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hello
Dependencies: X_NUCLEO_IHM01A1
Fork of HelloWorld_IHM01A1_2Motors_mbedOS by
main.cpp@7:141f878e9590, 2015-11-26 (annotated)
- Committer:
- Davidroid
- Date:
- Thu Nov 26 16:02:20 2015 +0000
- Revision:
- 7:141f878e9590
- Parent:
- 6:10bf302cd369
- Child:
- 8:cec4c2c03a27
+ Updated with the new version of the X_NUCLEO_IHM01A1 library.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Davidroid | 0:e6a49a092e2a | 1 | /** |
Davidroid | 0:e6a49a092e2a | 2 | ****************************************************************************** |
Davidroid | 0:e6a49a092e2a | 3 | * @file main.cpp |
Davidroid | 7:141f878e9590 | 4 | * @author Davide Aliprandi, STMicrolectronics |
Davidroid | 0:e6a49a092e2a | 5 | * @version V1.0.0 |
Davidroid | 0:e6a49a092e2a | 6 | * @date October 14th, 2015 |
Davidroid | 0:e6a49a092e2a | 7 | * @brief mbed test application for the STMicrolectronics X-NUCLEO-IHM01A1 |
Davidroid | 3:02d9ec4f88b2 | 8 | * Motor Control Expansion Board: control of 2 motors. |
Davidroid | 0:e6a49a092e2a | 9 | ****************************************************************************** |
Davidroid | 0:e6a49a092e2a | 10 | * @attention |
Davidroid | 0:e6a49a092e2a | 11 | * |
Davidroid | 0:e6a49a092e2a | 12 | * <h2><center>© COPYRIGHT(c) 2015 STMicroelectronics</center></h2> |
Davidroid | 0:e6a49a092e2a | 13 | * |
Davidroid | 0:e6a49a092e2a | 14 | * Redistribution and use in source and binary forms, with or without modification, |
Davidroid | 0:e6a49a092e2a | 15 | * are permitted provided that the following conditions are met: |
Davidroid | 0:e6a49a092e2a | 16 | * 1. Redistributions of source code must retain the above copyright notice, |
Davidroid | 0:e6a49a092e2a | 17 | * this list of conditions and the following disclaimer. |
Davidroid | 0:e6a49a092e2a | 18 | * 2. Redistributions in binary form must reproduce the above copyright notice, |
Davidroid | 0:e6a49a092e2a | 19 | * this list of conditions and the following disclaimer in the documentation |
Davidroid | 0:e6a49a092e2a | 20 | * and/or other materials provided with the distribution. |
Davidroid | 0:e6a49a092e2a | 21 | * 3. Neither the name of STMicroelectronics nor the names of its contributors |
Davidroid | 0:e6a49a092e2a | 22 | * may be used to endorse or promote products derived from this software |
Davidroid | 0:e6a49a092e2a | 23 | * without specific prior written permission. |
Davidroid | 0:e6a49a092e2a | 24 | * |
Davidroid | 0:e6a49a092e2a | 25 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
Davidroid | 0:e6a49a092e2a | 26 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
Davidroid | 0:e6a49a092e2a | 27 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE |
Davidroid | 0:e6a49a092e2a | 28 | * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE |
Davidroid | 0:e6a49a092e2a | 29 | * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL |
Davidroid | 0:e6a49a092e2a | 30 | * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR |
Davidroid | 0:e6a49a092e2a | 31 | * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
Davidroid | 0:e6a49a092e2a | 32 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, |
Davidroid | 0:e6a49a092e2a | 33 | * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
Davidroid | 0:e6a49a092e2a | 34 | * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
Davidroid | 0:e6a49a092e2a | 35 | * |
Davidroid | 0:e6a49a092e2a | 36 | ****************************************************************************** |
Davidroid | 0:e6a49a092e2a | 37 | */ |
Davidroid | 0:e6a49a092e2a | 38 | |
Davidroid | 0:e6a49a092e2a | 39 | |
Davidroid | 0:e6a49a092e2a | 40 | /* Includes ------------------------------------------------------------------*/ |
Davidroid | 0:e6a49a092e2a | 41 | |
Davidroid | 0:e6a49a092e2a | 42 | /* mbed specific header files. */ |
Davidroid | 0:e6a49a092e2a | 43 | #include "mbed.h" |
Davidroid | 0:e6a49a092e2a | 44 | |
Davidroid | 0:e6a49a092e2a | 45 | /* Helper header files. */ |
Davidroid | 0:e6a49a092e2a | 46 | #include "DevSPI.h" |
Davidroid | 0:e6a49a092e2a | 47 | |
Davidroid | 0:e6a49a092e2a | 48 | /* Component specific header files. */ |
Davidroid | 0:e6a49a092e2a | 49 | #include "l6474_class.h" |
Davidroid | 0:e6a49a092e2a | 50 | |
Davidroid | 0:e6a49a092e2a | 51 | |
Davidroid | 0:e6a49a092e2a | 52 | /* Definitions ---------------------------------------------------------------*/ |
Davidroid | 0:e6a49a092e2a | 53 | |
Davidroid | 0:e6a49a092e2a | 54 | /* Number of steps corresponding to one round angle of the motor. */ |
Davidroid | 3:02d9ec4f88b2 | 55 | #define ROUND_ANGLE_STEPS 3200 |
Davidroid | 0:e6a49a092e2a | 56 | |
Davidroid | 0:e6a49a092e2a | 57 | |
Davidroid | 0:e6a49a092e2a | 58 | /* Variables -----------------------------------------------------------------*/ |
Davidroid | 0:e6a49a092e2a | 59 | |
Davidroid | 0:e6a49a092e2a | 60 | /* Motor Control Component. */ |
Davidroid | 3:02d9ec4f88b2 | 61 | L6474 *motor1; |
Davidroid | 3:02d9ec4f88b2 | 62 | L6474 *motor2; |
Davidroid | 0:e6a49a092e2a | 63 | |
Davidroid | 0:e6a49a092e2a | 64 | |
Davidroid | 0:e6a49a092e2a | 65 | /* Main ----------------------------------------------------------------------*/ |
Davidroid | 0:e6a49a092e2a | 66 | |
Davidroid | 0:e6a49a092e2a | 67 | int main() |
Davidroid | 0:e6a49a092e2a | 68 | { |
Davidroid | 0:e6a49a092e2a | 69 | /* Initializing SPI bus. */ |
Davidroid | 0:e6a49a092e2a | 70 | DevSPI dev_spi(D11, D12, D13); |
Davidroid | 0:e6a49a092e2a | 71 | |
Davidroid | 0:e6a49a092e2a | 72 | /* Initializing Motor Control Component. */ |
Davidroid | 5:a0268a435bb1 | 73 | motor1 = new L6474(D2, D8, D7, D9, D10, dev_spi); |
Davidroid | 3:02d9ec4f88b2 | 74 | if (motor1->Init(NULL) != COMPONENT_OK) |
Davidroid | 3:02d9ec4f88b2 | 75 | return false; |
Davidroid | 5:a0268a435bb1 | 76 | motor2 = new L6474(D2, D8, D4, D3, D10, dev_spi); |
Davidroid | 3:02d9ec4f88b2 | 77 | if (motor2->Init(NULL) != COMPONENT_OK) |
Davidroid | 0:e6a49a092e2a | 78 | return false; |
Davidroid | 0:e6a49a092e2a | 79 | |
Davidroid | 0:e6a49a092e2a | 80 | /* Printing to the console. */ |
Davidroid | 3:02d9ec4f88b2 | 81 | printf("Motor Control Application Example for 2 Motors\r\n\n"); |
Davidroid | 0:e6a49a092e2a | 82 | |
Davidroid | 0:e6a49a092e2a | 83 | /* Main Loop. */ |
Davidroid | 0:e6a49a092e2a | 84 | while(true) |
Davidroid | 0:e6a49a092e2a | 85 | { |
Davidroid | 3:02d9ec4f88b2 | 86 | /*----- Moving. -----*/ |
Davidroid | 0:e6a49a092e2a | 87 | |
Davidroid | 0:e6a49a092e2a | 88 | /* Printing to the console. */ |
Davidroid | 3:02d9ec4f88b2 | 89 | printf("--> Moving forward: M1 %d steps, M2 %d steps.\r\n", ROUND_ANGLE_STEPS >> 1, ROUND_ANGLE_STEPS); |
Davidroid | 0:e6a49a092e2a | 90 | |
Davidroid | 0:e6a49a092e2a | 91 | /* Moving N steps in the forward direction. */ |
Davidroid | 3:02d9ec4f88b2 | 92 | motor1->Move(StepperMotor::FWD, ROUND_ANGLE_STEPS >> 1); |
Davidroid | 3:02d9ec4f88b2 | 93 | motor2->Move(StepperMotor::FWD, ROUND_ANGLE_STEPS); |
Davidroid | 3:02d9ec4f88b2 | 94 | |
Davidroid | 0:e6a49a092e2a | 95 | /* Waiting while the motor is active. */ |
Davidroid | 3:02d9ec4f88b2 | 96 | motor1->WaitWhileActive(); |
Davidroid | 3:02d9ec4f88b2 | 97 | motor2->WaitWhileActive(); |
Davidroid | 0:e6a49a092e2a | 98 | |
Davidroid | 0:e6a49a092e2a | 99 | /* Getting current position. */ |
Davidroid | 3:02d9ec4f88b2 | 100 | int position1 = motor1->GetPosition(); |
Davidroid | 3:02d9ec4f88b2 | 101 | int position2 = motor2->GetPosition(); |
Davidroid | 0:e6a49a092e2a | 102 | |
Davidroid | 0:e6a49a092e2a | 103 | /* Printing to the console. */ |
Davidroid | 3:02d9ec4f88b2 | 104 | printf(" Position: M1 %d, M2 %d.\r\n", position1, position2); |
Davidroid | 0:e6a49a092e2a | 105 | |
Davidroid | 0:e6a49a092e2a | 106 | /* Waiting 2 seconds. */ |
Davidroid | 0:e6a49a092e2a | 107 | wait_ms(2000); |
Davidroid | 0:e6a49a092e2a | 108 | |
Davidroid | 0:e6a49a092e2a | 109 | |
Davidroid | 3:02d9ec4f88b2 | 110 | /*----- Moving. -----*/ |
Davidroid | 0:e6a49a092e2a | 111 | |
Davidroid | 0:e6a49a092e2a | 112 | /* Printing to the console. */ |
Davidroid | 3:02d9ec4f88b2 | 113 | printf("--> Moving backward: M1 %d steps, M2 %d steps.\r\n", ROUND_ANGLE_STEPS >> 1, ROUND_ANGLE_STEPS); |
Davidroid | 3:02d9ec4f88b2 | 114 | |
Davidroid | 0:e6a49a092e2a | 115 | |
Davidroid | 0:e6a49a092e2a | 116 | /* Moving N steps in the backward direction. */ |
Davidroid | 3:02d9ec4f88b2 | 117 | motor1->Move(StepperMotor::BWD, ROUND_ANGLE_STEPS >> 1); |
Davidroid | 3:02d9ec4f88b2 | 118 | motor2->Move(StepperMotor::BWD, ROUND_ANGLE_STEPS); |
Davidroid | 0:e6a49a092e2a | 119 | |
Davidroid | 0:e6a49a092e2a | 120 | /* Waiting while the motor is active. */ |
Davidroid | 3:02d9ec4f88b2 | 121 | motor1->WaitWhileActive(); |
Davidroid | 3:02d9ec4f88b2 | 122 | motor2->WaitWhileActive(); |
Davidroid | 0:e6a49a092e2a | 123 | |
Davidroid | 0:e6a49a092e2a | 124 | /* Getting current position. */ |
Davidroid | 3:02d9ec4f88b2 | 125 | position1 = motor1->GetPosition(); |
Davidroid | 3:02d9ec4f88b2 | 126 | position2 = motor2->GetPosition(); |
Davidroid | 0:e6a49a092e2a | 127 | |
Davidroid | 0:e6a49a092e2a | 128 | /* Printing to the console. */ |
Davidroid | 3:02d9ec4f88b2 | 129 | printf(" Position: M1 %d, M2 %d.\r\n", position1, position2); |
Davidroid | 3:02d9ec4f88b2 | 130 | printf("--> Setting Home.\r\n"); |
Davidroid | 0:e6a49a092e2a | 131 | |
Davidroid | 0:e6a49a092e2a | 132 | /* Setting the current position to be the home position. */ |
Davidroid | 3:02d9ec4f88b2 | 133 | motor1->SetHome(); |
Davidroid | 3:02d9ec4f88b2 | 134 | motor2->SetHome(); |
Davidroid | 0:e6a49a092e2a | 135 | |
Davidroid | 0:e6a49a092e2a | 136 | /* Waiting 2 seconds. */ |
Davidroid | 0:e6a49a092e2a | 137 | wait_ms(2000); |
Davidroid | 0:e6a49a092e2a | 138 | |
Davidroid | 0:e6a49a092e2a | 139 | |
Davidroid | 0:e6a49a092e2a | 140 | /*----- Going to a specified position. -----*/ |
Davidroid | 0:e6a49a092e2a | 141 | |
Davidroid | 0:e6a49a092e2a | 142 | /* Printing to the console. */ |
Davidroid | 3:02d9ec4f88b2 | 143 | printf("--> Going to position: M1 %d, M2 %d.\r\n", ROUND_ANGLE_STEPS, ROUND_ANGLE_STEPS >> 1); |
Davidroid | 0:e6a49a092e2a | 144 | |
Davidroid | 0:e6a49a092e2a | 145 | /* Requesting to go to a specified position. */ |
Davidroid | 3:02d9ec4f88b2 | 146 | motor1->GoTo(ROUND_ANGLE_STEPS); |
Davidroid | 3:02d9ec4f88b2 | 147 | motor2->GoTo(ROUND_ANGLE_STEPS >> 1); |
Davidroid | 0:e6a49a092e2a | 148 | |
Davidroid | 0:e6a49a092e2a | 149 | /* Waiting while the motor is active. */ |
Davidroid | 3:02d9ec4f88b2 | 150 | motor1->WaitWhileActive(); |
Davidroid | 3:02d9ec4f88b2 | 151 | motor2->WaitWhileActive(); |
Davidroid | 0:e6a49a092e2a | 152 | |
Davidroid | 0:e6a49a092e2a | 153 | /* Getting current position. */ |
Davidroid | 3:02d9ec4f88b2 | 154 | position1 = motor1->GetPosition(); |
Davidroid | 3:02d9ec4f88b2 | 155 | position2 = motor2->GetPosition(); |
Davidroid | 0:e6a49a092e2a | 156 | |
Davidroid | 0:e6a49a092e2a | 157 | /* Printing to the console. */ |
Davidroid | 3:02d9ec4f88b2 | 158 | printf(" Position: M1 %d, M2 %d.\r\n", position1, position2); |
Davidroid | 0:e6a49a092e2a | 159 | |
Davidroid | 0:e6a49a092e2a | 160 | /* Waiting 2 seconds. */ |
Davidroid | 0:e6a49a092e2a | 161 | wait_ms(2000); |
Davidroid | 0:e6a49a092e2a | 162 | |
Davidroid | 0:e6a49a092e2a | 163 | |
Davidroid | 0:e6a49a092e2a | 164 | /*----- Going Home. -----*/ |
Davidroid | 0:e6a49a092e2a | 165 | |
Davidroid | 0:e6a49a092e2a | 166 | /* Printing to the console. */ |
Davidroid | 0:e6a49a092e2a | 167 | printf("--> Going Home.\r\n"); |
Davidroid | 0:e6a49a092e2a | 168 | |
Davidroid | 0:e6a49a092e2a | 169 | /* Requesting to go to home. */ |
Davidroid | 3:02d9ec4f88b2 | 170 | motor1->GoHome(); |
Davidroid | 3:02d9ec4f88b2 | 171 | motor2->GoHome(); |
Davidroid | 0:e6a49a092e2a | 172 | |
Davidroid | 0:e6a49a092e2a | 173 | /* Waiting while the motor is active. */ |
Davidroid | 3:02d9ec4f88b2 | 174 | motor1->WaitWhileActive(); |
Davidroid | 3:02d9ec4f88b2 | 175 | motor2->WaitWhileActive(); |
Davidroid | 0:e6a49a092e2a | 176 | |
Davidroid | 0:e6a49a092e2a | 177 | /* Getting current position. */ |
Davidroid | 3:02d9ec4f88b2 | 178 | position1 = motor1->GetPosition(); |
Davidroid | 3:02d9ec4f88b2 | 179 | position2 = motor2->GetPosition(); |
Davidroid | 0:e6a49a092e2a | 180 | |
Davidroid | 0:e6a49a092e2a | 181 | /* Printing to the console. */ |
Davidroid | 3:02d9ec4f88b2 | 182 | printf(" Position: M1 %d, M2 %d.\r\n", position1, position2); |
Davidroid | 0:e6a49a092e2a | 183 | |
Davidroid | 0:e6a49a092e2a | 184 | /* Waiting 2 seconds. */ |
Davidroid | 0:e6a49a092e2a | 185 | wait_ms(2000); |
Davidroid | 0:e6a49a092e2a | 186 | |
Davidroid | 0:e6a49a092e2a | 187 | |
Davidroid | 3:02d9ec4f88b2 | 188 | /*----- Running. -----*/ |
Davidroid | 0:e6a49a092e2a | 189 | |
Davidroid | 0:e6a49a092e2a | 190 | /* Printing to the console. */ |
Davidroid | 3:02d9ec4f88b2 | 191 | printf("--> M1 running backward, M2 running forward.\r\n"); |
Davidroid | 0:e6a49a092e2a | 192 | |
Davidroid | 0:e6a49a092e2a | 193 | /* Requesting to run backward. */ |
Davidroid | 3:02d9ec4f88b2 | 194 | motor1->Run(StepperMotor::BWD); |
Davidroid | 3:02d9ec4f88b2 | 195 | motor2->Run(StepperMotor::FWD); |
Davidroid | 0:e6a49a092e2a | 196 | |
Davidroid | 0:e6a49a092e2a | 197 | /* Waiting until delay has expired. */ |
Davidroid | 1:fbf28f3367aa | 198 | wait_ms(6000); |
Davidroid | 0:e6a49a092e2a | 199 | |
Davidroid | 0:e6a49a092e2a | 200 | /* Getting current speed. */ |
Davidroid | 3:02d9ec4f88b2 | 201 | int speed1 = motor1->GetSpeed(); |
Davidroid | 3:02d9ec4f88b2 | 202 | int speed2 = motor2->GetSpeed(); |
Davidroid | 0:e6a49a092e2a | 203 | |
Davidroid | 0:e6a49a092e2a | 204 | /* Printing to the console. */ |
Davidroid | 3:02d9ec4f88b2 | 205 | printf(" Speed: M1 %d, M2 %d.\r\n", speed1, speed2); |
Davidroid | 0:e6a49a092e2a | 206 | |
Davidroid | 0:e6a49a092e2a | 207 | /*----- Increasing the speed while running. -----*/ |
Davidroid | 0:e6a49a092e2a | 208 | |
Davidroid | 0:e6a49a092e2a | 209 | /* Printing to the console. */ |
Davidroid | 0:e6a49a092e2a | 210 | printf("--> Increasing the speed while running.\r\n"); |
Davidroid | 0:e6a49a092e2a | 211 | |
Davidroid | 0:e6a49a092e2a | 212 | /* Increasing speed to 2400 step/s. */ |
Davidroid | 3:02d9ec4f88b2 | 213 | motor1->SetMaxSpeed(2400); |
Davidroid | 3:02d9ec4f88b2 | 214 | motor2->SetMaxSpeed(2400); |
Davidroid | 0:e6a49a092e2a | 215 | |
Davidroid | 0:e6a49a092e2a | 216 | /* Waiting until delay has expired. */ |
Davidroid | 1:fbf28f3367aa | 217 | wait_ms(6000); |
Davidroid | 0:e6a49a092e2a | 218 | |
Davidroid | 0:e6a49a092e2a | 219 | /* Getting current speed. */ |
Davidroid | 3:02d9ec4f88b2 | 220 | speed1 = motor1->GetSpeed(); |
Davidroid | 3:02d9ec4f88b2 | 221 | speed2 = motor2->GetSpeed(); |
Davidroid | 0:e6a49a092e2a | 222 | |
Davidroid | 0:e6a49a092e2a | 223 | /* Printing to the console. */ |
Davidroid | 3:02d9ec4f88b2 | 224 | printf(" Speed: M1 %d, M2 %d.\r\n", speed1, speed2); |
Davidroid | 0:e6a49a092e2a | 225 | |
Davidroid | 0:e6a49a092e2a | 226 | |
Davidroid | 0:e6a49a092e2a | 227 | /*----- Decreasing the speed while running. -----*/ |
Davidroid | 0:e6a49a092e2a | 228 | |
Davidroid | 0:e6a49a092e2a | 229 | /* Printing to the console. */ |
Davidroid | 0:e6a49a092e2a | 230 | printf("--> Decreasing the speed while running.\r\n"); |
Davidroid | 0:e6a49a092e2a | 231 | |
Davidroid | 0:e6a49a092e2a | 232 | /* Decreasing speed to 1200 step/s. */ |
Davidroid | 3:02d9ec4f88b2 | 233 | motor1->SetMaxSpeed(1200); |
Davidroid | 3:02d9ec4f88b2 | 234 | motor2->SetMaxSpeed(1200); |
Davidroid | 0:e6a49a092e2a | 235 | |
Davidroid | 0:e6a49a092e2a | 236 | /* Waiting until delay has expired. */ |
Davidroid | 1:fbf28f3367aa | 237 | wait_ms(8000); |
Davidroid | 0:e6a49a092e2a | 238 | |
Davidroid | 0:e6a49a092e2a | 239 | /* Getting current speed. */ |
Davidroid | 3:02d9ec4f88b2 | 240 | speed1 = motor1->GetSpeed(); |
Davidroid | 3:02d9ec4f88b2 | 241 | speed2 = motor2->GetSpeed(); |
Davidroid | 0:e6a49a092e2a | 242 | |
Davidroid | 0:e6a49a092e2a | 243 | /* Printing to the console. */ |
Davidroid | 3:02d9ec4f88b2 | 244 | printf(" Speed: M1 %d, M2 %d.\r\n", speed1, speed2); |
Davidroid | 0:e6a49a092e2a | 245 | |
Davidroid | 0:e6a49a092e2a | 246 | |
Davidroid | 0:e6a49a092e2a | 247 | /*----- Requiring hard-stop while running. -----*/ |
Davidroid | 0:e6a49a092e2a | 248 | |
Davidroid | 0:e6a49a092e2a | 249 | /* Printing to the console. */ |
Davidroid | 0:e6a49a092e2a | 250 | printf("--> Requiring hard-stop while running.\r\n"); |
Davidroid | 0:e6a49a092e2a | 251 | |
Davidroid | 0:e6a49a092e2a | 252 | /* Requesting to immediatly stop. */ |
Davidroid | 3:02d9ec4f88b2 | 253 | motor1->HardStop(); |
Davidroid | 3:02d9ec4f88b2 | 254 | motor2->HardStop(); |
Davidroid | 0:e6a49a092e2a | 255 | |
Davidroid | 0:e6a49a092e2a | 256 | /* Waiting while the motor is active. */ |
Davidroid | 3:02d9ec4f88b2 | 257 | motor1->WaitWhileActive(); |
Davidroid | 3:02d9ec4f88b2 | 258 | motor2->WaitWhileActive(); |
Davidroid | 0:e6a49a092e2a | 259 | |
Davidroid | 0:e6a49a092e2a | 260 | /* Waiting 2 seconds. */ |
Davidroid | 0:e6a49a092e2a | 261 | wait_ms(2000); |
Davidroid | 0:e6a49a092e2a | 262 | |
Davidroid | 0:e6a49a092e2a | 263 | |
Davidroid | 0:e6a49a092e2a | 264 | /*----- Infinite Loop. -----*/ |
Davidroid | 0:e6a49a092e2a | 265 | |
Davidroid | 0:e6a49a092e2a | 266 | /* Printing to the console. */ |
Davidroid | 0:e6a49a092e2a | 267 | printf("--> Infinite Loop...\r\n"); |
Davidroid | 0:e6a49a092e2a | 268 | |
Davidroid | 0:e6a49a092e2a | 269 | /* Setting the current position to be the home position. */ |
Davidroid | 3:02d9ec4f88b2 | 270 | motor1->SetHome(); |
Davidroid | 3:02d9ec4f88b2 | 271 | motor2->SetHome(); |
Davidroid | 0:e6a49a092e2a | 272 | |
Davidroid | 0:e6a49a092e2a | 273 | /* Infinite Loop. */ |
Davidroid | 0:e6a49a092e2a | 274 | while(1) |
Davidroid | 0:e6a49a092e2a | 275 | { |
Davidroid | 0:e6a49a092e2a | 276 | /* Requesting to go to a specified position. */ |
Davidroid | 3:02d9ec4f88b2 | 277 | motor1->GoTo(ROUND_ANGLE_STEPS >> 1); |
Davidroid | 3:02d9ec4f88b2 | 278 | motor2->GoTo(- (ROUND_ANGLE_STEPS >> 1)); |
Davidroid | 0:e6a49a092e2a | 279 | |
Davidroid | 0:e6a49a092e2a | 280 | /* Waiting while the motor is active. */ |
Davidroid | 3:02d9ec4f88b2 | 281 | motor1->WaitWhileActive(); |
Davidroid | 3:02d9ec4f88b2 | 282 | motor2->WaitWhileActive(); |
Davidroid | 0:e6a49a092e2a | 283 | |
Davidroid | 0:e6a49a092e2a | 284 | /* Requesting to go to a specified position. */ |
Davidroid | 3:02d9ec4f88b2 | 285 | motor1->GoTo(- (ROUND_ANGLE_STEPS >> 1)); |
Davidroid | 3:02d9ec4f88b2 | 286 | motor2->GoTo(ROUND_ANGLE_STEPS >> 1); |
Davidroid | 0:e6a49a092e2a | 287 | |
Davidroid | 0:e6a49a092e2a | 288 | /* Waiting while the motor is active. */ |
Davidroid | 3:02d9ec4f88b2 | 289 | motor1->WaitWhileActive(); |
Davidroid | 3:02d9ec4f88b2 | 290 | motor2->WaitWhileActive(); |
Davidroid | 0:e6a49a092e2a | 291 | } |
Davidroid | 0:e6a49a092e2a | 292 | } |
Davidroid | 0:e6a49a092e2a | 293 | } |