Motion control example for 3 motors.
Dependencies: X_NUCLEO_IHM03A1 mbed
Fork of IHM03A1_ExampleFor3Motors by
This application provides an example of usage of three X-NUCLEO-IHM03A1 High Power Stepper Motor Control Expansion Boards.
It shows how to use three stepper motors connected to the three expansion boards by:
- moving each motor independently;
- moving several motors synchronously;
- monitoring the status of the three motors;
- handling interrupts triggered by all motor drivers;
- getting and setting a motor driver parameter;
- etc.
For the hardware configuration of the expansion boards, please refer to the X_NUCLEO_IHM03A1 home web page.
Diff: main.cpp
- Revision:
- 0:36024a9bd220
- Child:
- 1:1d98c151c8eb
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/main.cpp Tue Apr 05 15:33:37 2016 +0000 @@ -0,0 +1,645 @@ +/** + ****************************************************************************** + * @file main.cpp + * @author IPC Rennes + * @version V1.0.0 + * @date March 18th, 2016 + * @brief mbed test application for the STMicroelectronics X-NUCLEO-IHM03A1 + * Motor Control Expansion Boards: control of 3 motors with 3 + * expansions boards. + ****************************************************************************** + * @attention + * + * <h2><center>© COPYRIGHT(c) 2016 STMicroelectronics</center></h2> + * + * Redistribution and use in source and binary forms, with or without modification, + * are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * 3. Neither the name of STMicroelectronics nor the names of its contributors + * may be used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE + * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************** + */ + + +/* Includes ------------------------------------------------------------------*/ + +/* mbed specific header files. */ +#include "mbed.h" + +/* Helper header files. */ +#include "DevSPI.h" + +/* Component specific header files. */ +#include "powerstep01_class.h" + +/* Variables -----------------------------------------------------------------*/ + +/* Initialization parameters of the motor connected to the expansion board. */ +/* Current mode. */ +powerstep01_Init_u_t initDeviceParameters = +{ + /* common parameters */ + .cm.cp.cmVmSelection = POWERSTEP01_CM_VM_CURRENT, // enum powerstep01_CmVm_t + 582, // Acceleration rate in step/s2, range 14.55 to 59590 steps/s^2 + 582, // Deceleration rate in step/s2, range 14.55 to 59590 steps/s^2 + 488, // Maximum speed in step/s, range 15.25 to 15610 steps/s + 0, // Minimum speed in step/s, range 0 to 976.3 steps/s + POWERSTEP01_LSPD_OPT_OFF, // Low speed optimization bit, enum powerstep01_LspdOpt_t + 244.16, // Full step speed in step/s, range 7.63 to 15625 steps/s + POWERSTEP01_BOOST_MODE_OFF, // Boost of the amplitude square wave, enum powerstep01_BoostMode_t + 281.25, // Overcurrent threshold settings via enum powerstep01_OcdTh_t + STEP_MODE_1_16, // Step mode settings via enum motorStepMode_t + POWERSTEP01_SYNC_SEL_DISABLED, // Synch. Mode settings via enum powerstep01_SyncSel_t + (POWERSTEP01_ALARM_EN_OVERCURRENT| + POWERSTEP01_ALARM_EN_THERMAL_SHUTDOWN| + POWERSTEP01_ALARM_EN_THERMAL_WARNING| + POWERSTEP01_ALARM_EN_UVLO| + POWERSTEP01_ALARM_EN_STALL_DETECTION| + POWERSTEP01_ALARM_EN_SW_TURN_ON| + POWERSTEP01_ALARM_EN_WRONG_NPERF_CMD), // Alarm settings via bitmap enum powerstep01_AlarmEn_t + POWERSTEP01_IGATE_64mA, // Gate sink/source current via enum powerstep01_Igate_t + POWERSTEP01_TBOOST_0ns, // Duration of the overboost phase during gate turn-off via enum powerstep01_Tboost_t + POWERSTEP01_TCC_500ns, // Controlled current time via enum powerstep01_Tcc_t + POWERSTEP01_WD_EN_DISABLE, // External clock watchdog, enum powerstep01_WdEn_t + POWERSTEP01_TBLANK_375ns, // Duration of the blanking time via enum powerstep01_TBlank_t + POWERSTEP01_TDT_125ns, // Duration of the dead time via enum powerstep01_Tdt_t + /* current mode parameters */ + 328.12, // Hold torque in mV, range from 7.8mV to 1000 mV + 328.12, // Running torque in mV, range from 7.8mV to 1000 mV + 328.12, // Acceleration torque in mV, range from 7.8mV to 1000 mV + 328.12, // Deceleration torque in mV, range from 7.8mV to 1000 mV + POWERSTEP01_TOFF_FAST_8us, //Maximum fast decay time , enum powerstep01_ToffFast_t + POWERSTEP01_FAST_STEP_12us, //Maximum fall step time , enum powerstep01_FastStep_t + 3.0, // Minimum on-time in us, range 0.5us to 64us + 21.0, // Minimum off-time in us, range 0.5us to 64us + POWERSTEP01_CONFIG_INT_16MHZ_OSCOUT_2MHZ, // Clock setting , enum powerstep01_ConfigOscMgmt_t + POWERSTEP01_CONFIG_SW_HARD_STOP, // External switch hard stop interrupt mode, enum powerstep01_ConfigSwMode_t + POWERSTEP01_CONFIG_TQ_REG_TVAL_USED, // External torque regulation enabling , enum powerstep01_ConfigEnTqReg_t + POWERSTEP01_CONFIG_VS_COMP_DISABLE, // Motor Supply Voltage Compensation enabling , enum powerstep01_ConfigEnVscomp_t + POWERSTEP01_CONFIG_OC_SD_DISABLE, // Over current shutwdown enabling, enum powerstep01_ConfigOcSd_t + POWERSTEP01_CONFIG_UVLOVAL_LOW, // UVLO Threshold via powerstep01_ConfigUvLoVal_t + POWERSTEP01_CONFIG_VCCVAL_15V, // VCC Val, enum powerstep01_ConfigVccVal_t + POWERSTEP01_CONFIG_TSW_048us, // Switching period, enum powerstep01_ConfigTsw_t + POWERSTEP01_CONFIG_PRED_DISABLE, // Predictive current enabling , enum powerstep01_ConfigPredEn_t +}; + +/* Motor Control Component. */ +POWERSTEP01 *motor1; +POWERSTEP01 *motor2; +POWERSTEP01 *motor3; + +/* Functions -----------------------------------------------------------------*/ + +/** + * @brief This is an example of user handler for the flag interrupt. + * @param None + * @retval None + * @note If needed, implement it, and then attach and enable it: + * + motor->AttachFlagIRQ(&FlagIRQHandler); + * + motor->EnableFlagIRQ(); + * To disable it: + * + motor->DisbleFlagIRQ(); + */ +void myFlagIRQHandler(void) +{ + /* Set ISR flag. */ + POWERSTEP01::isrFlag = TRUE; + + motor1->FetchAndClearAllStatus(); + POWERSTEP01 *motor; + motor = motor1; + unsigned int statusRegister; + + printf(" WARNING: \"FLAG\" interrupt triggered.\r\n"); + /* Get the value of the status register. */ + for (uint8_t loop = 0; loop<POWERSTEP01::GetNbDevices();loop++) + { + if (loop==1) motor = motor2; + if (loop==2) motor = motor3; + statusRegister = motor->GetFetchedStatus(); + printf(" Motor%d:\r\n",loop+1); + /* Check HIZ flag: if set, power brigdes are disabled */ + if ((statusRegister & POWERSTEP01_STATUS_HIZ)==POWERSTEP01_STATUS_HIZ) + { + // HIZ state + printf(" HiZ state.\r\n"); + } + /* Check BUSY flag: if not set, a command is under execution */ + if ((statusRegister & POWERSTEP01_STATUS_BUSY)==0) + { + // BUSY + printf(" Busy.\r\n"); + } + /* Check SW_F flag: if not set, the SW input is opened */ + if ((statusRegister & POWERSTEP01_STATUS_SW_F )!=0) + { + // SW closed (connected to ground) + printf(" SW closed (connected to ground).\r\n"); + } + /* Check SW_EN bit */ + if ((statusRegister & POWERSTEP01_STATUS_SW_EVN)== + POWERSTEP01_STATUS_SW_EVN) + { + // SW turn_on event + printf(" SW turn_on event.\r\n"); + } + if ((statusRegister & POWERSTEP01_STATUS_MOT_STATUS)== + POWERSTEP01_STATUS_MOT_STATUS_STOPPED) + { + // MOTOR STOPPED + printf(" Stopped.\r\n"); + } + else + { + if ((statusRegister & POWERSTEP01_STATUS_MOT_STATUS)== + POWERSTEP01_STATUS_MOT_STATUS_ACCELERATION) + { + // MOTOR ACCELERATION + printf(" Accelerating "); + } + else if ((statusRegister & POWERSTEP01_STATUS_MOT_STATUS)== + POWERSTEP01_STATUS_MOT_STATUS_DECELERATION) + { + // MOTOR DECELERATION + printf(" Decelerating "); + } + else if ((statusRegister & POWERSTEP01_STATUS_MOT_STATUS)== + POWERSTEP01_STATUS_MOT_STATUS_CONST_SPD) + { + // MOTOR RUNNING AT CONSTANT SPEED + printf(" Steady running "); + } + /* Check direction bit */ + if ((statusRegister & POWERSTEP01_STATUS_DIR)==0) + { + // StepperMotor::BWD + printf(" in backward direction.\r\n"); + } + else + { + // StepperMotor::FWD + printf(" in forward direction.\r\n"); + } + } + /* Check Command Error flag: if set, the command received by SPI can't be */ + /* performed. This occurs for instance when a move command is sent to the */ + /* Powerstep01 while it is already running */ + if ((statusRegister & POWERSTEP01_STATUS_CMD_ERROR)== + POWERSTEP01_STATUS_CMD_ERROR) + { + // Command Error + printf(" Non-performable command detected.\r\n"); + } + /* Check Step mode clock flag: if set, the device is working in step clock mode */ + if ((statusRegister & POWERSTEP01_STATUS_STCK_MOD)== + POWERSTEP01_STATUS_STCK_MOD) + { + //Step clock mode enabled + printf(" Step clock mode enabled.\r\n"); + } + /* Check UVLO flag: if not set, there is an undervoltage lock-out */ + if ((statusRegister & POWERSTEP01_STATUS_UVLO)==0) + { + //Undervoltage lock-out + printf(" undervoltage lock-out.\r\n"); + } + /* Check UVLO ADC flag: if not set, there is an ADC undervoltage lock-out */ + if ((statusRegister & POWERSTEP01_STATUS_UVLO_ADC)==0) + { + //ADC undervoltage lock-out + printf(" ADC undervoltage lock-out.\r\n"); + } + /* Check thermal STATUS flags: if set, the thermal status is not normal */ + if ((statusRegister & POWERSTEP01_STATUS_TH_STATUS)!=0) + { + //thermal status: 1: Warning, 2: Bridge shutdown, 3: Device shutdown + if (((statusRegister & POWERSTEP01_STATUS_TH_STATUS)>>11)==1) + { + printf(" Thermal status - Warning.\r\n"); + } + else if (((statusRegister & POWERSTEP01_STATUS_TH_STATUS)>>11)==2) + { + printf(" Thermal status - Bridge shutdown.\r\n"); + } + else if (((statusRegister & POWERSTEP01_STATUS_TH_STATUS)>>11)==3) + { + printf(" Thermal status - Device shutdown.\r\n"); + } + } + /* Check OCD flag: if not set, there is an overcurrent detection */ + if ((statusRegister & POWERSTEP01_STATUS_OCD)==0) + { + //Overcurrent detection + printf(" Overcurrent detection.\r\n"); + } + /* Check STALL_A flag: if not set, there is a Stall condition on bridge A */ + if ((statusRegister & POWERSTEP01_STATUS_STALL_A)==0) + { + //Bridge A stalled + printf(" Bridge A stalled.\r\n"); + } + /* Check STALL_B flag: if not set, there is a Stall condition on bridge B */ + if ((statusRegister & POWERSTEP01_STATUS_STALL_B)==0) + { + //Bridge B stalled + printf(" Bridge B stalled.\r\n"); + } + } + /* Reset ISR flag. */ + POWERSTEP01::isrFlag = FALSE; +} + +/** + * @brief This is an example of user handler for the busy interrupt. + * @param None + * @retval None + * @note If needed, implement it, and then attach and enable it: + * + motor->AttachBusyIRQ(&FlagIRQHandler); + * + motor->EnableBusyIRQ(); + * To disable it: + * + motor->DisbleBusyIRQ(); + */ +void myBusyIRQHandler(void) +{ + /* Set ISR flag. */ + POWERSTEP01::isrFlag = TRUE; + + /* Reset ISR flag. */ + POWERSTEP01::isrFlag = FALSE; +} + +/** + * @brief This is an example of error handler. + * @param[in] error Number of the error + * @retval None + */ +void myErrorHandler(uint16_t error) +{ + /* Printing to the console. */ + printf("Error %d detected\r\n\n", error); + + /* Infinite loop */ + while(1) + { + } +} + +void WaitForAllDevicesNotBusy(void) +{ + /* Wait while at least one is active */ + while (motor1->IsDeviceBusy()|motor2->IsDeviceBusy()|motor3->IsDeviceBusy()); +} + +/* Main ----------------------------------------------------------------------*/ + +int main() +{ + int32_t pos; + uint32_t myMaxSpeed; + uint32_t myMinSpeed; + uint16_t myAcceleration; + uint16_t myDeceleration; + uint32_t unsignedIntegerValue; + float floatValue; + + /* Printing to the console. */ + printf("STARTING MAIN PROGRAM\r\n"); + printf(" Reminder:\r\n"); + printf(" The position unit is in agreement to the step mode.\r\n"); + printf(" The speed, acceleration or deceleration unit\r\n"); + printf(" do not depend on the step mode and the step unit is a full step.\r\n"); + +//----- Initialization + /* Initializing SPI bus. */ + DevSPI dev_spi(D11, D12, D13); + + /* Initializing Motor Control Component. */ + motor1 = new POWERSTEP01(D2, D4, D8, D9, D10, dev_spi); + motor2 = new POWERSTEP01(D2, D4, D8, D9, D10, dev_spi); + motor3 = new POWERSTEP01(D2, D4, D8, D9, D10, dev_spi); + if (motor1->Init(&initDeviceParameters) != COMPONENT_OK) exit(EXIT_FAILURE); + if (motor2->Init(&initDeviceParameters) != COMPONENT_OK) exit(EXIT_FAILURE); + if (motor3->Init(&initDeviceParameters) != COMPONENT_OK) exit(EXIT_FAILURE); + + /* Attaching and enabling interrupt handlers. */ + motor1->AttachFlagIRQ(&myFlagIRQHandler); + motor1->EnableFlagIRQ(); + motor1->AttachBusyIRQ(&myBusyIRQHandler); + motor1->EnableBusyIRQ(); + motor2->AttachFlagIRQ(&myFlagIRQHandler); + motor2->EnableFlagIRQ(); + motor2->AttachBusyIRQ(&myBusyIRQHandler); + motor2->EnableBusyIRQ(); + motor3->AttachFlagIRQ(&myFlagIRQHandler); + motor3->EnableFlagIRQ(); + motor3->AttachBusyIRQ(&myBusyIRQHandler); + motor3->EnableBusyIRQ(); + + /* Attaching an error handler */ + motor1->AttachErrorHandler(&myErrorHandler); + motor2->AttachErrorHandler(&myErrorHandler); + motor3->AttachErrorHandler(&myErrorHandler); + + /* Printing to the console. */ + printf("Motor Control Application Example for 3 Motors\r\n"); + + /* Request motor 1 to go to position 3200 and print to the console */ + printf("--> Request motor1 to go to position 3200.\r\n"); + motor1->GoTo(3200); + + /* Wait for motor 2 ends moving */ + motor1->WaitWhileActive(); + + /* Get current position of motor 1 and print to the console */ + pos = motor1->GetPosition(); + printf(" Motor1 position: %d.\r\n", pos); + + /* Wait for 2 seconds */ + wait_ms(2000); + + /* If the read position of motor 1 is 3200 */ + /* Request motor 2 to go to the same position */ + if (pos == 3200) + { + /* Set current position of motor 1 to be its mark position*/ + printf(" Set mark to current position of motor1.\r\n"); + motor1->SetMark(); + + /* Request motor 2 to Go to the same position and print to the console */ + printf("--> Request motor2 to go to position 3200.\r\n"); + motor2->GoTo(pos); + + /* Wait for motor 2 ends moving */ + motor2->WaitWhileActive(); + } + + /* Get current position of motor 2 and print to the console */ + pos = motor2->GetPosition(); + printf(" Motor2 position: %d.\r\n", pos); + + /* If the read position of motor 2 is 3200 */ + /* Request motor 3 to go to the same position */ + if (pos == 3200) + { + /* Request motor 3 to Go to the same position and print to the console */ + printf("--> Request motor3 to go to position 3200.\r\n"); + motor3->GoTo(pos); + + /* Wait for motor 3 ends moving */ + motor3->WaitWhileActive(); + } + + /* Get current position of motor 3 and print to the console */ + pos = motor3->GetPosition(); + printf(" Motor3 position: %d.\r\n", pos); + + /* Wait for 1s */ + wait_ms(1000); + + if (pos == 3200) + { + /* Request all motors to go home and print to the console */ + printf(" Request all motors to go home.\r\n"); + motor1->QueueCommands(POWERSTEP01_GO_HOME,0); + motor2->QueueCommands(POWERSTEP01_GO_HOME,0); + motor3->QueueCommands(POWERSTEP01_GO_HOME,0); + motor1->SendQueuedCommands(); + + /* Wait for all motors ends moving */ + WaitForAllDevicesNotBusy(); + } + + /* Wait for 1s */ + wait_ms(1000); + + /* Request motor 1 to Goto position -3200 and print to the console */ + printf("--> Request motor1 to go to position -3200.\r\n"); + motor1->GoTo(-3200); + + /* Wait for motor 1 ends moving */ + motor1->WaitWhileActive(); + + /* Get current position of motor 1 and print to the console */ + pos = motor1->GetPosition(); + printf(" Motor1 position: %d.\r\n", pos); + + /* If the read position of motor 1 is -3200 */ + /* Request motor 2 to go to the same position */ + if (pos == -3200) + { + /* Request motor 2 to go to the same position and print to the console */ + printf("--> Request motor2 to go to position -3200.\r\n"); + motor2->GoTo(pos); + + /* Wait for motor 2 ends moving */ + motor2->WaitWhileActive(); + } + + /* Get current position of motor 2 and print to the console */ + pos = motor2->GetPosition(); + printf(" Motor2 position: %d.\r\n", pos); + + /* If the read position of motor 2 is -3200 */ + /* Request motor 3 to go to the same position */ + if (pos == -3200) + { + /* Request motor 3 to go to the same position and print to the console */ + printf("--> Request motor3 to go to position -3200.\r\n"); + motor3->GoTo(pos); + + /* Wait for motor 3 ends moving */ + motor3->WaitWhileActive(); + } + + /* Get current position of motor 3 and print to the console */ + pos = motor3->GetPosition(); + printf(" Motor3 position: %d.\r\n", pos); + + /* Wait for 1s */ + wait_ms(1000); + + if (pos == -3200) + { + /* Set current position of motor 3 to be its mark position*/ + printf(" Set mark to current position of motor3.\r\n"); + motor3->SetMark(); + + /* Request all motors to go home and print to the console */ + printf("--> Request all motors to go home.\r\n"); + motor1->QueueCommands(POWERSTEP01_GO_HOME,0); + motor2->QueueCommands(POWERSTEP01_GO_HOME,0); + motor3->QueueCommands(POWERSTEP01_GO_HOME,0); + motor1->SendQueuedCommands(); + + /* Wait for all device ends moving */ + WaitForAllDevicesNotBusy(); + } + + /* Wait for 1s */ + wait_ms(1000); + + /* Request motor 1 and motor 3 to go their mark position */ + printf("--> Request motor1 and motor3 to go to their marked position.\r\n"); + motor1->QueueCommands(POWERSTEP01_GO_MARK,0); + motor2->QueueCommands(POWERSTEP01_NOP,0); + motor3->QueueCommands(POWERSTEP01_GO_MARK,0); + motor1->SendQueuedCommands(); + + /* Wait for motor 1 and 2 ends moving */ + WaitForAllDevicesNotBusy(); + + /* Wait for 1s */ + wait_ms(1000); + + /* Request motor 1 to run in StepperMotor::FWD direction at 400 steps/s*/ + printf("--> Request motor1 to run at 400 steps/s in forward direction.\r\n"); + motor1->Run(StepperMotor::FWD, 400); + + /* Wait for device to reach the targeted speed */ + while((motor1->ReadStatusRegister() & POWERSTEP01_STATUS_MOT_STATUS)!= + POWERSTEP01_STATUS_MOT_STATUS_CONST_SPD) + { + /* Record the reached speed in step/s rounded to integer */ + unsignedIntegerValue = motor1->GetSpeed(); + /* Print reached speed to the console in step/s */ + printf(" motor1 reached Speed: %d step/s.\r\n", unsignedIntegerValue); + wait_ms(50); + } + + /* Record the reached speed in step/s */ + floatValue = motor1->GetAnalogValue(POWERSTEP01_SPEED); + /* Print reached speed to the console in step/s */ + printf(" motor1 reached Speed: %f step/s.\r\n", floatValue); + + /* Request motor 2 to run in StepperMotor::FWD direction at 300 steps/s*/ + /* Request motor 3 to run in StepperMotor::FWD direction at 200 steps/s*/ + /* and start at same time. */ + printf("--> Request motor2 and motor3 to run respectively in forward direction\r\n"); + printf(" at 300 steps/s and 200 steps/s and start at same time.\r\n"); + motor1->QueueCommands(POWERSTEP01_NOP,0); + motor2->QueueCommands((uint8_t)POWERSTEP01_RUN|(uint8_t)StepperMotor::FWD,POWERSTEP01::Speed_Steps_s_to_RegVal(300)); + motor3->QueueCommands((uint8_t)POWERSTEP01_RUN|(uint8_t)StepperMotor::FWD,POWERSTEP01::Speed_Steps_s_to_RegVal(200)); + motor1->SendQueuedCommands(); + + /* Wait for device to reach the targeted speed */ + while(((motor2->ReadStatusRegister() & POWERSTEP01_STATUS_MOT_STATUS)!= + POWERSTEP01_STATUS_MOT_STATUS_CONST_SPD)|| + ((motor3->ReadStatusRegister() & POWERSTEP01_STATUS_MOT_STATUS)!= + POWERSTEP01_STATUS_MOT_STATUS_CONST_SPD)); + + /* Record the reached speed in step/s */ + floatValue = motor2->GetAnalogValue(POWERSTEP01_SPEED); + /* Print reached speed to the console in step/s */ + printf(" motor2 reached Speed: %f step/s.\r\n", floatValue); + + /* Record the reached speed in step/s */ + floatValue = motor3->GetAnalogValue(POWERSTEP01_SPEED); + /* Print reached speed to the console in step/s */ + printf(" motor3 reached Speed: %f step/s.\r\n", floatValue); + + /* Wait for 3s */ + wait_ms(3000); + + /* Request motor 2 to make a soft stop */ + printf("--> Request motor2 to stop softly\r\n"); + motor2->SoftStop(); + + /* Wait for motor 2 end moving */ + motor2->WaitWhileActive(); + + /* Request motor 1 and 3 to make a hard stop */ + printf("--> Request motor1 and motor3 to stop immediately\r\n"); + motor1->QueueCommands(POWERSTEP01_HARD_STOP,0); + motor2->QueueCommands(POWERSTEP01_NOP,0); + motor3->QueueCommands(POWERSTEP01_HARD_STOP,0); + motor1->SendQueuedCommands(); + + /* Wait for both motors end moving */ + WaitForAllDevicesNotBusy(); + + /* Request all motors to go home and print to the console */ + printf("--> Request all motors to go home.\r\n"); + motor1->QueueCommands(POWERSTEP01_GO_HOME,0); + motor2->QueueCommands(POWERSTEP01_GO_HOME,0); + motor3->QueueCommands(POWERSTEP01_GO_HOME,0); + motor1->SendQueuedCommands(); + + /* Wait for all device ends moving */ + WaitForAllDevicesNotBusy(); + + /* Get acceleration, deceleration, Maxspeed and MinSpeed of motor 1*/ + myMaxSpeed= motor1->GetParameter(POWERSTEP01_MAX_SPEED); + myAcceleration = motor1->GetParameter(POWERSTEP01_ACC); + myDeceleration = motor1->GetParameter(POWERSTEP01_DEC); + myMinSpeed = motor1->GetParameter(POWERSTEP01_MIN_SPEED); + + /* Select 1/16 microstepping mode for motor 1 */ + printf(" Set 1/16 microstepping mode for motor1.\r\n"); + motor1->SetStepMode(STEP_MODE_1_16); + + /* Select 1/8 microstepping mode for motor 2 */ + printf(" Set 1/8 microstepping mode for motor2.\r\n"); + motor2->SetStepMode(STEP_MODE_1_8); + + /* Set speed and acceleration of motor 2 */ + /* Do not scale with microstepping mode */ + motor2->SetParameter(POWERSTEP01_ACC, myAcceleration); + motor2->SetParameter(POWERSTEP01_DEC, myDeceleration); + motor2->SetParameter(POWERSTEP01_MIN_SPEED, myMinSpeed); + motor2->SetParameter(POWERSTEP01_MAX_SPEED, myMaxSpeed); + + /* Select ful step mode for motor 3 */ + printf(" Set ful step mode for motor3.\r\n"); + motor3->SetStepMode(STEP_MODE_FULL); + + /* Set speed and acceleration of motor 3 */ + /* Do not scale with microstepping mode */ + motor3->SetParameter(POWERSTEP01_ACC, myAcceleration); + motor3->SetParameter(POWERSTEP01_DEC, myDeceleration); + motor3->SetParameter(POWERSTEP01_MIN_SPEED, myMinSpeed); + motor3->SetParameter(POWERSTEP01_MAX_SPEED, myMaxSpeed); + + /* Printing to the console. */ + printf("--> Infinite Loop...\r\n"); + /* Infinite loop */ + while(1) + { + /* motor 1 is using 1/16 microstepping mode */ + /* motor 2 is using 1/8 microstepping mode */ + /* motor 3 is using full step mode */ + /* position is in microsteps */ + motor1->QueueCommands(POWERSTEP01_GO_TO,-3200); + motor2->QueueCommands(POWERSTEP01_GO_TO,1600); + motor3->QueueCommands(POWERSTEP01_GO_TO,-200); + motor1->SendQueuedCommands(); + + /* Wait for all device ends moving */ + WaitForAllDevicesNotBusy(); + + motor1->QueueCommands(POWERSTEP01_GO_TO,3200); + motor2->QueueCommands(POWERSTEP01_GO_TO,-1600); + motor3->QueueCommands(POWERSTEP01_GO_TO,200); + motor1->SendQueuedCommands(); + + /* Wait for all device ends moving */ + WaitForAllDevicesNotBusy(); + } +} +/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/