ST
Mems Motor Control application example with X_NUCLEO_IHM01A1 and X_NUCLEO_IKS01A2 expansion boards.
Dependencies: X_NUCLEO_IHM01A1 X_NUCLEO_IKS01A2 mbed
Fork of
MemsMotorControl
by 
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:
- 28:9618700cd2f6
- Parent:
- 21:08ddc48353ac
--- a/main.cpp Fri Oct 28 13:32:48 2016 +0000
+++ b/main.cpp Tue Mar 14 15:05:42 2017 +0000
@@ -6,7 +6,7 @@
* @date October 16th, 2015
* @brief mbed vertical application using the STMicroelectronics
* X-NUCLEO-IHM01A1 Motor Control Expansion Board and the
- * X-NUCLEO-IKS01A1 MEMS Inertial & Environmental Sensors Expansion
+ * X-NUCLEO-IKS01A2 MEMS Inertial & Environmental Sensors Expansion
* Board to get a MEMS-based motor control (direction and speed).
******************************************************************************
* @attention
@@ -48,8 +48,8 @@
#include "DevSPI.h"
/* Components and expansion boards specific header files. */
-#include "x_nucleo_iks01a1.h"
-#include "l6474_class.h"
+#include "XNucleoIKS01A2.h"
+#include "L6474.h"
/* Definitions ---------------------------------------------------------------*/
@@ -64,7 +64,7 @@
/* Variables -----------------------------------------------------------------*/
/* MEMS Expansion Board. */
-X_NUCLEO_IKS01A1 *x_nucleo_iks01a1;
+XNucleoIKS01A2 *sensors;
/* Motor Control Component. */
L6474 *motor;
@@ -83,21 +83,22 @@
DevSPI dev_spi(D11, D12, D13);
/* Initializing MEMS Expansion Board. */
- x_nucleo_iks01a1 = X_NUCLEO_IKS01A1::Instance(&dev_i2c);
+ sensors = XNucleoIKS01A2::instance(&dev_i2c);
/* Retrieving the accelerometer. */
- MotionSensor *accelerometer = x_nucleo_iks01a1->GetAccelerometer();
- int acceleration_axis = x_nucleo_iks01a1->gyro_lsm6ds3 == NULL ? 0 : 1;
+ LSM303AGRAccSensor *accelerometer = sensors->accelerometer;
+ accelerometer->enable();
+ int acceleration_axis = 1;
/* Initializing Motor Control Component. */
motor = new L6474(D2, D8, D7, D9, D10, dev_spi);
- if (motor->Init() != COMPONENT_OK)
+ if (motor->init() != COMPONENT_OK)
exit(EXIT_FAILURE);
/* Set defaults. */
- motor->SetAcceleration(10000);
- motor->SetDeceleration(10000);
- motor->SetMinSpeed(100);
+ motor->set_acceleration(10000);
+ motor->set_deceleration(10000);
+ motor->set_min_speed(100);
int status = 0;
int speed = 0;
@@ -112,7 +113,7 @@
{
/* Reading Accelerometer. */
int accelerometer_data[3];
- accelerometer->Get_X_Axes(accelerometer_data);
+ accelerometer->get_x_axes(accelerometer_data);
/* Motor Control. */
int module = abs(accelerometer_data[acceleration_axis]);
@@ -120,24 +121,24 @@
{
int sign = accelerometer_data[acceleration_axis] < 0 ? -1 : 1;
speed = module * ROTATION_SPEED_GAIN;
-
+
/* Requesting to run. */
if (status != sign)
{
- motor->Run(sign == -1 ? StepperMotor::BWD : StepperMotor::FWD);
+ motor->run(sign == -1 ? StepperMotor::BWD : StepperMotor::FWD);
status = sign;
}
/* Setting Speed. */
- motor->SetMaxSpeed(speed);
+ motor->set_max_speed(speed);
/* Printing to the console. */
- printf("Speed: %c%d\r\n", sign == -1 ? '-' : '+', motor->GetSpeed());
+ printf("Speed: %c%d\r\n", sign == -1 ? '-' : '+', motor->get_speed());
}
else if (status != 0)
{
/* Requesting to stop. */
- motor->SoftStop();
+ motor->soft_stop();
status = 0;
speed = 0;