SHOULDER
Dependencies: X-NUCLEO-IHM05A1
main.cpp@15:c781dda7e44c, 2018-12-07 (annotated)
- Committer:
- gidiana
- Date:
- Fri Dec 07 11:21:04 2018 +0000
- Revision:
- 15:c781dda7e44c
- Parent:
- 14:1b70207bf922
- Child:
- 16:1dc772fba09f
tweakings;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
nucleosam | 0:36aa6787d4f9 | 1 | |
nucleosam | 0:36aa6787d4f9 | 2 | /* Includes ------------------------------------------------------------------*/ |
nucleosam | 0:36aa6787d4f9 | 3 | /* mbed specific header files. */ |
nucleosam | 0:36aa6787d4f9 | 4 | #include "mbed.h" |
nucleosam | 0:36aa6787d4f9 | 5 | /* Component specific header files. */ |
davide.aliprandi@st.com | 5:bc710d77d801 | 6 | #include "L6208.h" |
nucleosam | 0:36aa6787d4f9 | 7 | /* Definitions ---------------------------------------------------------------*/ |
nucleosam | 0:36aa6787d4f9 | 8 | #define VREFA_PWM_PIN D3 |
nucleosam | 3:a6e155687c6a | 9 | #define VREFB_PWM_PIN D9 |
nucleosam | 0:36aa6787d4f9 | 10 | /* Variables -----------------------------------------------------------------*/ |
nucleosam | 0:36aa6787d4f9 | 11 | /* Initialization parameters of the motor connected to the expansion board. */ |
davide.aliprandi@st.com | 5:bc710d77d801 | 12 | l6208_init_t init = |
nucleosam | 0:36aa6787d4f9 | 13 | { |
gidiana | 15:c781dda7e44c | 14 | 1500, //Acceleration rate in step/s^2 or (1/16)th step/s^2 for microstep modes |
gidiana | 13:08617f604d55 | 15 | 80, //Acceleration current torque in % (from 0 to 100) |
gidiana | 15:c781dda7e44c | 16 | 1500, //Deceleration rate in step/s^2 or (1/16)th step/s^2 for microstep modes |
gidiana | 13:08617f604d55 | 17 | 80, //Deceleration current torque in % (from 0 to 100) |
gidiana | 13:08617f604d55 | 18 | 1000, //Running speed in step/s or (1/16)th step/s for microstep modes |
gidiana | 15:c781dda7e44c | 19 | 80, //Running current torque in % (from 0 to 100) |
gidiana | 15:c781dda7e44c | 20 | 40, //Holding current torque in % (from 0 to 100) |
nucleosam | 0:36aa6787d4f9 | 21 | STEP_MODE_1_16, //Step mode via enum motorStepMode_t |
nucleosam | 0:36aa6787d4f9 | 22 | FAST_DECAY, //Decay mode via enum motorDecayMode_t |
nucleosam | 0:36aa6787d4f9 | 23 | 0, //Dwelling time in ms |
nucleosam | 0:36aa6787d4f9 | 24 | FALSE, //Automatic HIZ STOP |
nucleosam | 0:36aa6787d4f9 | 25 | 100000 //VREFA and VREFB PWM frequency (Hz) |
nucleosam | 0:36aa6787d4f9 | 26 | }; |
nucleosam | 0:36aa6787d4f9 | 27 | |
nucleosam | 0:36aa6787d4f9 | 28 | /* Motor Control Component. */ |
nucleosam | 0:36aa6787d4f9 | 29 | L6208 *motor; |
gidiana | 14:1b70207bf922 | 30 | DigitalIn button (USER_BUTTON); |
nucleosam | 0:36aa6787d4f9 | 31 | /* Functions -----------------------------------------------------------------*/ |
nucleosam | 0:36aa6787d4f9 | 32 | |
nucleosam | 0:36aa6787d4f9 | 33 | /** |
nucleosam | 0:36aa6787d4f9 | 34 | * @brief This is an example of user handler for the flag interrupt. |
nucleosam | 0:36aa6787d4f9 | 35 | * @param None |
nucleosam | 0:36aa6787d4f9 | 36 | * @retval None |
nucleosam | 0:36aa6787d4f9 | 37 | * @note If needed, implement it, and then attach and enable it: |
davide.aliprandi@st.com | 5:bc710d77d801 | 38 | * + motor->attach_flag_irq(&my_flag_irq_handler); |
davide.aliprandi@st.com | 5:bc710d77d801 | 39 | * + motor->enable_flag_irq(); |
nucleosam | 0:36aa6787d4f9 | 40 | * To disable it: |
nucleosam | 0:36aa6787d4f9 | 41 | * + motor->DisbleFlagIRQ(); |
nucleosam | 0:36aa6787d4f9 | 42 | */ |
davide.aliprandi@st.com | 5:bc710d77d801 | 43 | void my_flag_irq_handler(void) |
nucleosam | 0:36aa6787d4f9 | 44 | { |
nucleosam | 0:36aa6787d4f9 | 45 | printf(" WARNING: \"FLAG\" interrupt triggered:\r\n"); |
Davidroid | 6:6fb625ef867a | 46 | motor->disable(); |
nucleosam | 0:36aa6787d4f9 | 47 | printf(" Motor disabled.\r\n\n"); |
nucleosam | 0:36aa6787d4f9 | 48 | } |
nucleosam | 0:36aa6787d4f9 | 49 | |
nucleosam | 0:36aa6787d4f9 | 50 | /** |
nucleosam | 0:36aa6787d4f9 | 51 | * @brief This is an example of error handler. |
nucleosam | 0:36aa6787d4f9 | 52 | * @param[in] error Number of the error |
nucleosam | 0:36aa6787d4f9 | 53 | * @retval None |
nucleosam | 0:36aa6787d4f9 | 54 | * @note If needed, implement it, and then attach it: |
davide.aliprandi@st.com | 5:bc710d77d801 | 55 | * + motor->attach_error_handler(&my_error_handler); |
nucleosam | 0:36aa6787d4f9 | 56 | */ |
davide.aliprandi@st.com | 5:bc710d77d801 | 57 | void my_error_handler(uint16_t error) |
nucleosam | 0:36aa6787d4f9 | 58 | { |
nucleosam | 0:36aa6787d4f9 | 59 | /* Printing to the console. */ |
nucleosam | 0:36aa6787d4f9 | 60 | printf("Error %d detected\r\n\n", error); |
nucleosam | 0:36aa6787d4f9 | 61 | |
nucleosam | 0:36aa6787d4f9 | 62 | /* Infinite loop */ |
davide.aliprandi@st.com | 5:bc710d77d801 | 63 | while (true) { |
nucleosam | 0:36aa6787d4f9 | 64 | } |
nucleosam | 0:36aa6787d4f9 | 65 | } |
nucleosam | 0:36aa6787d4f9 | 66 | |
nucleosam | 0:36aa6787d4f9 | 67 | /* Main ----------------------------------------------------------------------*/ |
nucleosam | 0:36aa6787d4f9 | 68 | |
nucleosam | 0:36aa6787d4f9 | 69 | int main() |
nucleosam | 0:36aa6787d4f9 | 70 | { |
gidiana | 9:16f134d983bb | 71 | |
nucleosam | 0:36aa6787d4f9 | 72 | //----- Initialization |
nucleosam | 0:36aa6787d4f9 | 73 | /* Initializing Motor Control Component. */ |
nucleosam | 3:a6e155687c6a | 74 | motor = new L6208(D2, D8, D7, D4, D5, D6, VREFA_PWM_PIN, VREFB_PWM_PIN); |
davide.aliprandi@st.com | 5:bc710d77d801 | 75 | if (motor->init(&init) != COMPONENT_OK) { |
gidiana | 15:c781dda7e44c | 76 | printf("error init\n\r"); |
davide.aliprandi@st.com | 5:bc710d77d801 | 77 | exit(EXIT_FAILURE); |
davide.aliprandi@st.com | 5:bc710d77d801 | 78 | } |
nucleosam | 0:36aa6787d4f9 | 79 | |
nucleosam | 0:36aa6787d4f9 | 80 | /* Attaching and enabling an interrupt handler. */ |
davide.aliprandi@st.com | 5:bc710d77d801 | 81 | motor->attach_flag_irq(&my_flag_irq_handler); |
davide.aliprandi@st.com | 5:bc710d77d801 | 82 | motor->enable_flag_irq(); |
nucleosam | 0:36aa6787d4f9 | 83 | |
nucleosam | 0:36aa6787d4f9 | 84 | /* Attaching an error handler */ |
davide.aliprandi@st.com | 5:bc710d77d801 | 85 | motor->attach_error_handler(&my_error_handler); |
gidiana | 13:08617f604d55 | 86 | |
davide.aliprandi@st.com | 5:bc710d77d801 | 87 | motor->set_step_mode(StepperMotor::STEP_MODE_1_4); |
nucleosam | 0:36aa6787d4f9 | 88 | |
nucleosam | 0:36aa6787d4f9 | 89 | /* Set speed, acceleration and deceleration to scale with microstep mode */ |
gidiana | 15:c781dda7e44c | 90 | //motor->set_max_speed(2000); |
gidiana | 15:c781dda7e44c | 91 | //motor->set_acceleration(2400); |
gidiana | 15:c781dda7e44c | 92 | //motor->set_deceleration(2400); |
gidiana | 15:c781dda7e44c | 93 | motor->set_max_speed(motor->get_max_speed()<<2); |
gidiana | 15:c781dda7e44c | 94 | motor->set_acceleration(motor->get_acceleration()<<2); |
gidiana | 15:c781dda7e44c | 95 | motor->set_deceleration(motor->get_deceleration()<<2); |
nucleosam | 0:36aa6787d4f9 | 96 | |
gidiana | 13:08617f604d55 | 97 | /* Request to go position 9000 (quarter steps) */ |
gidiana | 13:08617f604d55 | 98 | while (true) |
gidiana | 13:08617f604d55 | 99 | { |
gidiana | 15:c781dda7e44c | 100 | motor->go_to(3000); |
davide.aliprandi@st.com | 5:bc710d77d801 | 101 | motor->wait_while_active(); |
gidiana | 13:08617f604d55 | 102 | |
gidiana | 13:08617f604d55 | 103 | motor->go_to(0); |
gidiana | 13:08617f604d55 | 104 | motor->wait_while_active(); |
gidiana | 13:08617f604d55 | 105 | while (button) |
gidiana | 13:08617f604d55 | 106 | { |
gidiana | 13:08617f604d55 | 107 | } |
gidiana | 13:08617f604d55 | 108 | } |
gidiana | 13:08617f604d55 | 109 | |
gidiana | 13:08617f604d55 | 110 | |
nucleosam | 0:36aa6787d4f9 | 111 | /* Waiting while the motor is active. */ |
davide.aliprandi@st.com | 5:bc710d77d801 | 112 | motor->wait_while_active(); |
gidiana | 13:08617f604d55 | 113 | |
gidiana | 9:16f134d983bb | 114 | wait_ms(5000); |
gidiana | 9:16f134d983bb | 115 | motor->disable(); |
nucleosam | 0:36aa6787d4f9 | 116 | } |
davide.aliprandi@st.com | 5:bc710d77d801 | 117 | |
gidiana | 9:16f134d983bb | 118 |