PES_4_Spleisser
Source_File
Dependencies: mbed X_NUCLEO_IHM02A1
Diff: main.cpp
- Revision:
- 27:b6e6afc3b1f7
- Parent:
- 26:caec5f51abe8
--- a/main.cpp Mon Mar 13 17:53:12 2017 +0000
+++ b/main.cpp Wed Apr 03 07:36:07 2019 +0000
@@ -41,6 +41,8 @@
/* mbed specific header files. */
#include "mbed.h"
+#include "main.h"
+#include "PWM.h"
/* Helper header files. */
#include "DevSPI.h"
@@ -63,12 +65,43 @@
#define DELAY_2 2000
#define DELAY_3 5000
+DigitalOut led1(LED1);
+
+
+
+InterruptIn button1(USER_BUTTON);
+volatile int idx = 0;
+volatile bool button1_pressed = false; // Used in the main loop
+volatile bool button1_enabled = true; // Used for debouncing
+Timeout button1_timeout; // Used for debouncing
+
+// Enables button when bouncing is over
+void button1_enabled_cb(void)
+{
+ button1_enabled = true;
+}
+
+// ISR handling button pressed event
+void button1_onpressed_cb(void)
+{
+ if (button1_enabled) { // Disabled while the button is bouncing
+ button1_enabled = false;
+ button1_pressed = true; // To be read by the main loop
+
+ if(idx<4){
+ idx++;
+ }
+ else{idx=1;}
+
+ button1_timeout.attach(callback(button1_enabled_cb), 0.03); // Debounce time 300 ms
+ }
+}
/* Variables -----------------------------------------------------------------*/
/* Motor Control Expansion Board. */
-XNucleoIHM02A1 *x_nucleo_ihm02a1;
-
+XNucleoIHM02A1 *x_nucleo_ihm02a1_1;
+//XNucleoIHM02A1 *x_nucleo_ihm02a1_2;
/* Initialization parameters of the motors connected to the expansion board. */
L6470_init_t init[L6470DAISYCHAINSIZE] = {
/* First Motor. */
@@ -143,292 +176,116 @@
#endif
/* Initializing Motor Control Expansion Board. */
- x_nucleo_ihm02a1 = new XNucleoIHM02A1(&init[0], &init[1], A4, A5, D4, A2, &dev_spi);
+ x_nucleo_ihm02a1_1 = new XNucleoIHM02A1(&init[0], &init[1], A4, A5, D4, A2, &dev_spi);
+ // x_nucleo_ihm02a1_2 = new XNucleoIHM02A1(&init[0], &init[1], A4, A5, D4, A2, &dev_spi);
/* Building a list of motor control components. */
- L6470 **motors = x_nucleo_ihm02a1->get_components();
-
- /* Printing to the console. */
- printf("Motor Control Application Example for 2 Motors\r\n\n");
-
-
+ L6470 **motors = x_nucleo_ihm02a1_1->get_components();
+ //L6470 **motors2 = x_nucleo_ihm02a1_2->get_components();
/*----- Setting home and marke positions, getting positions, and going to positions. -----*/
- /* Printing to the console. */
- printf("--> Setting home position.\r\n");
-
- /* Setting the home position. */
- motors[0]->set_home();
-
- /* Waiting. */
- wait_ms(DELAY_1);
-
- /* Getting the current position. */
- int position = motors[0]->get_position();
-
- /* Printing to the console. */
- printf("--> Getting the current position: %d\r\n", position);
-
- /* Waiting. */
- wait_ms(DELAY_1);
-
- /* Printing to the console. */
- printf("--> Moving forward %d steps.\r\n", STEPS_1);
-
- /* Moving. */
- motors[0]->move(StepperMotor::FWD, STEPS_1);
-
- /* Waiting while active. */
- motors[0]->wait_while_active();
-
- /* Getting the current position. */
- position = motors[0]->get_position();
-
- /* Printing to the console. */
- printf("--> Getting the current position: %d\r\n", position);
-
- /* Printing to the console. */
- printf("--> Marking the current position.\r\n");
-
- /* Marking the current position. */
- motors[0]->set_mark();
-
- /* Waiting. */
- wait_ms(DELAY_1);
-
- /* Printing to the console. */
- printf("--> Moving backward %d steps.\r\n", STEPS_2);
-
- /* Moving. */
- motors[0]->move(StepperMotor::BWD, STEPS_2);
-
- /* Waiting while active. */
- motors[0]->wait_while_active();
-
- /* Waiting. */
- wait_ms(DELAY_1);
-
- /* Getting the current position. */
- position = motors[0]->get_position();
-
- /* Printing to the console. */
- printf("--> Getting the current position: %d\r\n", position);
-
- /* Waiting. */
- wait_ms(DELAY_1);
-
- /* Printing to the console. */
- printf("--> Going to marked position.\r\n");
-
- /* Going to marked position. */
- motors[0]->go_mark();
-
- /* Waiting while active. */
- motors[0]->wait_while_active();
-
- /* Waiting. */
- wait_ms(DELAY_1);
-
- /* Getting the current position. */
- position = motors[0]->get_position();
-
- /* Printing to the console. */
- printf("--> Getting the current position: %d\r\n", position);
-
- /* Waiting. */
- wait_ms(DELAY_1);
-
- /* Printing to the console. */
- printf("--> Going to home position.\r\n");
-
- /* Going to home position. */
- motors[0]->go_home();
-
- /* Waiting while active. */
- motors[0]->wait_while_active();
-
- /* Waiting. */
- wait_ms(DELAY_1);
-
- /* Getting the current position. */
- position = motors[0]->get_position();
-
- /* Printing to the console. */
- printf("--> Getting the current position: %d\r\n", position);
-
- /* Waiting. */
- wait_ms(DELAY_1);
-
- /* Printing to the console. */
- printf("--> Halving the microsteps.\r\n");
-
- /* Halving the microsteps. */
- init[0].step_sel = (init[0].step_sel > 0 ? init[0].step_sel - 1 : init[0].step_sel);
- if (!motors[0]->set_step_mode((StepperMotor::step_mode_t) init[0].step_sel)) {
- printf(" Step Mode not allowed.\r\n");
- }
-
- /* Waiting. */
- wait_ms(DELAY_1);
-
- /* Printing to the console. */
- printf("--> Setting home position.\r\n");
-
/* Setting the home position. */
- motors[0]->set_home();
-
- /* Waiting. */
- wait_ms(DELAY_1);
-
- /* Getting the current position. */
- position = motors[0]->get_position();
-
- /* Printing to the console. */
- printf("--> Getting the current position: %d\r\n", position);
-
- /* Waiting. */
- wait_ms(DELAY_1);
-
- /* Printing to the console. */
- printf("--> Moving forward %d steps.\r\n", STEPS_1);
+ //motors[0]->set_home();
- /* Moving. */
- motors[0]->move(StepperMotor::FWD, STEPS_1);
-
- /* Waiting while active. */
- motors[0]->wait_while_active();
-
- /* Getting the current position. */
- position = motors[0]->get_position();
-
- /* Printing to the console. */
- printf("--> Getting the current position: %d\r\n", position);
-
- /* Printing to the console. */
- printf("--> Marking the current position.\r\n");
-
- /* Marking the current position. */
- motors[0]->set_mark();
-
- /* Waiting. */
- wait_ms(DELAY_2);
-
+
/*----- Running together for a certain amount of time. -----*/
-
- /* Printing to the console. */
- printf("--> Running together for %d seconds.\r\n", DELAY_3 / 1000);
-
- /* Preparing each motor to perform a run at a specified speed. */
- for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
- motors[m]->prepare_run(StepperMotor::BWD, 400);
- }
-
- /* Performing the action on each motor at the same time. */
- x_nucleo_ihm02a1->perform_prepared_actions();
-
- /* Waiting. */
- wait_ms(DELAY_3);
-
-
- /*----- Increasing the speed while running. -----*/
+
+ button1.fall(callback(button1_onpressed_cb)); // Attach ISR to handle button press event
- /* Preparing each motor to perform a run at a specified speed. */
- for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
- motors[m]->prepare_get_speed();
- }
-
- /* Performing the action on each motor at the same time. */
- uint32_t* results = x_nucleo_ihm02a1->perform_prepared_actions();
-
- /* Printing to the console. */
- printf(" Speed: M1 %d, M2 %d.\r\n", results[0], results[1]);
+ while(1) {
+ if (button1_pressed) { // Set when button is pressed
+ button1_pressed = false;
+ switch (idx){
+ case 1:
+ pwm_io(50, 0.0); // 20ms - 0%
+ /* Printing to the console. */
+ printf("--> Running together for %d seconds.\r\n", DELAY_3 / 1000);
+
+ motors[1]->prepare_set_acceleration(7000);
+ motors[0]->prepare_set_acceleration(7000);
+
+
- /* Printing to the console. */
- printf("--> Doublig the speed while running again for %d seconds.\r\n", DELAY_3 / 1000);
+ /* Preparing each motor to perform a run at a specified speed. */
+
+ motors[1]->prepare_run(StepperMotor::BWD, 800);
+ motors[0]->prepare_run(StepperMotor::BWD, 808);
- /* Preparing each motor to perform a run at a specified speed. */
- for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
- motors[m]->prepare_run(StepperMotor::BWD, results[m] << 1);
- }
-
- /* Performing the action on each motor at the same time. */
- results = x_nucleo_ihm02a1->perform_prepared_actions();
-
- /* Waiting. */
- wait_ms(DELAY_3);
+ /* Performing the action on each motor at the same time. */
+ x_nucleo_ihm02a1_1->perform_prepared_actions();
+
+ break;
+ case 2:
+ /* Printing to the console. */
+ printf("--> Hard Stop.\r\n");
- /* Preparing each motor to perform a run at a specified speed. */
- for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
- motors[m]->prepare_get_speed();
- }
-
- /* Performing the action on each motor at the same time. */
- results = x_nucleo_ihm02a1->perform_prepared_actions();
-
- /* Printing to the console. */
- printf(" Speed: M1 %d, M2 %d.\r\n", results[0], results[1]);
-
- /* Waiting. */
- wait_ms(DELAY_1);
-
-
- /*----- Hard Stop. -----*/
-
- /* Printing to the console. */
- printf("--> Hard Stop.\r\n");
-
- /* Preparing each motor to perform a hard stop. */
- for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
- motors[m]->prepare_hard_stop();
- }
-
- /* Performing the action on each motor at the same time. */
- x_nucleo_ihm02a1->perform_prepared_actions();
-
- /* Waiting. */
- wait_ms(DELAY_2);
-
-
- /*----- Doing a full revolution on each motor, one after the other. -----*/
-
- /* Printing to the console. */
- printf("--> Doing a full revolution on each motor, one after the other.\r\n");
-
- /* Doing a full revolution on each motor, one after the other. */
- for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
- for (int i = 0; i < MPR_1; i++) {
- /* Computing the number of steps. */
- int steps = (int) (((int) init[m].fullstepsperrevolution * pow(2.0f, init[m].step_sel)) / MPR_1);
-
- /* Moving. */
- motors[m]->move(StepperMotor::FWD, steps);
-
- /* Waiting while active. */
- motors[m]->wait_while_active();
-
- /* Waiting. */
- wait_ms(DELAY_1);
+ /* Preparing each motor to perform a hard stop. */
+ for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
+ motors[m]->prepare_hard_stop();
+ }
+
+ /* Performing the action on each motor at the same time. */
+ x_nucleo_ihm02a1_1->perform_prepared_actions();
+ break;
+ case 3:
+ // while (!button1_pressed) { // Set when button is pressed
+ // button1_pressed = false;
+ for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
+ motors[m]->prepare_set_acceleration(300);
+ //motors[m]->prepare_set_speed(1);
+ }
+ x_nucleo_ihm02a1_1->perform_prepared_actions();
+ for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
+ // motors[m]->prepare_set_acceleration(7000);
+ motors[m]->prepare_set_speed(100);
+ }
+ x_nucleo_ihm02a1_1->perform_prepared_actions();
+ /* motors[1]->move(StepperMotor::FWD, 400*128);
+ motors[0]->move(StepperMotor::FWD, 400*128);
+ motors[1]->wait_while_active();
+ motors[0]->wait_while_active();
+ motors[1]->move(StepperMotor::BWD, 400*128);
+ motors[0]->move(StepperMotor::BWD, 400*128);
+ motors[1]->wait_while_active();
+ motors[0]->wait_while_active();
+ */
+ //while (idx==3){
+ pwm_io(40, 0.85); // 20ms - 25%
+ wait(0.5);
+ motors[1]->run(StepperMotor::BWD,100);
+ motors[0]->run(StepperMotor::BWD,101);
+ // }
+
+ /* Waiting. */
+ // wait_ms(DELAY_2);
+
+ break;
+ case 4:
+
+ /* Preparing each motor to set High Impedance State. */
+ for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
+ motors[m]->prepare_hard_hiz();
+ }
+
+ /* Performing the action on each motor at the same time. */
+ x_nucleo_ihm02a1_1->perform_prepared_actions();
+ float zusatz= 0.1;
+ // for(int i = 0;i>10;i++){
+ //zusatz=zusatz-0.005;
+
+
+ pwm_io2(20000, 0.075); // 20ms - 25%
+ wait(1);
+ pwm_io2(20000, zusatz); // 20ms - 25%
+
+ // }
+ break;
+
+ }
+ // printf("Button pressed %d\n", idx++);
+ // led1 = !led1;
}
}
-
- /* Waiting. */
- wait_ms(DELAY_2);
-
-
- /*----- High Impedance State. -----*/
-
- /* Printing to the console. */
- printf("--> High Impedance State.\r\n");
-
- /* Preparing each motor to set High Impedance State. */
- for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
- motors[m]->prepare_hard_hiz();
- }
-
- /* Performing the action on each motor at the same time. */
- x_nucleo_ihm02a1->perform_prepared_actions();
-
- /* Waiting. */
- wait_ms(DELAY_2);
+
}