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.

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
+}