TVZ Mechatronics Team / Mbed 2 deprecated StepperTest

Program for stepper test.

Dependencies:   StepperDriver mbed

main.cpp@2:702fd272a9c8, 2016-12-02 (annotated)

Committer:
tbjazic
Date:
Fri Dec 02 08:37:14 2016 +0000
Revision:
2:702fd272a9c8
Parent:
1:5d11b66aba85 
A lots of functions added, together with their docs. We need to verify this code before moving to speed profile settings.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
tbjazic 0:98715b9719a6 1 #include "mbed.h"
tbjazic 0:98715b9719a6 2 #include "StepperDriver.h"
tbjazic 0:98715b9719a6 3
tbjazic 0:98715b9719a6 4 StepperDriver stepper(p26, p29);
mcmrk 1:5d11b66aba85 5 DigitalOut CDENBLN(p17);
mcmrk 1:5d11b66aba85 6 DigitalOut CDUSM1(p16);
mcmrk 1:5d11b66aba85 7 DigitalOut CDUSM0(p28);
mcmrk 1:5d11b66aba85 8 DigitalOut CDRESETn(p15);
mcmrk 1:5d11b66aba85 9 DigitalOut DECAY(p18);
mcmrk 1:5d11b66aba85 10
tbjazic 2:702fd272a9c8 11 float t = 0, period = 2;
tbjazic 0:98715b9719a6 12
tbjazic 0:98715b9719a6 13 int main() {
mcmrk 1:5d11b66aba85 14
mcmrk 1:5d11b66aba85 15 CDENBLN = 0; //Logicka 0 ukljucuje elektromotor, 1 iskljucuje
mcmrk 1:5d11b66aba85 16 CDUSM1 = 0; // 1/8 micro step mode ==1, full step mode == 0
mcmrk 1:5d11b66aba85 17 CDUSM0 = 0; // 1/8 micro step mode ==1, full step mode == 0
mcmrk 1:5d11b66aba85 18 CDRESETn = 1; //Logicka 0 ukljucuje indekser ali gasi H-most
mcmrk 1:5d11b66aba85 19 DECAY = 0; //Logicka 0 slow decay, 1 za mixed decay
mcmrk 1:5d11b66aba85 20
tbjazic 2:702fd272a9c8 21 stepper.setPosition(720);
tbjazic 0:98715b9719a6 22 wait(2);
tbjazic 2:702fd272a9c8 23 while(t < 10*period) {
tbjazic 2:702fd272a9c8 24 stepper.setPosition(720+360*sin(2*3.14159f/period*t));
tbjazic 0:98715b9719a6 25 t += 0.05;
tbjazic 0:98715b9719a6 26 wait(0.05);
tbjazic 0:98715b9719a6 27 }
tbjazic 2:702fd272a9c8 28 stepper.setPosition(0);
tbjazic 2:702fd272a9c8 29 CDENBLN = 1;
tbjazic 0:98715b9719a6 30 }