Diff: main.cpp

Revision:

13:08617f604d55

Parent:

10:9d908db05638

Child:

14:1b70207bf922

--- a/main.cpp	Thu Dec 06 16:33:09 2018 +0000
+++ b/main.cpp	Thu Dec 06 20:19:20 2018 +0000
@@ -1,35 +1,21 @@
 
 /* Includes ------------------------------------------------------------------*/
-
 /* mbed specific header files. */
 #include "mbed.h"
-
 /* Component specific header files. */
 #include "L6208.h"
-
-
 /* Definitions ---------------------------------------------------------------*/
-#ifdef TARGET_NUCLEO_F334R8
-#define VREFA_PWM_PIN D11
-#define VREFB_PWM_PIN D9
-#elif TARGET_NUCLEO_F302R8
-#define VREFA_PWM_PIN D11
-#define VREFB_PWM_PIN D15 /* HW mandatory patch: bridge manually D9 with D15 */
-#else
 #define VREFA_PWM_PIN D3
 #define VREFB_PWM_PIN D9
-#endif
-
 /* Variables -----------------------------------------------------------------*/
-
 /* Initialization parameters of the motor connected to the expansion board. */
 l6208_init_t init =
 {
-  1500,            //Acceleration rate in step/s^2 or (1/16)th step/s^2 for microstep modes
-  50,              //Acceleration current torque in % (from 0 to 100)
-  1000,            //Deceleration rate in step/s^2 or (1/16)th step/s^2 for microstep modes
-  50,              //Deceleration current torque in % (from 0 to 100)
-  1500,            //Running speed in step/s or (1/16)th step/s for microstep modes
+  150,            //Acceleration rate in step/s^2 or (1/16)th step/s^2 for microstep modes
+  80,              //Acceleration current torque in % (from 0 to 100)
+  150,            //Deceleration rate in step/s^2 or (1/16)th step/s^2 for microstep modes
+  80,              //Deceleration current torque in % (from 0 to 100)
+  1000,            //Running speed in step/s or (1/16)th step/s for microstep modes
   50,              //Running current torque in % (from 0 to 100)
   30,              //Holding current torque in % (from 0 to 100)
   STEP_MODE_1_16,  //Step mode via enum motorStepMode_t
@@ -96,35 +82,7 @@
     
   /* Attaching an error handler */
   motor->attach_error_handler(&my_error_handler);
- //----- run the motor BACKWARD
-  printf("--> Running the motor backward.\r\n");
-  motor->run(StepperMotor::BWD);
-  
-  while (motor->get_status()!=STEADY) {
-    /* Print reached speed to the console in step/s or microsteps/s */
-    printf("    Reached Speed: %d microstep/s.\r\n", motor->get_speed());
-    wait_ms(50);    
-  }
-  printf("    Reached Speed: %d microstep/s.\r\n", motor->get_speed());
-     
-  /* Wait for 1 second */  
-  wait_ms(1000);
-  
-//----- Decrease speed while running to one quarter of the previous speed
-  motor->set_max_speed(motor->get_speed()>>2);
-  
-  /* Wait until the motor starts decelerating */
-  while (motor->get_status()==STEADY);
-  /* Wait and print speed while the motor is not steady running */
-  while (motor->get_status()!=STEADY) {
-    /* Print reached speed to the console in step/s or microsteps/s */
-    printf("    Reached Speed: %d microstep/s.\r\n", motor->get_speed());
-    wait_ms(50);    
-  }
-  printf("    Reached Speed: %d microstep/s.\r\n", motor->get_speed());  
-
-  /* Wait for 5 seconds */  
-  wait_ms(5000);
+ 
   
  //----- Change step mode to 1/4 microstepping mode  
   motor->set_step_mode(StepperMotor::STEP_MODE_1_4);
@@ -134,31 +92,23 @@
   motor->set_acceleration(motor->get_acceleration()<<4);
   motor->set_deceleration(motor->get_deceleration()<<4);
   
-  /* Request to go position 800 (quarter steps) */
+  /* Request to go position 9000 (quarter steps) */
+  while (true)
+{
   motor->go_to(9000);
-
-  /* Wait for the motor ends moving */
   motor->wait_while_active();
-motor->go_to(-9000);
-
-  /* Wait for the motor ends moving */
-  motor->wait_while_active();
-  /* Wait for 2 seconds */  
-  wait_ms(2000);
-int i;
-  for (i = 0; i < 4; i++) {
-    /* Request device to go position -3200 */
-    motor->go_to(3200);
-
+ 
+   motor->go_to(0);
+   motor->wait_while_active();
+   while (button)
+  {
+   }
+}
+ 
+  
     /* Waiting while the motor is active. */
     motor->wait_while_active();
-
-    /* Request device to go position 3200 */
-    motor->go_to(-3200);
- 
-    /* Waiting while the motor is active. */
-    motor->wait_while_active();
-  }
+  
     wait_ms(5000);  
   motor->disable();
 }