ST
Mems Motor Control application example with X_NUCLEO_IHM01A1 and X_NUCLEO_IKS01A2 expansion boards.
Dependencies: X_NUCLEO_IHM01A1 X_NUCLEO_IKS01A2 mbed
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MemsMotorControl
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ST
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-IKS01A2 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:
- 3:112d46906bee
- Parent:
- 2:1784677a5955
- Child:
- 4:778a7effb013
--- a/main.cpp Tue Oct 27 15:15:47 2015 +0000
+++ b/main.cpp Wed Oct 28 12:46:15 2015 +0000
@@ -55,7 +55,7 @@
/* Definitions ---------------------------------------------------------------*/
/* Absolute value of the threshold on the Y axis acceleration. */
-#define ACCELERATION_Y_TH 30
+#define ACCELERATION_TH 30
/* Rotation gain. */
#define ROTATION_SPEED_GAIN 10
@@ -85,6 +85,7 @@
/* Retrieving the accelerometer. */
MotionSensor *accelerometer = x_nucleo_iks01a1->GetAccelerometer();
+ int acceleration_axis = x_nucleo_iks01a1->gyro_lsm6ds3 == NULL ? 0 : 1;
/* Initializing Motor Control Component. */
motor = new L6474(D8, D7, D9, D10, dev_spi);
@@ -109,10 +110,10 @@
accelerometer->Get_X_Axes(accelerometer_data);
/* Motor Control. */
- int module = abs(accelerometer_data[1]);
- if (module > ACCELERATION_Y_TH)
+ int module = abs(accelerometer_data[acceleration_axis]);
+ if (module > ACCELERATION_TH)
{
- int sign = accelerometer_data[1] < 0 ? -1 : 1;
+ int sign = accelerometer_data[acceleration_axis] < 0 ? -1 : 1;
speed = module * ROTATION_SPEED_GAIN;
/* Requesting to run. */