Diff: main.cpp

Revision:

16:1dc772fba09f

Parent:

15:c781dda7e44c

Child:

17:dc1b04f0b55d

--- a/main.cpp	Fri Dec 07 11:21:04 2018 +0000
+++ b/main.cpp	Fri Dec 07 17:40:15 2018 +0000
@@ -28,6 +28,8 @@
 /* Motor Control Component. */
 L6208 *motor;
 DigitalIn button (USER_BUTTON);
+DigitalIn end(PC_10);
+DigitalOut led(LED1);
 /* Functions -----------------------------------------------------------------*/
 
 /**
@@ -84,7 +86,7 @@
   /* Attaching an error handler */
   motor->attach_error_handler(&my_error_handler);
  
-  motor->set_step_mode(StepperMotor::STEP_MODE_1_4);
+  motor->set_step_mode(StepperMotor::STEP_MODE_1_8);
 
   /* Set speed, acceleration and deceleration to scale with microstep mode */
  //motor->set_max_speed(2000);
@@ -93,17 +95,42 @@
  motor->set_max_speed(motor->get_max_speed()<<2);
   motor->set_acceleration(motor->get_acceleration()<<2);
   motor->set_deceleration(motor->get_deceleration()<<2);
+  printf(" init\n\r");
+  end.mode(PullUp);
+  /* Request to go position 9000 (quarter steps) */
+   motor->run(StepperMotor::BWD);
+  while(1)
+    {
+   //  motor->wait_while_active();
+     printf("while");
+      if(end) break;
+    }
+  motor->hard_stop(); 
+  led=1;
   
-  /* Request to go position 9000 (quarter steps) */
+  int pos=motor->get_position();
+  printf("pos:%d\n\r", pos);
+  motor->go_to(pos+200);
+  motor->wait_while_active();
+  led=0;
+  wait(0.5);
+
+  motor->set_home();
+  wait(1);
+
+  motor->go_to(1000<<4);
+  motor->wait_while_active();
+ 
   while (true)
 {
-  motor->go_to(3000);
+  motor->go_to(500<<4);
   motor->wait_while_active();
  
    motor->go_to(0);
    motor->wait_while_active();
    while (button)
   {
+  
    }
 }