a version to test
Dependencies: X-NUCLEO-IHM05A1
main.cpp
- Committer:
- gidiana
- Date:
- 2019-08-07
- Revision:
- 29:f888a2394027
- Parent:
- 28:8878dd50b7e1
- Child:
- 30:c40b060795a2
File content as of revision 29:f888a2394027:
#include "mbed.h" #include "L6208.h" #define VREFA_PWM_PIN D3 #define VREFB_PWM_PIN D9 l6208_init_t init = { 8000, //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) 8000, //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) 8000, //Running speed in step/s or (1/16)th step/s for microstep modes 80, //Running current torque in % (from 0 to 100) 40, //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) }; Thread canrxa; Thread cantxa; // Utility InterruptIn button(USER_BUTTON); DigitalOut led(LED1); // Motor Control L6208 *motor; InterruptIn end0(PA_5, PullUp); InterruptIn end1(PA_6, PullUp); InterruptIn enc(PC_12, PullUp); typedef enum { JOINT_SET_SPEED = 20, JOINT_SET_POSITION, JOINT_CURRENT_POSITION, JOINT_CURRENT_SPEED, JOINT_STATUS, JOINT_ERROR, JOINT_TORQUE, JOINT_MAXTORQUE, JOINT_ZERO, }CAN_COMMANDS; typedef enum { BASE=1, SHOULDER, ELBOW, WRIST1, WRIST2, WRIST3, END_EFFECTOR, CAMERA1, CAMERA2, }JOINT; long int pose, current_pose; int speed, current_speed; uint32_t gen_can_id(CAN_COMMANDS message_id, JOINT can_id) { uint32_t id = (uint32_t)can_id; // LSB byte is the controller id. id |= (uint32_t)message_id << 8; // Next lowest byte is the packet id. id |= 0x80000000; // Send in Extended Frame Format. return id; } int angle_deparse (long int pose, float offset) { offset = offset * 0.00872664625; float angle = pose * 0.00000425 ; //do something angle = (angle - offset) * 100; return (int)angle; } void motor_error_handler(uint16_t error) { printf("ERROR: Motor Runtime\n\r"); } void end0_int_handler() { motor->hard_stop(); motor->run(StepperMotor::FWD); printf("END0: Pressed\n\rPOSITION: %d\n\r", motor->get_position()); } void end1_int_handler() { motor->hard_stop(); motor->run(StepperMotor::BWD); printf("END1: Pressed\n\rPOSITION: %d\n\r", motor->get_position()); } void motor_set_home() { motor->hard_stop(); motor->set_home(); motor->go_to(0); } // CAN CAN can1(PB_8, PB_9); // RX, TX CANMessage messageIn; CANMessage messageOut; void cantx () { messageOut.format = CANExtended; messageOut.id=gen_can_id(JOINT_CURRENT_POSITION, BASE); pose=angle_deparse(motor->get_position(), 0); messageOut.data[3]=pose; messageOut.data[2]=pose >>8; messageOut.data[1]=pose >>16; messageOut.data[0]=pose >>24; int status = can1.write(messageOut); printf("CAN send CURRENT POSITION Joint status %d : pose %d",status, pose); wait(1); } void canrx() { while(1) { if(can1.read(messageIn)&&messageIn.id==gen_can_id(JOINT_SET_SPEED,BASE)) { speed=messageIn.data[0] + (messageIn.data[1] << 8) + (messageIn.data[2] << 16) + (messageIn.data[3] << 24); printf("CAN: mess %d\n\r", speed); current_speed=speed-100; if (current_speed>0) { motor->set_max_speed(current_speed*80); motor->run(StepperMotor::FWD); } else if (current_speed<0) { motor->set_max_speed(current_speed*80); motor->run(StepperMotor::BWD); } else { motor->soft_stop(); current_pose= motor->get_position(); motor->go_to(current_pose); } } if(can1.read(messageIn)&&messageIn.id==gen_can_id(JOINT_ZERO,BASE)) { if((messageIn.data[0] + (messageIn.data[1] << 8) + (messageIn.data[2] << 16) + (messageIn.data[3] << 24))==1) { motor->hard_stop(); motor->set_max_speed(5000); motor->run(StepperMotor::BWD); } } } } /* Main ----------------------------------------------------------------------*/ int main() { can1.frequency(125000); // Motor Initialization motor = new L6208(D2, D8, D7, D4, D5, D6, VREFA_PWM_PIN, VREFB_PWM_PIN); if (motor->init(&init) != COMPONENT_OK) { printf("ERROR: vvMotor Init\n\r"); exit(EXIT_FAILURE); } motor->attach_error_handler(&motor_error_handler); end0.rise(&end0_int_handler); end1.rise(&end1_int_handler); end1.fall(&motor_set_home); motor->set_step_mode(StepperMotor::STEP_MODE_1_16); printf("DONE: Motor Init\n\r"); // CAN Initialization canrxa.start(canrx); cantxa.start(cantx); printf("DONE: CAN Init\n\r"); printf("Running!\n\r"); while(true) { wait(1000); } }