Diff: main.cpp

Revision:

15:c781dda7e44c

Parent:

14:1b70207bf922

Child:

16:1dc772fba09f

--- a/main.cpp	Thu Dec 06 21:01:23 2018 +0000
+++ b/main.cpp	Fri Dec 07 11:21:04 2018 +0000
@@ -11,13 +11,13 @@
 /* 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
+  1500,            //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
+  1500,            //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)
+  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
@@ -73,6 +73,7 @@
   /* 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) {
+    printf("error init\n\r");
     exit(EXIT_FAILURE);
   }
 
@@ -83,19 +84,20 @@
   /* 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);
+ //motor->set_max_speed(2000);
+ //motor->set_acceleration(2400);
+ //motor->set_deceleration(2400);
+ motor->set_max_speed(motor->get_max_speed()<<2);
+  motor->set_acceleration(motor->get_acceleration()<<2);
+  motor->set_deceleration(motor->get_deceleration()<<2);
   
   /* Request to go position 9000 (quarter steps) */
   while (true)
 {
-  motor->go_to(9000);
+  motor->go_to(3000);
   motor->wait_while_active();
  
    motor->go_to(0);