Motor Control with the X-NUCLEO-IHM02A1 Expansion Board

Diff: main.cpp

Revision:

22:e81ccf73bc5d

Parent:

18:591a007effc2

Child:

23:073b26366d03

--- a/main.cpp	Tue Sep 27 13:58:51 2016 +0000
+++ b/main.cpp	Wed Mar 01 17:53:04 2017 +0000
@@ -70,8 +70,7 @@
 X_NUCLEO_IHM02A1 *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. */
@@ -261,8 +260,9 @@
 
     /* 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]->SetStepMode((StepperMotor::step_mode_t) init[0].step_sel)) {
         printf("    Step Mode not allowed.\r\n");
+    }
 
     /* Waiting. */
     wait_ms(DELAY_1);
@@ -316,8 +316,9 @@
     printf("--> Running together for %d seconds.\r\n", DELAY_3 / 1000);
 
     /* Preparing each motor to perform a run at a specified speed. */
-    for (int m = 0; m < L6470DAISYCHAINSIZE; m++)
+    for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
         motors[m]->PrepareRun(StepperMotor::BWD, 400);
+    }
 
     /* Performing the action on each motor at the same time. */
     x_nucleo_ihm02a1->PerformPreparedActions();
@@ -329,8 +330,9 @@
     /*----- Increasing the speed while running. -----*/
 
     /* Preparing each motor to perform a run at a specified speed. */
-    for (int m = 0; m < L6470DAISYCHAINSIZE; m++)
+    for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
         motors[m]->PrepareGetSpeed();
+    }
 
     /* Performing the action on each motor at the same time. */
     uint32_t* results = x_nucleo_ihm02a1->PerformPreparedActions();
@@ -342,8 +344,9 @@
     printf("--> Doublig the speed while running again for %d seconds.\r\n", DELAY_3 / 1000);
 
     /* Preparing each motor to perform a run at a specified speed. */
-    for (int m = 0; m < L6470DAISYCHAINSIZE; m++)
+    for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
         motors[m]->PrepareRun(StepperMotor::BWD, results[m] << 1);
+    }
 
     /* Performing the action on each motor at the same time. */
     results = x_nucleo_ihm02a1->PerformPreparedActions();
@@ -352,8 +355,9 @@
     wait_ms(DELAY_3);
 
     /* Preparing each motor to perform a run at a specified speed. */
-    for (int m = 0; m < L6470DAISYCHAINSIZE; m++)
+    for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
         motors[m]->PrepareGetSpeed();
+    }
 
     /* Performing the action on each motor at the same time. */
     results = x_nucleo_ihm02a1->PerformPreparedActions();
@@ -371,8 +375,9 @@
     printf("--> Hard Stop.\r\n");
 
     /* Preparing each motor to perform a hard stop. */
-    for (int m = 0; m < L6470DAISYCHAINSIZE; m++)
+    for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
         motors[m]->PrepareHardStop();
+    }
 
     /* Performing the action on each motor at the same time. */
     x_nucleo_ihm02a1->PerformPreparedActions();
@@ -387,9 +392,8 @@
     printf("--> Doing a full revolution on each motor, one after the other.\r\n");
 
     /* Doing a full revolution on each motor, one after the other. */
-    for (int m = 0; m < L6470DAISYCHAINSIZE; m++)
-        for (int i = 0; i < MPR_1; i++)
-        {
+    for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
+        for (int i = 0; i < MPR_1; i++) {
             /* Computing the number of steps. */
             int steps = (int) (((int) init[m].fullstepsperrevolution * pow(2.0f, init[m].step_sel)) / MPR_1);
 
@@ -402,6 +406,7 @@
             /* Waiting. */
             wait_ms(DELAY_1);
         }
+    }
 
     /* Waiting. */
     wait_ms(DELAY_2);
@@ -413,12 +418,13 @@
     printf("--> High Impedance State.\r\n");
 
     /* Preparing each motor to set High Impedance State. */
-    for (int m = 0; m < L6470DAISYCHAINSIZE; m++)
+    for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
         motors[m]->PrepareHardHiZ();
+    }
 
     /* Performing the action on each motor at the same time. */
     x_nucleo_ihm02a1->PerformPreparedActions();
 
     /* Waiting. */
     wait_ms(DELAY_2);
-}
\ No newline at end of file
+}