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hello
Dependencies: X_NUCLEO_IHM01A1
Fork of HelloWorld_IHM01A1_2Motors_mbedOS by
Diff: main.cpp
- Revision:
- 32:9fe53ea8430c
- Parent:
- 29:526970c1d998
--- a/main.cpp Fri Jul 14 15:33:04 2017 +0000 +++ b/main.cpp Wed Mar 28 14:52:12 2018 +0000 @@ -52,12 +52,12 @@ /* Definitions ---------------------------------------------------------------*/ /* Number of steps. */ -#define STEPS 3200 +#define STEPS 100 /* Delay in milliseconds. */ -#define DELAY_1 2000 -#define DELAY_2 6000 -#define DELAY_3 8000 +#define DELAY_1 100 +#define DELAY_2 3000 +#define DELAY_3 4000 /* Speed in pps (Pulses Per Second). In Full Step mode: 1 pps = 1 step/s). @@ -68,6 +68,8 @@ /* Variables -----------------------------------------------------------------*/ +DigitalIn mybutton(USER_BUTTON); +bool x=true; /* Motor Control Component. */ L6474 *motor1; L6474 *motor2; @@ -95,210 +97,64 @@ /* Printing to the console. */ printf("Motor Control Application Example for 2 Motors\r\n\n"); - - /*----- Moving. -----*/ - - /* Printing to the console. */ - printf("--> Moving forward: M1 %d steps, M2 %d steps.\r\n", STEPS >> 1, STEPS); + /*----- Moving F. -----*/ + while(true) { + if (mybutton == 0) // Button is pressed + { + x=!x; + printf("x =%d", x); + } + if (x==true) // Button is pressed + { + /* Printing to the console. */ + printf("--> Moving forward: M1 %d steps, M2 %d steps.\r\n", STEPS >> 1, STEPS); - /* Moving N steps in the forward direction. */ - motor1->move(StepperMotor::FWD, STEPS >> 1); - motor2->move(StepperMotor::FWD, STEPS); - - /* Waiting while the motor is active. */ - motor1->wait_while_active(); - motor2->wait_while_active(); + /* Moving N steps in the forward direction. */ + motor1->move(StepperMotor::FWD, STEPS >> 1); + motor2->move(StepperMotor::FWD, STEPS >> 1); - /* Getting current position. */ - int position1 = motor1->get_position(); - int position2 = motor2->get_position(); + /* Waiting while the motor is active. */ + motor1->wait_while_active(); + motor2->wait_while_active(); + + /* Getting current position. */ + int position1 = motor1->get_position(); + int position2 = motor2->get_position(); - /* Printing to the console. */ - printf(" Position: M1 %d, M2 %d.\r\n", position1, position2); + /* Printing to the console. */ + printf(" Position: M1 %d, M2 %d.\r\n", position1, position2); - /* Waiting 2 seconds. */ - wait_ms(DELAY_1); - + /* Waiting 2 seconds. */ + wait_ms(DELAY_1); + } + if (x==false) // Button is pressed + { + /*----- Moving B. -----*/ - /*----- Moving. -----*/ - - /* Printing to the console. */ - printf("--> Moving backward: M1 %d steps, M2 %d steps.\r\n", STEPS >> 1, STEPS); + /* Printing to the console. */ + + printf("--> Moving backward: M1 %d steps, M2 %d steps.\r\n", STEPS >> 1, STEPS); - /* Moving N steps in the backward direction. */ - motor1->move(StepperMotor::BWD, STEPS >> 1); - motor2->move(StepperMotor::BWD, STEPS); - - /* Waiting while the motor is active. */ - motor1->wait_while_active(); - motor2->wait_while_active(); - - /* Getting current position. */ - position1 = motor1->get_position(); - position2 = motor2->get_position(); - - /* Printing to the console. */ - printf(" Position: M1 %d, M2 %d.\r\n", position1, position2); - printf("--> Setting Home.\r\n"); - - /* Setting the current position to be the home position. */ - motor1->set_home(); - motor2->set_home(); - - /* Waiting 2 seconds. */ - wait_ms(DELAY_1); - - - /*----- Going to a specified position. -----*/ - - /* Printing to the console. */ - printf("--> Going to position: M1 %d, M2 %d.\r\n", STEPS, STEPS >> 1); - - /* Requesting to go to a specified position. */ - motor1->go_to(STEPS); - motor2->go_to(STEPS >> 1); + /* Moving N steps in the backward direction. */ + motor1->move(StepperMotor::BWD, STEPS >> 1); + motor2->move(StepperMotor::BWD, STEPS >> 1); - /* Waiting while the motor is active. */ - motor1->wait_while_active(); - motor2->wait_while_active(); - - /* Getting current position. */ - position1 = motor1->get_position(); - position2 = motor2->get_position(); - - /* Printing to the console. */ - printf(" Position: M1 %d, M2 %d.\r\n", position1, position2); - - /* Waiting 2 seconds. */ - wait_ms(DELAY_1); - - - /*----- Going Home. -----*/ + /* Waiting while the motor is active. */ + motor1->wait_while_active(); + motor2->wait_while_active(); - /* Printing to the console. */ - printf("--> Going Home.\r\n"); - - /* Requesting to go to home. */ - motor1->go_home(); - motor2->go_home(); + /* Getting current position. */ + int position1 = motor1->get_position(); + int position2 = motor2->get_position(); - /* Waiting while the motor is active. */ - motor1->wait_while_active(); - motor2->wait_while_active(); - - /* Getting current position. */ - position1 = motor1->get_position(); - position2 = motor2->get_position(); - - /* Printing to the console. */ - printf(" Position: M1 %d, M2 %d.\r\n", position1, position2); - - /* Waiting 2 seconds. */ - wait_ms(DELAY_1); + /* Printing to the console. */ + printf(" Position: M1 %d, M2 %d.\r\n", position1, position2); + printf("--> Setting Home.\r\n"); - /*----- Running. -----*/ - - /* Printing to the console. */ - printf("--> M1 running backward, M2 running forward.\r\n"); - - /* Requesting to run backward. */ - motor1->run(StepperMotor::BWD); - motor2->run(StepperMotor::FWD); - - /* Waiting until delay has expired. */ - wait_ms(DELAY_2); - - /* Getting current speed. */ - int speed1 = motor1->get_speed(); - int speed2 = motor2->get_speed(); - - /* Printing to the console. */ - printf(" Speed: M1 %d, M2 %d.\r\n", speed1, speed2); - - /*----- Increasing the speed while running. -----*/ - - /* Printing to the console. */ - printf("--> Increasing the speed while running.\r\n"); - - /* Increasing the speed. */ - motor1->set_max_speed(SPEED_1); - motor2->set_max_speed(SPEED_1); - - /* Waiting until delay has expired. */ - wait_ms(DELAY_2); - - /* Getting current speed. */ - speed1 = motor1->get_speed(); - speed2 = motor2->get_speed(); - - /* Printing to the console. */ - printf(" Speed: M1 %d, M2 %d.\r\n", speed1, speed2); - - - /*----- Decreasing the speed while running. -----*/ - - /* Printing to the console. */ - printf("--> Decreasing the speed while running.\r\n"); - - /* Decreasing the speed. */ - motor1->set_max_speed(SPEED_2); - motor2->set_max_speed(SPEED_2); - - /* Waiting until delay has expired. */ - wait_ms(DELAY_3); - - /* Getting current speed. */ - speed1 = motor1->get_speed(); - speed2 = motor2->get_speed(); - - /* Printing to the console. */ - printf(" Speed: M1 %d, M2 %d.\r\n", speed1, speed2); - - - /*----- Requiring hard-stop while running. -----*/ - - /* Printing to the console. */ - printf("--> Requiring hard-stop while running.\r\n"); - - /* Requesting to immediatly stop. */ - motor1->hard_stop(); - motor2->hard_stop(); - - /* Waiting while the motor is active. */ - motor1->wait_while_active(); - motor2->wait_while_active(); - - /* Waiting 2 seconds. */ - wait_ms(DELAY_1); - - - /*----- Infinite Loop. -----*/ - - /* Printing to the console. */ - printf("--> Infinite Loop...\r\n"); - - /* Setting the current position to be the home position. */ - motor1->set_home(); - motor2->set_home(); - - /* Infinite Loop. */ - while(true) { - /* Requesting to go to a specified position. */ - motor1->go_to(STEPS >> 1); - motor2->go_to(- (STEPS >> 1)); - - /* Waiting while the motor is active. */ - motor1->wait_while_active(); - motor2->wait_while_active(); - - /* Requesting to go to a specified position. */ - motor1->go_to(- (STEPS >> 1)); - motor2->go_to(STEPS >> 1); - - /* Waiting while the motor is active. */ - motor1->wait_while_active(); - motor2->wait_while_active(); + /* Waiting 2 seconds. */ + wait_ms(DELAY_1); + } } }