a version to test
Dependencies: X-NUCLEO-IHM05A1
main.cpp
- Committer:
- gidiana
- Date:
- 2018-12-06
- Revision:
- 14:1b70207bf922
- Parent:
- 13:08617f604d55
- Child:
- 15:c781dda7e44c
File content as of revision 14:1b70207bf922:
/* Includes ------------------------------------------------------------------*/ /* mbed specific header files. */ #include "mbed.h" /* Component specific header files. */ #include "L6208.h" /* Definitions ---------------------------------------------------------------*/ #define VREFA_PWM_PIN D3 #define VREFB_PWM_PIN D9 /* Variables -----------------------------------------------------------------*/ /* Initialization parameters of the motor connected to the expansion board. */ l6208_init_t init = { 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 FAST_DECAY, //Decay mode via enum motorDecayMode_t 0, //Dwelling time in ms FALSE, //Automatic HIZ STOP 100000 //VREFA and VREFB PWM frequency (Hz) }; /* Motor Control Component. */ L6208 *motor; DigitalIn button (USER_BUTTON); /* Functions -----------------------------------------------------------------*/ /** * @brief This is an example of user handler for the flag interrupt. * @param None * @retval None * @note If needed, implement it, and then attach and enable it: * + motor->attach_flag_irq(&my_flag_irq_handler); * + motor->enable_flag_irq(); * To disable it: * + motor->DisbleFlagIRQ(); */ void my_flag_irq_handler(void) { printf(" WARNING: \"FLAG\" interrupt triggered:\r\n"); motor->disable(); printf(" Motor disabled.\r\n\n"); } /** * @brief This is an example of error handler. * @param[in] error Number of the error * @retval None * @note If needed, implement it, and then attach it: * + motor->attach_error_handler(&my_error_handler); */ void my_error_handler(uint16_t error) { /* Printing to the console. */ printf("Error %d detected\r\n\n", error); /* Infinite loop */ while (true) { } } /* Main ----------------------------------------------------------------------*/ int main() { //----- Initialization /* Initializing Motor Control Component. */ motor = new L6208(D2, D8, D7, D4, D5, D6, VREFA_PWM_PIN, VREFB_PWM_PIN); if (motor->init(&init) != COMPONENT_OK) { exit(EXIT_FAILURE); } /* Attaching and enabling an interrupt handler. */ motor->attach_flag_irq(&my_flag_irq_handler); motor->enable_flag_irq(); /* Attaching an error handler */ motor->attach_error_handler(&my_error_handler); //----- Change step mode to 1/4 microstepping mode motor->set_step_mode(StepperMotor::STEP_MODE_1_4); /* 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); /* Request to go position 9000 (quarter steps) */ while (true) { motor->go_to(9000); motor->wait_while_active(); motor->go_to(0); motor->wait_while_active(); while (button) { } } /* Waiting while the motor is active. */ motor->wait_while_active(); wait_ms(5000); motor->disable(); }