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hello
Dependencies: X_NUCLEO_IHM01A1
Fork of HelloWorld_IHM01A1_2Motors_mbedOS by
Diff: main.cpp
- Revision:
- 24:8cb3c4ad055f
- Parent:
- 17:aae1446c67f4
- Child:
- 28:3f17a4152bcf
--- a/main.cpp Fri Apr 08 12:57:07 2016 +0000 +++ b/main.cpp Thu Sep 08 12:52:04 2016 +0000 @@ -51,9 +51,20 @@ /* Definitions ---------------------------------------------------------------*/ -/* Number of steps to move. */ +/* Number of steps. */ #define STEPS 3200 +/* Delay in milliseconds. */ +#define DELAY_1 2000 +#define DELAY_2 6000 +#define DELAY_3 8000 + +/* Speed in pps (Pulses Per Second). + In Full Step mode: 1 pps = 1 step/s). + In 1/N Step Mode: N pps = 1 step/s). */ +#define SPEED_1 2400 +#define SPEED_2 1200 + /* Variables -----------------------------------------------------------------*/ @@ -104,7 +115,7 @@ printf(" Position: M1 %d, M2 %d.\r\n", position1, position2); /* Waiting 2 seconds. */ - wait_ms(2000); + wait_ms(DELAY_1); /*----- Moving. -----*/ @@ -134,7 +145,7 @@ motor2->SetHome(); /* Waiting 2 seconds. */ - wait_ms(2000); + wait_ms(DELAY_1); /*----- Going to a specified position. -----*/ @@ -158,7 +169,7 @@ printf(" Position: M1 %d, M2 %d.\r\n", position1, position2); /* Waiting 2 seconds. */ - wait_ms(2000); + wait_ms(DELAY_1); /*----- Going Home. -----*/ @@ -182,7 +193,7 @@ printf(" Position: M1 %d, M2 %d.\r\n", position1, position2); /* Waiting 2 seconds. */ - wait_ms(2000); + wait_ms(DELAY_1); /*----- Running. -----*/ @@ -195,7 +206,7 @@ motor2->Run(StepperMotor::FWD); /* Waiting until delay has expired. */ - wait_ms(6000); + wait_ms(DELAY_2); /* Getting current speed. */ int speed1 = motor1->GetSpeed(); @@ -209,12 +220,12 @@ /* Printing to the console. */ printf("--> Increasing the speed while running.\r\n"); - /* Increasing speed to 2400 step/s. */ - motor1->SetMaxSpeed(2400); - motor2->SetMaxSpeed(2400); + /* Increasing the speed. */ + motor1->SetMaxSpeed(SPEED_1); + motor2->SetMaxSpeed(SPEED_1); /* Waiting until delay has expired. */ - wait_ms(6000); + wait_ms(DELAY_2); /* Getting current speed. */ speed1 = motor1->GetSpeed(); @@ -229,12 +240,12 @@ /* Printing to the console. */ printf("--> Decreasing the speed while running.\r\n"); - /* Decreasing speed to 1200 step/s. */ - motor1->SetMaxSpeed(1200); - motor2->SetMaxSpeed(1200); + /* Decreasing the speed. */ + motor1->SetMaxSpeed(SPEED_2); + motor2->SetMaxSpeed(SPEED_2); /* Waiting until delay has expired. */ - wait_ms(8000); + wait_ms(DELAY_3); /* Getting current speed. */ speed1 = motor1->GetSpeed(); @@ -258,7 +269,7 @@ motor2->WaitWhileActive(); /* Waiting 2 seconds. */ - wait_ms(2000); + wait_ms(DELAY_1); /*----- Infinite Loop. -----*/