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@11:6deabd374c96, 2018-02-23 (annotated)

Committer:
yong304
Date:
Fri Feb 23 08:12:54 2018 +0000
Revision:
11:6deabd374c96
Parent:
10:21eecb227c05
Child:
12:407779f755d0
20180223

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 11:6deabd374c96 119 XNucleoIHM02A1* x_nucleo_ihm02a1 = new XNucleoIHM02A1(&init[0], &init[1], A4, A5, D4, D10, &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 {
barry210110 7:126b141a8c86 149 actuatedLED=0 ;
yong304 11:6deabd374c96 150 //SOFTSTOP();
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 11:6deabd374c96 156 //FWD();
yong304 11:6deabd374c96 157
yong304 11:6deabd374c96 158
yong304 11:6deabd374c96 159 }
yong304 11:6deabd374c96 160 else if (*(params->data)== 0x44)
yong304 11:6deabd374c96 161 {
barry210110 7:126b141a8c86 162 actuatedLED=0 ;
yong304 11:6deabd374c96 163 wait(0.1) ;
yong304 11:6deabd374c96 164 BWD();
yong304 10:21eecb227c05 165 }
yong304 10:21eecb227c05 166 else if (*(params->data)== 0x01)
yong304 10:21eecb227c05 167 {
yong304 10:21eecb227c05 168 actuatedLED=1 ;
yong304 10:21eecb227c05 169 FWD();
yong304 10:21eecb227c05 170 }
yong304 10:21eecb227c05 171 else if (*(params->data)== 0x02) {
barry210110 7:126b141a8c86 172 actuatedLED=1 ;
yong304 10:21eecb227c05 173 BWD();
barry210110 7:126b141a8c86 174 }
yong304 10:21eecb227c05 175 else if (*(params->data)== 0x03) {
yong304 10:21eecb227c05 176 actuatedLED=1 ;
yong304 10:21eecb227c05 177 RIGHT();
yong304 10:21eecb227c05 178 }
yong304 10:21eecb227c05 179 else if (*(params->data)== 0x04) {
yong304 10:21eecb227c05 180 actuatedLED=1 ;
yong304 10:21eecb227c05 181 LEFT();
yong304 10:21eecb227c05 182 }
yong304 10:21eecb227c05 183
barry210110 7:126b141a8c86 184
apalmieri 0:aae2d6c2a9eb 185 }
barry210110 7:126b141a8c86 186
apalmieri 0:aae2d6c2a9eb 187 }
apalmieri 0:aae2d6c2a9eb 188
apalmieri 0:aae2d6c2a9eb 189 /**
apalmieri 0:aae2d6c2a9eb 190 * This function is called when the ble initialization process has failled
apalmieri 0:aae2d6c2a9eb 191 */
barry210110 7:126b141a8c86 192 int onBleInitError(BLE &ble, ble_error_t error)
apalmieri 0:aae2d6c2a9eb 193 {
apalmieri 0:aae2d6c2a9eb 194 /* Initialization error handling should go here */
apalmieri 0:aae2d6c2a9eb 195 }
apalmieri 0:aae2d6c2a9eb 196
apalmieri 0:aae2d6c2a9eb 197 /**
apalmieri 0:aae2d6c2a9eb 198 * Callback triggered when the ble initialization process has finished
apalmieri 0:aae2d6c2a9eb 199 */
apalmieri 0:aae2d6c2a9eb 200 void bleInitComplete(BLE::InitializationCompleteCallbackContext *params)
apalmieri 0:aae2d6c2a9eb 201 {
apalmieri 0:aae2d6c2a9eb 202 BLE& ble = params->ble;
apalmieri 0:aae2d6c2a9eb 203 ble_error_t error = params->error;
apalmieri 0:aae2d6c2a9eb 204
apalmieri 0:aae2d6c2a9eb 205 if (error != BLE_ERROR_NONE) {
apalmieri 0:aae2d6c2a9eb 206 /* In case of error, forward the error handling to onBleInitError */
apalmieri 0:aae2d6c2a9eb 207 onBleInitError(ble, error);
yong304 10:21eecb227c05 208 return;
apalmieri 0:aae2d6c2a9eb 209 }
apalmieri 0:aae2d6c2a9eb 210
apalmieri 0:aae2d6c2a9eb 211 /* Ensure that it is the default instance of BLE */
apalmieri 0:aae2d6c2a9eb 212 if(ble.getInstanceID() != BLE::DEFAULT_INSTANCE) {
apalmieri 0:aae2d6c2a9eb 213 return;
apalmieri 0:aae2d6c2a9eb 214 }
apalmieri 0:aae2d6c2a9eb 215
apalmieri 0:aae2d6c2a9eb 216 ble.gap().onDisconnection(disconnectionCallback);
apalmieri 0:aae2d6c2a9eb 217 ble.gattServer().onDataWritten(onDataWrittenCallback);
apalmieri 0:aae2d6c2a9eb 218
apalmieri 0:aae2d6c2a9eb 219 bool initialValueForLEDCharacteristic = true;
apalmieri 3:e0efdb741bd4 220 ledServicePtr = new LEDService(ble, initialValueForLEDCharacteristic);
apalmieri 0:aae2d6c2a9eb 221
apalmieri 0:aae2d6c2a9eb 222 /* setup advertising */
apalmieri 0:aae2d6c2a9eb 223 ble.gap().accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED | GapAdvertisingData::LE_GENERAL_DISCOVERABLE);
apalmieri 0:aae2d6c2a9eb 224 ble.gap().accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_16BIT_SERVICE_IDS, (uint8_t *)uuid16_list, sizeof(uuid16_list));
apalmieri 0:aae2d6c2a9eb 225 ble.gap().accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LOCAL_NAME, (uint8_t *)DEVICE_NAME, sizeof(DEVICE_NAME));
apalmieri 0:aae2d6c2a9eb 226 ble.gap().setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED);
apalmieri 0:aae2d6c2a9eb 227 ble.gap().setAdvertisingInterval(1000); /* 1000ms. */
apalmieri 0:aae2d6c2a9eb 228 ble.gap().startAdvertising();
barry210110 7:126b141a8c86 229
apalmieri 0:aae2d6c2a9eb 230 while (true) {
apalmieri 0:aae2d6c2a9eb 231 ble.waitForEvent();
apalmieri 0:aae2d6c2a9eb 232 }
apalmieri 0:aae2d6c2a9eb 233 }
apalmieri 0:aae2d6c2a9eb 234
apalmieri 0:aae2d6c2a9eb 235 int main(void)
barry210110 7:126b141a8c86 236 {
barry210110 7:126b141a8c86 237
apalmieri 0:aae2d6c2a9eb 238 BLE &ble = BLE::Instance();
apalmieri 0:aae2d6c2a9eb 239
barry210110 7:126b141a8c86 240 ble.init(bleInitComplete);
barry210110 7:126b141a8c86 241
apalmieri 0:aae2d6c2a9eb 242 }
yong304 10:21eecb227c05 243
yong304 10:21eecb227c05 244 void FWD()
yong304 10:21eecb227c05 245 {
barry210110 9:ef9b37e2464f 246
barry210110 7:126b141a8c86 247 /* Building a list of motor control components. */
barry210110 7:126b141a8c86 248 L6470 **motors = x_nucleo_ihm02a1->get_components();
yong304 11:6deabd374c96 249 //otors[0]->set_home();
yong304 10:21eecb227c05 250
yong304 10:21eecb227c05 251 /* Getting the current position. */
yong304 11:6deabd374c96 252 //t position = motors[0]->get_position();
yong304 10:21eecb227c05 253
yong304 11:6deabd374c96 254 /* Preparing each motor to perform a run at a specified speed. */
yong304 10:21eecb227c05 255 for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
yong304 11:6deabd374c96 256 motors[m]->prepare_run(StepperMotor::FWD, 400);
yong304 10:21eecb227c05 257 }
yong304 10:21eecb227c05 258
yong304 10:21eecb227c05 259 /* Performing the action on each motor at the same time. */
yong304 10:21eecb227c05 260 x_nucleo_ihm02a1->perform_prepared_actions();
yong304 10:21eecb227c05 261
yong304 10:21eecb227c05 262 /* Waiting while active. */
yong304 10:21eecb227c05 263 motors[0]->wait_while_active();
yong304 11:6deabd374c96 264 motors[1]->wait_while_active();
yong304 10:21eecb227c05 265 }
yong304 10:21eecb227c05 266
yong304 10:21eecb227c05 267 void BWD()
yong304 10:21eecb227c05 268 {
yong304 10:21eecb227c05 269
yong304 10:21eecb227c05 270 /* Building a list of motor control components. */
yong304 10:21eecb227c05 271 L6470 **motors = x_nucleo_ihm02a1->get_components();
yong304 11:6deabd374c96 272 // motors[0]->set_home();
barry210110 7:126b141a8c86 273
barry210110 7:126b141a8c86 274 /* Getting the current position. */
yong304 11:6deabd374c96 275 // int position = motors[0]->get_position();
barry210110 7:126b141a8c86 276
yong304 10:21eecb227c05 277 /* Preparing each motor to perform a run at a specified speed. */
yong304 10:21eecb227c05 278 for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
yong304 10:21eecb227c05 279 motors[m]->prepare_move(StepperMotor::BWD, 25600);
yong304 10:21eecb227c05 280 }
yong304 10:21eecb227c05 281
yong304 10:21eecb227c05 282 /* Performing the action on each motor at the same time. */
yong304 10:21eecb227c05 283 x_nucleo_ihm02a1->perform_prepared_actions();
yong304 10:21eecb227c05 284
yong304 10:21eecb227c05 285 /* Waiting while active. */
yong304 10:21eecb227c05 286 motors[0]->wait_while_active();
yong304 11:6deabd374c96 287 motors[1]->wait_while_active();
yong304 10:21eecb227c05 288 }
yong304 10:21eecb227c05 289 void LEFT()
yong304 10:21eecb227c05 290 {
yong304 10:21eecb227c05 291
yong304 10:21eecb227c05 292 /* Building a list of motor control components. */
yong304 10:21eecb227c05 293 L6470 **motors = x_nucleo_ihm02a1->get_components();
yong304 11:6deabd374c96 294 // motors[0]->set_home();
yong304 10:21eecb227c05 295
yong304 10:21eecb227c05 296 /* Getting the current position. */
yong304 11:6deabd374c96 297 // int position = motors[0]->get_position();
yong304 10:21eecb227c05 298
yong304 10:21eecb227c05 299 /* Preparing each motor to perform a run at a specified speed. */
yong304 10:21eecb227c05 300 motors[0]->prepare_move(StepperMotor::FWD, 25600);
yong304 10:21eecb227c05 301 motors[1]->prepare_move(StepperMotor::BWD, 25600);
barry210110 7:126b141a8c86 302
yong304 10:21eecb227c05 303 /* Performing the action on each motor at the same time. */
yong304 10:21eecb227c05 304 x_nucleo_ihm02a1->perform_prepared_actions();
barry210110 7:126b141a8c86 305
yong304 10:21eecb227c05 306 /* Waiting while active. */
yong304 10:21eecb227c05 307 motors[0]->wait_while_active();
yong304 11:6deabd374c96 308 motors[1]->wait_while_active();
yong304 10:21eecb227c05 309 }
yong304 10:21eecb227c05 310 void RIGHT()
yong304 10:21eecb227c05 311 {
yong304 10:21eecb227c05 312
yong304 10:21eecb227c05 313 /* Building a list of motor control components. */
yong304 10:21eecb227c05 314 L6470 **motors = x_nucleo_ihm02a1->get_components();
yong304 11:6deabd374c96 315 // motors[0]->set_home();
yong304 10:21eecb227c05 316
yong304 10:21eecb227c05 317 /* Getting the current position. */
yong304 11:6deabd374c96 318 // int position = motors[0]->get_position();
yong304 10:21eecb227c05 319
yong304 10:21eecb227c05 320 /* Preparing each motor to perform a run at a specified speed. */
yong304 10:21eecb227c05 321 motors[1]->prepare_move(StepperMotor::FWD, 25600);
yong304 10:21eecb227c05 322 motors[0]->prepare_move(StepperMotor::BWD, 25600);
yong304 10:21eecb227c05 323
yong304 10:21eecb227c05 324 /* Performing the action on each motor at the same time. */
yong304 10:21eecb227c05 325 x_nucleo_ihm02a1->perform_prepared_actions();
barry210110 9:ef9b37e2464f 326
yong304 10:21eecb227c05 327 /* Waiting while active. */
yong304 10:21eecb227c05 328 motors[0]->wait_while_active();
yong304 11:6deabd374c96 329 motors[1]->wait_while_active();
yong304 11:6deabd374c96 330 }
yong304 11:6deabd374c96 331 void SOFTSTOP()
yong304 11:6deabd374c96 332 {
yong304 11:6deabd374c96 333
yong304 11:6deabd374c96 334 /* Building a list of motor control components. */
yong304 11:6deabd374c96 335 L6470 **motors = x_nucleo_ihm02a1->get_components();
yong304 11:6deabd374c96 336 /* Preparing each motor to perform a hard stop. */
yong304 11:6deabd374c96 337 for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
yong304 11:6deabd374c96 338 motors[m]->prepare_soft_stop();
yong304 11:6deabd374c96 339 }
yong304 11:6deabd374c96 340
yong304 11:6deabd374c96 341 /* Performing the action on each motor at the same time. */
yong304 11:6deabd374c96 342 x_nucleo_ihm02a1->perform_prepared_actions();
yong304 11:6deabd374c96 343
yong304 11:6deabd374c96 344 }