mit Buttons/PWM als einzelne cpp und init in main
Dependencies: mbed mbed-rtos X_NUCLEO_IHM02A1
Diff: STEPPER_INIT.cpp
- Revision:
- 34:0dee9a606869
- Parent:
- 33:de144094bdd1
--- a/STEPPER_INIT.cpp Mon Apr 22 11:56:38 2019 +0000 +++ b/STEPPER_INIT.cpp Wed Apr 24 21:08:27 2019 +0000 @@ -1,80 +1,16 @@ #include "SETUP.h" +#include "STEPPER_INIT.h" /* Variables -----------------------------------------------------------------*/ -/* Motor Control Expansion Board. */ -XNucleoIHM02A1 *x_nucleo_ihm02a1_1; -XNucleoIHM02A12 *x_nucleo_ihm02a1_2; - -/* Initialization parameters of the motors connected to the expansion board. */ -L6470_init_t init[L6470DAISYCHAINSIZE] = { - /* First Motor. */ - { - 9.0, /* Motor supply voltage in V. */ - 400, /* Min number of steps per revolution for the motor. */ - 1.7, /* Max motor phase voltage in A. */ - 3.06, /* Max motor phase voltage in V. */ - 300.0, /* Motor initial speed [step/s]. */ - 500.0, /* Motor acceleration [step/s^2] (comment for infinite acceleration mode). */ - 500.0, /* Motor deceleration [step/s^2] (comment for infinite deceleration mode). */ - 992.0, /* Motor maximum speed [step/s]. */ - 0.0, /* Motor minimum speed [step/s]. */ - 602.7, /* Motor full-step speed threshold [step/s]. */ - 3.06, /* Holding kval [V]. */ - 3.06, /* Constant speed kval [V]. */ - 3.06, /* Acceleration starting kval [V]. */ - 3.06, /* Deceleration starting kval [V]. */ - 61.52, /* Intersect speed for bemf compensation curve slope changing [step/s]. */ - 392.1569e-6, /* Start slope [s/step]. */ - 643.1372e-6, /* Acceleration final slope [s/step]. */ - 643.1372e-6, /* Deceleration final slope [s/step]. */ - 0, /* Thermal compensation factor (range [0, 15]). */ - 3.06 * 1000 * 1.10, /* Ocd threshold [ma] (range [375 ma, 6000 ma]). */ - 3.06 * 1000 * 1.00, /* Stall threshold [ma] (range [31.25 ma, 4000 ma]). */ - StepperMotor::STEP_MODE_1_128, /* Step mode selection. */ - 0xFF, /* Alarm conditions enable. */ - 0x2E88 /* Ic configuration. */ - }, +extern L6470B **motors2; +extern L6470 **motors; - /* Second Motor. */ - { - 9.0, /* Motor supply voltage in V. */ - 400, /* Min number of steps per revolution for the motor. */ - 1.7, /* Max motor phase voltage in A. */ - 3.06, /* Max motor phase voltage in V. */ - 300.0, /* Motor initial speed [step/s]. */ - 500.0, /* Motor acceleration [step/s^2] (comment for infinite acceleration mode). */ - 500.0, /* Motor deceleration [step/s^2] (comment for infinite deceleration mode). */ - 992.0, /* Motor maximum speed [step/s]. */ - 0.0, /* Motor minimum speed [step/s]. */ - 602.7, /* Motor full-step speed threshold [step/s]. */ - 3.06, /* Holding kval [V]. */ - 3.06, /* Constant speed kval [V]. */ - 3.06, /* Acceleration starting kval [V]. */ - 3.06, /* Deceleration starting kval [V]. */ - 61.52, /* Intersect speed for bemf compensation curve slope changing [step/s]. */ - 392.1569e-6, /* Start slope [s/step]. */ - 643.1372e-6, /* Acceleration final slope [s/step]. */ - 643.1372e-6, /* Deceleration final slope [s/step]. */ - 0, /* Thermal compensation factor (range [0, 15]). */ - 3.06 * 1000 * 1.10, /* Ocd threshold [ma] (range [375 ma, 6000 ma]). */ - 3.06 * 1000 * 1.00, /* Stall threshold [ma] (range [31.25 ma, 4000 ma]). */ - StepperMotor::STEP_MODE_1_128, /* Step mode selection. */ - 0xFF, /* Alarm conditions enable. */ - 0x2E88 /* Ic configuration. */ - } -}; - -void SchrittmotorenInit() +void SpleisserMotorFWD() { - /* Initializing Motor Control Expansion Board. */ - x_nucleo_ihm02a1_2 = new XNucleoIHM02A12(&init[0], &init[1],IRQ_FLAG_MOTOR, IRQ_BUSY_MOTOR, STB_MOTOR, SPI_CS_1, SPI_MOSI, SPI_MISO, SPI_CLK ); - x_nucleo_ihm02a1_1 = new XNucleoIHM02A1(&init[0], &init[1], IRQ_FLAG_MOTOR, IRQ_BUSY_MOTOR, STB_MOTOR, SPI_CS_2, SPI_MOSI, SPI_MISO, SPI_CLK ); - - - /* Building a list of motor control components. */ - L6470B **motors2 = x_nucleo_ihm02a1_2->get_components(); - L6470 **motors = x_nucleo_ihm02a1_1->get_components(); -} + printf("Warten\r\n"); + motors[1]->run(StepperMotor::FWD,100);; + +}