ST / Mbed 2 deprecated HelloWorld_IHM03A1

Simple program featuring a few API functions usage of the X_NUCLEO_IHM03A1 library.

Dependencies:   X_NUCLEO_IHM03A1 mbed

Fork of HelloWorld_IHM03A1 by ST Expansion SW Team

This application provides a simple example of usage of the X-NUCLEO-IHM03A1 High Power Stepper Motor Control Expansion Board.

It shows how to use one stepper motor connected to the board by:

  • moving the rotor a specific number of steps or to a specific position, with a given speed value, direction of rotation;
  • monitoring the motor status;
  • handling an interrupt triggered by the motor driver;
  • getting and setting a motor driver parameter.

For the hardware configuration of the expansion board, please refer to the X_NUCLEO_IHM03A1 home web page.
More API usage is available in IHM03A1_ExampleFor1Motor and IHM03A1_ExampleFor3Motors programs.

main.cpp@6:39b4eed48750, 2018-08-09 (annotated)

Committer:
Davidroid
Date:
Thu Aug 09 15:10:34 2018 +0000
Revision:
6:39b4eed48750
Parent:
5:f5ceb23e3590 
Update with the new version of the libary

Who changed what in which revision?

UserRevisionLine numberNew contents of line
nucleosam 0:c44075c08a18 1 /**
nucleosam 0:c44075c08a18 2 ******************************************************************************
nucleosam 0:c44075c08a18 3 * @file main.cpp
nucleosam 0:c44075c08a18 4 * @author IPC Rennes
nucleosam 0:c44075c08a18 5 * @version V1.0.0
nucleosam 0:c44075c08a18 6 * @date April 13th, 2016
nucleosam 0:c44075c08a18 7 * @brief mbed simple application for the STMicroelectronics X-NUCLEO-IHM03A1
nucleosam 0:c44075c08a18 8 * Motor Control Expansion Board: control of 1 motor.
nucleosam 0:c44075c08a18 9 ******************************************************************************
nucleosam 0:c44075c08a18 10 * @attention
nucleosam 0:c44075c08a18 11 *
nucleosam 0:c44075c08a18 12 * <h2><center>&copy; COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
nucleosam 0:c44075c08a18 13 *
nucleosam 0:c44075c08a18 14 * Redistribution and use in source and binary forms, with or without modification,
nucleosam 0:c44075c08a18 15 * are permitted provided that the following conditions are met:
nucleosam 0:c44075c08a18 16 * 1. Redistributions of source code must retain the above copyright notice,
nucleosam 0:c44075c08a18 17 * this list of conditions and the following disclaimer.
nucleosam 0:c44075c08a18 18 * 2. Redistributions in binary form must reproduce the above copyright notice,
nucleosam 0:c44075c08a18 19 * this list of conditions and the following disclaimer in the documentation
nucleosam 0:c44075c08a18 20 * and/or other materials provided with the distribution.
nucleosam 0:c44075c08a18 21 * 3. Neither the name of STMicroelectronics nor the names of its contributors
nucleosam 0:c44075c08a18 22 * may be used to endorse or promote products derived from this software
nucleosam 0:c44075c08a18 23 * without specific prior written permission.
nucleosam 0:c44075c08a18 24 *
nucleosam 0:c44075c08a18 25 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
nucleosam 0:c44075c08a18 26 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
nucleosam 0:c44075c08a18 27 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
nucleosam 0:c44075c08a18 28 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
nucleosam 0:c44075c08a18 29 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
nucleosam 0:c44075c08a18 30 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
nucleosam 0:c44075c08a18 31 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
nucleosam 0:c44075c08a18 32 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
nucleosam 0:c44075c08a18 33 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
nucleosam 0:c44075c08a18 34 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
nucleosam 0:c44075c08a18 35 *
nucleosam 0:c44075c08a18 36 ******************************************************************************
nucleosam 0:c44075c08a18 37 */
nucleosam 0:c44075c08a18 38
nucleosam 0:c44075c08a18 39 /* Includes ------------------------------------------------------------------*/
nucleosam 0:c44075c08a18 40
nucleosam 0:c44075c08a18 41 /* mbed specific header files. */
nucleosam 0:c44075c08a18 42 #include "mbed.h"
nucleosam 0:c44075c08a18 43
nucleosam 0:c44075c08a18 44 /* Helper header files. */
nucleosam 0:c44075c08a18 45 #include "DevSPI.h"
nucleosam 0:c44075c08a18 46
nucleosam 0:c44075c08a18 47 /* Component specific header files. */
davide.aliprandi@st.com 2:f20ed233a489 48 #include "PowerStep01.h"
nucleosam 0:c44075c08a18 49
nucleosam 0:c44075c08a18 50 /* Variables -----------------------------------------------------------------*/
nucleosam 0:c44075c08a18 51
nucleosam 0:c44075c08a18 52 /* Initialization parameters of the motor connected to the expansion board. */
nucleosam 0:c44075c08a18 53 /* Current mode. */
davide.aliprandi@st.com 2:f20ed233a489 54 powerstep01_init_u_t init =
nucleosam 0:c44075c08a18 55 {
nucleosam 0:c44075c08a18 56 /* common parameters */
nucleosam 0:c44075c08a18 57 .cm.cp.cmVmSelection = POWERSTEP01_CM_VM_CURRENT, // enum powerstep01_CmVm_t
nucleosam 0:c44075c08a18 58 582, // Acceleration rate in step/s2, range 14.55 to 59590 steps/s^2
nucleosam 0:c44075c08a18 59 582, // Deceleration rate in step/s2, range 14.55 to 59590 steps/s^2
nucleosam 0:c44075c08a18 60 488, // Maximum speed in step/s, range 15.25 to 15610 steps/s
nucleosam 0:c44075c08a18 61 0, // Minimum speed in step/s, range 0 to 976.3 steps/s
nucleosam 0:c44075c08a18 62 POWERSTEP01_LSPD_OPT_OFF, // Low speed optimization bit, enum powerstep01_LspdOpt_t
nucleosam 0:c44075c08a18 63 244.16, // Full step speed in step/s, range 7.63 to 15625 steps/s
nucleosam 0:c44075c08a18 64 POWERSTEP01_BOOST_MODE_OFF, // Boost of the amplitude square wave, enum powerstep01_BoostMode_t
nucleosam 0:c44075c08a18 65 281.25, // Overcurrent threshold settings via enum powerstep01_OcdTh_t
nucleosam 0:c44075c08a18 66 STEP_MODE_1_16, // Step mode settings via enum motorStepMode_t
nucleosam 0:c44075c08a18 67 POWERSTEP01_SYNC_SEL_DISABLED, // Synch. Mode settings via enum powerstep01_SyncSel_t
nucleosam 0:c44075c08a18 68 (POWERSTEP01_ALARM_EN_OVERCURRENT|
nucleosam 0:c44075c08a18 69 POWERSTEP01_ALARM_EN_THERMAL_SHUTDOWN|
nucleosam 0:c44075c08a18 70 POWERSTEP01_ALARM_EN_THERMAL_WARNING|
nucleosam 0:c44075c08a18 71 POWERSTEP01_ALARM_EN_UVLO|
nucleosam 0:c44075c08a18 72 POWERSTEP01_ALARM_EN_STALL_DETECTION|
nucleosam 0:c44075c08a18 73 POWERSTEP01_ALARM_EN_SW_TURN_ON|
nucleosam 0:c44075c08a18 74 POWERSTEP01_ALARM_EN_WRONG_NPERF_CMD), // Alarm settings via bitmap enum powerstep01_AlarmEn_t
nucleosam 0:c44075c08a18 75 POWERSTEP01_IGATE_64mA, // Gate sink/source current via enum powerstep01_Igate_t
nucleosam 0:c44075c08a18 76 POWERSTEP01_TBOOST_0ns, // Duration of the overboost phase during gate turn-off via enum powerstep01_Tboost_t
nucleosam 0:c44075c08a18 77 POWERSTEP01_TCC_500ns, // Controlled current time via enum powerstep01_Tcc_t
nucleosam 0:c44075c08a18 78 POWERSTEP01_WD_EN_DISABLE, // External clock watchdog, enum powerstep01_WdEn_t
nucleosam 0:c44075c08a18 79 POWERSTEP01_TBLANK_375ns, // Duration of the blanking time via enum powerstep01_TBlank_t
nucleosam 0:c44075c08a18 80 POWERSTEP01_TDT_125ns, // Duration of the dead time via enum powerstep01_Tdt_t
nucleosam 0:c44075c08a18 81 /* current mode parameters */
nucleosam 0:c44075c08a18 82 328.12, // Hold torque in mV, range from 7.8mV to 1000 mV
nucleosam 0:c44075c08a18 83 328.12, // Running torque in mV, range from 7.8mV to 1000 mV
nucleosam 0:c44075c08a18 84 328.12, // Acceleration torque in mV, range from 7.8mV to 1000 mV
nucleosam 0:c44075c08a18 85 328.12, // Deceleration torque in mV, range from 7.8mV to 1000 mV
nucleosam 0:c44075c08a18 86 POWERSTEP01_TOFF_FAST_8us, //Maximum fast decay time , enum powerstep01_ToffFast_t
nucleosam 0:c44075c08a18 87 POWERSTEP01_FAST_STEP_12us, //Maximum fall step time , enum powerstep01_FastStep_t
nucleosam 0:c44075c08a18 88 3.0, // Minimum on-time in us, range 0.5us to 64us
nucleosam 0:c44075c08a18 89 21.0, // Minimum off-time in us, range 0.5us to 64us
nucleosam 0:c44075c08a18 90 POWERSTEP01_CONFIG_INT_16MHZ_OSCOUT_2MHZ, // Clock setting , enum powerstep01_ConfigOscMgmt_t
nucleosam 0:c44075c08a18 91 POWERSTEP01_CONFIG_SW_HARD_STOP, // External switch hard stop interrupt mode, enum powerstep01_ConfigSwMode_t
nucleosam 0:c44075c08a18 92 POWERSTEP01_CONFIG_TQ_REG_TVAL_USED, // External torque regulation enabling , enum powerstep01_ConfigEnTqReg_t
nucleosam 0:c44075c08a18 93 POWERSTEP01_CONFIG_VS_COMP_DISABLE, // Motor Supply Voltage Compensation enabling , enum powerstep01_ConfigEnVscomp_t
nucleosam 0:c44075c08a18 94 POWERSTEP01_CONFIG_OC_SD_DISABLE, // Over current shutwdown enabling, enum powerstep01_ConfigOcSd_t
nucleosam 0:c44075c08a18 95 POWERSTEP01_CONFIG_UVLOVAL_LOW, // UVLO Threshold via powerstep01_ConfigUvLoVal_t
nucleosam 0:c44075c08a18 96 POWERSTEP01_CONFIG_VCCVAL_15V, // VCC Val, enum powerstep01_ConfigVccVal_t
nucleosam 0:c44075c08a18 97 POWERSTEP01_CONFIG_TSW_048us, // Switching period, enum powerstep01_ConfigTsw_t
nucleosam 0:c44075c08a18 98 POWERSTEP01_CONFIG_PRED_DISABLE // Predictive current enabling , enum powerstep01_ConfigPredEn_t
nucleosam 0:c44075c08a18 99 };
nucleosam 0:c44075c08a18 100
nucleosam 0:c44075c08a18 101 /* Motor Control Component. */
davide.aliprandi@st.com 2:f20ed233a489 102 PowerStep01 *motor;
nucleosam 0:c44075c08a18 103
nucleosam 0:c44075c08a18 104 /* Functions -----------------------------------------------------------------*/
nucleosam 0:c44075c08a18 105
nucleosam 0:c44075c08a18 106 /**
nucleosam 0:c44075c08a18 107 * @brief This is an example of user handler for the flag interrupt.
nucleosam 0:c44075c08a18 108 * @param None
nucleosam 0:c44075c08a18 109 * @retval None
nucleosam 0:c44075c08a18 110 * @note If needed, implement it, and then attach and enable it:
davide.aliprandi@st.com 2:f20ed233a489 111 * + motor->attach_flag_irq(&my_flag_irq_handler);
davide.aliprandi@st.com 2:f20ed233a489 112 * + motor->enable_flag_irq();
nucleosam 0:c44075c08a18 113 * To disable it:
nucleosam 0:c44075c08a18 114 * + motor->DisbleFlagIRQ();
nucleosam 0:c44075c08a18 115 */
davide.aliprandi@st.com 2:f20ed233a489 116 void my_flag_irq_handler(void)
nucleosam 0:c44075c08a18 117 {
nucleosam 0:c44075c08a18 118 /* Set ISR flag. */
nucleosam 0:c44075c08a18 119 motor->isrFlag = TRUE;
nucleosam 0:c44075c08a18 120 /* Get the value of the status register. */
davide.aliprandi@st.com 2:f20ed233a489 121 unsigned int statusRegister = motor->get_status();
nucleosam 0:c44075c08a18 122 printf(" WARNING: \"FLAG\" interrupt triggered.\r\n");
nucleosam 0:c44075c08a18 123 /* Check SW_F flag: if not set, the SW input is opened */
davide.aliprandi@st.com 2:f20ed233a489 124 if ((statusRegister & POWERSTEP01_STATUS_SW_F ) != 0) {
davide.aliprandi@st.com 2:f20ed233a489 125 printf(" SW closed (connected to ground).\r\n");
nucleosam 0:c44075c08a18 126 }
nucleosam 0:c44075c08a18 127 /* Check SW_EN bit */
davide.aliprandi@st.com 2:f20ed233a489 128 if ((statusRegister & POWERSTEP01_STATUS_SW_EVN) == POWERSTEP01_STATUS_SW_EVN) {
davide.aliprandi@st.com 2:f20ed233a489 129 printf(" SW turn_on event.\r\n");
nucleosam 0:c44075c08a18 130 }
nucleosam 0:c44075c08a18 131 /* Check Command Error flag: if set, the command received by SPI can't be */
nucleosam 0:c44075c08a18 132 /* performed. This occurs for instance when a move command is sent to the */
nucleosam 0:c44075c08a18 133 /* Powerstep01 while it is already running */
davide.aliprandi@st.com 2:f20ed233a489 134 if ((statusRegister & POWERSTEP01_STATUS_CMD_ERROR) == POWERSTEP01_STATUS_CMD_ERROR) {
nucleosam 0:c44075c08a18 135 printf(" Non-performable command detected.\r\n");
nucleosam 0:c44075c08a18 136 }
nucleosam 0:c44075c08a18 137 /* Check UVLO flag: if not set, there is an undervoltage lock-out */
davide.aliprandi@st.com 2:f20ed233a489 138 if ((statusRegister & POWERSTEP01_STATUS_UVLO)==0) {
davide.aliprandi@st.com 2:f20ed233a489 139 printf(" undervoltage lock-out.\r\n");
nucleosam 0:c44075c08a18 140 }
nucleosam 0:c44075c08a18 141 /* Check thermal STATUS flags: if set, the thermal status is not normal */
davide.aliprandi@st.com 2:f20ed233a489 142 if ((statusRegister & POWERSTEP01_STATUS_TH_STATUS)!=0) {
nucleosam 0:c44075c08a18 143 //thermal status: 1: Warning, 2: Bridge shutdown, 3: Device shutdown
nucleosam 0:c44075c08a18 144 printf(" Thermal status: %d.\r\n", (statusRegister & POWERSTEP01_STATUS_TH_STATUS)>>11);
nucleosam 0:c44075c08a18 145 }
nucleosam 0:c44075c08a18 146 /* Check OCD flag: if not set, there is an overcurrent detection */
davide.aliprandi@st.com 2:f20ed233a489 147 if ((statusRegister & POWERSTEP01_STATUS_OCD)==0) {
nucleosam 0:c44075c08a18 148 printf(" Overcurrent detection.\r\n");
nucleosam 0:c44075c08a18 149 }
nucleosam 0:c44075c08a18 150 /* Reset ISR flag. */
nucleosam 0:c44075c08a18 151 motor->isrFlag = FALSE;
nucleosam 0:c44075c08a18 152 }
nucleosam 0:c44075c08a18 153
nucleosam 0:c44075c08a18 154 /**
nucleosam 0:c44075c08a18 155 * @brief This is an example of error handler.
nucleosam 0:c44075c08a18 156 * @param[in] error Number of the error
nucleosam 0:c44075c08a18 157 * @retval None
nucleosam 0:c44075c08a18 158 * @note If needed, implement it, and then attach it:
davide.aliprandi@st.com 2:f20ed233a489 159 * + motor->attach_error_handler(&my_error_handler);
nucleosam 0:c44075c08a18 160 */
davide.aliprandi@st.com 2:f20ed233a489 161 void my_error_handler(uint16_t error)
nucleosam 0:c44075c08a18 162 {
nucleosam 0:c44075c08a18 163 /* Printing to the console. */
nucleosam 0:c44075c08a18 164 printf("Error %d detected\r\n\n", error);
nucleosam 0:c44075c08a18 165
nucleosam 0:c44075c08a18 166 /* Infinite loop */
davide.aliprandi@st.com 2:f20ed233a489 167 while (true) {
nucleosam 0:c44075c08a18 168 }
nucleosam 0:c44075c08a18 169 }
nucleosam 0:c44075c08a18 170
nucleosam 0:c44075c08a18 171 /* Main ----------------------------------------------------------------------*/
nucleosam 0:c44075c08a18 172
nucleosam 0:c44075c08a18 173 int main()
nucleosam 0:c44075c08a18 174 {
nucleosam 0:c44075c08a18 175 /* Printing to the console. */
nucleosam 0:c44075c08a18 176 printf("STARTING MAIN PROGRAM\r\n");
nucleosam 0:c44075c08a18 177 printf(" Reminder:\r\n");
nucleosam 0:c44075c08a18 178 printf(" The position unit is in agreement to the step mode.\r\n");
nucleosam 0:c44075c08a18 179 printf(" The speed, acceleration or deceleration unit\r\n");
nucleosam 0:c44075c08a18 180 printf(" do not depend on the step mode and the step unit is a full step.\r\n");
nucleosam 0:c44075c08a18 181
nucleosam 0:c44075c08a18 182 //----- Initialization
nucleosam 0:c44075c08a18 183 /* Initializing SPI bus. */
nucleosam 0:c44075c08a18 184 DevSPI dev_spi(D11, D12, D13);
nucleosam 0:c44075c08a18 185
nucleosam 0:c44075c08a18 186 /* Initializing Motor Control Component. */
davide.aliprandi@st.com 2:f20ed233a489 187 motor = new PowerStep01(D2, D4, D8, D9, D10, dev_spi);
davide.aliprandi@st.com 2:f20ed233a489 188 if (motor->init(&init) != COMPONENT_OK) {
davide.aliprandi@st.com 2:f20ed233a489 189 exit(EXIT_FAILURE);
davide.aliprandi@st.com 2:f20ed233a489 190 }
nucleosam 0:c44075c08a18 191
nucleosam 0:c44075c08a18 192 /* Attaching and enabling an interrupt handler. */
davide.aliprandi@st.com 2:f20ed233a489 193 motor->attach_flag_irq(&my_flag_irq_handler);
davide.aliprandi@st.com 2:f20ed233a489 194 motor->enable_flag_irq();
nucleosam 0:c44075c08a18 195
nucleosam 0:c44075c08a18 196 /* Attaching an error handler */
davide.aliprandi@st.com 2:f20ed233a489 197 motor->attach_error_handler(&my_error_handler);
nucleosam 0:c44075c08a18 198
nucleosam 0:c44075c08a18 199 /* Printing to the console. */
nucleosam 0:c44075c08a18 200 printf("Motor Control Application Example for 1 Motor\r\n");
nucleosam 0:c44075c08a18 201
davide.aliprandi@st.com 2:f20ed233a489 202 //----- move of 16000 steps in the FW direction
nucleosam 0:c44075c08a18 203 printf("--> Moving forward 16000 steps.\r\n");
davide.aliprandi@st.com 2:f20ed233a489 204 motor->move(StepperMotor::FWD, 16000);
nucleosam 0:c44075c08a18 205
nucleosam 0:c44075c08a18 206 /* Waiting while the motor is active. */
davide.aliprandi@st.com 2:f20ed233a489 207 motor->wait_while_active();
nucleosam 0:c44075c08a18 208
nucleosam 0:c44075c08a18 209 /* Wait for 2 seconds */
nucleosam 0:c44075c08a18 210 wait_ms(2000);
nucleosam 0:c44075c08a18 211
nucleosam 0:c44075c08a18 212 //----- Go to position -6400
nucleosam 0:c44075c08a18 213 printf("--> Go to position -6400 steps.\r\n");
nucleosam 0:c44075c08a18 214
nucleosam 0:c44075c08a18 215 /* Request device to go to position -6400 */
davide.aliprandi@st.com 2:f20ed233a489 216 motor->go_to(-6400);
nucleosam 0:c44075c08a18 217
nucleosam 0:c44075c08a18 218 /* Wait for the motor ends moving */
davide.aliprandi@st.com 2:f20ed233a489 219 motor->wait_while_active();
nucleosam 0:c44075c08a18 220
nucleosam 0:c44075c08a18 221 /* Get current position of device and print to the console */
davide.aliprandi@st.com 2:f20ed233a489 222 printf(" Position: %d.\r\n", motor->get_position());
nucleosam 0:c44075c08a18 223
nucleosam 0:c44075c08a18 224 /* Wait for 2 seconds */
nucleosam 0:c44075c08a18 225 wait_ms(2000);
nucleosam 0:c44075c08a18 226
nucleosam 0:c44075c08a18 227 //----- Go Home
nucleosam 0:c44075c08a18 228 /* Printing to the console. */
nucleosam 0:c44075c08a18 229 printf("--> Go to home position.\r\n");
nucleosam 0:c44075c08a18 230
nucleosam 0:c44075c08a18 231 /* Request device to go to Home */
davide.aliprandi@st.com 2:f20ed233a489 232 motor->go_home();
nucleosam 0:c44075c08a18 233
nucleosam 0:c44075c08a18 234 /* Wait for the motor ends moving */
davide.aliprandi@st.com 2:f20ed233a489 235 motor->wait_while_active();
nucleosam 0:c44075c08a18 236
nucleosam 0:c44075c08a18 237 /* Wait for 2 seconds */
nucleosam 0:c44075c08a18 238 wait_ms(2000);
nucleosam 0:c44075c08a18 239
davide.aliprandi@st.com 2:f20ed233a489 240 //----- run the motor BACKWARD at 400 step/s
davide.aliprandi@st.com 2:f20ed233a489 241 printf("--> run the motor backward at 400 step/s.\r\n");
davide.aliprandi@st.com 2:f20ed233a489 242 motor->run(StepperMotor::BWD,400);
nucleosam 0:c44075c08a18 243
nucleosam 0:c44075c08a18 244 //----- Get parameter example
nucleosam 0:c44075c08a18 245 /* Wait for device reaches the targeted speed */
davide.aliprandi@st.com 2:f20ed233a489 246 while ((motor->read_status_register() & POWERSTEP01_STATUS_MOT_STATUS) != POWERSTEP01_STATUS_MOT_STATUS_CONST_SPD);
nucleosam 0:c44075c08a18 247
nucleosam 0:c44075c08a18 248 /* Record the reached speed in step/s and print to the console */
davide.aliprandi@st.com 2:f20ed233a489 249 printf(" Reached Speed: %f step/s.\r\n", motor->get_analog_value(POWERSTEP01_SPEED));
nucleosam 0:c44075c08a18 250
nucleosam 0:c44075c08a18 251 //----- Soft stopped required while running
nucleosam 0:c44075c08a18 252 printf("--> Soft stop requested.\r\n");
nucleosam 0:c44075c08a18 253
nucleosam 0:c44075c08a18 254 /* Request a soft stop of device and keep the power bridges enabled */
davide.aliprandi@st.com 2:f20ed233a489 255 motor->soft_hiz();
nucleosam 0:c44075c08a18 256
nucleosam 0:c44075c08a18 257 /* Wait for the motor of device ends moving */
davide.aliprandi@st.com 2:f20ed233a489 258 motor->wait_while_active();
nucleosam 0:c44075c08a18 259
nucleosam 0:c44075c08a18 260 /* Wait for 2 seconds */
nucleosam 0:c44075c08a18 261 wait_ms(2000);
nucleosam 0:c44075c08a18 262
nucleosam 0:c44075c08a18 263 /* Infinite Loop. */
nucleosam 0:c44075c08a18 264 printf("--> Infinite Loop...\r\n");
davide.aliprandi@st.com 2:f20ed233a489 265 while (true) {
nucleosam 0:c44075c08a18 266 /* Request device to go position -6400 */
davide.aliprandi@st.com 2:f20ed233a489 267 motor->go_to(-6400);
nucleosam 0:c44075c08a18 268
nucleosam 0:c44075c08a18 269 /* Waiting while the motor is active. */
davide.aliprandi@st.com 2:f20ed233a489 270 motor->wait_while_active();
nucleosam 0:c44075c08a18 271
nucleosam 0:c44075c08a18 272 /* Request device to go position 6400 */
davide.aliprandi@st.com 2:f20ed233a489 273 motor->go_to(6400);
nucleosam 0:c44075c08a18 274
nucleosam 0:c44075c08a18 275 /* Waiting while the motor is active. */
davide.aliprandi@st.com 2:f20ed233a489 276 motor->wait_while_active();
nucleosam 0:c44075c08a18 277 }
nucleosam 0:c44075c08a18 278 }
nucleosam 0:c44075c08a18 279 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/