ST / Mbed OS HelloWorld_IHM02A1_mbedOS

Simple test application for the STMicroelectronics X-NUCLEO-IHM02A1 Stepper Motor Control Expansion Board, built against mbed OS.

Dependencies:   X_NUCLEO_IHM02A1

Fork of HelloWorld_IHM02A1 by ST

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.

main.cpp@27:b25816ce6043, 2017-07-03 (annotated)

Committer:
Davidroid
Date:
Mon Jul 03 11:53:02 2017 +0000
Revision:
27:b25816ce6043
Parent:
26:caec5f51abe8 
mbed OS

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Davidroid 0:5148e9486cf2 1 /**
Davidroid 0:5148e9486cf2 2 ******************************************************************************
Davidroid 0:5148e9486cf2 3 * @file main.cpp
Davidroid 12:5be6dd48b94a 4 * @author Davide Aliprandi, STMicroelectronics
Davidroid 0:5148e9486cf2 5 * @version V1.0.0
Davidroid 0:5148e9486cf2 6 * @date November 4th, 2015
Davidroid 12:5be6dd48b94a 7 * @brief mbed test application for the STMicroelectronics X-NUCLEO-IHM02A1
Davidroid 1:9f1974b0960d 8 * Motor Control Expansion Board: control of 2 motors.
Davidroid 0:5148e9486cf2 9 ******************************************************************************
Davidroid 0:5148e9486cf2 10 * @attention
Davidroid 0:5148e9486cf2 11 *
Davidroid 0:5148e9486cf2 12 * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
Davidroid 0:5148e9486cf2 13 *
Davidroid 0:5148e9486cf2 14 * Redistribution and use in source and binary forms, with or without modification,
Davidroid 0:5148e9486cf2 15 * are permitted provided that the following conditions are met:
Davidroid 0:5148e9486cf2 16 * 1. Redistributions of source code must retain the above copyright notice,
Davidroid 0:5148e9486cf2 17 * this list of conditions and the following disclaimer.
Davidroid 0:5148e9486cf2 18 * 2. Redistributions in binary form must reproduce the above copyright notice,
Davidroid 0:5148e9486cf2 19 * this list of conditions and the following disclaimer in the documentation
Davidroid 0:5148e9486cf2 20 * and/or other materials provided with the distribution.
Davidroid 0:5148e9486cf2 21 * 3. Neither the name of STMicroelectronics nor the names of its contributors
Davidroid 0:5148e9486cf2 22 * may be used to endorse or promote products derived from this software
Davidroid 0:5148e9486cf2 23 * without specific prior written permission.
Davidroid 0:5148e9486cf2 24 *
Davidroid 0:5148e9486cf2 25 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
Davidroid 0:5148e9486cf2 26 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
Davidroid 0:5148e9486cf2 27 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
Davidroid 0:5148e9486cf2 28 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
Davidroid 0:5148e9486cf2 29 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
Davidroid 0:5148e9486cf2 30 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
Davidroid 0:5148e9486cf2 31 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
Davidroid 0:5148e9486cf2 32 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
Davidroid 0:5148e9486cf2 33 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
Davidroid 0:5148e9486cf2 34 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
Davidroid 0:5148e9486cf2 35 *
Davidroid 0:5148e9486cf2 36 ******************************************************************************
Davidroid 0:5148e9486cf2 37 */
Davidroid 0:5148e9486cf2 38
Davidroid 0:5148e9486cf2 39
Davidroid 0:5148e9486cf2 40 /* Includes ------------------------------------------------------------------*/
Davidroid 0:5148e9486cf2 41
Davidroid 0:5148e9486cf2 42 /* mbed specific header files. */
Davidroid 0:5148e9486cf2 43 #include "mbed.h"
Davidroid 27:b25816ce6043 44 #include "rtos.h"
Davidroid 0:5148e9486cf2 45
Davidroid 0:5148e9486cf2 46 /* Helper header files. */
Davidroid 0:5148e9486cf2 47 #include "DevSPI.h"
Davidroid 0:5148e9486cf2 48
Davidroid 0:5148e9486cf2 49 /* Expansion Board specific header files. */
Davidroid 26:caec5f51abe8 50 #include "XNucleoIHM02A1.h"
Davidroid 0:5148e9486cf2 51
Davidroid 0:5148e9486cf2 52
Davidroid 0:5148e9486cf2 53 /* Definitions ---------------------------------------------------------------*/
Davidroid 0:5148e9486cf2 54
Davidroid 0:5148e9486cf2 55 /* Number of movements per revolution. */
Davidroid 0:5148e9486cf2 56 #define MPR_1 4
Davidroid 1:9f1974b0960d 57
Davidroid 1:9f1974b0960d 58 /* Number of steps. */
Davidroid 18:591a007effc2 59 #define STEPS_1 (400 * 128) /* 1 revolution given a 400 steps motor configured at 1/128 microstep mode. */
Davidroid 18:591a007effc2 60 #define STEPS_2 (STEPS_1 * 2)
Davidroid 0:5148e9486cf2 61
Davidroid 0:5148e9486cf2 62 /* Delay in milliseconds. */
Davidroid 1:9f1974b0960d 63 #define DELAY_1 1000
Davidroid 0:5148e9486cf2 64 #define DELAY_2 2000
Davidroid 0:5148e9486cf2 65 #define DELAY_3 5000
Davidroid 0:5148e9486cf2 66
Davidroid 0:5148e9486cf2 67
Davidroid 0:5148e9486cf2 68 /* Variables -----------------------------------------------------------------*/
Davidroid 0:5148e9486cf2 69
Davidroid 0:5148e9486cf2 70 /* Motor Control Expansion Board. */
Davidroid 26:caec5f51abe8 71 XNucleoIHM02A1 *x_nucleo_ihm02a1;
Davidroid 0:5148e9486cf2 72
Davidroid 9:f35fbeedb8f4 73 /* Initialization parameters of the motors connected to the expansion board. */
davide.aliprandi@st.com 24:d1f487cb02ba 74 L6470_init_t init[L6470DAISYCHAINSIZE] = {
Davidroid 9:f35fbeedb8f4 75 /* First Motor. */
Davidroid 9:f35fbeedb8f4 76 {
Davidroid 18:591a007effc2 77 9.0, /* Motor supply voltage in V. */
Davidroid 18:591a007effc2 78 400, /* Min number of steps per revolution for the motor. */
Davidroid 18:591a007effc2 79 1.7, /* Max motor phase voltage in A. */
Davidroid 18:591a007effc2 80 3.06, /* Max motor phase voltage in V. */
Davidroid 18:591a007effc2 81 300.0, /* Motor initial speed [step/s]. */
Davidroid 18:591a007effc2 82 500.0, /* Motor acceleration [step/s^2] (comment for infinite acceleration mode). */
Davidroid 18:591a007effc2 83 500.0, /* Motor deceleration [step/s^2] (comment for infinite deceleration mode). */
Davidroid 18:591a007effc2 84 992.0, /* Motor maximum speed [step/s]. */
Davidroid 18:591a007effc2 85 0.0, /* Motor minimum speed [step/s]. */
Davidroid 18:591a007effc2 86 602.7, /* Motor full-step speed threshold [step/s]. */
Davidroid 18:591a007effc2 87 3.06, /* Holding kval [V]. */
Davidroid 18:591a007effc2 88 3.06, /* Constant speed kval [V]. */
Davidroid 18:591a007effc2 89 3.06, /* Acceleration starting kval [V]. */
Davidroid 18:591a007effc2 90 3.06, /* Deceleration starting kval [V]. */
Davidroid 18:591a007effc2 91 61.52, /* Intersect speed for bemf compensation curve slope changing [step/s]. */
Davidroid 18:591a007effc2 92 392.1569e-6, /* Start slope [s/step]. */
Davidroid 18:591a007effc2 93 643.1372e-6, /* Acceleration final slope [s/step]. */
Davidroid 18:591a007effc2 94 643.1372e-6, /* Deceleration final slope [s/step]. */
Davidroid 18:591a007effc2 95 0, /* Thermal compensation factor (range [0, 15]). */
Davidroid 18:591a007effc2 96 3.06 * 1000 * 1.10, /* Ocd threshold [ma] (range [375 ma, 6000 ma]). */
Davidroid 18:591a007effc2 97 3.06 * 1000 * 1.00, /* Stall threshold [ma] (range [31.25 ma, 4000 ma]). */
Davidroid 18:591a007effc2 98 StepperMotor::STEP_MODE_1_128, /* Step mode selection. */
Davidroid 18:591a007effc2 99 0xFF, /* Alarm conditions enable. */
Davidroid 18:591a007effc2 100 0x2E88 /* Ic configuration. */
Davidroid 9:f35fbeedb8f4 101 },
Davidroid 9:f35fbeedb8f4 102
Davidroid 9:f35fbeedb8f4 103 /* Second Motor. */
Davidroid 9:f35fbeedb8f4 104 {
Davidroid 18:591a007effc2 105 9.0, /* Motor supply voltage in V. */
Davidroid 18:591a007effc2 106 400, /* Min number of steps per revolution for the motor. */
Davidroid 18:591a007effc2 107 1.7, /* Max motor phase voltage in A. */
Davidroid 18:591a007effc2 108 3.06, /* Max motor phase voltage in V. */
Davidroid 18:591a007effc2 109 300.0, /* Motor initial speed [step/s]. */
Davidroid 18:591a007effc2 110 500.0, /* Motor acceleration [step/s^2] (comment for infinite acceleration mode). */
Davidroid 18:591a007effc2 111 500.0, /* Motor deceleration [step/s^2] (comment for infinite deceleration mode). */
Davidroid 18:591a007effc2 112 992.0, /* Motor maximum speed [step/s]. */
Davidroid 18:591a007effc2 113 0.0, /* Motor minimum speed [step/s]. */
Davidroid 18:591a007effc2 114 602.7, /* Motor full-step speed threshold [step/s]. */
Davidroid 18:591a007effc2 115 3.06, /* Holding kval [V]. */
Davidroid 18:591a007effc2 116 3.06, /* Constant speed kval [V]. */
Davidroid 18:591a007effc2 117 3.06, /* Acceleration starting kval [V]. */
Davidroid 18:591a007effc2 118 3.06, /* Deceleration starting kval [V]. */
Davidroid 18:591a007effc2 119 61.52, /* Intersect speed for bemf compensation curve slope changing [step/s]. */
Davidroid 18:591a007effc2 120 392.1569e-6, /* Start slope [s/step]. */
Davidroid 18:591a007effc2 121 643.1372e-6, /* Acceleration final slope [s/step]. */
Davidroid 18:591a007effc2 122 643.1372e-6, /* Deceleration final slope [s/step]. */
Davidroid 18:591a007effc2 123 0, /* Thermal compensation factor (range [0, 15]). */
Davidroid 18:591a007effc2 124 3.06 * 1000 * 1.10, /* Ocd threshold [ma] (range [375 ma, 6000 ma]). */
Davidroid 18:591a007effc2 125 3.06 * 1000 * 1.00, /* Stall threshold [ma] (range [31.25 ma, 4000 ma]). */
Davidroid 18:591a007effc2 126 StepperMotor::STEP_MODE_1_128, /* Step mode selection. */
Davidroid 18:591a007effc2 127 0xFF, /* Alarm conditions enable. */
Davidroid 18:591a007effc2 128 0x2E88 /* Ic configuration. */
Davidroid 9:f35fbeedb8f4 129 }
Davidroid 9:f35fbeedb8f4 130 };
Davidroid 9:f35fbeedb8f4 131
Davidroid 0:5148e9486cf2 132
Davidroid 0:5148e9486cf2 133 /* Main ----------------------------------------------------------------------*/
Davidroid 0:5148e9486cf2 134
Davidroid 0:5148e9486cf2 135 int main()
Davidroid 0:5148e9486cf2 136 {
Davidroid 1:9f1974b0960d 137 /*----- Initialization. -----*/
Davidroid 1:9f1974b0960d 138
Davidroid 2:41eeee48951b 139 /* Initializing SPI bus. */
Davidroid 23:073b26366d03 140 #ifdef TARGET_STM32F429
Davidroid 23:073b26366d03 141 DevSPI dev_spi(D11, D12, D13);
Davidroid 23:073b26366d03 142 #else
Davidroid 3:fd280b953f77 143 DevSPI dev_spi(D11, D12, D3);
Davidroid 23:073b26366d03 144 #endif
Davidroid 0:5148e9486cf2 145
Davidroid 5:3b8e19bbf386 146 /* Initializing Motor Control Expansion Board. */
Davidroid 26:caec5f51abe8 147 x_nucleo_ihm02a1 = new XNucleoIHM02A1(&init[0], &init[1], A4, A5, D4, A2, &dev_spi);
Davidroid 0:5148e9486cf2 148
Davidroid 1:9f1974b0960d 149 /* Building a list of motor control components. */
davide.aliprandi@st.com 24:d1f487cb02ba 150 L6470 **motors = x_nucleo_ihm02a1->get_components();
Davidroid 0:5148e9486cf2 151
Davidroid 0:5148e9486cf2 152 /* Printing to the console. */
Davidroid 0:5148e9486cf2 153 printf("Motor Control Application Example for 2 Motors\r\n\n");
Davidroid 0:5148e9486cf2 154
Davidroid 1:9f1974b0960d 155
Davidroid 1:9f1974b0960d 156 /*----- Setting home and marke positions, getting positions, and going to positions. -----*/
Davidroid 1:9f1974b0960d 157
Davidroid 1:9f1974b0960d 158 /* Printing to the console. */
Davidroid 1:9f1974b0960d 159 printf("--> Setting home position.\r\n");
Davidroid 1:9f1974b0960d 160
Davidroid 1:9f1974b0960d 161 /* Setting the home position. */
davide.aliprandi@st.com 24:d1f487cb02ba 162 motors[0]->set_home();
Davidroid 1:9f1974b0960d 163
Davidroid 1:9f1974b0960d 164 /* Waiting. */
Davidroid 1:9f1974b0960d 165 wait_ms(DELAY_1);
Davidroid 0:5148e9486cf2 166
Davidroid 1:9f1974b0960d 167 /* Getting the current position. */
davide.aliprandi@st.com 24:d1f487cb02ba 168 int position = motors[0]->get_position();
Davidroid 18:591a007effc2 169
Davidroid 1:9f1974b0960d 170 /* Printing to the console. */
Davidroid 1:9f1974b0960d 171 printf("--> Getting the current position: %d\r\n", position);
Davidroid 1:9f1974b0960d 172
Davidroid 1:9f1974b0960d 173 /* Waiting. */
Davidroid 1:9f1974b0960d 174 wait_ms(DELAY_1);
Davidroid 1:9f1974b0960d 175
Davidroid 1:9f1974b0960d 176 /* Printing to the console. */
Davidroid 1:9f1974b0960d 177 printf("--> Moving forward %d steps.\r\n", STEPS_1);
Davidroid 1:9f1974b0960d 178
Davidroid 1:9f1974b0960d 179 /* Moving. */
davide.aliprandi@st.com 24:d1f487cb02ba 180 motors[0]->move(StepperMotor::FWD, STEPS_1);
Davidroid 0:5148e9486cf2 181
Davidroid 1:9f1974b0960d 182 /* Waiting while active. */
davide.aliprandi@st.com 24:d1f487cb02ba 183 motors[0]->wait_while_active();
Davidroid 1:9f1974b0960d 184
Davidroid 1:9f1974b0960d 185 /* Getting the current position. */
davide.aliprandi@st.com 24:d1f487cb02ba 186 position = motors[0]->get_position();
Davidroid 1:9f1974b0960d 187
Davidroid 1:9f1974b0960d 188 /* Printing to the console. */
Davidroid 1:9f1974b0960d 189 printf("--> Getting the current position: %d\r\n", position);
Davidroid 1:9f1974b0960d 190
Davidroid 1:9f1974b0960d 191 /* Printing to the console. */
Davidroid 1:9f1974b0960d 192 printf("--> Marking the current position.\r\n");
Davidroid 0:5148e9486cf2 193
Davidroid 1:9f1974b0960d 194 /* Marking the current position. */
davide.aliprandi@st.com 24:d1f487cb02ba 195 motors[0]->set_mark();
Davidroid 1:9f1974b0960d 196
Davidroid 1:9f1974b0960d 197 /* Waiting. */
Davidroid 1:9f1974b0960d 198 wait_ms(DELAY_1);
Davidroid 1:9f1974b0960d 199
Davidroid 1:9f1974b0960d 200 /* Printing to the console. */
Davidroid 1:9f1974b0960d 201 printf("--> Moving backward %d steps.\r\n", STEPS_2);
Davidroid 1:9f1974b0960d 202
Davidroid 1:9f1974b0960d 203 /* Moving. */
davide.aliprandi@st.com 24:d1f487cb02ba 204 motors[0]->move(StepperMotor::BWD, STEPS_2);
Davidroid 1:9f1974b0960d 205
Davidroid 1:9f1974b0960d 206 /* Waiting while active. */
davide.aliprandi@st.com 24:d1f487cb02ba 207 motors[0]->wait_while_active();
Davidroid 0:5148e9486cf2 208
Davidroid 1:9f1974b0960d 209 /* Waiting. */
Davidroid 1:9f1974b0960d 210 wait_ms(DELAY_1);
Davidroid 1:9f1974b0960d 211
Davidroid 1:9f1974b0960d 212 /* Getting the current position. */
davide.aliprandi@st.com 24:d1f487cb02ba 213 position = motors[0]->get_position();
Davidroid 1:9f1974b0960d 214
Davidroid 1:9f1974b0960d 215 /* Printing to the console. */
Davidroid 1:9f1974b0960d 216 printf("--> Getting the current position: %d\r\n", position);
Davidroid 1:9f1974b0960d 217
Davidroid 1:9f1974b0960d 218 /* Waiting. */
Davidroid 1:9f1974b0960d 219 wait_ms(DELAY_1);
Davidroid 0:5148e9486cf2 220
Davidroid 1:9f1974b0960d 221 /* Printing to the console. */
Davidroid 1:9f1974b0960d 222 printf("--> Going to marked position.\r\n");
Davidroid 0:5148e9486cf2 223
Davidroid 1:9f1974b0960d 224 /* Going to marked position. */
davide.aliprandi@st.com 24:d1f487cb02ba 225 motors[0]->go_mark();
Davidroid 1:9f1974b0960d 226
Davidroid 1:9f1974b0960d 227 /* Waiting while active. */
davide.aliprandi@st.com 24:d1f487cb02ba 228 motors[0]->wait_while_active();
Davidroid 0:5148e9486cf2 229
Davidroid 1:9f1974b0960d 230 /* Waiting. */
Davidroid 1:9f1974b0960d 231 wait_ms(DELAY_1);
Davidroid 0:5148e9486cf2 232
Davidroid 1:9f1974b0960d 233 /* Getting the current position. */
davide.aliprandi@st.com 24:d1f487cb02ba 234 position = motors[0]->get_position();
Davidroid 1:9f1974b0960d 235
Davidroid 1:9f1974b0960d 236 /* Printing to the console. */
Davidroid 1:9f1974b0960d 237 printf("--> Getting the current position: %d\r\n", position);
Davidroid 0:5148e9486cf2 238
Davidroid 1:9f1974b0960d 239 /* Waiting. */
Davidroid 1:9f1974b0960d 240 wait_ms(DELAY_1);
Davidroid 1:9f1974b0960d 241
Davidroid 1:9f1974b0960d 242 /* Printing to the console. */
Davidroid 1:9f1974b0960d 243 printf("--> Going to home position.\r\n");
Davidroid 0:5148e9486cf2 244
Davidroid 1:9f1974b0960d 245 /* Going to home position. */
davide.aliprandi@st.com 24:d1f487cb02ba 246 motors[0]->go_home();
Davidroid 1:9f1974b0960d 247
Davidroid 1:9f1974b0960d 248 /* Waiting while active. */
davide.aliprandi@st.com 24:d1f487cb02ba 249 motors[0]->wait_while_active();
Davidroid 1:9f1974b0960d 250
Davidroid 1:9f1974b0960d 251 /* Waiting. */
Davidroid 1:9f1974b0960d 252 wait_ms(DELAY_1);
Davidroid 0:5148e9486cf2 253
Davidroid 1:9f1974b0960d 254 /* Getting the current position. */
davide.aliprandi@st.com 24:d1f487cb02ba 255 position = motors[0]->get_position();
Davidroid 1:9f1974b0960d 256
Davidroid 1:9f1974b0960d 257 /* Printing to the console. */
Davidroid 1:9f1974b0960d 258 printf("--> Getting the current position: %d\r\n", position);
Davidroid 1:9f1974b0960d 259
Davidroid 1:9f1974b0960d 260 /* Waiting. */
Davidroid 18:591a007effc2 261 wait_ms(DELAY_1);
Davidroid 18:591a007effc2 262
Davidroid 18:591a007effc2 263 /* Printing to the console. */
Davidroid 18:591a007effc2 264 printf("--> Halving the microsteps.\r\n");
Davidroid 18:591a007effc2 265
Davidroid 18:591a007effc2 266 /* Halving the microsteps. */
Davidroid 18:591a007effc2 267 init[0].step_sel = (init[0].step_sel > 0 ? init[0].step_sel - 1 : init[0].step_sel);
davide.aliprandi@st.com 24:d1f487cb02ba 268 if (!motors[0]->set_step_mode((StepperMotor::step_mode_t) init[0].step_sel)) {
Davidroid 18:591a007effc2 269 printf(" Step Mode not allowed.\r\n");
Davidroid 22:e81ccf73bc5d 270 }
Davidroid 18:591a007effc2 271
Davidroid 18:591a007effc2 272 /* Waiting. */
Davidroid 18:591a007effc2 273 wait_ms(DELAY_1);
Davidroid 18:591a007effc2 274
Davidroid 18:591a007effc2 275 /* Printing to the console. */
Davidroid 18:591a007effc2 276 printf("--> Setting home position.\r\n");
Davidroid 18:591a007effc2 277
Davidroid 18:591a007effc2 278 /* Setting the home position. */
davide.aliprandi@st.com 24:d1f487cb02ba 279 motors[0]->set_home();
Davidroid 18:591a007effc2 280
Davidroid 18:591a007effc2 281 /* Waiting. */
Davidroid 18:591a007effc2 282 wait_ms(DELAY_1);
Davidroid 18:591a007effc2 283
Davidroid 18:591a007effc2 284 /* Getting the current position. */
davide.aliprandi@st.com 24:d1f487cb02ba 285 position = motors[0]->get_position();
Davidroid 18:591a007effc2 286
Davidroid 18:591a007effc2 287 /* Printing to the console. */
Davidroid 18:591a007effc2 288 printf("--> Getting the current position: %d\r\n", position);
Davidroid 18:591a007effc2 289
Davidroid 18:591a007effc2 290 /* Waiting. */
Davidroid 18:591a007effc2 291 wait_ms(DELAY_1);
Davidroid 18:591a007effc2 292
Davidroid 18:591a007effc2 293 /* Printing to the console. */
Davidroid 18:591a007effc2 294 printf("--> Moving forward %d steps.\r\n", STEPS_1);
Davidroid 18:591a007effc2 295
Davidroid 18:591a007effc2 296 /* Moving. */
davide.aliprandi@st.com 24:d1f487cb02ba 297 motors[0]->move(StepperMotor::FWD, STEPS_1);
Davidroid 18:591a007effc2 298
Davidroid 18:591a007effc2 299 /* Waiting while active. */
davide.aliprandi@st.com 24:d1f487cb02ba 300 motors[0]->wait_while_active();
Davidroid 18:591a007effc2 301
Davidroid 18:591a007effc2 302 /* Getting the current position. */
davide.aliprandi@st.com 24:d1f487cb02ba 303 position = motors[0]->get_position();
Davidroid 18:591a007effc2 304
Davidroid 18:591a007effc2 305 /* Printing to the console. */
Davidroid 18:591a007effc2 306 printf("--> Getting the current position: %d\r\n", position);
Davidroid 18:591a007effc2 307
Davidroid 18:591a007effc2 308 /* Printing to the console. */
Davidroid 18:591a007effc2 309 printf("--> Marking the current position.\r\n");
Davidroid 18:591a007effc2 310
Davidroid 18:591a007effc2 311 /* Marking the current position. */
davide.aliprandi@st.com 24:d1f487cb02ba 312 motors[0]->set_mark();
Davidroid 18:591a007effc2 313
Davidroid 18:591a007effc2 314 /* Waiting. */
Davidroid 1:9f1974b0960d 315 wait_ms(DELAY_2);
Davidroid 0:5148e9486cf2 316
Davidroid 0:5148e9486cf2 317
Davidroid 1:9f1974b0960d 318 /*----- Running together for a certain amount of time. -----*/
Davidroid 1:9f1974b0960d 319
Davidroid 1:9f1974b0960d 320 /* Printing to the console. */
Davidroid 1:9f1974b0960d 321 printf("--> Running together for %d seconds.\r\n", DELAY_3 / 1000);
Davidroid 0:5148e9486cf2 322
Davidroid 1:9f1974b0960d 323 /* Preparing each motor to perform a run at a specified speed. */
Davidroid 22:e81ccf73bc5d 324 for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
davide.aliprandi@st.com 24:d1f487cb02ba 325 motors[m]->prepare_run(StepperMotor::BWD, 400);
Davidroid 22:e81ccf73bc5d 326 }
Davidroid 0:5148e9486cf2 327
Davidroid 1:9f1974b0960d 328 /* Performing the action on each motor at the same time. */
davide.aliprandi@st.com 24:d1f487cb02ba 329 x_nucleo_ihm02a1->perform_prepared_actions();
Davidroid 0:5148e9486cf2 330
Davidroid 1:9f1974b0960d 331 /* Waiting. */
Davidroid 1:9f1974b0960d 332 wait_ms(DELAY_3);
Davidroid 1:9f1974b0960d 333
Davidroid 1:9f1974b0960d 334
Davidroid 1:9f1974b0960d 335 /*----- Increasing the speed while running. -----*/
Davidroid 0:5148e9486cf2 336
Davidroid 1:9f1974b0960d 337 /* Preparing each motor to perform a run at a specified speed. */
Davidroid 22:e81ccf73bc5d 338 for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
davide.aliprandi@st.com 24:d1f487cb02ba 339 motors[m]->prepare_get_speed();
Davidroid 22:e81ccf73bc5d 340 }
Davidroid 0:5148e9486cf2 341
Davidroid 1:9f1974b0960d 342 /* Performing the action on each motor at the same time. */
davide.aliprandi@st.com 24:d1f487cb02ba 343 uint32_t* results = x_nucleo_ihm02a1->perform_prepared_actions();
Davidroid 0:5148e9486cf2 344
Davidroid 1:9f1974b0960d 345 /* Printing to the console. */
Davidroid 1:9f1974b0960d 346 printf(" Speed: M1 %d, M2 %d.\r\n", results[0], results[1]);
Davidroid 1:9f1974b0960d 347
Davidroid 1:9f1974b0960d 348 /* Printing to the console. */
Davidroid 18:591a007effc2 349 printf("--> Doublig the speed while running again for %d seconds.\r\n", DELAY_3 / 1000);
Davidroid 0:5148e9486cf2 350
Davidroid 1:9f1974b0960d 351 /* Preparing each motor to perform a run at a specified speed. */
Davidroid 22:e81ccf73bc5d 352 for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
davide.aliprandi@st.com 24:d1f487cb02ba 353 motors[m]->prepare_run(StepperMotor::BWD, results[m] << 1);
Davidroid 22:e81ccf73bc5d 354 }
Davidroid 1:9f1974b0960d 355
Davidroid 1:9f1974b0960d 356 /* Performing the action on each motor at the same time. */
davide.aliprandi@st.com 24:d1f487cb02ba 357 results = x_nucleo_ihm02a1->perform_prepared_actions();
Davidroid 0:5148e9486cf2 358
Davidroid 1:9f1974b0960d 359 /* Waiting. */
Davidroid 1:9f1974b0960d 360 wait_ms(DELAY_3);
Davidroid 0:5148e9486cf2 361
Davidroid 1:9f1974b0960d 362 /* Preparing each motor to perform a run at a specified speed. */
Davidroid 22:e81ccf73bc5d 363 for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
davide.aliprandi@st.com 24:d1f487cb02ba 364 motors[m]->prepare_get_speed();
Davidroid 22:e81ccf73bc5d 365 }
Davidroid 0:5148e9486cf2 366
Davidroid 1:9f1974b0960d 367 /* Performing the action on each motor at the same time. */
davide.aliprandi@st.com 24:d1f487cb02ba 368 results = x_nucleo_ihm02a1->perform_prepared_actions();
Davidroid 0:5148e9486cf2 369
Davidroid 1:9f1974b0960d 370 /* Printing to the console. */
Davidroid 1:9f1974b0960d 371 printf(" Speed: M1 %d, M2 %d.\r\n", results[0], results[1]);
Davidroid 1:9f1974b0960d 372
Davidroid 1:9f1974b0960d 373 /* Waiting. */
Davidroid 1:9f1974b0960d 374 wait_ms(DELAY_1);
Davidroid 0:5148e9486cf2 375
Davidroid 0:5148e9486cf2 376
Davidroid 1:9f1974b0960d 377 /*----- Hard Stop. -----*/
Davidroid 0:5148e9486cf2 378
Davidroid 1:9f1974b0960d 379 /* Printing to the console. */
Davidroid 1:9f1974b0960d 380 printf("--> Hard Stop.\r\n");
Davidroid 0:5148e9486cf2 381
Davidroid 1:9f1974b0960d 382 /* Preparing each motor to perform a hard stop. */
Davidroid 22:e81ccf73bc5d 383 for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
davide.aliprandi@st.com 24:d1f487cb02ba 384 motors[m]->prepare_hard_stop();
Davidroid 22:e81ccf73bc5d 385 }
Davidroid 0:5148e9486cf2 386
Davidroid 1:9f1974b0960d 387 /* Performing the action on each motor at the same time. */
davide.aliprandi@st.com 24:d1f487cb02ba 388 x_nucleo_ihm02a1->perform_prepared_actions();
Davidroid 0:5148e9486cf2 389
Davidroid 1:9f1974b0960d 390 /* Waiting. */
Davidroid 1:9f1974b0960d 391 wait_ms(DELAY_2);
Davidroid 0:5148e9486cf2 392
Davidroid 0:5148e9486cf2 393
Davidroid 1:9f1974b0960d 394 /*----- Doing a full revolution on each motor, one after the other. -----*/
Davidroid 1:9f1974b0960d 395
Davidroid 1:9f1974b0960d 396 /* Printing to the console. */
Davidroid 1:9f1974b0960d 397 printf("--> Doing a full revolution on each motor, one after the other.\r\n");
Davidroid 1:9f1974b0960d 398
Davidroid 1:9f1974b0960d 399 /* Doing a full revolution on each motor, one after the other. */
Davidroid 22:e81ccf73bc5d 400 for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
Davidroid 22:e81ccf73bc5d 401 for (int i = 0; i < MPR_1; i++) {
Davidroid 1:9f1974b0960d 402 /* Computing the number of steps. */
Davidroid 9:f35fbeedb8f4 403 int steps = (int) (((int) init[m].fullstepsperrevolution * pow(2.0f, init[m].step_sel)) / MPR_1);
Davidroid 1:9f1974b0960d 404
Davidroid 1:9f1974b0960d 405 /* Moving. */
davide.aliprandi@st.com 24:d1f487cb02ba 406 motors[m]->move(StepperMotor::FWD, steps);
Davidroid 1:9f1974b0960d 407
Davidroid 1:9f1974b0960d 408 /* Waiting while active. */
davide.aliprandi@st.com 24:d1f487cb02ba 409 motors[m]->wait_while_active();
Davidroid 1:9f1974b0960d 410
Davidroid 1:9f1974b0960d 411 /* Waiting. */
Davidroid 1:9f1974b0960d 412 wait_ms(DELAY_1);
Davidroid 1:9f1974b0960d 413 }
Davidroid 22:e81ccf73bc5d 414 }
Davidroid 1:9f1974b0960d 415
Davidroid 1:9f1974b0960d 416 /* Waiting. */
Davidroid 1:9f1974b0960d 417 wait_ms(DELAY_2);
Davidroid 1:9f1974b0960d 418
Davidroid 1:9f1974b0960d 419
Davidroid 1:9f1974b0960d 420 /*----- High Impedance State. -----*/
Davidroid 1:9f1974b0960d 421
Davidroid 1:9f1974b0960d 422 /* Printing to the console. */
Davidroid 1:9f1974b0960d 423 printf("--> High Impedance State.\r\n");
Davidroid 1:9f1974b0960d 424
Davidroid 1:9f1974b0960d 425 /* Preparing each motor to set High Impedance State. */
Davidroid 22:e81ccf73bc5d 426 for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
davide.aliprandi@st.com 24:d1f487cb02ba 427 motors[m]->prepare_hard_hiz();
Davidroid 22:e81ccf73bc5d 428 }
Davidroid 1:9f1974b0960d 429
Davidroid 1:9f1974b0960d 430 /* Performing the action on each motor at the same time. */
davide.aliprandi@st.com 24:d1f487cb02ba 431 x_nucleo_ihm02a1->perform_prepared_actions();
Davidroid 1:9f1974b0960d 432
Davidroid 1:9f1974b0960d 433 /* Waiting. */
Davidroid 1:9f1974b0960d 434 wait_ms(DELAY_2);
Davidroid 22:e81ccf73bc5d 435 }