NEHSROBOT / Mbed 2 deprecated Motor_Ble_Ultimate_Final

20180223 ULTIMATE FINAL

Dependencies:   BLE_API X_NUCLEO_IDB0XA1 X_NUCLEO_IHM02A1 mbed

Fork of Motor_Ble_v1201820223FINAL by NEHSROBOT

main.cpp@12:407779f755d0, 2018-02-23 (annotated)

Committer:
yong304
Date:
Fri Feb 23 08:52:13 2018 +0000
Revision:
12:407779f755d0
Parent:
11:6deabd374c96
Child:
13:d7aa688cd990
20180223FINAL

Who changed what in which revision?

UserRevisionLine numberNew contents of line
apalmieri 0:aae2d6c2a9eb 1 /* mbed Microcontroller Library
apalmieri 0:aae2d6c2a9eb 2 * Copyright (c) 2006-2013 ARM Limited
apalmieri 0:aae2d6c2a9eb 3 *
apalmieri 0:aae2d6c2a9eb 4 * Licensed under the Apache License, Version 2.0 (the "License");
apalmieri 0:aae2d6c2a9eb 5 * you may not use this file except in compliance with the License.
apalmieri 0:aae2d6c2a9eb 6 * You may obtain a copy of the License at
apalmieri 0:aae2d6c2a9eb 7 *
apalmieri 0:aae2d6c2a9eb 8 * http://www.apache.org/licenses/LICENSE-2.0
apalmieri 0:aae2d6c2a9eb 9 *
apalmieri 0:aae2d6c2a9eb 10 * Unless required by applicable law or agreed to in writing, software
apalmieri 0:aae2d6c2a9eb 11 * distributed under the License is distributed on an "AS IS" BASIS,
apalmieri 0:aae2d6c2a9eb 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
apalmieri 0:aae2d6c2a9eb 13 * See the License for the specific language governing permissions and
apalmieri 0:aae2d6c2a9eb 14 * limitations under the License.
apalmieri 0:aae2d6c2a9eb 15 */
barry210110 7:126b141a8c86 16
barry210110 7:126b141a8c86 17 /* Includes ------------------------------------------------------------------*/
barry210110 7:126b141a8c86 18
barry210110 7:126b141a8c86 19
yong304 10:21eecb227c05 20
barry210110 7:126b141a8c86 21 /* Helper header files. */
barry210110 7:126b141a8c86 22 #include "DevSPI.h"
yong304 10:21eecb227c05 23 void FWD();
yong304 10:21eecb227c05 24 void BWD();
yong304 10:21eecb227c05 25 void LEFT();
yong304 10:21eecb227c05 26 void RIGHT();
yong304 11:6deabd374c96 27 void SOFTSTOP();
barry210110 7:126b141a8c86 28 /* Expansion Board specific header files. */
barry210110 7:126b141a8c86 29 #include "XNucleoIHM02A1.h"
apalmieri 0:aae2d6c2a9eb 30
apalmieri 0:aae2d6c2a9eb 31 #include "mbed.h"
apalmieri 0:aae2d6c2a9eb 32 #include "ble/BLE.h"
apalmieri 0:aae2d6c2a9eb 33 #include "LEDService.h"
yong304 10:21eecb227c05 34
barry210110 9:ef9b37e2464f 35
barry210110 7:126b141a8c86 36 /* Definitions ---------------------------------------------------------------*/
apalmieri 0:aae2d6c2a9eb 37
barry210110 7:126b141a8c86 38 /* Number of movements per revolution. */
barry210110 7:126b141a8c86 39 #define MPR_1 4
barry210110 7:126b141a8c86 40
barry210110 7:126b141a8c86 41 /* Number of steps. */
barry210110 7:126b141a8c86 42 #define STEPS_1 (400 * 128) /* 1 revolution given a 400 steps motor configured at 1/128 microstep mode. */
barry210110 7:126b141a8c86 43 #define STEPS_2 (STEPS_1 * 2)
barry210110 7:126b141a8c86 44
barry210110 7:126b141a8c86 45 /* Delay in milliseconds. */
barry210110 7:126b141a8c86 46 #define DELAY_1 1000
barry210110 7:126b141a8c86 47 #define DELAY_2 2000
barry210110 7:126b141a8c86 48 #define DELAY_3 5000
barry210110 7:126b141a8c86 49
barry210110 9:ef9b37e2464f 50 #ifdef TARGET_STM32F401
barry210110 9:ef9b37e2464f 51 DevSPI dev_spi(PB_15, PB_14, PB_13);
barry210110 9:ef9b37e2464f 52 #else
barry210110 9:ef9b37e2464f 53 DevSPI dev_spi(PB_15, PB_14, PB_13);
barry210110 9:ef9b37e2464f 54 #endif
yong304 10:21eecb227c05 55
barry210110 7:126b141a8c86 56 /* Variables -----------------------------------------------------------------*/
barry210110 7:126b141a8c86 57
barry210110 7:126b141a8c86 58 /* Initialization parameters of the motors connected to the expansion board. */
barry210110 7:126b141a8c86 59 L6470_init_t init[L6470DAISYCHAINSIZE] = {
barry210110 7:126b141a8c86 60 /* First Motor. */
barry210110 7:126b141a8c86 61 {
barry210110 7:126b141a8c86 62 9.0, /* Motor supply voltage in V. */
barry210110 7:126b141a8c86 63 400, /* Min number of steps per revolution for the motor. */
barry210110 7:126b141a8c86 64 1.7, /* Max motor phase voltage in A. */
barry210110 7:126b141a8c86 65 3.06, /* Max motor phase voltage in V. */
barry210110 7:126b141a8c86 66 300.0, /* Motor initial speed [step/s]. */
barry210110 7:126b141a8c86 67 500.0, /* Motor acceleration [step/s^2] (comment for infinite acceleration mode). */
barry210110 7:126b141a8c86 68 500.0, /* Motor deceleration [step/s^2] (comment for infinite deceleration mode). */
barry210110 7:126b141a8c86 69 992.0, /* Motor maximum speed [step/s]. */
barry210110 7:126b141a8c86 70 0.0, /* Motor minimum speed [step/s]. */
barry210110 7:126b141a8c86 71 602.7, /* Motor full-step speed threshold [step/s]. */
barry210110 7:126b141a8c86 72 3.06, /* Holding kval [V]. */
barry210110 7:126b141a8c86 73 3.06, /* Constant speed kval [V]. */
barry210110 7:126b141a8c86 74 3.06, /* Acceleration starting kval [V]. */
barry210110 7:126b141a8c86 75 3.06, /* Deceleration starting kval [V]. */
barry210110 7:126b141a8c86 76 61.52, /* Intersect speed for bemf compensation curve slope changing [step/s]. */
barry210110 7:126b141a8c86 77 392.1569e-6, /* Start slope [s/step]. */
barry210110 7:126b141a8c86 78 643.1372e-6, /* Acceleration final slope [s/step]. */
barry210110 7:126b141a8c86 79 643.1372e-6, /* Deceleration final slope [s/step]. */
barry210110 7:126b141a8c86 80 0, /* Thermal compensation factor (range [0, 15]). */
barry210110 7:126b141a8c86 81 3.06 * 1000 * 1.10, /* Ocd threshold [ma] (range [375 ma, 6000 ma]). */
barry210110 7:126b141a8c86 82 3.06 * 1000 * 1.00, /* Stall threshold [ma] (range [31.25 ma, 4000 ma]). */
barry210110 7:126b141a8c86 83 StepperMotor::STEP_MODE_1_128, /* Step mode selection. */
barry210110 7:126b141a8c86 84 0xFF, /* Alarm conditions enable. */
barry210110 7:126b141a8c86 85 0x2E88 /* Ic configuration. */
barry210110 7:126b141a8c86 86 },
barry210110 7:126b141a8c86 87
barry210110 7:126b141a8c86 88 /* Second Motor. */
barry210110 7:126b141a8c86 89 {
barry210110 7:126b141a8c86 90 9.0, /* Motor supply voltage in V. */
barry210110 7:126b141a8c86 91 400, /* Min number of steps per revolution for the motor. */
barry210110 7:126b141a8c86 92 1.7, /* Max motor phase voltage in A. */
barry210110 7:126b141a8c86 93 3.06, /* Max motor phase voltage in V. */
barry210110 7:126b141a8c86 94 300.0, /* Motor initial speed [step/s]. */
barry210110 7:126b141a8c86 95 500.0, /* Motor acceleration [step/s^2] (comment for infinite acceleration mode). */
barry210110 7:126b141a8c86 96 500.0, /* Motor deceleration [step/s^2] (comment for infinite deceleration mode). */
barry210110 7:126b141a8c86 97 992.0, /* Motor maximum speed [step/s]. */
barry210110 7:126b141a8c86 98 0.0, /* Motor minimum speed [step/s]. */
barry210110 7:126b141a8c86 99 602.7, /* Motor full-step speed threshold [step/s]. */
barry210110 7:126b141a8c86 100 3.06, /* Holding kval [V]. */
barry210110 7:126b141a8c86 101 3.06, /* Constant speed kval [V]. */
barry210110 7:126b141a8c86 102 3.06, /* Acceleration starting kval [V]. */
barry210110 7:126b141a8c86 103 3.06, /* Deceleration starting kval [V]. */
barry210110 7:126b141a8c86 104 61.52, /* Intersect speed for bemf compensation curve slope changing [step/s]. */
barry210110 7:126b141a8c86 105 392.1569e-6, /* Start slope [s/step]. */
barry210110 7:126b141a8c86 106 643.1372e-6, /* Acceleration final slope [s/step]. */
barry210110 7:126b141a8c86 107 643.1372e-6, /* Deceleration final slope [s/step]. */
barry210110 7:126b141a8c86 108 0, /* Thermal compensation factor (range [0, 15]). */
barry210110 7:126b141a8c86 109 3.06 * 1000 * 1.10, /* Ocd threshold [ma] (range [375 ma, 6000 ma]). */
barry210110 7:126b141a8c86 110 3.06 * 1000 * 1.00, /* Stall threshold [ma] (range [31.25 ma, 4000 ma]). */
barry210110 7:126b141a8c86 111 StepperMotor::STEP_MODE_1_128, /* Step mode selection. */
barry210110 7:126b141a8c86 112 0xFF, /* Alarm conditions enable. */
barry210110 7:126b141a8c86 113 0x2E88 /* Ic configuration. */
barry210110 7:126b141a8c86 114 }
barry210110 7:126b141a8c86 115 };
barry210110 7:126b141a8c86 116
yong304 10:21eecb227c05 117
yong304 10:21eecb227c05 118 /* Motor Control Expansion Board. */
yong304 12:407779f755d0 119 XNucleoIHM02A1* x_nucleo_ihm02a1 = new XNucleoIHM02A1(&init[0], &init[1], A4, A5, D4, A2, &dev_spi);
barry210110 9:ef9b37e2464f 120
barry210110 7:126b141a8c86 121 DigitalOut actuatedLED(LED2);
barry210110 7:126b141a8c86 122 const static char DEVICE_NAME[] = "mydevice"; // CHANGE NAME
barry210110 7:126b141a8c86 123 static const uint16_t uuid16_list[] = {LEDService::LED_SERVICE_UUID}; // GATT ATTRIBUTE UUID
apalmieri 0:aae2d6c2a9eb 124
apalmieri 0:aae2d6c2a9eb 125 LEDService *ledServicePtr;
apalmieri 0:aae2d6c2a9eb 126
apalmieri 0:aae2d6c2a9eb 127 void disconnectionCallback(const Gap::DisconnectionCallbackParams_t *params)
apalmieri 0:aae2d6c2a9eb 128 {
apalmieri 0:aae2d6c2a9eb 129 (void)params;
apalmieri 3:e0efdb741bd4 130 BLE::Instance().gap().startAdvertising(); // restart advertising
apalmieri 0:aae2d6c2a9eb 131 }
apalmieri 0:aae2d6c2a9eb 132
apalmieri 0:aae2d6c2a9eb 133 /**
apalmieri 0:aae2d6c2a9eb 134 * This callback allows the LEDService to receive updates to the ledState Characteristic.
apalmieri 0:aae2d6c2a9eb 135 *
apalmieri 0:aae2d6c2a9eb 136 * @param[in] params
apalmieri 0:aae2d6c2a9eb 137 * Information about the characterisitc being updated.
apalmieri 0:aae2d6c2a9eb 138 */
apalmieri 0:aae2d6c2a9eb 139 void onDataWrittenCallback(const GattWriteCallbackParams *params) {
apalmieri 0:aae2d6c2a9eb 140 if ((params->handle == ledServicePtr->getValueHandle()) && (params->len == 1)) {
yong304 10:21eecb227c05 141
yong304 11:6deabd374c96 142 if ( *(params->data)== 0x41 )
barry210110 7:126b141a8c86 143 {
barry210110 7:126b141a8c86 144 actuatedLED=1 ;
yong304 11:6deabd374c96 145 FWD();
yong304 11:6deabd374c96 146 }
yong304 11:6deabd374c96 147 else if (*(params->data)== 0x42)
yong304 11:6deabd374c96 148 {
yong304 12:407779f755d0 149 actuatedLED=1 ;
yong304 12:407779f755d0 150 BWD();
yong304 11:6deabd374c96 151
yong304 11:6deabd374c96 152 }
yong304 11:6deabd374c96 153 else if (*(params->data)== 0x43)
yong304 11:6deabd374c96 154 {
barry210110 7:126b141a8c86 155 actuatedLED=1 ;
yong304 12:407779f755d0 156 RIGHT();
yong304 11:6deabd374c96 157
yong304 11:6deabd374c96 158 }
yong304 11:6deabd374c96 159 else if (*(params->data)== 0x44)
yong304 11:6deabd374c96 160 {
yong304 10:21eecb227c05 161 actuatedLED=1 ;
yong304 10:21eecb227c05 162 LEFT();
yong304 10:21eecb227c05 163 }
yong304 12:407779f755d0 164 else if (*(params->data)== 0x45)
yong304 12:407779f755d0 165 {
yong304 12:407779f755d0 166 actuatedLED=0 ;
yong304 12:407779f755d0 167 SOFTSTOP();
yong304 12:407779f755d0 168 }
yong304 12:407779f755d0 169
yong304 10:21eecb227c05 170
barry210110 7:126b141a8c86 171
apalmieri 0:aae2d6c2a9eb 172 }
barry210110 7:126b141a8c86 173
apalmieri 0:aae2d6c2a9eb 174 }
apalmieri 0:aae2d6c2a9eb 175
apalmieri 0:aae2d6c2a9eb 176 /**
apalmieri 0:aae2d6c2a9eb 177 * This function is called when the ble initialization process has failled
apalmieri 0:aae2d6c2a9eb 178 */
barry210110 7:126b141a8c86 179 int onBleInitError(BLE &ble, ble_error_t error)
apalmieri 0:aae2d6c2a9eb 180 {
apalmieri 0:aae2d6c2a9eb 181 /* Initialization error handling should go here */
apalmieri 0:aae2d6c2a9eb 182 }
apalmieri 0:aae2d6c2a9eb 183
apalmieri 0:aae2d6c2a9eb 184 /**
apalmieri 0:aae2d6c2a9eb 185 * Callback triggered when the ble initialization process has finished
apalmieri 0:aae2d6c2a9eb 186 */
apalmieri 0:aae2d6c2a9eb 187 void bleInitComplete(BLE::InitializationCompleteCallbackContext *params)
apalmieri 0:aae2d6c2a9eb 188 {
apalmieri 0:aae2d6c2a9eb 189 BLE& ble = params->ble;
apalmieri 0:aae2d6c2a9eb 190 ble_error_t error = params->error;
apalmieri 0:aae2d6c2a9eb 191
apalmieri 0:aae2d6c2a9eb 192 if (error != BLE_ERROR_NONE) {
apalmieri 0:aae2d6c2a9eb 193 /* In case of error, forward the error handling to onBleInitError */
apalmieri 0:aae2d6c2a9eb 194 onBleInitError(ble, error);
yong304 10:21eecb227c05 195 return;
apalmieri 0:aae2d6c2a9eb 196 }
apalmieri 0:aae2d6c2a9eb 197
apalmieri 0:aae2d6c2a9eb 198 /* Ensure that it is the default instance of BLE */
apalmieri 0:aae2d6c2a9eb 199 if(ble.getInstanceID() != BLE::DEFAULT_INSTANCE) {
apalmieri 0:aae2d6c2a9eb 200 return;
apalmieri 0:aae2d6c2a9eb 201 }
apalmieri 0:aae2d6c2a9eb 202
apalmieri 0:aae2d6c2a9eb 203 ble.gap().onDisconnection(disconnectionCallback);
apalmieri 0:aae2d6c2a9eb 204 ble.gattServer().onDataWritten(onDataWrittenCallback);
apalmieri 0:aae2d6c2a9eb 205
apalmieri 0:aae2d6c2a9eb 206 bool initialValueForLEDCharacteristic = true;
apalmieri 3:e0efdb741bd4 207 ledServicePtr = new LEDService(ble, initialValueForLEDCharacteristic);
apalmieri 0:aae2d6c2a9eb 208
apalmieri 0:aae2d6c2a9eb 209 /* setup advertising */
apalmieri 0:aae2d6c2a9eb 210 ble.gap().accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED | GapAdvertisingData::LE_GENERAL_DISCOVERABLE);
apalmieri 0:aae2d6c2a9eb 211 ble.gap().accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_16BIT_SERVICE_IDS, (uint8_t *)uuid16_list, sizeof(uuid16_list));
apalmieri 0:aae2d6c2a9eb 212 ble.gap().accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LOCAL_NAME, (uint8_t *)DEVICE_NAME, sizeof(DEVICE_NAME));
apalmieri 0:aae2d6c2a9eb 213 ble.gap().setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED);
apalmieri 0:aae2d6c2a9eb 214 ble.gap().setAdvertisingInterval(1000); /* 1000ms. */
apalmieri 0:aae2d6c2a9eb 215 ble.gap().startAdvertising();
barry210110 7:126b141a8c86 216
apalmieri 0:aae2d6c2a9eb 217 while (true) {
apalmieri 0:aae2d6c2a9eb 218 ble.waitForEvent();
apalmieri 0:aae2d6c2a9eb 219 }
apalmieri 0:aae2d6c2a9eb 220 }
apalmieri 0:aae2d6c2a9eb 221
apalmieri 0:aae2d6c2a9eb 222 int main(void)
barry210110 7:126b141a8c86 223 {
barry210110 7:126b141a8c86 224
apalmieri 0:aae2d6c2a9eb 225 BLE &ble = BLE::Instance();
apalmieri 0:aae2d6c2a9eb 226
barry210110 7:126b141a8c86 227 ble.init(bleInitComplete);
barry210110 7:126b141a8c86 228
apalmieri 0:aae2d6c2a9eb 229 }
yong304 10:21eecb227c05 230
yong304 10:21eecb227c05 231 void FWD()
yong304 10:21eecb227c05 232 {
barry210110 9:ef9b37e2464f 233
barry210110 7:126b141a8c86 234 /* Building a list of motor control components. */
barry210110 7:126b141a8c86 235 L6470 **motors = x_nucleo_ihm02a1->get_components();
yong304 11:6deabd374c96 236 //otors[0]->set_home();
yong304 10:21eecb227c05 237
yong304 10:21eecb227c05 238 /* Getting the current position. */
yong304 11:6deabd374c96 239 //t position = motors[0]->get_position();
yong304 10:21eecb227c05 240
yong304 11:6deabd374c96 241 /* Preparing each motor to perform a run at a specified speed. */
yong304 10:21eecb227c05 242 for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
yong304 11:6deabd374c96 243 motors[m]->prepare_run(StepperMotor::FWD, 400);
yong304 10:21eecb227c05 244 }
yong304 10:21eecb227c05 245
yong304 10:21eecb227c05 246 /* Performing the action on each motor at the same time. */
yong304 10:21eecb227c05 247 x_nucleo_ihm02a1->perform_prepared_actions();
yong304 10:21eecb227c05 248
yong304 10:21eecb227c05 249 /* Waiting while active. */
yong304 10:21eecb227c05 250 motors[0]->wait_while_active();
yong304 11:6deabd374c96 251 motors[1]->wait_while_active();
yong304 10:21eecb227c05 252 }
yong304 10:21eecb227c05 253
yong304 10:21eecb227c05 254 void BWD()
yong304 10:21eecb227c05 255 {
yong304 10:21eecb227c05 256
yong304 10:21eecb227c05 257 /* Building a list of motor control components. */
yong304 10:21eecb227c05 258 L6470 **motors = x_nucleo_ihm02a1->get_components();
yong304 11:6deabd374c96 259 // motors[0]->set_home();
barry210110 7:126b141a8c86 260
barry210110 7:126b141a8c86 261 /* Getting the current position. */
yong304 11:6deabd374c96 262 // int position = motors[0]->get_position();
barry210110 7:126b141a8c86 263
yong304 12:407779f755d0 264 /* Preparing each motor to perform a run at a specified speed. */
yong304 10:21eecb227c05 265 for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
yong304 12:407779f755d0 266 motors[m]->prepare_run(StepperMotor::BWD, 400);
yong304 10:21eecb227c05 267 }
yong304 10:21eecb227c05 268
yong304 10:21eecb227c05 269 /* Performing the action on each motor at the same time. */
yong304 10:21eecb227c05 270 x_nucleo_ihm02a1->perform_prepared_actions();
yong304 10:21eecb227c05 271
yong304 10:21eecb227c05 272 /* Waiting while active. */
yong304 10:21eecb227c05 273 motors[0]->wait_while_active();
yong304 11:6deabd374c96 274 motors[1]->wait_while_active();
yong304 10:21eecb227c05 275 }
yong304 10:21eecb227c05 276 void LEFT()
yong304 10:21eecb227c05 277 {
yong304 10:21eecb227c05 278
yong304 10:21eecb227c05 279 /* Building a list of motor control components. */
yong304 10:21eecb227c05 280 L6470 **motors = x_nucleo_ihm02a1->get_components();
yong304 11:6deabd374c96 281 // motors[0]->set_home();
yong304 10:21eecb227c05 282
yong304 10:21eecb227c05 283 /* Getting the current position. */
yong304 11:6deabd374c96 284 // int position = motors[0]->get_position();
yong304 10:21eecb227c05 285
yong304 10:21eecb227c05 286 /* Preparing each motor to perform a run at a specified speed. */
yong304 12:407779f755d0 287 motors[0]->prepare_run(StepperMotor::FWD, 400);
yong304 12:407779f755d0 288 motors[1]->prepare_run(StepperMotor::BWD, 400);
barry210110 7:126b141a8c86 289
yong304 10:21eecb227c05 290 /* Performing the action on each motor at the same time. */
yong304 10:21eecb227c05 291 x_nucleo_ihm02a1->perform_prepared_actions();
barry210110 7:126b141a8c86 292
yong304 10:21eecb227c05 293 /* Waiting while active. */
yong304 10:21eecb227c05 294 motors[0]->wait_while_active();
yong304 11:6deabd374c96 295 motors[1]->wait_while_active();
yong304 10:21eecb227c05 296 }
yong304 10:21eecb227c05 297 void RIGHT()
yong304 10:21eecb227c05 298 {
yong304 10:21eecb227c05 299
yong304 10:21eecb227c05 300 /* Building a list of motor control components. */
yong304 10:21eecb227c05 301 L6470 **motors = x_nucleo_ihm02a1->get_components();
yong304 11:6deabd374c96 302 // motors[0]->set_home();
yong304 10:21eecb227c05 303
yong304 10:21eecb227c05 304 /* Getting the current position. */
yong304 11:6deabd374c96 305 // int position = motors[0]->get_position();
yong304 10:21eecb227c05 306
yong304 10:21eecb227c05 307 /* Preparing each motor to perform a run at a specified speed. */
yong304 12:407779f755d0 308 motors[0]->prepare_run(StepperMotor::BWD, 400);
yong304 12:407779f755d0 309 motors[1]->prepare_run(StepperMotor::FWD, 400);
yong304 10:21eecb227c05 310
yong304 10:21eecb227c05 311 /* Performing the action on each motor at the same time. */
yong304 10:21eecb227c05 312 x_nucleo_ihm02a1->perform_prepared_actions();
barry210110 9:ef9b37e2464f 313
yong304 10:21eecb227c05 314 /* Waiting while active. */
yong304 10:21eecb227c05 315 motors[0]->wait_while_active();
yong304 11:6deabd374c96 316 motors[1]->wait_while_active();
yong304 11:6deabd374c96 317 }
yong304 11:6deabd374c96 318 void SOFTSTOP()
yong304 11:6deabd374c96 319 {
yong304 11:6deabd374c96 320
yong304 11:6deabd374c96 321 /* Building a list of motor control components. */
yong304 11:6deabd374c96 322 L6470 **motors = x_nucleo_ihm02a1->get_components();
yong304 11:6deabd374c96 323 /* Preparing each motor to perform a hard stop. */
yong304 11:6deabd374c96 324 for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
yong304 11:6deabd374c96 325 motors[m]->prepare_soft_stop();
yong304 11:6deabd374c96 326 }
yong304 11:6deabd374c96 327
yong304 11:6deabd374c96 328 /* Performing the action on each motor at the same time. */
yong304 11:6deabd374c96 329 x_nucleo_ihm02a1->perform_prepared_actions();
yong304 11:6deabd374c96 330
yong304 11:6deabd374c96 331 }