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hello
Dependencies: X_NUCLEO_IHM01A1
Fork of HelloWorld_IHM01A1_2Motors_mbedOS by
Diff: main.cpp
- Revision:
- 29:526970c1d998
- Parent:
- 28:3f17a4152bcf
- Child:
- 32:9fe53ea8430c
diff -r 3f17a4152bcf -r 526970c1d998 main.cpp --- a/main.cpp Wed Mar 01 13:32:24 2017 +0000 +++ b/main.cpp Fri Mar 10 14:23:19 2017 +0000 @@ -46,7 +46,7 @@ #include "DevSPI.h" /* Component specific header files. */ -#include "l6474_class.h" +#include "L6474.h" /* Definitions ---------------------------------------------------------------*/ @@ -85,10 +85,10 @@ /* 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) { + if (motor1->init() != COMPONENT_OK) { exit(EXIT_FAILURE); } - if (motor2->Init() != COMPONENT_OK) { + if (motor2->init() != COMPONENT_OK) { exit(EXIT_FAILURE); } @@ -102,16 +102,16 @@ 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); + motor1->move(StepperMotor::FWD, STEPS >> 1); + motor2->move(StepperMotor::FWD, STEPS); /* Waiting while the motor is active. */ - motor1->WaitWhileActive(); - motor2->WaitWhileActive(); + motor1->wait_while_active(); + motor2->wait_while_active(); /* Getting current position. */ - int position1 = motor1->GetPosition(); - int position2 = motor2->GetPosition(); + int position1 = motor1->get_position(); + int position2 = motor2->get_position(); /* Printing to the console. */ printf(" Position: M1 %d, M2 %d.\r\n", position1, position2); @@ -127,24 +127,24 @@ /* Moving N steps in the backward direction. */ - motor1->Move(StepperMotor::BWD, STEPS >> 1); - motor2->Move(StepperMotor::BWD, STEPS); + motor1->move(StepperMotor::BWD, STEPS >> 1); + motor2->move(StepperMotor::BWD, STEPS); /* Waiting while the motor is active. */ - motor1->WaitWhileActive(); - motor2->WaitWhileActive(); + motor1->wait_while_active(); + motor2->wait_while_active(); /* Getting current position. */ - position1 = motor1->GetPosition(); - position2 = motor2->GetPosition(); + 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->SetHome(); - motor2->SetHome(); + motor1->set_home(); + motor2->set_home(); /* Waiting 2 seconds. */ wait_ms(DELAY_1); @@ -156,16 +156,16 @@ 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); + motor1->go_to(STEPS); + motor2->go_to(STEPS >> 1); /* Waiting while the motor is active. */ - motor1->WaitWhileActive(); - motor2->WaitWhileActive(); + motor1->wait_while_active(); + motor2->wait_while_active(); /* Getting current position. */ - position1 = motor1->GetPosition(); - position2 = motor2->GetPosition(); + position1 = motor1->get_position(); + position2 = motor2->get_position(); /* Printing to the console. */ printf(" Position: M1 %d, M2 %d.\r\n", position1, position2); @@ -180,16 +180,16 @@ printf("--> Going Home.\r\n"); /* Requesting to go to home. */ - motor1->GoHome(); - motor2->GoHome(); + motor1->go_home(); + motor2->go_home(); /* Waiting while the motor is active. */ - motor1->WaitWhileActive(); - motor2->WaitWhileActive(); + motor1->wait_while_active(); + motor2->wait_while_active(); /* Getting current position. */ - position1 = motor1->GetPosition(); - position2 = motor2->GetPosition(); + position1 = motor1->get_position(); + position2 = motor2->get_position(); /* Printing to the console. */ printf(" Position: M1 %d, M2 %d.\r\n", position1, position2); @@ -204,15 +204,15 @@ printf("--> M1 running backward, M2 running forward.\r\n"); /* Requesting to run backward. */ - motor1->Run(StepperMotor::BWD); - motor2->Run(StepperMotor::FWD); + 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(); + int speed1 = motor1->get_speed(); + int speed2 = motor2->get_speed(); /* Printing to the console. */ printf(" Speed: M1 %d, M2 %d.\r\n", speed1, speed2); @@ -223,15 +223,15 @@ printf("--> Increasing the speed while running.\r\n"); /* Increasing the speed. */ - motor1->SetMaxSpeed(SPEED_1); - motor2->SetMaxSpeed(SPEED_1); + 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->GetSpeed(); - speed2 = motor2->GetSpeed(); + speed1 = motor1->get_speed(); + speed2 = motor2->get_speed(); /* Printing to the console. */ printf(" Speed: M1 %d, M2 %d.\r\n", speed1, speed2); @@ -243,15 +243,15 @@ printf("--> Decreasing the speed while running.\r\n"); /* Decreasing the speed. */ - motor1->SetMaxSpeed(SPEED_2); - motor2->SetMaxSpeed(SPEED_2); + 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->GetSpeed(); - speed2 = motor2->GetSpeed(); + speed1 = motor1->get_speed(); + speed2 = motor2->get_speed(); /* Printing to the console. */ printf(" Speed: M1 %d, M2 %d.\r\n", speed1, speed2); @@ -263,12 +263,12 @@ printf("--> Requiring hard-stop while running.\r\n"); /* Requesting to immediatly stop. */ - motor1->HardStop(); - motor2->HardStop(); + motor1->hard_stop(); + motor2->hard_stop(); /* Waiting while the motor is active. */ - motor1->WaitWhileActive(); - motor2->WaitWhileActive(); + motor1->wait_while_active(); + motor2->wait_while_active(); /* Waiting 2 seconds. */ wait_ms(DELAY_1); @@ -280,25 +280,25 @@ printf("--> Infinite Loop...\r\n"); /* Setting the current position to be the home position. */ - motor1->SetHome(); - motor2->SetHome(); + motor1->set_home(); + motor2->set_home(); /* Infinite Loop. */ while(true) { /* Requesting to go to a specified position. */ - motor1->GoTo(STEPS >> 1); - motor2->GoTo(- (STEPS >> 1)); + motor1->go_to(STEPS >> 1); + motor2->go_to(- (STEPS >> 1)); /* Waiting while the motor is active. */ - motor1->WaitWhileActive(); - motor2->WaitWhileActive(); + motor1->wait_while_active(); + motor2->wait_while_active(); /* Requesting to go to a specified position. */ - motor1->GoTo(- (STEPS >> 1)); - motor2->GoTo(STEPS >> 1); + motor1->go_to(- (STEPS >> 1)); + motor2->go_to(STEPS >> 1); /* Waiting while the motor is active. */ - motor1->WaitWhileActive(); - motor2->WaitWhileActive(); + motor1->wait_while_active(); + motor2->wait_while_active(); } }