Progetto STM32 / Mbed 2 deprecated ConcorsoFinal

concorso

Dependencies:   HCSR04 NetworkSocketAPI Servo X_NUCLEO_53L0A1 X_NUCLEO_IDW01M1v2 X_NUCLEO_IHM02A1 mbed-rtos mbed

Fork of HelloWorld_IHM02A1 by ST

main.cpp@12:5be6dd48b94a, 2016-01-15 (annotated)

Committer:
Davidroid
Date:
Fri Jan 15 17:06:26 2016 +0000
Revision:
12:5be6dd48b94a
Parent:
11:79fcaf38c09d
Child:
15:698fe51556c0
+ Updated with the new version of the library.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Davidroid 0:5148e9486cf2 1 /**
Davidroid 0:5148e9486cf2 2 ******************************************************************************
Davidroid 0:5148e9486cf2 3 * @file main.cpp
Davidroid 12:5be6dd48b94a 4 * @author Davide Aliprandi, STMicroelectronics
Davidroid 0:5148e9486cf2 5 * @version V1.0.0
Davidroid 0:5148e9486cf2 6 * @date November 4th, 2015
Davidroid 12:5be6dd48b94a 7 * @brief mbed test application for the STMicroelectronics X-NUCLEO-IHM02A1
Davidroid 1:9f1974b0960d 8 * Motor Control Expansion Board: control of 2 motors.
Davidroid 0:5148e9486cf2 9 ******************************************************************************
Davidroid 0:5148e9486cf2 10 * @attention
Davidroid 0:5148e9486cf2 11 *
Davidroid 0:5148e9486cf2 12 * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
Davidroid 0:5148e9486cf2 13 *
Davidroid 0:5148e9486cf2 14 * Redistribution and use in source and binary forms, with or without modification,
Davidroid 0:5148e9486cf2 15 * are permitted provided that the following conditions are met:
Davidroid 0:5148e9486cf2 16 * 1. Redistributions of source code must retain the above copyright notice,
Davidroid 0:5148e9486cf2 17 * this list of conditions and the following disclaimer.
Davidroid 0:5148e9486cf2 18 * 2. Redistributions in binary form must reproduce the above copyright notice,
Davidroid 0:5148e9486cf2 19 * this list of conditions and the following disclaimer in the documentation
Davidroid 0:5148e9486cf2 20 * and/or other materials provided with the distribution.
Davidroid 0:5148e9486cf2 21 * 3. Neither the name of STMicroelectronics nor the names of its contributors
Davidroid 0:5148e9486cf2 22 * may be used to endorse or promote products derived from this software
Davidroid 0:5148e9486cf2 23 * without specific prior written permission.
Davidroid 0:5148e9486cf2 24 *
Davidroid 0:5148e9486cf2 25 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
Davidroid 0:5148e9486cf2 26 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
Davidroid 0:5148e9486cf2 27 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
Davidroid 0:5148e9486cf2 28 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
Davidroid 0:5148e9486cf2 29 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
Davidroid 0:5148e9486cf2 30 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
Davidroid 0:5148e9486cf2 31 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
Davidroid 0:5148e9486cf2 32 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
Davidroid 0:5148e9486cf2 33 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
Davidroid 0:5148e9486cf2 34 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
Davidroid 0:5148e9486cf2 35 *
Davidroid 0:5148e9486cf2 36 ******************************************************************************
Davidroid 0:5148e9486cf2 37 */
Davidroid 0:5148e9486cf2 38
Davidroid 0:5148e9486cf2 39
Davidroid 0:5148e9486cf2 40 /* Includes ------------------------------------------------------------------*/
Davidroid 0:5148e9486cf2 41
Davidroid 0:5148e9486cf2 42 /* mbed specific header files. */
Davidroid 0:5148e9486cf2 43 #include "mbed.h"
Davidroid 0:5148e9486cf2 44
Davidroid 0:5148e9486cf2 45 /* Helper header files. */
Davidroid 0:5148e9486cf2 46 #include "DevSPI.h"
Davidroid 0:5148e9486cf2 47
Davidroid 0:5148e9486cf2 48 /* Expansion Board specific header files. */
Davidroid 0:5148e9486cf2 49 #include "x_nucleo_ihm02a1_class.h"
Davidroid 0:5148e9486cf2 50
Davidroid 0:5148e9486cf2 51
Davidroid 0:5148e9486cf2 52 /* Definitions ---------------------------------------------------------------*/
Davidroid 0:5148e9486cf2 53
Davidroid 0:5148e9486cf2 54 /* Number of movements per revolution. */
Davidroid 0:5148e9486cf2 55 #define MPR_1 4
Davidroid 1:9f1974b0960d 56
Davidroid 1:9f1974b0960d 57 /* Number of steps. */
Davidroid 1:9f1974b0960d 58 #define STEPS_1 100000
Davidroid 1:9f1974b0960d 59 #define STEPS_2 200000
Davidroid 0:5148e9486cf2 60
Davidroid 0:5148e9486cf2 61 /* Delay in milliseconds. */
Davidroid 1:9f1974b0960d 62 #define DELAY_1 1000
Davidroid 0:5148e9486cf2 63 #define DELAY_2 2000
Davidroid 0:5148e9486cf2 64 #define DELAY_3 5000
Davidroid 0:5148e9486cf2 65
Davidroid 0:5148e9486cf2 66
Davidroid 0:5148e9486cf2 67 /* Variables -----------------------------------------------------------------*/
Davidroid 0:5148e9486cf2 68
Davidroid 0:5148e9486cf2 69 /* Motor Control Expansion Board. */
Davidroid 0:5148e9486cf2 70 X_NUCLEO_IHM02A1 *x_nucleo_ihm02a1;
Davidroid 0:5148e9486cf2 71
Davidroid 9:f35fbeedb8f4 72 /* Initialization parameters of the motors connected to the expansion board. */
Davidroid 11:79fcaf38c09d 73 L6470_InitTypeDef init[L6470DAISYCHAINSIZE] =
Davidroid 9:f35fbeedb8f4 74 {
Davidroid 9:f35fbeedb8f4 75 /* First Motor. */
Davidroid 9:f35fbeedb8f4 76 {
Davidroid 9:f35fbeedb8f4 77 9.0, /* Motor supply voltage in V. */
Davidroid 11:79fcaf38c09d 78 400, /* Min number of steps per revolution for the motor. */
Davidroid 9:f35fbeedb8f4 79 1.7, /* Max motor phase voltage in A. */
Davidroid 9:f35fbeedb8f4 80 3.06, /* Max motor phase voltage in V. */
Davidroid 9:f35fbeedb8f4 81 300.0, /* Motor initial speed [step/s]. */
Davidroid 9:f35fbeedb8f4 82 500.0, /* Motor acceleration [step/s^2] (comment for infinite acceleration mode). */
Davidroid 9:f35fbeedb8f4 83 500.0, /* Motor deceleration [step/s^2] (comment for infinite deceleration mode). */
Davidroid 9:f35fbeedb8f4 84 992.0, /* Motor maximum speed [step/s]. */
Davidroid 9:f35fbeedb8f4 85 0.0, /* Motor minimum speed [step/s]. */
Davidroid 9:f35fbeedb8f4 86 602.7, /* Motor full-step speed threshold [step/s]. */
Davidroid 9:f35fbeedb8f4 87 3.06, /* Holding kval [V]. */
Davidroid 9:f35fbeedb8f4 88 3.06, /* Constant speed kval [V]. */
Davidroid 9:f35fbeedb8f4 89 3.06, /* Acceleration starting kval [V]. */
Davidroid 9:f35fbeedb8f4 90 3.06, /* Deceleration starting kval [V]. */
Davidroid 9:f35fbeedb8f4 91 61.52, /* Intersect speed for bemf compensation curve slope changing [step/s]. */
Davidroid 9:f35fbeedb8f4 92 392.1569e-6, /* Start slope [s/step]. */
Davidroid 9:f35fbeedb8f4 93 643.1372e-6, /* Acceleration final slope [s/step]. */
Davidroid 9:f35fbeedb8f4 94 643.1372e-6, /* Deceleration final slope [s/step]. */
Davidroid 9:f35fbeedb8f4 95 0, /* Thermal compensation factor (range [0, 15]). */
Davidroid 9:f35fbeedb8f4 96 3.06 * 1000 * 1.10, /* Ocd threshold [ma] (range [375 ma, 6000 ma]). */
Davidroid 9:f35fbeedb8f4 97 3.06 * 1000 * 1.00, /* Stall threshold [ma] (range [31.25 ma, 4000 ma]). */
Davidroid 9:f35fbeedb8f4 98 MICROSTEP_1_128, /* Step mode selection. */
Davidroid 9:f35fbeedb8f4 99 0xFF, /* Alarm conditions enable. */
Davidroid 9:f35fbeedb8f4 100 0x2E88 /* Ic configuration. */
Davidroid 9:f35fbeedb8f4 101 },
Davidroid 9:f35fbeedb8f4 102
Davidroid 9:f35fbeedb8f4 103 /* Second Motor. */
Davidroid 9:f35fbeedb8f4 104 {
Davidroid 9:f35fbeedb8f4 105 9.0, /* Motor supply voltage in V. */
Davidroid 11:79fcaf38c09d 106 400, /* Min number of steps per revolution for the motor. */
Davidroid 9:f35fbeedb8f4 107 1.7, /* Max motor phase voltage in A. */
Davidroid 9:f35fbeedb8f4 108 3.06, /* Max motor phase voltage in V. */
Davidroid 9:f35fbeedb8f4 109 300.0, /* Motor initial speed [step/s]. */
Davidroid 9:f35fbeedb8f4 110 500.0, /* Motor acceleration [step/s^2] (comment for infinite acceleration mode). */
Davidroid 9:f35fbeedb8f4 111 500.0, /* Motor deceleration [step/s^2] (comment for infinite deceleration mode). */
Davidroid 9:f35fbeedb8f4 112 992.0, /* Motor maximum speed [step/s]. */
Davidroid 9:f35fbeedb8f4 113 0.0, /* Motor minimum speed [step/s]. */
Davidroid 9:f35fbeedb8f4 114 602.7, /* Motor full-step speed threshold [step/s]. */
Davidroid 9:f35fbeedb8f4 115 3.06, /* Holding kval [V]. */
Davidroid 9:f35fbeedb8f4 116 3.06, /* Constant speed kval [V]. */
Davidroid 9:f35fbeedb8f4 117 3.06, /* Acceleration starting kval [V]. */
Davidroid 9:f35fbeedb8f4 118 3.06, /* Deceleration starting kval [V]. */
Davidroid 9:f35fbeedb8f4 119 61.52, /* Intersect speed for bemf compensation curve slope changing [step/s]. */
Davidroid 9:f35fbeedb8f4 120 392.1569e-6, /* Start slope [s/step]. */
Davidroid 9:f35fbeedb8f4 121 643.1372e-6, /* Acceleration final slope [s/step]. */
Davidroid 9:f35fbeedb8f4 122 643.1372e-6, /* Deceleration final slope [s/step]. */
Davidroid 9:f35fbeedb8f4 123 0, /* Thermal compensation factor (range [0, 15]). */
Davidroid 9:f35fbeedb8f4 124 3.06 * 1000 * 1.10, /* Ocd threshold [ma] (range [375 ma, 6000 ma]). */
Davidroid 9:f35fbeedb8f4 125 3.06 * 1000 * 1.00, /* Stall threshold [ma] (range [31.25 ma, 4000 ma]). */
Davidroid 9:f35fbeedb8f4 126 MICROSTEP_1_128, /* Step mode selection. */
Davidroid 9:f35fbeedb8f4 127 0xFF, /* Alarm conditions enable. */
Davidroid 9:f35fbeedb8f4 128 0x2E88 /* Ic configuration. */
Davidroid 9:f35fbeedb8f4 129 }
Davidroid 9:f35fbeedb8f4 130 };
Davidroid 9:f35fbeedb8f4 131
Davidroid 0:5148e9486cf2 132
Davidroid 0:5148e9486cf2 133 /* Main ----------------------------------------------------------------------*/
Davidroid 0:5148e9486cf2 134
Davidroid 0:5148e9486cf2 135 int main()
Davidroid 0:5148e9486cf2 136 {
Davidroid 1:9f1974b0960d 137 /*----- Initialization. -----*/
Davidroid 1:9f1974b0960d 138
Davidroid 2:41eeee48951b 139 /* Initializing SPI bus. */
Davidroid 3:fd280b953f77 140 DevSPI dev_spi(D11, D12, D3);
Davidroid 0:5148e9486cf2 141
Davidroid 5:3b8e19bbf386 142 /* Initializing Motor Control Expansion Board. */
Davidroid 9:f35fbeedb8f4 143 x_nucleo_ihm02a1 = new X_NUCLEO_IHM02A1(&init[0], &init[1], A4, A5, D4, A2, &dev_spi);
Davidroid 0:5148e9486cf2 144
Davidroid 1:9f1974b0960d 145 /* Building a list of motor control components. */
Davidroid 1:9f1974b0960d 146 L6470 **motors = x_nucleo_ihm02a1->GetComponents();
Davidroid 0:5148e9486cf2 147
Davidroid 0:5148e9486cf2 148 /* Printing to the console. */
Davidroid 0:5148e9486cf2 149 printf("Motor Control Application Example for 2 Motors\r\n\n");
Davidroid 0:5148e9486cf2 150
Davidroid 1:9f1974b0960d 151
Davidroid 1:9f1974b0960d 152 /*----- Setting home and marke positions, getting positions, and going to positions. -----*/
Davidroid 1:9f1974b0960d 153
Davidroid 1:9f1974b0960d 154 /* Printing to the console. */
Davidroid 1:9f1974b0960d 155 printf("--> Setting home position.\r\n");
Davidroid 1:9f1974b0960d 156
Davidroid 1:9f1974b0960d 157 /* Setting the home position. */
Davidroid 1:9f1974b0960d 158 motors[0]->SetHome();
Davidroid 1:9f1974b0960d 159
Davidroid 1:9f1974b0960d 160 /* Waiting. */
Davidroid 1:9f1974b0960d 161 wait_ms(DELAY_1);
Davidroid 0:5148e9486cf2 162
Davidroid 1:9f1974b0960d 163 /* Getting the current position. */
Davidroid 1:9f1974b0960d 164 int position = motors[0]->GetPosition();
Davidroid 1:9f1974b0960d 165
Davidroid 1:9f1974b0960d 166 /* Printing to the console. */
Davidroid 1:9f1974b0960d 167 printf("--> Getting the current position: %d\r\n", position);
Davidroid 1:9f1974b0960d 168
Davidroid 1:9f1974b0960d 169 /* Waiting. */
Davidroid 1:9f1974b0960d 170 wait_ms(DELAY_1);
Davidroid 1:9f1974b0960d 171
Davidroid 1:9f1974b0960d 172 /* Printing to the console. */
Davidroid 1:9f1974b0960d 173 printf("--> Moving forward %d steps.\r\n", STEPS_1);
Davidroid 1:9f1974b0960d 174
Davidroid 1:9f1974b0960d 175 /* Moving. */
Davidroid 1:9f1974b0960d 176 motors[0]->Move(StepperMotor::FWD, STEPS_1);
Davidroid 0:5148e9486cf2 177
Davidroid 1:9f1974b0960d 178 /* Waiting while active. */
Davidroid 1:9f1974b0960d 179 motors[0]->WaitWhileActive();
Davidroid 1:9f1974b0960d 180
Davidroid 1:9f1974b0960d 181 /* Getting the current position. */
Davidroid 1:9f1974b0960d 182 position = motors[0]->GetPosition();
Davidroid 1:9f1974b0960d 183
Davidroid 1:9f1974b0960d 184 /* Printing to the console. */
Davidroid 1:9f1974b0960d 185 printf("--> Getting the current position: %d\r\n", position);
Davidroid 1:9f1974b0960d 186
Davidroid 1:9f1974b0960d 187 /* Printing to the console. */
Davidroid 1:9f1974b0960d 188 printf("--> Marking the current position.\r\n");
Davidroid 0:5148e9486cf2 189
Davidroid 1:9f1974b0960d 190 /* Marking the current position. */
Davidroid 1:9f1974b0960d 191 motors[0]->SetMark();
Davidroid 1:9f1974b0960d 192
Davidroid 1:9f1974b0960d 193 /* Waiting. */
Davidroid 1:9f1974b0960d 194 wait_ms(DELAY_1);
Davidroid 1:9f1974b0960d 195
Davidroid 1:9f1974b0960d 196 /* Printing to the console. */
Davidroid 1:9f1974b0960d 197 printf("--> Moving backward %d steps.\r\n", STEPS_2);
Davidroid 1:9f1974b0960d 198
Davidroid 1:9f1974b0960d 199 /* Moving. */
Davidroid 1:9f1974b0960d 200 motors[0]->Move(StepperMotor::BWD, STEPS_2);
Davidroid 1:9f1974b0960d 201
Davidroid 1:9f1974b0960d 202 /* Waiting while active. */
Davidroid 1:9f1974b0960d 203 motors[0]->WaitWhileActive();
Davidroid 0:5148e9486cf2 204
Davidroid 1:9f1974b0960d 205 /* Waiting. */
Davidroid 1:9f1974b0960d 206 wait_ms(DELAY_1);
Davidroid 1:9f1974b0960d 207
Davidroid 1:9f1974b0960d 208 /* Getting the current position. */
Davidroid 1:9f1974b0960d 209 position = motors[0]->GetPosition();
Davidroid 1:9f1974b0960d 210
Davidroid 1:9f1974b0960d 211 /* Printing to the console. */
Davidroid 1:9f1974b0960d 212 printf("--> Getting the current position: %d\r\n", position);
Davidroid 1:9f1974b0960d 213
Davidroid 1:9f1974b0960d 214 /* Waiting. */
Davidroid 1:9f1974b0960d 215 wait_ms(DELAY_1);
Davidroid 0:5148e9486cf2 216
Davidroid 1:9f1974b0960d 217 /* Printing to the console. */
Davidroid 1:9f1974b0960d 218 printf("--> Going to marked position.\r\n");
Davidroid 0:5148e9486cf2 219
Davidroid 1:9f1974b0960d 220 /* Going to marked position. */
Davidroid 1:9f1974b0960d 221 motors[0]->GoMark();
Davidroid 1:9f1974b0960d 222
Davidroid 1:9f1974b0960d 223 /* Waiting while active. */
Davidroid 1:9f1974b0960d 224 motors[0]->WaitWhileActive();
Davidroid 0:5148e9486cf2 225
Davidroid 1:9f1974b0960d 226 /* Waiting. */
Davidroid 1:9f1974b0960d 227 wait_ms(DELAY_1);
Davidroid 0:5148e9486cf2 228
Davidroid 1:9f1974b0960d 229 /* Getting the current position. */
Davidroid 1:9f1974b0960d 230 position = motors[0]->GetPosition();
Davidroid 1:9f1974b0960d 231
Davidroid 1:9f1974b0960d 232 /* Printing to the console. */
Davidroid 1:9f1974b0960d 233 printf("--> Getting the current position: %d\r\n", position);
Davidroid 0:5148e9486cf2 234
Davidroid 1:9f1974b0960d 235 /* Waiting. */
Davidroid 1:9f1974b0960d 236 wait_ms(DELAY_1);
Davidroid 1:9f1974b0960d 237
Davidroid 1:9f1974b0960d 238 /* Printing to the console. */
Davidroid 1:9f1974b0960d 239 printf("--> Going to home position.\r\n");
Davidroid 0:5148e9486cf2 240
Davidroid 1:9f1974b0960d 241 /* Going to home position. */
Davidroid 1:9f1974b0960d 242 motors[0]->GoHome();
Davidroid 1:9f1974b0960d 243
Davidroid 1:9f1974b0960d 244 /* Waiting while active. */
Davidroid 1:9f1974b0960d 245 motors[0]->WaitWhileActive();
Davidroid 1:9f1974b0960d 246
Davidroid 1:9f1974b0960d 247 /* Waiting. */
Davidroid 1:9f1974b0960d 248 wait_ms(DELAY_1);
Davidroid 0:5148e9486cf2 249
Davidroid 1:9f1974b0960d 250 /* Getting the current position. */
Davidroid 1:9f1974b0960d 251 position = motors[0]->GetPosition();
Davidroid 1:9f1974b0960d 252
Davidroid 1:9f1974b0960d 253 /* Printing to the console. */
Davidroid 1:9f1974b0960d 254 printf("--> Getting the current position: %d\r\n", position);
Davidroid 1:9f1974b0960d 255
Davidroid 1:9f1974b0960d 256 /* Waiting. */
Davidroid 1:9f1974b0960d 257 wait_ms(DELAY_2);
Davidroid 0:5148e9486cf2 258
Davidroid 0:5148e9486cf2 259
Davidroid 1:9f1974b0960d 260 /*----- Running together for a certain amount of time. -----*/
Davidroid 1:9f1974b0960d 261
Davidroid 1:9f1974b0960d 262 /* Printing to the console. */
Davidroid 1:9f1974b0960d 263 printf("--> Running together for %d seconds.\r\n", DELAY_3 / 1000);
Davidroid 0:5148e9486cf2 264
Davidroid 1:9f1974b0960d 265 /* Preparing each motor to perform a run at a specified speed. */
Davidroid 1:9f1974b0960d 266 for (int m = 0; m < L6470DAISYCHAINSIZE; m++)
Davidroid 1:9f1974b0960d 267 motors[m]->PrepareRun(StepperMotor::BWD, 400);
Davidroid 0:5148e9486cf2 268
Davidroid 1:9f1974b0960d 269 /* Performing the action on each motor at the same time. */
Davidroid 1:9f1974b0960d 270 x_nucleo_ihm02a1->PerformPreparedActions();
Davidroid 0:5148e9486cf2 271
Davidroid 1:9f1974b0960d 272 /* Waiting. */
Davidroid 1:9f1974b0960d 273 wait_ms(DELAY_3);
Davidroid 1:9f1974b0960d 274
Davidroid 1:9f1974b0960d 275
Davidroid 1:9f1974b0960d 276 /*----- Increasing the speed while running. -----*/
Davidroid 0:5148e9486cf2 277
Davidroid 1:9f1974b0960d 278 /* Preparing each motor to perform a run at a specified speed. */
Davidroid 1:9f1974b0960d 279 for (int m = 0; m < L6470DAISYCHAINSIZE; m++)
Davidroid 1:9f1974b0960d 280 motors[m]->PrepareGetSpeed();
Davidroid 0:5148e9486cf2 281
Davidroid 1:9f1974b0960d 282 /* Performing the action on each motor at the same time. */
Davidroid 1:9f1974b0960d 283 uint32_t* results = x_nucleo_ihm02a1->PerformPreparedActions();
Davidroid 0:5148e9486cf2 284
Davidroid 1:9f1974b0960d 285 /* Printing to the console. */
Davidroid 1:9f1974b0960d 286 printf(" Speed: M1 %d, M2 %d.\r\n", results[0], results[1]);
Davidroid 1:9f1974b0960d 287
Davidroid 1:9f1974b0960d 288 /* Printing to the console. */
Davidroid 1:9f1974b0960d 289 printf("--> Doublig the speed while running.\r\n");
Davidroid 0:5148e9486cf2 290
Davidroid 1:9f1974b0960d 291 /* Preparing each motor to perform a run at a specified speed. */
Davidroid 1:9f1974b0960d 292 for (int m = 0; m < L6470DAISYCHAINSIZE; m++)
Davidroid 1:9f1974b0960d 293 motors[m]->PrepareRun(StepperMotor::BWD, results[m] << 1);
Davidroid 1:9f1974b0960d 294
Davidroid 1:9f1974b0960d 295 /* Performing the action on each motor at the same time. */
Davidroid 1:9f1974b0960d 296 results = x_nucleo_ihm02a1->PerformPreparedActions();
Davidroid 0:5148e9486cf2 297
Davidroid 1:9f1974b0960d 298 /* Waiting. */
Davidroid 1:9f1974b0960d 299 wait_ms(DELAY_3);
Davidroid 0:5148e9486cf2 300
Davidroid 1:9f1974b0960d 301 /* Preparing each motor to perform a run at a specified speed. */
Davidroid 1:9f1974b0960d 302 for (int m = 0; m < L6470DAISYCHAINSIZE; m++)
Davidroid 1:9f1974b0960d 303 motors[m]->PrepareGetSpeed();
Davidroid 0:5148e9486cf2 304
Davidroid 1:9f1974b0960d 305 /* Performing the action on each motor at the same time. */
Davidroid 1:9f1974b0960d 306 results = x_nucleo_ihm02a1->PerformPreparedActions();
Davidroid 0:5148e9486cf2 307
Davidroid 1:9f1974b0960d 308 /* Printing to the console. */
Davidroid 1:9f1974b0960d 309 printf(" Speed: M1 %d, M2 %d.\r\n", results[0], results[1]);
Davidroid 1:9f1974b0960d 310
Davidroid 1:9f1974b0960d 311 /* Waiting. */
Davidroid 1:9f1974b0960d 312 wait_ms(DELAY_1);
Davidroid 0:5148e9486cf2 313
Davidroid 0:5148e9486cf2 314
Davidroid 1:9f1974b0960d 315 /*----- Hard Stop. -----*/
Davidroid 0:5148e9486cf2 316
Davidroid 1:9f1974b0960d 317 /* Printing to the console. */
Davidroid 1:9f1974b0960d 318 printf("--> Hard Stop.\r\n");
Davidroid 0:5148e9486cf2 319
Davidroid 1:9f1974b0960d 320 /* Preparing each motor to perform a hard stop. */
Davidroid 1:9f1974b0960d 321 for (int m = 0; m < L6470DAISYCHAINSIZE; m++)
Davidroid 1:9f1974b0960d 322 motors[m]->PrepareHardStop();
Davidroid 0:5148e9486cf2 323
Davidroid 1:9f1974b0960d 324 /* Performing the action on each motor at the same time. */
Davidroid 1:9f1974b0960d 325 x_nucleo_ihm02a1->PerformPreparedActions();
Davidroid 0:5148e9486cf2 326
Davidroid 1:9f1974b0960d 327 /* Waiting. */
Davidroid 1:9f1974b0960d 328 wait_ms(DELAY_2);
Davidroid 0:5148e9486cf2 329
Davidroid 0:5148e9486cf2 330
Davidroid 1:9f1974b0960d 331 /*----- Doing a full revolution on each motor, one after the other. -----*/
Davidroid 1:9f1974b0960d 332
Davidroid 1:9f1974b0960d 333 /* Printing to the console. */
Davidroid 1:9f1974b0960d 334 printf("--> Doing a full revolution on each motor, one after the other.\r\n");
Davidroid 1:9f1974b0960d 335
Davidroid 1:9f1974b0960d 336 /* Doing a full revolution on each motor, one after the other. */
Davidroid 1:9f1974b0960d 337 for (int m = 0; m < L6470DAISYCHAINSIZE; m++)
Davidroid 1:9f1974b0960d 338 for (int i = 0; i < MPR_1; i++)
Davidroid 1:9f1974b0960d 339 {
Davidroid 1:9f1974b0960d 340 /* Computing the number of steps. */
Davidroid 9:f35fbeedb8f4 341 int steps = (int) (((int) init[m].fullstepsperrevolution * pow(2.0f, init[m].step_sel)) / MPR_1);
Davidroid 1:9f1974b0960d 342
Davidroid 1:9f1974b0960d 343 /* Moving. */
Davidroid 1:9f1974b0960d 344 motors[m]->Move(StepperMotor::FWD, steps);
Davidroid 1:9f1974b0960d 345
Davidroid 1:9f1974b0960d 346 /* Waiting while active. */
Davidroid 1:9f1974b0960d 347 motors[m]->WaitWhileActive();
Davidroid 1:9f1974b0960d 348
Davidroid 1:9f1974b0960d 349 /* Waiting. */
Davidroid 1:9f1974b0960d 350 wait_ms(DELAY_1);
Davidroid 1:9f1974b0960d 351 }
Davidroid 1:9f1974b0960d 352
Davidroid 1:9f1974b0960d 353 /* Waiting. */
Davidroid 1:9f1974b0960d 354 wait_ms(DELAY_2);
Davidroid 1:9f1974b0960d 355
Davidroid 1:9f1974b0960d 356
Davidroid 1:9f1974b0960d 357 /*----- High Impedance State. -----*/
Davidroid 1:9f1974b0960d 358
Davidroid 1:9f1974b0960d 359 /* Printing to the console. */
Davidroid 1:9f1974b0960d 360 printf("--> High Impedance State.\r\n");
Davidroid 1:9f1974b0960d 361
Davidroid 1:9f1974b0960d 362 /* Preparing each motor to set High Impedance State. */
Davidroid 1:9f1974b0960d 363 for (int m = 0; m < L6470DAISYCHAINSIZE; m++)
Davidroid 1:9f1974b0960d 364 motors[m]->PrepareHardHiZ();
Davidroid 1:9f1974b0960d 365
Davidroid 1:9f1974b0960d 366 /* Performing the action on each motor at the same time. */
Davidroid 1:9f1974b0960d 367 x_nucleo_ihm02a1->PerformPreparedActions();
Davidroid 1:9f1974b0960d 368
Davidroid 1:9f1974b0960d 369 /* Waiting. */
Davidroid 1:9f1974b0960d 370 wait_ms(DELAY_2);
Davidroid 0:5148e9486cf2 371 }