Problema
Dependencies: X_NUCLEO_IHM01A1
Fork of Button_two_Buttonfff by
main.cpp
- Committer:
- Davidroid
- Date:
- 2015-11-18
- Revision:
- 3:02d9ec4f88b2
- Parent:
- 2:e12e4df7a486
- Child:
- 5:a0268a435bb1
File content as of revision 3:02d9ec4f88b2:
/** ****************************************************************************** * @file main.cpp * @author Davide Aliprandi / AST * @version V1.0.0 * @date October 14th, 2015 * @brief mbed test application for the STMicrolectronics X-NUCLEO-IHM01A1 * Motor Control Expansion Board: control of 2 motors. * This application makes use of a C++ component architecture obtained * from the C component architecture through the Stm32CubeTOO tool. ****************************************************************************** * @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 corresponding to one round angle of the motor. */ #define ROUND_ANGLE_STEPS 3200 /* Variables -----------------------------------------------------------------*/ /* Motor Control Component. */ L6474 *motor1; L6474 *motor2; /* Main ----------------------------------------------------------------------*/ int main() { /* Initializing SPI bus. */ DevSPI dev_spi(D11, D12, D13); /* Initializing Motor Control Component. */ motor1 = new L6474(D8, D7, D9, D10, dev_spi); if (motor1->Init(NULL) != COMPONENT_OK) return false; motor2 = new L6474(D8, D4, D3, D10, dev_spi); if (motor2->Init(NULL) != COMPONENT_OK) return false; /* Printing to the console. */ printf("Motor Control Application Example for 2 Motors\r\n\n"); /* Main Loop. */ while(true) { /*----- Moving. -----*/ /* Printing to the console. */ printf("--> Moving forward: M1 %d steps, M2 %d steps.\r\n", ROUND_ANGLE_STEPS >> 1, ROUND_ANGLE_STEPS); /* Moving N steps in the forward direction. */ motor1->Move(StepperMotor::FWD, ROUND_ANGLE_STEPS >> 1); motor2->Move(StepperMotor::FWD, ROUND_ANGLE_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(2000); /*----- Moving. -----*/ /* Printing to the console. */ printf("--> Moving backward: M1 %d steps, M2 %d steps.\r\n", ROUND_ANGLE_STEPS >> 1, ROUND_ANGLE_STEPS); /* Moving N steps in the backward direction. */ motor1->Move(StepperMotor::BWD, ROUND_ANGLE_STEPS >> 1); motor2->Move(StepperMotor::BWD, ROUND_ANGLE_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(2000); /*----- Going to a specified position. -----*/ /* Printing to the console. */ printf("--> Going to position: M1 %d, M2 %d.\r\n", ROUND_ANGLE_STEPS, ROUND_ANGLE_STEPS >> 1); /* Requesting to go to a specified position. */ motor1->GoTo(ROUND_ANGLE_STEPS); motor2->GoTo(ROUND_ANGLE_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(2000); /*----- 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(2000); /*----- 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(6000); /* 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 speed to 2400 step/s. */ motor1->SetMaxSpeed(2400); motor2->SetMaxSpeed(2400); /* Waiting until delay has expired. */ wait_ms(6000); /* 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 speed to 1200 step/s. */ motor1->SetMaxSpeed(1200); motor2->SetMaxSpeed(1200); /* Waiting until delay has expired. */ wait_ms(8000); /* 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(2000); /*----- 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(1) { /* Requesting to go to a specified position. */ motor1->GoTo(ROUND_ANGLE_STEPS >> 1); motor2->GoTo(- (ROUND_ANGLE_STEPS >> 1)); /* Waiting while the motor is active. */ motor1->WaitWhileActive(); motor2->WaitWhileActive(); /* Requesting to go to a specified position. */ motor1->GoTo(- (ROUND_ANGLE_STEPS >> 1)); motor2->GoTo(ROUND_ANGLE_STEPS >> 1); /* Waiting while the motor is active. */ motor1->WaitWhileActive(); motor2->WaitWhileActive(); } } }