Source_File
Dependencies: mbed X_NUCLEO_IHM02A1
main.cpp@1:9f1974b0960d, 2015-11-25 (annotated)
- Committer:
- Davidroid
- Date:
- Wed Nov 25 12:00:34 2015 +0000
- Revision:
- 1:9f1974b0960d
- Parent:
- 0:5148e9486cf2
- Child:
- 2:41eeee48951b
+ Updated according to the StepperMotor's APIs.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Davidroid | 0:5148e9486cf2 | 1 | /** |
Davidroid | 0:5148e9486cf2 | 2 | ****************************************************************************** |
Davidroid | 0:5148e9486cf2 | 3 | * @file main.cpp |
Davidroid | 0:5148e9486cf2 | 4 | * @author Davide Aliprandi / AST |
Davidroid | 0:5148e9486cf2 | 5 | * @version V1.0.0 |
Davidroid | 0:5148e9486cf2 | 6 | * @date November 4th, 2015 |
Davidroid | 1:9f1974b0960d | 7 | * @brief mbed test application for the STMicrolectronics X-NUCLEO-IHM02A1 |
Davidroid | 1:9f1974b0960d | 8 | * Motor Control Expansion Board: control of 2 motors. |
Davidroid | 0:5148e9486cf2 | 9 | ****************************************************************************** |
Davidroid | 0:5148e9486cf2 | 10 | * @attention |
Davidroid | 0:5148e9486cf2 | 11 | * |
Davidroid | 0:5148e9486cf2 | 12 | * <h2><center>© COPYRIGHT(c) 2015 STMicroelectronics</center></h2> |
Davidroid | 0:5148e9486cf2 | 13 | * |
Davidroid | 0:5148e9486cf2 | 14 | * Redistribution and use in source and binary forms, with or without modification, |
Davidroid | 0:5148e9486cf2 | 15 | * are permitted provided that the following conditions are met: |
Davidroid | 0:5148e9486cf2 | 16 | * 1. Redistributions of source code must retain the above copyright notice, |
Davidroid | 0:5148e9486cf2 | 17 | * this list of conditions and the following disclaimer. |
Davidroid | 0:5148e9486cf2 | 18 | * 2. Redistributions in binary form must reproduce the above copyright notice, |
Davidroid | 0:5148e9486cf2 | 19 | * this list of conditions and the following disclaimer in the documentation |
Davidroid | 0:5148e9486cf2 | 20 | * and/or other materials provided with the distribution. |
Davidroid | 0:5148e9486cf2 | 21 | * 3. Neither the name of STMicroelectronics nor the names of its contributors |
Davidroid | 0:5148e9486cf2 | 22 | * may be used to endorse or promote products derived from this software |
Davidroid | 0:5148e9486cf2 | 23 | * without specific prior written permission. |
Davidroid | 0:5148e9486cf2 | 24 | * |
Davidroid | 0:5148e9486cf2 | 25 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
Davidroid | 0:5148e9486cf2 | 26 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
Davidroid | 0:5148e9486cf2 | 27 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE |
Davidroid | 0:5148e9486cf2 | 28 | * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE |
Davidroid | 0:5148e9486cf2 | 29 | * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL |
Davidroid | 0:5148e9486cf2 | 30 | * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR |
Davidroid | 0:5148e9486cf2 | 31 | * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
Davidroid | 0:5148e9486cf2 | 32 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, |
Davidroid | 0:5148e9486cf2 | 33 | * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
Davidroid | 0:5148e9486cf2 | 34 | * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
Davidroid | 0:5148e9486cf2 | 35 | * |
Davidroid | 0:5148e9486cf2 | 36 | ****************************************************************************** |
Davidroid | 0:5148e9486cf2 | 37 | */ |
Davidroid | 0:5148e9486cf2 | 38 | |
Davidroid | 0:5148e9486cf2 | 39 | |
Davidroid | 0:5148e9486cf2 | 40 | /* Includes ------------------------------------------------------------------*/ |
Davidroid | 0:5148e9486cf2 | 41 | |
Davidroid | 0:5148e9486cf2 | 42 | /* mbed specific header files. */ |
Davidroid | 0:5148e9486cf2 | 43 | #include "mbed.h" |
Davidroid | 0:5148e9486cf2 | 44 | |
Davidroid | 0:5148e9486cf2 | 45 | /* Helper header files. */ |
Davidroid | 0:5148e9486cf2 | 46 | #include "DevSPI.h" |
Davidroid | 0:5148e9486cf2 | 47 | |
Davidroid | 0:5148e9486cf2 | 48 | /* Expansion Board specific header files. */ |
Davidroid | 0:5148e9486cf2 | 49 | #include "x_nucleo_ihm02a1_class.h" |
Davidroid | 0:5148e9486cf2 | 50 | |
Davidroid | 0:5148e9486cf2 | 51 | |
Davidroid | 0:5148e9486cf2 | 52 | /* Definitions ---------------------------------------------------------------*/ |
Davidroid | 0:5148e9486cf2 | 53 | |
Davidroid | 0:5148e9486cf2 | 54 | /* Number of movements per revolution. */ |
Davidroid | 0:5148e9486cf2 | 55 | #define MPR_1 4 |
Davidroid | 1:9f1974b0960d | 56 | |
Davidroid | 1:9f1974b0960d | 57 | /* Number of steps. */ |
Davidroid | 1:9f1974b0960d | 58 | #define STEPS_1 100000 |
Davidroid | 1:9f1974b0960d | 59 | #define STEPS_2 200000 |
Davidroid | 0:5148e9486cf2 | 60 | |
Davidroid | 0:5148e9486cf2 | 61 | /* Delay in milliseconds. */ |
Davidroid | 1:9f1974b0960d | 62 | #define DELAY_1 1000 |
Davidroid | 0:5148e9486cf2 | 63 | #define DELAY_2 2000 |
Davidroid | 0:5148e9486cf2 | 64 | #define DELAY_3 5000 |
Davidroid | 0:5148e9486cf2 | 65 | |
Davidroid | 0:5148e9486cf2 | 66 | |
Davidroid | 0:5148e9486cf2 | 67 | /* Variables -----------------------------------------------------------------*/ |
Davidroid | 0:5148e9486cf2 | 68 | |
Davidroid | 0:5148e9486cf2 | 69 | /* Motor Control Expansion Board. */ |
Davidroid | 0:5148e9486cf2 | 70 | X_NUCLEO_IHM02A1 *x_nucleo_ihm02a1; |
Davidroid | 0:5148e9486cf2 | 71 | |
Davidroid | 0:5148e9486cf2 | 72 | |
Davidroid | 0:5148e9486cf2 | 73 | /* Main ----------------------------------------------------------------------*/ |
Davidroid | 0:5148e9486cf2 | 74 | |
Davidroid | 0:5148e9486cf2 | 75 | int main() |
Davidroid | 0:5148e9486cf2 | 76 | { |
Davidroid | 1:9f1974b0960d | 77 | /*----- Initialization. -----*/ |
Davidroid | 1:9f1974b0960d | 78 | |
Davidroid | 0:5148e9486cf2 | 79 | |
Davidroid | 0:5148e9486cf2 | 80 | /* Initializing SPI bus. */ |
Davidroid | 0:5148e9486cf2 | 81 | DevSPI dev_spi(D11, D12, D3); |
Davidroid | 0:5148e9486cf2 | 82 | |
Davidroid | 0:5148e9486cf2 | 83 | /* Initializing Motor Control Expansion Board. */ |
Davidroid | 1:9f1974b0960d | 84 | x_nucleo_ihm02a1 = X_NUCLEO_IHM02A1::Instance(A4, A5, D4, A2, &dev_spi); |
Davidroid | 0:5148e9486cf2 | 85 | |
Davidroid | 1:9f1974b0960d | 86 | /* Building a list of motor control components. */ |
Davidroid | 1:9f1974b0960d | 87 | L6470 **motors = x_nucleo_ihm02a1->GetComponents(); |
Davidroid | 0:5148e9486cf2 | 88 | |
Davidroid | 0:5148e9486cf2 | 89 | /* Printing to the console. */ |
Davidroid | 0:5148e9486cf2 | 90 | printf("Motor Control Application Example for 2 Motors\r\n\n"); |
Davidroid | 0:5148e9486cf2 | 91 | |
Davidroid | 1:9f1974b0960d | 92 | |
Davidroid | 1:9f1974b0960d | 93 | /*----- Setting home and marke positions, getting positions, and going to positions. -----*/ |
Davidroid | 1:9f1974b0960d | 94 | |
Davidroid | 1:9f1974b0960d | 95 | /* Printing to the console. */ |
Davidroid | 1:9f1974b0960d | 96 | printf("--> Setting home position.\r\n"); |
Davidroid | 1:9f1974b0960d | 97 | |
Davidroid | 1:9f1974b0960d | 98 | /* Setting the home position. */ |
Davidroid | 1:9f1974b0960d | 99 | motors[0]->SetHome(); |
Davidroid | 1:9f1974b0960d | 100 | |
Davidroid | 1:9f1974b0960d | 101 | /* Waiting. */ |
Davidroid | 1:9f1974b0960d | 102 | wait_ms(DELAY_1); |
Davidroid | 0:5148e9486cf2 | 103 | |
Davidroid | 1:9f1974b0960d | 104 | /* Getting the current position. */ |
Davidroid | 1:9f1974b0960d | 105 | int position = motors[0]->GetPosition(); |
Davidroid | 1:9f1974b0960d | 106 | |
Davidroid | 1:9f1974b0960d | 107 | /* Printing to the console. */ |
Davidroid | 1:9f1974b0960d | 108 | printf("--> Getting the current position: %d\r\n", position); |
Davidroid | 1:9f1974b0960d | 109 | |
Davidroid | 1:9f1974b0960d | 110 | /* Waiting. */ |
Davidroid | 1:9f1974b0960d | 111 | wait_ms(DELAY_1); |
Davidroid | 1:9f1974b0960d | 112 | |
Davidroid | 1:9f1974b0960d | 113 | /* Printing to the console. */ |
Davidroid | 1:9f1974b0960d | 114 | printf("--> Moving forward %d steps.\r\n", STEPS_1); |
Davidroid | 1:9f1974b0960d | 115 | |
Davidroid | 1:9f1974b0960d | 116 | /* Moving. */ |
Davidroid | 1:9f1974b0960d | 117 | motors[0]->Move(StepperMotor::FWD, STEPS_1); |
Davidroid | 0:5148e9486cf2 | 118 | |
Davidroid | 1:9f1974b0960d | 119 | /* Waiting while active. */ |
Davidroid | 1:9f1974b0960d | 120 | motors[0]->WaitWhileActive(); |
Davidroid | 1:9f1974b0960d | 121 | |
Davidroid | 1:9f1974b0960d | 122 | /* Getting the current position. */ |
Davidroid | 1:9f1974b0960d | 123 | position = motors[0]->GetPosition(); |
Davidroid | 1:9f1974b0960d | 124 | |
Davidroid | 1:9f1974b0960d | 125 | /* Printing to the console. */ |
Davidroid | 1:9f1974b0960d | 126 | printf("--> Getting the current position: %d\r\n", position); |
Davidroid | 1:9f1974b0960d | 127 | |
Davidroid | 1:9f1974b0960d | 128 | /* Printing to the console. */ |
Davidroid | 1:9f1974b0960d | 129 | printf("--> Marking the current position.\r\n"); |
Davidroid | 0:5148e9486cf2 | 130 | |
Davidroid | 1:9f1974b0960d | 131 | /* Marking the current position. */ |
Davidroid | 1:9f1974b0960d | 132 | motors[0]->SetMark(); |
Davidroid | 1:9f1974b0960d | 133 | |
Davidroid | 1:9f1974b0960d | 134 | /* Waiting. */ |
Davidroid | 1:9f1974b0960d | 135 | wait_ms(DELAY_1); |
Davidroid | 1:9f1974b0960d | 136 | |
Davidroid | 1:9f1974b0960d | 137 | /* Printing to the console. */ |
Davidroid | 1:9f1974b0960d | 138 | printf("--> Moving backward %d steps.\r\n", STEPS_2); |
Davidroid | 1:9f1974b0960d | 139 | |
Davidroid | 1:9f1974b0960d | 140 | /* Moving. */ |
Davidroid | 1:9f1974b0960d | 141 | motors[0]->Move(StepperMotor::BWD, STEPS_2); |
Davidroid | 1:9f1974b0960d | 142 | |
Davidroid | 1:9f1974b0960d | 143 | /* Waiting while active. */ |
Davidroid | 1:9f1974b0960d | 144 | motors[0]->WaitWhileActive(); |
Davidroid | 0:5148e9486cf2 | 145 | |
Davidroid | 1:9f1974b0960d | 146 | /* Waiting. */ |
Davidroid | 1:9f1974b0960d | 147 | wait_ms(DELAY_1); |
Davidroid | 1:9f1974b0960d | 148 | |
Davidroid | 1:9f1974b0960d | 149 | /* Getting the current position. */ |
Davidroid | 1:9f1974b0960d | 150 | position = motors[0]->GetPosition(); |
Davidroid | 1:9f1974b0960d | 151 | |
Davidroid | 1:9f1974b0960d | 152 | /* Printing to the console. */ |
Davidroid | 1:9f1974b0960d | 153 | printf("--> Getting the current position: %d\r\n", position); |
Davidroid | 1:9f1974b0960d | 154 | |
Davidroid | 1:9f1974b0960d | 155 | /* Waiting. */ |
Davidroid | 1:9f1974b0960d | 156 | wait_ms(DELAY_1); |
Davidroid | 0:5148e9486cf2 | 157 | |
Davidroid | 1:9f1974b0960d | 158 | /* Printing to the console. */ |
Davidroid | 1:9f1974b0960d | 159 | printf("--> Going to marked position.\r\n"); |
Davidroid | 0:5148e9486cf2 | 160 | |
Davidroid | 1:9f1974b0960d | 161 | /* Going to marked position. */ |
Davidroid | 1:9f1974b0960d | 162 | motors[0]->GoMark(); |
Davidroid | 1:9f1974b0960d | 163 | |
Davidroid | 1:9f1974b0960d | 164 | /* Waiting while active. */ |
Davidroid | 1:9f1974b0960d | 165 | motors[0]->WaitWhileActive(); |
Davidroid | 0:5148e9486cf2 | 166 | |
Davidroid | 1:9f1974b0960d | 167 | /* Waiting. */ |
Davidroid | 1:9f1974b0960d | 168 | wait_ms(DELAY_1); |
Davidroid | 0:5148e9486cf2 | 169 | |
Davidroid | 1:9f1974b0960d | 170 | /* Getting the current position. */ |
Davidroid | 1:9f1974b0960d | 171 | position = motors[0]->GetPosition(); |
Davidroid | 1:9f1974b0960d | 172 | |
Davidroid | 1:9f1974b0960d | 173 | /* Printing to the console. */ |
Davidroid | 1:9f1974b0960d | 174 | printf("--> Getting the current position: %d\r\n", position); |
Davidroid | 0:5148e9486cf2 | 175 | |
Davidroid | 1:9f1974b0960d | 176 | /* Waiting. */ |
Davidroid | 1:9f1974b0960d | 177 | wait_ms(DELAY_1); |
Davidroid | 1:9f1974b0960d | 178 | |
Davidroid | 1:9f1974b0960d | 179 | /* Printing to the console. */ |
Davidroid | 1:9f1974b0960d | 180 | printf("--> Going to home position.\r\n"); |
Davidroid | 0:5148e9486cf2 | 181 | |
Davidroid | 1:9f1974b0960d | 182 | /* Going to home position. */ |
Davidroid | 1:9f1974b0960d | 183 | motors[0]->GoHome(); |
Davidroid | 1:9f1974b0960d | 184 | |
Davidroid | 1:9f1974b0960d | 185 | /* Waiting while active. */ |
Davidroid | 1:9f1974b0960d | 186 | motors[0]->WaitWhileActive(); |
Davidroid | 1:9f1974b0960d | 187 | |
Davidroid | 1:9f1974b0960d | 188 | /* Waiting. */ |
Davidroid | 1:9f1974b0960d | 189 | wait_ms(DELAY_1); |
Davidroid | 0:5148e9486cf2 | 190 | |
Davidroid | 1:9f1974b0960d | 191 | /* Getting the current position. */ |
Davidroid | 1:9f1974b0960d | 192 | position = motors[0]->GetPosition(); |
Davidroid | 1:9f1974b0960d | 193 | |
Davidroid | 1:9f1974b0960d | 194 | /* Printing to the console. */ |
Davidroid | 1:9f1974b0960d | 195 | printf("--> Getting the current position: %d\r\n", position); |
Davidroid | 1:9f1974b0960d | 196 | |
Davidroid | 1:9f1974b0960d | 197 | /* Waiting. */ |
Davidroid | 1:9f1974b0960d | 198 | wait_ms(DELAY_2); |
Davidroid | 0:5148e9486cf2 | 199 | |
Davidroid | 0:5148e9486cf2 | 200 | |
Davidroid | 1:9f1974b0960d | 201 | /*----- Running together for a certain amount of time. -----*/ |
Davidroid | 1:9f1974b0960d | 202 | |
Davidroid | 1:9f1974b0960d | 203 | /* Printing to the console. */ |
Davidroid | 1:9f1974b0960d | 204 | printf("--> Running together for %d seconds.\r\n", DELAY_3 / 1000); |
Davidroid | 0:5148e9486cf2 | 205 | |
Davidroid | 1:9f1974b0960d | 206 | /* Preparing each motor to perform a run at a specified speed. */ |
Davidroid | 1:9f1974b0960d | 207 | for (int m = 0; m < L6470DAISYCHAINSIZE; m++) |
Davidroid | 1:9f1974b0960d | 208 | motors[m]->PrepareRun(StepperMotor::BWD, 400); |
Davidroid | 0:5148e9486cf2 | 209 | |
Davidroid | 1:9f1974b0960d | 210 | /* Performing the action on each motor at the same time. */ |
Davidroid | 1:9f1974b0960d | 211 | x_nucleo_ihm02a1->PerformPreparedActions(); |
Davidroid | 0:5148e9486cf2 | 212 | |
Davidroid | 1:9f1974b0960d | 213 | /* Waiting. */ |
Davidroid | 1:9f1974b0960d | 214 | wait_ms(DELAY_3); |
Davidroid | 1:9f1974b0960d | 215 | |
Davidroid | 1:9f1974b0960d | 216 | |
Davidroid | 1:9f1974b0960d | 217 | /*----- Increasing the speed while running. -----*/ |
Davidroid | 0:5148e9486cf2 | 218 | |
Davidroid | 1:9f1974b0960d | 219 | /* Preparing each motor to perform a run at a specified speed. */ |
Davidroid | 1:9f1974b0960d | 220 | for (int m = 0; m < L6470DAISYCHAINSIZE; m++) |
Davidroid | 1:9f1974b0960d | 221 | motors[m]->PrepareGetSpeed(); |
Davidroid | 0:5148e9486cf2 | 222 | |
Davidroid | 1:9f1974b0960d | 223 | /* Performing the action on each motor at the same time. */ |
Davidroid | 1:9f1974b0960d | 224 | uint32_t* results = x_nucleo_ihm02a1->PerformPreparedActions(); |
Davidroid | 0:5148e9486cf2 | 225 | |
Davidroid | 1:9f1974b0960d | 226 | /* Printing to the console. */ |
Davidroid | 1:9f1974b0960d | 227 | printf(" Speed: M1 %d, M2 %d.\r\n", results[0], results[1]); |
Davidroid | 1:9f1974b0960d | 228 | |
Davidroid | 1:9f1974b0960d | 229 | /* Printing to the console. */ |
Davidroid | 1:9f1974b0960d | 230 | printf("--> Doublig the speed while running.\r\n"); |
Davidroid | 0:5148e9486cf2 | 231 | |
Davidroid | 1:9f1974b0960d | 232 | /* Preparing each motor to perform a run at a specified speed. */ |
Davidroid | 1:9f1974b0960d | 233 | for (int m = 0; m < L6470DAISYCHAINSIZE; m++) |
Davidroid | 1:9f1974b0960d | 234 | motors[m]->PrepareRun(StepperMotor::BWD, results[m] << 1); |
Davidroid | 1:9f1974b0960d | 235 | |
Davidroid | 1:9f1974b0960d | 236 | /* Performing the action on each motor at the same time. */ |
Davidroid | 1:9f1974b0960d | 237 | results = x_nucleo_ihm02a1->PerformPreparedActions(); |
Davidroid | 0:5148e9486cf2 | 238 | |
Davidroid | 1:9f1974b0960d | 239 | /* Waiting. */ |
Davidroid | 1:9f1974b0960d | 240 | wait_ms(DELAY_3); |
Davidroid | 0:5148e9486cf2 | 241 | |
Davidroid | 1:9f1974b0960d | 242 | /* Preparing each motor to perform a run at a specified speed. */ |
Davidroid | 1:9f1974b0960d | 243 | for (int m = 0; m < L6470DAISYCHAINSIZE; m++) |
Davidroid | 1:9f1974b0960d | 244 | motors[m]->PrepareGetSpeed(); |
Davidroid | 0:5148e9486cf2 | 245 | |
Davidroid | 1:9f1974b0960d | 246 | /* Performing the action on each motor at the same time. */ |
Davidroid | 1:9f1974b0960d | 247 | results = x_nucleo_ihm02a1->PerformPreparedActions(); |
Davidroid | 0:5148e9486cf2 | 248 | |
Davidroid | 1:9f1974b0960d | 249 | /* Printing to the console. */ |
Davidroid | 1:9f1974b0960d | 250 | printf(" Speed: M1 %d, M2 %d.\r\n", results[0], results[1]); |
Davidroid | 1:9f1974b0960d | 251 | |
Davidroid | 1:9f1974b0960d | 252 | /* Waiting. */ |
Davidroid | 1:9f1974b0960d | 253 | wait_ms(DELAY_1); |
Davidroid | 0:5148e9486cf2 | 254 | |
Davidroid | 0:5148e9486cf2 | 255 | |
Davidroid | 1:9f1974b0960d | 256 | /*----- Hard Stop. -----*/ |
Davidroid | 0:5148e9486cf2 | 257 | |
Davidroid | 1:9f1974b0960d | 258 | /* Printing to the console. */ |
Davidroid | 1:9f1974b0960d | 259 | printf("--> Hard Stop.\r\n"); |
Davidroid | 0:5148e9486cf2 | 260 | |
Davidroid | 1:9f1974b0960d | 261 | /* Preparing each motor to perform a hard stop. */ |
Davidroid | 1:9f1974b0960d | 262 | for (int m = 0; m < L6470DAISYCHAINSIZE; m++) |
Davidroid | 1:9f1974b0960d | 263 | motors[m]->PrepareHardStop(); |
Davidroid | 0:5148e9486cf2 | 264 | |
Davidroid | 1:9f1974b0960d | 265 | /* Performing the action on each motor at the same time. */ |
Davidroid | 1:9f1974b0960d | 266 | x_nucleo_ihm02a1->PerformPreparedActions(); |
Davidroid | 0:5148e9486cf2 | 267 | |
Davidroid | 1:9f1974b0960d | 268 | /* Waiting. */ |
Davidroid | 1:9f1974b0960d | 269 | wait_ms(DELAY_2); |
Davidroid | 0:5148e9486cf2 | 270 | |
Davidroid | 0:5148e9486cf2 | 271 | |
Davidroid | 1:9f1974b0960d | 272 | /*----- Doing a full revolution on each motor, one after the other. -----*/ |
Davidroid | 1:9f1974b0960d | 273 | |
Davidroid | 1:9f1974b0960d | 274 | /* Printing to the console. */ |
Davidroid | 1:9f1974b0960d | 275 | printf("--> Doing a full revolution on each motor, one after the other.\r\n"); |
Davidroid | 1:9f1974b0960d | 276 | |
Davidroid | 1:9f1974b0960d | 277 | /* Doing a full revolution on each motor, one after the other. */ |
Davidroid | 1:9f1974b0960d | 278 | for (int m = 0; m < L6470DAISYCHAINSIZE; m++) |
Davidroid | 1:9f1974b0960d | 279 | for (int i = 0; i < MPR_1; i++) |
Davidroid | 1:9f1974b0960d | 280 | { |
Davidroid | 1:9f1974b0960d | 281 | /* Computing the number of steps. */ |
Davidroid | 1:9f1974b0960d | 282 | int steps = (int) (((int) X_NUCLEO_IHM02A1::MotorParameterInitData[0][m].fullstepsperrevolution * pow(2.0f, X_NUCLEO_IHM02A1::MotorParameterInitData[0][m].step_sel)) / MPR_1); |
Davidroid | 1:9f1974b0960d | 283 | |
Davidroid | 1:9f1974b0960d | 284 | /* Moving. */ |
Davidroid | 1:9f1974b0960d | 285 | motors[m]->Move(StepperMotor::FWD, steps); |
Davidroid | 1:9f1974b0960d | 286 | |
Davidroid | 1:9f1974b0960d | 287 | /* Waiting while active. */ |
Davidroid | 1:9f1974b0960d | 288 | motors[m]->WaitWhileActive(); |
Davidroid | 1:9f1974b0960d | 289 | |
Davidroid | 1:9f1974b0960d | 290 | /* Waiting. */ |
Davidroid | 1:9f1974b0960d | 291 | wait_ms(DELAY_1); |
Davidroid | 1:9f1974b0960d | 292 | } |
Davidroid | 1:9f1974b0960d | 293 | |
Davidroid | 1:9f1974b0960d | 294 | /* Waiting. */ |
Davidroid | 1:9f1974b0960d | 295 | wait_ms(DELAY_2); |
Davidroid | 1:9f1974b0960d | 296 | |
Davidroid | 1:9f1974b0960d | 297 | |
Davidroid | 1:9f1974b0960d | 298 | /*----- High Impedance State. -----*/ |
Davidroid | 1:9f1974b0960d | 299 | |
Davidroid | 1:9f1974b0960d | 300 | /* Printing to the console. */ |
Davidroid | 1:9f1974b0960d | 301 | printf("--> High Impedance State.\r\n"); |
Davidroid | 1:9f1974b0960d | 302 | |
Davidroid | 1:9f1974b0960d | 303 | /* Preparing each motor to set High Impedance State. */ |
Davidroid | 1:9f1974b0960d | 304 | for (int m = 0; m < L6470DAISYCHAINSIZE; m++) |
Davidroid | 1:9f1974b0960d | 305 | motors[m]->PrepareHardHiZ(); |
Davidroid | 1:9f1974b0960d | 306 | |
Davidroid | 1:9f1974b0960d | 307 | /* Performing the action on each motor at the same time. */ |
Davidroid | 1:9f1974b0960d | 308 | x_nucleo_ihm02a1->PerformPreparedActions(); |
Davidroid | 1:9f1974b0960d | 309 | |
Davidroid | 1:9f1974b0960d | 310 | /* Waiting. */ |
Davidroid | 1:9f1974b0960d | 311 | wait_ms(DELAY_2); |
Davidroid | 0:5148e9486cf2 | 312 | } |