Revision 9:16f134d983bb, committed 2018-12-01

Comitter:

gidiana

Date:

Sat Dec 01 12:31:22 2018 +0000

Parent:

8:baedd289a8cc

Child:

10:9d908db05638

Commit message:

1

Changed in this revision

--- a/main.cpp	Fri Jul 28 13:07:13 2017 +0000
+++ b/main.cpp	Sat Dec 01 12:31:22 2018 +0000
@@ -63,12 +63,12 @@
 l6208_init_t init =
 {
   1500,            //Acceleration rate in step/s^2 or (1/16)th step/s^2 for microstep modes
-  40,              //Acceleration current torque in % (from 0 to 100)
-  1500,            //Deceleration rate in step/s^2 or (1/16)th step/s^2 for microstep modes
-  30,              //Deceleration current torque in % (from 0 to 100)
+  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
   50,              //Running current torque in % (from 0 to 100)
-  20,              //Holding 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
   FAST_DECAY,      //Decay mode via enum motorDecayMode_t
   0,               //Dwelling time in ms
@@ -119,14 +119,7 @@
 
 int main()
 {
-  /* Printing to the console. */
-  printf("STARTING MAIN PROGRAM\r\n");
-  printf("    Reminder:\r\n");
-  printf("    The position unit is in agreement to the step mode.\r\n");
-  printf("    The speed, acceleration or deceleration unit depend on the step mode:\r\n");
-  printf("    - For normal mode and half step mode, the unit is steps/s or /s^2.\r\n");
-  printf("    - For microstep modes, the unit is (1/16)steps/s or /s^2.\r\n");
-    
+
 //----- Initialization 
   /* Initializing Motor Control Component. */
   motor = new L6208(D2, D8, D7, D4, D5, D6, VREFA_PWM_PIN, VREFB_PWM_PIN);
@@ -140,11 +133,7 @@
     
   /* Attaching an error handler */
   motor->attach_error_handler(&my_error_handler);
-
-  /* Printing to the console. */
-  printf("Motor Control Application Example for 1 Motor\r\n");
-
-//----- run the motor BACKWARD
+ //----- run the motor BACKWARD
   printf("--> Running the motor backward.\r\n");
   motor->run(StepperMotor::BWD);
   
@@ -174,140 +163,41 @@
   /* Wait for 5 seconds */  
   wait_ms(5000);
   
-//----- Soft stop required while running
-  printf("--> Soft stop requested.\r\n");
-  motor->soft_stop();
-  
-  /* Wait for the motor of device ends moving */  
-  motor->wait_while_active();
-
-  /* Wait for 2 seconds */
-  wait_ms(2000);
-
-//----- Change step mode to full step mode
-  motor->set_step_mode(StepperMotor::STEP_MODE_FULL);
-  printf("    Motor step mode: %d (0:FS, 1:1/2, 2:1/4, 3:1/8, 4:1/16).\r\n", motor->get_step_mode());
-  
-  /* Get current position of device and print to the console */
-  printf("    Position: %d.\r\n", motor->get_position());
-  
-  /* Set speed, acceleration and deceleration to scale with normal mode */
-  motor->set_max_speed(init.maxSpeedSps>>4);
-  motor->set_acceleration(motor->get_acceleration()>>4);
-  motor->set_deceleration(motor->get_deceleration()>>4);
-  /* Print parameters to the console */  
-  printf("    Motor Max Speed: %d step/s.\r\n", motor->get_max_speed());
-  printf("    Motor Min Speed: %d step/s.\r\n", motor->get_min_speed());
-  printf("    Motor Acceleration: %d step/s.\r\n", motor->get_acceleration());
-  printf("    Motor Deceleration: %d step/s.\r\n", motor->get_deceleration());
-  
-//----- move of 200 steps in the FW direction
-  printf("--> Moving forward 200 steps.\r\n");
-  motor->move(StepperMotor::FWD, 200);
-  
-  /* Waiting while the motor is active. */
-  motor->wait_while_active();
-  
-  /* Get current position of device and print to the console */
-  printf("    Position: %d.\r\n", motor->get_position());
-  
-  /* Disable the power bridges */
-  motor->disable();
-  
-  /* Check that the power bridges are actually disabled */
-  if (motor->check_status_hw()!=0) {
-    printf("    Motor driver disabled.\r\n");
-  } else {
-    printf("    Failed to disable the motor driver.\r\n");
-  }
-    
-  /* Wait for 2 seconds */  
-  wait_ms(2000);
-  
  //----- Change step mode to 1/4 microstepping mode  
   motor->set_step_mode(StepperMotor::STEP_MODE_1_4);
-  printf("    Motor step mode: %d (0:FS, 1:1/2, 2:1/4, 3:1/8, 4:1/16).\r\n", motor->get_step_mode());
-  
-  /* Get current position of device and print to the console */
-  printf("    Position: %d.\r\n", motor->get_position());
 
   /* Set speed, acceleration and deceleration to scale with microstep mode */
   motor->set_max_speed(motor->get_max_speed()<<4);
   motor->set_acceleration(motor->get_acceleration()<<4);
   motor->set_deceleration(motor->get_deceleration()<<4);
-  /* Print parameters to the console */
-  printf("    Motor Max Speed: %d step/s.\r\n", motor->get_max_speed());
-  printf("    Motor Min Speed: %d step/s.\r\n", motor->get_min_speed());
-  printf("    Motor Acceleration: %d step/s.\r\n", motor->get_acceleration());
-  printf("    Motor Deceleration: %d step/s.\r\n", motor->get_deceleration());
   
   /* Request to go position 800 (quarter steps) */
-  motor->go_to(800);
+  motor->go_to(9000);
 
   /* Wait for the motor ends moving */
   motor->wait_while_active();
-
-  /* Get current position of device and print to the console */
-  printf("    Position: %d.\r\n", motor->get_position());
-  
-  /* Wait for 2 seconds */  
-  wait_ms(2000);
-  
-//----- Restore step mode to its initialization value
-  motor->set_step_mode((StepperMotor::step_mode_t)init.stepMode);
-  printf("    Motor step mode: %d (0:FS, 1:1/2, 2:1/4, 3:1/8, 4:1/16).\r\n", motor->get_step_mode());  
+motor->go_to(-9000);
 
-  /* Get current position of device and print to the console */
-  printf("    Position: %d.\r\n", motor->get_position());
-  
-//----- Change decay mode
-  motor->set_decay_mode(SLOW_DECAY);
-  printf("    Motor decay mode: %d (0:slow decay, 1:fast decay).\r\n", motor->get_decay_mode());   
-  
-//----- Go to position -6400
-  printf("--> Go to position -6400 steps.\r\n");
-  motor->go_to(-6400);
-  
   /* Wait for the motor ends moving */
   motor->wait_while_active();
-
-  /* Get current position of device and print to the console */
-  printf("    Position: %d.\r\n", motor->get_position());
-  
   /* Wait for 2 seconds */  
   wait_ms(2000);
-
-//----- Restore decay mode to its initialization value
-  motor->set_decay_mode(init.decayMode);
-  printf("    Motor decay mode: %d (0:slow decay, 1:fast decay).\r\n", motor->get_decay_mode());
-  
-//----- Go Home
-  printf("--> Go to home position.\r\n");
-  motor->go_home();
- 
-  /* Wait for the motor ends moving */
-  motor->wait_while_active();
-  
-  /* Wait for 1 second */
-  wait_ms(1000);
-  
-  /* Infinite Loop. */
-  printf("--> Infinite Loop...\r\n");
-  //while (true) {
-  int i;
-  for (i = 0; i < 2; i++) {
+int i;
+  for (i = 0; i < 4; i++) {
     /* Request device to go position -3200 */
-    motor->go_to(-3200);
+    motor->go_to(3200);
 
     /* Waiting while the motor is active. */
     motor->wait_while_active();
 
     /* Request device to go position 3200 */
-    motor->go_to(3200);
+    motor->go_to(-3200);
  
     /* Waiting while the motor is active. */
     motor->wait_while_active();
   }
+    wait_ms(5000);  
+  motor->disable();
 }
 
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
+