ST
Simple application using the STMicroelectronics X-NUCLEO-IHM01A1 Stepper Motor Control Expansion Board and the X-NUCLEO-IKS01A1 MEMS Inertial and Environmental Sensors Expansion Board to get a MEMS-based motor control in terms of direction and speed.
Dependencies: X_NUCLEO_IHM01A1 X_NUCLEO_IKS01A1 mbed
Fork of
MemsMotorControl
by 
ST Expansion SW Team
MEMS-based Motor Control
This application provides an intuitive and natural way for controlling a stepper motor through an accelerometer. It makes use of the STMicroelectronics X-NUCLEO-IKS01A1 MEMS Inertial and Environmental Sensors Expansion Board to get accelerometer values and the X-NUCLEO-IHM01A1 Stepper Motor Control Expansion Board to directly control a stepper motor with:
- speed proportional to the angle measured by the MEMS board;
- direction driven by the direction of rotation captured by the MEMS board.
Diff: main.cpp
- Revision:
- 2:1784677a5955
- Parent:
- 0:bd157c8f770c
- Child:
- 3:112d46906bee
--- a/main.cpp Fri Oct 16 14:32:10 2015 +0000
+++ b/main.cpp Tue Oct 27 15:15:47 2015 +0000
@@ -54,8 +54,11 @@
/* Definitions ---------------------------------------------------------------*/
-/* Absolute value of the rotation threshold. */
-#define ROTATION_TH 50
+/* Absolute value of the threshold on the Y axis acceleration. */
+#define ACCELERATION_Y_TH 30
+
+/* Rotation gain. */
+#define ROTATION_SPEED_GAIN 10
/* Variables -----------------------------------------------------------------*/
@@ -91,8 +94,9 @@
/* Set defaults. */
motor->SetAcceleration(10000);
motor->SetDeceleration(10000);
- motor->SetMinSpeed(10);
+ motor->SetMinSpeed(100);
int status = 0;
+ int speed = 0;
/* Printing to the console. */
printf("Motor Control with MEMS\r\n\n");
@@ -106,9 +110,11 @@
/* Motor Control. */
int module = abs(accelerometer_data[1]);
- int sign = accelerometer_data[1] < 0 ? -1 : 1;
- if (module > ROTATION_TH)
+ if (module > ACCELERATION_Y_TH)
{
+ int sign = accelerometer_data[1] < 0 ? -1 : 1;
+ speed = module * ROTATION_SPEED_GAIN;
+
/* Requesting to run. */
if (status != sign)
{
@@ -117,7 +123,7 @@
}
/* Setting Speed. */
- motor->SetMaxSpeed(module * 10);
+ motor->SetMaxSpeed(speed);
/* Printing to the console. */
printf("Speed: %c%d\r\n", sign == -1 ? '-' : '+', motor->GetCurrentSpeed());
@@ -127,12 +133,13 @@
/* Requesting to stop. */
motor->SoftStop();
status = 0;
+ speed = 0;
/* Printing to the console. */
printf("Stop.\r\n");
}
/* Waiting. */
- wait_ms(500);
+ wait_ms(50);
}
}