ST / Mbed 2 deprecated HelloWorld_IHM02A1

Simple test application for the STMicroelectronics X-NUCLEO-IHM02A1 Stepper Motor Control Expansion Board.

Dependencies:   X_NUCLEO_IHM02A1 mbed

Fork of HelloWorld_IHM02A1 by ST Expansion SW Team

Motor Control with the X-NUCLEO-IHM02A1 Expansion Board

This application provides a simple example of usage of the X-NUCLEO-IHM02A1 Stepper Motor Control Expansion Board.
It shows how to use two stepper motors connected in daisy chain configuration to the board, moving the rotors to specific positions, with given speed values, direction of rotations, etc.

Diff: main.cpp

Revision:
24:d1f487cb02ba
Parent:
23:073b26366d03
Child:
26:caec5f51abe8
--- a/main.cpp	Thu Mar 09 15:35:35 2017 +0000
+++ b/main.cpp	Fri Mar 10 11:20:58 2017 +0100
@@ -46,7 +46,7 @@
 #include "DevSPI.h"
 
 /* Expansion Board specific header files. */
-#include "x_nucleo_ihm02a1_class.h"
+#include "XNucleoIhm02a1.h"
 
 
 /* Definitions ---------------------------------------------------------------*/
@@ -67,10 +67,10 @@
 /* Variables -----------------------------------------------------------------*/
 
 /* Motor Control Expansion Board. */
-X_NUCLEO_IHM02A1 *x_nucleo_ihm02a1;
+XNucleoIhm02a1 *x_nucleo_ihm02a1;
 
 /* Initialization parameters of the motors connected to the expansion board. */
-L6470_Init_t init[L6470DAISYCHAINSIZE] = {
+L6470_init_t init[L6470DAISYCHAINSIZE] = {
     /* First Motor. */
     {
         9.0,                           /* Motor supply voltage in V. */
@@ -143,10 +143,10 @@
 #endif
 
     /* Initializing Motor Control Expansion Board. */
-    x_nucleo_ihm02a1 = new X_NUCLEO_IHM02A1(&init[0], &init[1], A4, A5, D4, A2, &dev_spi);
+    x_nucleo_ihm02a1 = new XNucleoIhm02a1(&init[0], &init[1], A4, A5, D4, A2, &dev_spi);
 
     /* Building a list of motor control components. */
-    L6470 **motors = x_nucleo_ihm02a1->GetComponents();
+    L6470 **motors = x_nucleo_ihm02a1->get_components();
 
     /* Printing to the console. */
     printf("Motor Control Application Example for 2 Motors\r\n\n");
@@ -158,13 +158,13 @@
     printf("--> Setting home position.\r\n");
 
     /* Setting the home position. */
-    motors[0]->SetHome();
+    motors[0]->set_home();
 
     /* Waiting. */
     wait_ms(DELAY_1);
 
     /* Getting the current position. */
-    int position = motors[0]->GetPosition();
+    int position = motors[0]->get_position();
 
     /* Printing to the console. */
     printf("--> Getting the current position: %d\r\n", position);
@@ -176,13 +176,13 @@
     printf("--> Moving forward %d steps.\r\n", STEPS_1);
 
     /* Moving. */
-    motors[0]->Move(StepperMotor::FWD, STEPS_1);
+    motors[0]->move(StepperMotor::FWD, STEPS_1);
 
     /* Waiting while active. */
-    motors[0]->WaitWhileActive();
+    motors[0]->wait_while_active();
 
     /* Getting the current position. */
-    position = motors[0]->GetPosition();
+    position = motors[0]->get_position();
     
     /* Printing to the console. */
     printf("--> Getting the current position: %d\r\n", position);
@@ -191,7 +191,7 @@
     printf("--> Marking the current position.\r\n");
 
     /* Marking the current position. */
-    motors[0]->SetMark();
+    motors[0]->set_mark();
 
     /* Waiting. */
     wait_ms(DELAY_1);
@@ -200,16 +200,16 @@
     printf("--> Moving backward %d steps.\r\n", STEPS_2);
 
     /* Moving. */
-    motors[0]->Move(StepperMotor::BWD, STEPS_2);
+    motors[0]->move(StepperMotor::BWD, STEPS_2);
 
     /* Waiting while active. */
-    motors[0]->WaitWhileActive();
+    motors[0]->wait_while_active();
 
     /* Waiting. */
     wait_ms(DELAY_1);
 
     /* Getting the current position. */
-    position = motors[0]->GetPosition();
+    position = motors[0]->get_position();
     
     /* Printing to the console. */
     printf("--> Getting the current position: %d\r\n", position);
@@ -221,16 +221,16 @@
     printf("--> Going to marked position.\r\n");
 
     /* Going to marked position. */
-    motors[0]->GoMark();
+    motors[0]->go_mark();
     
     /* Waiting while active. */
-    motors[0]->WaitWhileActive();
+    motors[0]->wait_while_active();
 
     /* Waiting. */
     wait_ms(DELAY_1);
 
     /* Getting the current position. */
-    position = motors[0]->GetPosition();
+    position = motors[0]->get_position();
     
     /* Printing to the console. */
     printf("--> Getting the current position: %d\r\n", position);
@@ -242,16 +242,16 @@
     printf("--> Going to home position.\r\n");
 
     /* Going to home position. */
-    motors[0]->GoHome();
+    motors[0]->go_home();
     
     /* Waiting while active. */
-    motors[0]->WaitWhileActive();
+    motors[0]->wait_while_active();
 
     /* Waiting. */
     wait_ms(DELAY_1);
 
     /* Getting the current position. */
-    position = motors[0]->GetPosition();
+    position = motors[0]->get_position();
     
     /* Printing to the console. */
     printf("--> Getting the current position: %d\r\n", position);
@@ -264,7 +264,7 @@
 
     /* Halving the microsteps. */
     init[0].step_sel = (init[0].step_sel > 0 ? init[0].step_sel -  1 : init[0].step_sel);
-    if (!motors[0]->SetStepMode((StepperMotor::step_mode_t) init[0].step_sel)) {
+    if (!motors[0]->set_step_mode((StepperMotor::step_mode_t) init[0].step_sel)) {
         printf("    Step Mode not allowed.\r\n");
     }
 
@@ -275,13 +275,13 @@
     printf("--> Setting home position.\r\n");
 
     /* Setting the home position. */
-    motors[0]->SetHome();
+    motors[0]->set_home();
 
     /* Waiting. */
     wait_ms(DELAY_1);
 
     /* Getting the current position. */
-    position = motors[0]->GetPosition();
+    position = motors[0]->get_position();
     
     /* Printing to the console. */
     printf("--> Getting the current position: %d\r\n", position);
@@ -293,13 +293,13 @@
     printf("--> Moving forward %d steps.\r\n", STEPS_1);
 
     /* Moving. */
-    motors[0]->Move(StepperMotor::FWD, STEPS_1);
+    motors[0]->move(StepperMotor::FWD, STEPS_1);
 
     /* Waiting while active. */
-    motors[0]->WaitWhileActive();
+    motors[0]->wait_while_active();
 
     /* Getting the current position. */
-    position = motors[0]->GetPosition();
+    position = motors[0]->get_position();
     
     /* Printing to the console. */
     printf("--> Getting the current position: %d\r\n", position);
@@ -308,7 +308,7 @@
     printf("--> Marking the current position.\r\n");
 
     /* Marking the current position. */
-    motors[0]->SetMark();
+    motors[0]->set_mark();
 
     /* Waiting. */
     wait_ms(DELAY_2);
@@ -321,11 +321,11 @@
 
     /* Preparing each motor to perform a run at a specified speed. */
     for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
-        motors[m]->PrepareRun(StepperMotor::BWD, 400);
+        motors[m]->prepare_run(StepperMotor::BWD, 400);
     }
 
     /* Performing the action on each motor at the same time. */
-    x_nucleo_ihm02a1->PerformPreparedActions();
+    x_nucleo_ihm02a1->perform_prepared_actions();
 
     /* Waiting. */
     wait_ms(DELAY_3);
@@ -335,11 +335,11 @@
 
     /* Preparing each motor to perform a run at a specified speed. */
     for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
-        motors[m]->PrepareGetSpeed();
+        motors[m]->prepare_get_speed();
     }
 
     /* Performing the action on each motor at the same time. */
-    uint32_t* results = x_nucleo_ihm02a1->PerformPreparedActions();
+    uint32_t* results = x_nucleo_ihm02a1->perform_prepared_actions();
 
     /* Printing to the console. */
     printf("    Speed: M1 %d, M2 %d.\r\n", results[0], results[1]);
@@ -349,22 +349,22 @@
 
     /* Preparing each motor to perform a run at a specified speed. */
     for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
-        motors[m]->PrepareRun(StepperMotor::BWD, results[m] << 1);
+        motors[m]->prepare_run(StepperMotor::BWD, results[m] << 1);
     }
 
     /* Performing the action on each motor at the same time. */
-    results = x_nucleo_ihm02a1->PerformPreparedActions();
+    results = x_nucleo_ihm02a1->perform_prepared_actions();
 
     /* Waiting. */
     wait_ms(DELAY_3);
 
     /* Preparing each motor to perform a run at a specified speed. */
     for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
-        motors[m]->PrepareGetSpeed();
+        motors[m]->prepare_get_speed();
     }
 
     /* Performing the action on each motor at the same time. */
-    results = x_nucleo_ihm02a1->PerformPreparedActions();
+    results = x_nucleo_ihm02a1->perform_prepared_actions();
 
     /* Printing to the console. */
     printf("    Speed: M1 %d, M2 %d.\r\n", results[0], results[1]);
@@ -380,11 +380,11 @@
 
     /* Preparing each motor to perform a hard stop. */
     for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
-        motors[m]->PrepareHardStop();
+        motors[m]->prepare_hard_stop();
     }
 
     /* Performing the action on each motor at the same time. */
-    x_nucleo_ihm02a1->PerformPreparedActions();
+    x_nucleo_ihm02a1->perform_prepared_actions();
 
     /* Waiting. */
     wait_ms(DELAY_2);
@@ -402,10 +402,10 @@
             int steps = (int) (((int) init[m].fullstepsperrevolution * pow(2.0f, init[m].step_sel)) / MPR_1);
 
             /* Moving. */
-            motors[m]->Move(StepperMotor::FWD, steps);
+            motors[m]->move(StepperMotor::FWD, steps);
             
             /* Waiting while active. */
-            motors[m]->WaitWhileActive();
+            motors[m]->wait_while_active();
 
             /* Waiting. */
             wait_ms(DELAY_1);
@@ -423,11 +423,11 @@
 
     /* Preparing each motor to set High Impedance State. */
     for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
-        motors[m]->PrepareHardHiZ();
+        motors[m]->prepare_hard_hiz();
     }
 
     /* Performing the action on each motor at the same time. */
-    x_nucleo_ihm02a1->PerformPreparedActions();
+    x_nucleo_ihm02a1->perform_prepared_actions();
 
     /* Waiting. */
     wait_ms(DELAY_2);