ST / Mbed 2 deprecated IHM03A1_ExampleFor1Motor

Motion control example for 1 motor.

Dependencies:   X_NUCLEO_IHM03A1 mbed

Fork of IHM03A1_ExampleFor1Motor by ST Expansion SW Team

This application provides an 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.
  • etc.

For the hardware configuration of the expansion board, please refer to the X_NUCLEO_IHM03A1 home web page.

Diff: main.cpp

Revision:
1:6b179be4937e
Parent:
0:cd62cd5b2c77
Child:
2:7e8485b5d57d
diff -r cd62cd5b2c77 -r 6b179be4937e main.cpp
--- a/main.cpp	Tue Apr 05 15:40:30 2016 +0000
+++ b/main.cpp	Thu Apr 07 16:32:55 2016 +0000
@@ -426,7 +426,7 @@
   printf("    Reached Speed: %d step/s.\r\n", unsignedIntegerValue);
   
   /* Record the reached speed in step/tick */
-  unsignedIntegerValue = motor->GetParameter(POWERSTEP01_SPEED); 
+  unsignedIntegerValue = motor->GetRawParameter(POWERSTEP01_SPEED); 
   /* Print reached speed to the console in step/tick */
   printf("    Reached Speed: %d step/tick.\r\n", unsignedIntegerValue);
 
@@ -490,7 +490,7 @@
   /* Try to read an inexistent register */
   /* the flag interrupt should be raised */
   /* and the MyFlagInterruptHandler function called */
-  motor->GetParameter(0x1F);
+  motor->GetRawParameter(0x1F);
   
 //----- Put the bridges in high impedance
   /* Printing to the console. */
@@ -531,7 +531,7 @@
   printf("    This is corresponding to 45.75 full step/s.\r\n");
 
   /* Change the maximum speed to 3*2^18 step/tick */
-  motor->SetParameter(POWERSTEP01_MAX_SPEED, 3);
+  motor->SetRawParameter(POWERSTEP01_MAX_SPEED, 3);
   
   /* Printing to the console. */
   printf("--> Move the motor 3200 steps in forward direction.\r\n");
@@ -550,13 +550,13 @@
   printf("--> Select full step mode.\r\n");
 
   /* Select full step mode for device */
-  motor->SetStepMode(STEP_MODE_FULL);
+  motor->SetStepMode(StepperMotor::STEP_MODE_FULL);
 
   /* Printing to the console. */
   printf("--> Set the device position to POWERSTEP01_MIN_POSITION + 199 (-2^21+199).\r\n");
 
   /* Set the device position to POWERSTEP01_MIN_POSITION + 199 */
-  motor->SetParameter(POWERSTEP01_ABS_POS,(uint32_t)(POWERSTEP01_MIN_POSITION+199));
+  motor->SetRawParameter(POWERSTEP01_ABS_POS,(uint32_t)(POWERSTEP01_MIN_POSITION+199));
   
   /* Get current position of device and print to the console */
   pos = motor->GetPosition();
@@ -582,7 +582,7 @@
   printf("--> Set the device position to POWERSTEP01_MIN_POSITION + 199 (-2^21+199).\r\n");
 
   /* Set the device position to POWERSTEP01_MIN_POSITION + 199 */
-  motor->SetParameter(POWERSTEP01_ABS_POS,(uint32_t)(POWERSTEP01_MIN_POSITION+199));
+  motor->SetRawParameter(POWERSTEP01_ABS_POS,(uint32_t)(POWERSTEP01_MIN_POSITION+199));
   
   /* Get current position of device and print to the console */
   pos = motor->GetPosition();
@@ -618,7 +618,7 @@
   printf("--> Restore device initial step mode.\r\n");
 
   /* Reset device to its initial  microstepping mode */
-  motor->SetStepMode(POWERSTEP01_CONF_PARAM_STEP_MODE_DEVICE_0);
+  motor->SetStepMode((StepperMotor::step_mode_t)POWERSTEP01_CONF_PARAM_STEP_MODE_DEVICE_0);
 
   /* Wait for 2 seconds */  
   wait_ms(2000);