRx pin
+#define VRy A1 // Define the input pin for VRy pin
+#define SW D5 // Define the input pin for SW pin
/* Variables -----------------------------------------------------------------*/
@@ -72,13 +40,7 @@
L6474 *motor1;
L6474 *motor2;
-
-/* Main ----------------------------------------------------------------------*/
-
-int main()
-{
- /*----- Initialization. -----*/
-
+int main(){
/* Initializing SPI bus. */
DevSPI dev_spi(D11, D12, D13);
@@ -92,213 +54,61 @@
exit(EXIT_FAILURE);
}
- /* Printing to the console. */
- printf("Motor Control Application Example for 2 Motors\r\n\n");
-
-
- /*----- Moving. -----*/
-
- /* Printing to the console. */
- printf("--> Moving forward: M1 %d steps, M2 %d steps.\r\n", STEPS >> 1, STEPS);
-
- /* Moving N steps in the forward direction. */
- motor1->move(StepperMotor::FWD, STEPS >> 1);
- motor2->move(StepperMotor::FWD, STEPS);
-
- /* Waiting while the motor is active. */
- motor1->wait_while_active();
- motor2->wait_while_active();
-
- /* Getting current position. */
- int position1 = motor1->get_position();
- int position2 = motor2->get_position();
-
- /* Printing to the console. */
- printf(" Position: M1 %d, M2 %d.\r\n", position1, position2);
-
- /* Waiting 2 seconds. */
- wait_ms(DELAY_1);
-
-
- /*----- Moving. -----*/
-
- /* Printing to the console. */
- printf("--> Moving backward: M1 %d steps, M2 %d steps.\r\n", STEPS >> 1, STEPS);
-
-
- /* Moving N steps in the backward direction. */
- motor1->move(StepperMotor::BWD, STEPS >> 1);
- motor2->move(StepperMotor::BWD, STEPS);
-
- /* Waiting while the motor is active. */
- motor1->wait_while_active();
- motor2->wait_while_active();
-
- /* Getting current position. */
- position1 = motor1->get_position();
- position2 = motor2->get_position();
+ AnalogIn x_axis(VRx); // Create the analog x movement object
+ AnalogIn y_axis(VRy); // Create the analog y movement object
+ DigitalIn button(SW, PullUp); // Create the digital button object and setup internall pull-up resistor
+
+ while(1)
+ {
+ printf("\n");
+ printf("\n X axis: %f", x_axis.read()); // Show the value of the X axis (0.0 to 1.0)
+// x = x_axis.read();
+ printf("\n Y axis: %f", y_axis.read()); // Show the value of the Y axis (0.0 to 1.0)
+// y = y_axis.read();
+ printf("\n Button: %d", button.read()); // Show the button status (0 is pressed, 1 is not pressed)
+
+ wait_ms(T_MS); // Wait time between reads
+ printf("Motor Control Application Example for 2 Motors\r\n\n");
- /* Printing to the console. */
- printf(" Position: M1 %d, M2 %d.\r\n", position1, position2);
- printf("--> Setting Home.\r\n");
-
- /* Setting the current position to be the home position. */
- motor1->set_home();
- motor2->set_home();
-
- /* Waiting 2 seconds. */
- wait_ms(DELAY_1);
-
-
- /*----- Going to a specified position. -----*/
-
- /* Printing to the console. */
- printf("--> Going to position: M1 %d, M2 %d.\r\n", STEPS, STEPS >> 1);
- /* Requesting to go to a specified position. */
- motor1->go_to(STEPS);
- motor2->go_to(STEPS >> 1);
-
- /* Waiting while the motor is active. */
- motor1->wait_while_active();
- motor2->wait_while_active();
-
- /* Getting current position. */
- position1 = motor1->get_position();
- position2 = motor2->get_position();
-
- /* Printing to the console. */
- printf(" Position: M1 %d, M2 %d.\r\n", position1, position2);
-
- /* Waiting 2 seconds. */
- wait_ms(DELAY_1);
-
-
- /*----- Going Home. -----*/
-
- /* Printing to the console. */
- printf("--> Going Home.\r\n");
-
- /* Requesting to go to home. */
- motor1->go_home();
- motor2->go_home();
-
- /* Waiting while the motor is active. */
- motor1->wait_while_active();
- motor2->wait_while_active();
-
- /* Getting current position. */
- position1 = motor1->get_position();
- position2 = motor2->get_position();
-
- /* Printing to the console. */
- printf(" Position: M1 %d, M2 %d.\r\n", position1, position2);
-
- /* Waiting 2 seconds. */
- wait_ms(DELAY_1);
+ /*----- Movendo pra frente -----*/
-
- /*----- Running. -----*/
-
- /* Printing to the console. */
- printf("--> M1 running backward, M2 running forward.\r\n");
-
- /* Requesting to run backward. */
- motor1->run(StepperMotor::BWD);
- motor2->run(StepperMotor::FWD);
-
- /* Waiting until delay has expired. */
- wait_ms(DELAY_2);
-
- /* Getting current speed. */
- int speed1 = motor1->get_speed();
- int speed2 = motor2->get_speed();
-
- /* Printing to the console. */
- printf(" Speed: M1 %d, M2 %d.\r\n", speed1, speed2);
-
- /*----- Increasing the speed while running. -----*/
-
- /* Printing to the console. */
- printf("--> Increasing the speed while running.\r\n");
-
- /* Increasing the speed. */
- motor1->set_max_speed(SPEED_1);
- motor2->set_max_speed(SPEED_1);
-
- /* Waiting until delay has expired. */
- wait_ms(DELAY_2);
-
- /* Getting current speed. */
- speed1 = motor1->get_speed();
- speed2 = motor2->get_speed();
-
- /* Printing to the console. */
- printf(" Speed: M1 %d, M2 %d.\r\n", speed1, speed2);
-
-
- /*----- Decreasing the speed while running. -----*/
-
- /* Printing to the console. */
- printf("--> Decreasing the speed while running.\r\n");
-
- /* Decreasing the speed. */
- motor1->set_max_speed(SPEED_2);
- motor2->set_max_speed(SPEED_2);
-
- /* Waiting until delay has expired. */
- wait_ms(DELAY_3);
-
- /* Getting current speed. */
- speed1 = motor1->get_speed();
- speed2 = motor2->get_speed();
-
- /* Printing to the console. */
- printf(" Speed: M1 %d, M2 %d.\r\n", speed1, speed2);
-
-
- /*----- Requiring hard-stop while running. -----*/
-
- /* Printing to the console. */
- printf("--> Requiring hard-stop while running.\r\n");
-
- /* Requesting to immediatly stop. */
- motor1->hard_stop();
- motor2->hard_stop();
-
- /* Waiting while the motor is active. */
- motor1->wait_while_active();
- motor2->wait_while_active();
-
- /* Waiting 2 seconds. */
- wait_ms(DELAY_1);
-
-
- /*----- Infinite Loop. -----*/
-
- /* Printing to the console. */
- printf("--> Infinite Loop...\r\n");
-
- /* Setting the current position to be the home position. */
- motor1->set_home();
- motor2->set_home();
-
- /* Infinite Loop. */
- while(true) {
- /* Requesting to go to a specified position. */
- motor1->go_to(STEPS >> 1);
- motor2->go_to(- (STEPS >> 1));
-
- /* Waiting while the motor is active. */
- motor1->wait_while_active();
- motor2->wait_while_active();
-
- /* Requesting to go to a specified position. */
- motor1->go_to(- (STEPS >> 1));
- motor2->go_to(STEPS >> 1);
-
- /* Waiting while the motor is active. */
- motor1->wait_while_active();
- motor2->wait_while_active();
+ /* Printing to the console. */
+ printf("--> Moving forward: M1 %d steps, M2 %d steps.\r\n", STEPS >> 1, STEPS);
+ if (x_axis.read()>0.6){
+ /* Moving N steps in the forward direction. */
+ motor1->run(StepperMotor::FWD);
+ motor1->wait_while_active();
+ }
+ else if (y_axis.read()>0.6){
+ motor2->run(StepperMotor::FWD);
+ motor2->wait_while_active();
+ }
+
+ int position1 = motor1->get_position();
+ int position2 = motor2->get_position();
+ printf(" Position: M1 %d, M2 %d.\r\n", position1, position2);
+
+ /*----- Movendo pra trás -----*/
+
+ if (x_axis.read()<0.4){
+ /* Moving N steps in the backward direction. */
+ printf("--> Moving X backward: M1 %d steps, M2 %d steps.\r\n", STEPS >> 1, STEPS);
+ motor1->run(StepperMotor::BWD);
+ }
+ else if (y_axis.read()<0.4){
+ printf("--> Moving Y backward: M1 %d steps, M2 %d steps.\r\n", STEPS >> 1, STEPS);
+ motor2->run(StepperMotor::BWD);
+ }
+ else{
+ soft_stop()
+ }
+
+ /* Getting current position. */
+ position1 = motor1->get_position();
+ position2 = motor2->get_position();
+
+ /* Printing to the console. */
+ printf(" Position: M1 %d, M2 %d.\r\n", position1, position2);
}
-}
+}
\ No newline at end of file