![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
hello
Dependencies: X_NUCLEO_IHM01A1
Fork of HelloWorld_IHM01A1_2Motors_mbedOS by
main.cpp
- Committer:
- Davidroid
- Date:
- 2017-03-01
- Revision:
- 28:3f17a4152bcf
- Parent:
- 24:8cb3c4ad055f
- Child:
- 29:526970c1d998
File content as of revision 28:3f17a4152bcf:
/** ****************************************************************************** * @file main.cpp * @author Davide Aliprandi, STMicroelectronics * @version V1.0.0 * @date October 14th, 2015 * @brief mbed test application for the STMicroelectronics X-NUCLEO-IHM01A1 * Motor Control Expansion Board: control of 2 motors. ****************************************************************************** * @attention * * <h2><center>© COPYRIGHT(c) 2015 STMicroelectronics</center></h2> * * Redistribution and use in source and binary forms, with or without modification, * are permitted provided that the following conditions are met: * 1. Redistributions of source code must retain the above copyright notice, * this list of conditions and the following disclaimer. * 2. Redistributions in binary form must reproduce the above copyright notice, * this list of conditions and the following disclaimer in the documentation * and/or other materials provided with the distribution. * 3. Neither the name of STMicroelectronics nor the names of its contributors * may be used to endorse or promote products derived from this software * without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * ****************************************************************************** */ /* Includes ------------------------------------------------------------------*/ /* mbed specific header files. */ #include "mbed.h" /* Helper header files. */ #include "DevSPI.h" /* Component specific header files. */ #include "l6474_class.h" /* Definitions ---------------------------------------------------------------*/ /* 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 -----------------------------------------------------------------*/ /* Motor Control Component. */ L6474 *motor1; L6474 *motor2; /* Main ----------------------------------------------------------------------*/ int main() { /*----- Initialization. -----*/ /* Initializing SPI bus. */ DevSPI dev_spi(D11, D12, D13); /* Initializing Motor Control Components. */ motor1 = new L6474(D2, D8, D7, D9, D10, dev_spi); motor2 = new L6474(D2, D8, D4, D3, D10, dev_spi); if (motor1->Init() != COMPONENT_OK) { exit(EXIT_FAILURE); } if (motor2->Init() != COMPONENT_OK) { exit(EXIT_FAILURE); } /* 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 N steps in the forward direction. */ motor1->Move(StepperMotor::FWD, STEPS >> 1); motor2->Move(StepperMotor::FWD, STEPS); /* Waiting while the motor is active. */ motor1->WaitWhileActive(); motor2->WaitWhileActive(); /* Getting current position. */ int position1 = motor1->GetPosition(); int position2 = motor2->GetPosition(); /* Printing to the console. */ printf(" Position: M1 %d, M2 %d.\r\n", position1, position2); /* Waiting 2 seconds. */ wait_ms(DELAY_1); /*----- Moving. -----*/ /* 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->WaitWhileActive(); motor2->WaitWhileActive(); /* Getting current position. */ position1 = motor1->GetPosition(); position2 = motor2->GetPosition(); /* 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->SetHome(); motor2->SetHome(); /* 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->GoTo(STEPS); motor2->GoTo(STEPS >> 1); /* Waiting while the motor is active. */ motor1->WaitWhileActive(); motor2->WaitWhileActive(); /* Getting current position. */ position1 = motor1->GetPosition(); position2 = motor2->GetPosition(); /* Printing to the console. */ printf(" Position: M1 %d, M2 %d.\r\n", position1, position2); /* Waiting 2 seconds. */ wait_ms(DELAY_1); /*----- Going Home. -----*/ /* Printing to the console. */ printf("--> Going Home.\r\n"); /* Requesting to go to home. */ motor1->GoHome(); motor2->GoHome(); /* Waiting while the motor is active. */ motor1->WaitWhileActive(); motor2->WaitWhileActive(); /* Getting current position. */ position1 = motor1->GetPosition(); position2 = motor2->GetPosition(); /* Printing to the console. */ printf(" Position: M1 %d, M2 %d.\r\n", position1, position2); /* Waiting 2 seconds. */ wait_ms(DELAY_1); /*----- 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->GetSpeed(); int speed2 = motor2->GetSpeed(); /* 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->SetMaxSpeed(SPEED_1); motor2->SetMaxSpeed(SPEED_1); /* Waiting until delay has expired. */ wait_ms(DELAY_2); /* Getting current speed. */ speed1 = motor1->GetSpeed(); speed2 = motor2->GetSpeed(); /* 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->SetMaxSpeed(SPEED_2); motor2->SetMaxSpeed(SPEED_2); /* Waiting until delay has expired. */ wait_ms(DELAY_3); /* Getting current speed. */ speed1 = motor1->GetSpeed(); speed2 = motor2->GetSpeed(); /* 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->HardStop(); motor2->HardStop(); /* Waiting while the motor is active. */ motor1->WaitWhileActive(); motor2->WaitWhileActive(); /* 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->SetHome(); motor2->SetHome(); /* Infinite Loop. */ while(true) { /* Requesting to go to a specified position. */ motor1->GoTo(STEPS >> 1); motor2->GoTo(- (STEPS >> 1)); /* Waiting while the motor is active. */ motor1->WaitWhileActive(); motor2->WaitWhileActive(); /* Requesting to go to a specified position. */ motor1->GoTo(- (STEPS >> 1)); motor2->GoTo(STEPS >> 1); /* Waiting while the motor is active. */ motor1->WaitWhileActive(); motor2->WaitWhileActive(); } }