ST / Mbed OS HelloWorld_IHM01A1_2Motors_mbedOS

Simple test application for the STMicroelectronics X-NUCLEO-IHM01A1 Stepper Motor Control Expansion Board, built against mbed OS.

Dependencies:   X_NUCLEO_IHM01A1

Fork of HelloWorld_IHM01A1_2Motors by ST

Motor Control with the X-NUCLEO-IHM01A1 Expansion Board

This application provides a simple example of usage of the X-NUCLEO-IHM01A1 Stepper Motor Control Expansion Board.
It shows how to use two stepper motors connected to two stacked boards in daisy chain configuration, moving the rotors to specific positions, with given speed values, directions of rotation, etc.

Diff: main.cpp

Revision:
9:a9e51320aee4
Parent:
8:cec4c2c03a27
Child:
14:fcd452b03d1a
--- a/main.cpp	Thu Nov 26 16:17:52 2015 +0000
+++ b/main.cpp	Fri Nov 27 11:27:56 2015 +0000
@@ -51,8 +51,8 @@
 
 /* Definitions ---------------------------------------------------------------*/
 
-/* Number of steps corresponding to one round angle of the motor. */
-#define ROUND_ANGLE_STEPS 3200
+/* Number of steps to move. */
+#define STEPS 3200
 
 
 /* Variables -----------------------------------------------------------------*/
@@ -71,7 +71,7 @@
     /* Initializing SPI bus. */
     DevSPI dev_spi(D11, D12, D13);
 
-    /* Initializing Motor Control Component. */
+    /* Initializing Motor Control Components. */
     motor1 = new L6474(D2, D8, D7, D9, D10, dev_spi);
     if (motor1->Init(NULL) != COMPONENT_OK)
         return false;
@@ -86,11 +86,11 @@
     /*----- Moving. -----*/
 
     /* Printing to the console. */
-    printf("--> Moving forward: M1 %d steps, M2 %d steps.\r\n", ROUND_ANGLE_STEPS >> 1, ROUND_ANGLE_STEPS);
+    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, ROUND_ANGLE_STEPS >> 1);
-    motor2->Move(StepperMotor::FWD, ROUND_ANGLE_STEPS);
+    motor1->Move(StepperMotor::FWD, STEPS >> 1);
+    motor2->Move(StepperMotor::FWD, STEPS);
 
     /* Waiting while the motor is active. */
     motor1->WaitWhileActive();
@@ -110,12 +110,12 @@
     /*----- Moving. -----*/
     
     /* Printing to the console. */
-    printf("--> Moving backward: M1 %d steps, M2 %d steps.\r\n", ROUND_ANGLE_STEPS >> 1, ROUND_ANGLE_STEPS);
+    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, ROUND_ANGLE_STEPS >> 1);
-    motor2->Move(StepperMotor::BWD, ROUND_ANGLE_STEPS);
+    motor1->Move(StepperMotor::BWD, STEPS >> 1);
+    motor2->Move(StepperMotor::BWD, STEPS);
     
     /* Waiting while the motor is active. */
     motor1->WaitWhileActive();
@@ -140,11 +140,11 @@
     /*----- 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);
+    printf("--> Going to position: M1 %d, M2 %d.\r\n", STEPS, STEPS >> 1);
     
     /* Requesting to go to a specified position. */
-    motor1->GoTo(ROUND_ANGLE_STEPS);
-    motor2->GoTo(ROUND_ANGLE_STEPS >> 1);
+    motor1->GoTo(STEPS);
+    motor2->GoTo(STEPS >> 1);
     
     /* Waiting while the motor is active. */
     motor1->WaitWhileActive();
@@ -274,16 +274,16 @@
     while(1)
     {
         /* Requesting to go to a specified position. */
-        motor1->GoTo(ROUND_ANGLE_STEPS >> 1);
-        motor2->GoTo(- (ROUND_ANGLE_STEPS >> 1));
+        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(- (ROUND_ANGLE_STEPS >> 1));
-        motor2->GoTo(ROUND_ANGLE_STEPS >> 1);
+        motor1->GoTo(- (STEPS >> 1));
+        motor2->GoTo(STEPS >> 1);
 
         /* Waiting while the motor is active. */
         motor1->WaitWhileActive();