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.
main.cpp
- Committer:
- Davidroid
- Date:
- 2018-10-18
- Revision:
- 5:05b73855a2e1
- Parent:
- 2:c29a38e427f6
File content as of revision 5:05b73855a2e1:
/** ****************************************************************************** * @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.h" /* Variables -----------------------------------------------------------------*/ /* Initialization parameters of the motor connected to the expansion board. */ /* Current mode. */ powerstep01_init_u_t init_device_parameters = { /* 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->attach_flag_irq(&myFlagIRQHandler); * + motor->enable_flag_irq(); * To disable it: * + motor->DisbleFlagIRQ(); */ void myFlagIRQHandler(void) { /* Set ISR flag. */ PowerStep01::isrFlag = TRUE; motor1->fetch_and_clear_all_status(); 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::get_nb_devices();loop++) { if (loop==1) motor = motor2; if (loop==2) motor = motor3; statusRegister = motor->get_fetched_status(); 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"); printf(" Expected with default IHM03A1 HW configuration.\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->attach_busy_irq(&myBusyIRQHandler); * + motor->enable_busy_irq(); * 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 * @note If needed, implement it, and then attach it: * + motor->attach_error_handler(&myErrorHandler); */ void myErrorHandler(uint16_t error) { /* Printing to the console. */ printf("Error %d detected\r\n\n", error); /* Infinite loop */ while(1) { } } void wait_for_all_devices_not_busy(void) { /* Wait while at least one is active */ while (motor1->is_device_busy()|motor2->is_device_busy()|motor3->is_device_busy()); } /* 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(&init_device_parameters) != COMPONENT_OK) exit(EXIT_FAILURE); if (motor2->init(&init_device_parameters) != COMPONENT_OK) exit(EXIT_FAILURE); if (motor3->init(&init_device_parameters) != COMPONENT_OK) exit(EXIT_FAILURE); /* Attaching and enabling interrupt handlers. */ motor1->attach_flag_irq(&myFlagIRQHandler); motor1->enable_flag_irq(); motor1->attach_busy_irq(&myBusyIRQHandler); motor1->enable_busy_irq(); motor2->attach_flag_irq(&myFlagIRQHandler); motor2->enable_flag_irq(); motor2->attach_busy_irq(&myBusyIRQHandler); motor2->enable_busy_irq(); motor3->attach_flag_irq(&myFlagIRQHandler); motor3->enable_flag_irq(); motor3->attach_busy_irq(&myBusyIRQHandler); motor3->enable_busy_irq(); /* Attaching an error handler */ motor1->attach_error_handler(&myErrorHandler); motor2->attach_error_handler(&myErrorHandler); motor3->attach_error_handler(&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->go_to(3200); /* Wait for motor 2 ends moving */ motor1->wait_while_active(); /* Get current position of motor 1 and print to the console */ pos = motor1->get_position(); 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->set_mark(); /* 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->go_to(pos); /* Wait for motor 2 ends moving */ motor2->wait_while_active(); } /* Get current position of motor 2 and print to the console */ pos = motor2->get_position(); 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->go_to(pos); /* Wait for motor 3 ends moving */ motor3->wait_while_active(); } /* Get current position of motor 3 and print to the console */ pos = motor3->get_position(); 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->queue_commands(POWERSTEP01_GO_HOME,0); motor2->queue_commands(POWERSTEP01_GO_HOME,0); motor3->queue_commands(POWERSTEP01_GO_HOME,0); motor1->send_queued_commands(); /* Wait for all motors ends moving */ wait_for_all_devices_not_busy(); } /* 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->go_to(-3200); /* Wait for motor 1 ends moving */ motor1->wait_while_active(); /* Get current position of motor 1 and print to the console */ pos = motor1->get_position(); 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->go_to(pos); /* Wait for motor 2 ends moving */ motor2->wait_while_active(); } /* Get current position of motor 2 and print to the console */ pos = motor2->get_position(); 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->go_to(pos); /* Wait for motor 3 ends moving */ motor3->wait_while_active(); } /* Get current position of motor 3 and print to the console */ pos = motor3->get_position(); 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->set_mark(); /* Request all motors to go home and print to the console */ printf("--> Request all motors to go home.\r\n"); motor1->queue_commands(POWERSTEP01_GO_HOME,0); motor2->queue_commands(POWERSTEP01_GO_HOME,0); motor3->queue_commands(POWERSTEP01_GO_HOME,0); motor1->send_queued_commands(); /* Wait for all device ends moving */ wait_for_all_devices_not_busy(); } /* 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->queue_commands(POWERSTEP01_GO_MARK,0); motor2->queue_commands(POWERSTEP01_NOP,0); motor3->queue_commands(POWERSTEP01_GO_MARK,0); motor1->send_queued_commands(); /* Wait for motor 1 and 2 ends moving */ wait_for_all_devices_not_busy(); /* 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->read_status_register() & POWERSTEP01_STATUS_MOT_STATUS)!= POWERSTEP01_STATUS_MOT_STATUS_CONST_SPD) { /* Record the reached speed in step/s rounded to integer */ unsignedIntegerValue = motor1->get_speed(); /* 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->get_analog_value(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->queue_commands(POWERSTEP01_NOP,0); motor2->queue_commands((uint8_t)POWERSTEP01_RUN|(uint8_t)StepperMotor::FWD,PowerStep01::speed_steps_s_to_reg_val(300)); motor3->queue_commands((uint8_t)POWERSTEP01_RUN|(uint8_t)StepperMotor::FWD,PowerStep01::speed_steps_s_to_reg_val(200)); motor1->send_queued_commands(); /* Wait for device to reach the targeted speed */ while(((motor2->read_status_register() & POWERSTEP01_STATUS_MOT_STATUS)!= POWERSTEP01_STATUS_MOT_STATUS_CONST_SPD)|| ((motor3->read_status_register() & POWERSTEP01_STATUS_MOT_STATUS)!= POWERSTEP01_STATUS_MOT_STATUS_CONST_SPD)); /* Record the reached speed in step/s */ floatValue = motor2->get_analog_value(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->get_analog_value(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->soft_stop(); /* Wait for motor 2 end moving */ motor2->wait_while_active(); /* Request motor 1 and 3 to make a hard stop */ printf("--> Request motor1 and motor3 to stop immediately\r\n"); motor1->queue_commands(POWERSTEP01_HARD_STOP,0); motor2->queue_commands(POWERSTEP01_NOP,0); motor3->queue_commands(POWERSTEP01_HARD_STOP,0); motor1->send_queued_commands(); /* Wait for both motors end moving */ wait_for_all_devices_not_busy(); /* Request all motors to go home and print to the console */ printf("--> Request all motors to go home.\r\n"); motor1->queue_commands(POWERSTEP01_GO_HOME,0); motor2->queue_commands(POWERSTEP01_GO_HOME,0); motor3->queue_commands(POWERSTEP01_GO_HOME,0); motor1->send_queued_commands(); /* Wait for all device ends moving */ wait_for_all_devices_not_busy(); /* Get acceleration, deceleration, Maxspeed and MinSpeed of motor 1*/ myMaxSpeed= motor1->get_raw_parameter(POWERSTEP01_MAX_SPEED); myAcceleration = motor1->get_raw_parameter(POWERSTEP01_ACC); myDeceleration = motor1->get_raw_parameter(POWERSTEP01_DEC); myMinSpeed = motor1->get_raw_parameter(POWERSTEP01_MIN_SPEED); /* Select 1/16 microstepping mode for motor 1 */ printf(" Set 1/16 microstepping mode for motor1.\r\n"); motor1->set_step_mode(StepperMotor::STEP_MODE_1_16); /* Select 1/8 microstepping mode for motor 2 */ printf(" Set 1/8 microstepping mode for motor2.\r\n"); motor2->set_step_mode(StepperMotor::STEP_MODE_1_8); /* Set speed and acceleration of motor 2 */ /* Do not scale with microstepping mode */ motor2->set_raw_parameter(POWERSTEP01_ACC, myAcceleration); motor2->set_raw_parameter(POWERSTEP01_DEC, myDeceleration); motor2->set_raw_parameter(POWERSTEP01_MIN_SPEED, myMinSpeed); motor2->set_raw_parameter(POWERSTEP01_MAX_SPEED, myMaxSpeed); /* Select ful step mode for motor 3 */ printf(" Set ful step mode for motor3.\r\n"); motor3->set_step_mode(StepperMotor::STEP_MODE_FULL); /* Set speed and acceleration of motor 3 */ /* Do not scale with microstepping mode */ motor3->set_raw_parameter(POWERSTEP01_ACC, myAcceleration); motor3->set_raw_parameter(POWERSTEP01_DEC, myDeceleration); motor3->set_raw_parameter(POWERSTEP01_MIN_SPEED, myMinSpeed); motor3->set_raw_parameter(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->queue_commands(POWERSTEP01_GO_TO,-3200); motor2->queue_commands(POWERSTEP01_GO_TO,1600); motor3->queue_commands(POWERSTEP01_GO_TO,-200); motor1->send_queued_commands(); /* Wait for all device ends moving */ wait_for_all_devices_not_busy(); motor1->queue_commands(POWERSTEP01_GO_TO,3200); motor2->queue_commands(POWERSTEP01_GO_TO,-1600); motor3->queue_commands(POWERSTEP01_GO_TO,200); motor1->send_queued_commands(); /* Wait for all device ends moving */ wait_for_all_devices_not_busy(); } } /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/