Stepper controller with can interface
Dependencies: X-NUCLEO-IHM05A1
Diff: main.cpp
- Revision:
- 9:16f134d983bb
- Parent:
- 8:baedd289a8cc
- Child:
- 10:9d908db05638
--- a/main.cpp Fri Jul 28 13:07:13 2017 +0000 +++ b/main.cpp Sat Dec 01 12:31:22 2018 +0000 @@ -63,12 +63,12 @@ l6208_init_t init = { 1500, //Acceleration rate in step/s^2 or (1/16)th step/s^2 for microstep modes - 40, //Acceleration current torque in % (from 0 to 100) - 1500, //Deceleration rate in step/s^2 or (1/16)th step/s^2 for microstep modes - 30, //Deceleration current torque in % (from 0 to 100) + 50, //Acceleration current torque in % (from 0 to 100) + 1000, //Deceleration rate in step/s^2 or (1/16)th step/s^2 for microstep modes + 50, //Deceleration current torque in % (from 0 to 100) 1500, //Running speed in step/s or (1/16)th step/s for microstep modes 50, //Running current torque in % (from 0 to 100) - 20, //Holding 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 @@ -119,14 +119,7 @@ int main() { - /* Printing to the console. */ - printf("STARTING MAIN PROGRAM\r\n"); - printf(" Reminder:\r\n"); - printf(" The position unit is in agreement to the step mode.\r\n"); - printf(" The speed, acceleration or deceleration unit depend on the step mode:\r\n"); - printf(" - For normal mode and half step mode, the unit is steps/s or /s^2.\r\n"); - printf(" - For microstep modes, the unit is (1/16)steps/s or /s^2.\r\n"); - + //----- Initialization /* Initializing Motor Control Component. */ motor = new L6208(D2, D8, D7, D4, D5, D6, VREFA_PWM_PIN, VREFB_PWM_PIN); @@ -140,11 +133,7 @@ /* Attaching an error handler */ motor->attach_error_handler(&my_error_handler); - - /* Printing to the console. */ - printf("Motor Control Application Example for 1 Motor\r\n"); - -//----- run the motor BACKWARD + //----- run the motor BACKWARD printf("--> Running the motor backward.\r\n"); motor->run(StepperMotor::BWD); @@ -174,140 +163,41 @@ /* Wait for 5 seconds */ wait_ms(5000); -//----- Soft stop required while running - printf("--> Soft stop requested.\r\n"); - motor->soft_stop(); - - /* Wait for the motor of device ends moving */ - motor->wait_while_active(); - - /* Wait for 2 seconds */ - wait_ms(2000); - -//----- Change step mode to full step mode - motor->set_step_mode(StepperMotor::STEP_MODE_FULL); - printf(" Motor step mode: %d (0:FS, 1:1/2, 2:1/4, 3:1/8, 4:1/16).\r\n", motor->get_step_mode()); - - /* Get current position of device and print to the console */ - printf(" Position: %d.\r\n", motor->get_position()); - - /* Set speed, acceleration and deceleration to scale with normal mode */ - motor->set_max_speed(init.maxSpeedSps>>4); - motor->set_acceleration(motor->get_acceleration()>>4); - motor->set_deceleration(motor->get_deceleration()>>4); - /* Print parameters to the console */ - printf(" Motor Max Speed: %d step/s.\r\n", motor->get_max_speed()); - printf(" Motor Min Speed: %d step/s.\r\n", motor->get_min_speed()); - printf(" Motor Acceleration: %d step/s.\r\n", motor->get_acceleration()); - printf(" Motor Deceleration: %d step/s.\r\n", motor->get_deceleration()); - -//----- move of 200 steps in the FW direction - printf("--> Moving forward 200 steps.\r\n"); - motor->move(StepperMotor::FWD, 200); - - /* Waiting while the motor is active. */ - motor->wait_while_active(); - - /* Get current position of device and print to the console */ - printf(" Position: %d.\r\n", motor->get_position()); - - /* Disable the power bridges */ - motor->disable(); - - /* Check that the power bridges are actually disabled */ - if (motor->check_status_hw()!=0) { - printf(" Motor driver disabled.\r\n"); - } else { - printf(" Failed to disable the motor driver.\r\n"); - } - - /* Wait for 2 seconds */ - wait_ms(2000); - //----- Change step mode to 1/4 microstepping mode motor->set_step_mode(StepperMotor::STEP_MODE_1_4); - printf(" Motor step mode: %d (0:FS, 1:1/2, 2:1/4, 3:1/8, 4:1/16).\r\n", motor->get_step_mode()); - - /* Get current position of device and print to the console */ - printf(" Position: %d.\r\n", motor->get_position()); /* 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); - /* Print parameters to the console */ - printf(" Motor Max Speed: %d step/s.\r\n", motor->get_max_speed()); - printf(" Motor Min Speed: %d step/s.\r\n", motor->get_min_speed()); - printf(" Motor Acceleration: %d step/s.\r\n", motor->get_acceleration()); - printf(" Motor Deceleration: %d step/s.\r\n", motor->get_deceleration()); /* Request to go position 800 (quarter steps) */ - motor->go_to(800); + motor->go_to(9000); /* Wait for the motor ends moving */ motor->wait_while_active(); - - /* Get current position of device and print to the console */ - printf(" Position: %d.\r\n", motor->get_position()); - - /* Wait for 2 seconds */ - wait_ms(2000); - -//----- Restore step mode to its initialization value - motor->set_step_mode((StepperMotor::step_mode_t)init.stepMode); - printf(" Motor step mode: %d (0:FS, 1:1/2, 2:1/4, 3:1/8, 4:1/16).\r\n", motor->get_step_mode()); +motor->go_to(-9000); - /* Get current position of device and print to the console */ - printf(" Position: %d.\r\n", motor->get_position()); - -//----- Change decay mode - motor->set_decay_mode(SLOW_DECAY); - printf(" Motor decay mode: %d (0:slow decay, 1:fast decay).\r\n", motor->get_decay_mode()); - -//----- Go to position -6400 - printf("--> Go to position -6400 steps.\r\n"); - motor->go_to(-6400); - /* Wait for the motor ends moving */ motor->wait_while_active(); - - /* Get current position of device and print to the console */ - printf(" Position: %d.\r\n", motor->get_position()); - /* Wait for 2 seconds */ wait_ms(2000); - -//----- Restore decay mode to its initialization value - motor->set_decay_mode(init.decayMode); - printf(" Motor decay mode: %d (0:slow decay, 1:fast decay).\r\n", motor->get_decay_mode()); - -//----- Go Home - printf("--> Go to home position.\r\n"); - motor->go_home(); - - /* Wait for the motor ends moving */ - motor->wait_while_active(); - - /* Wait for 1 second */ - wait_ms(1000); - - /* Infinite Loop. */ - printf("--> Infinite Loop...\r\n"); - //while (true) { - int i; - for (i = 0; i < 2; i++) { +int i; + for (i = 0; i < 4; i++) { /* Request device to go position -3200 */ - motor->go_to(-3200); + motor->go_to(3200); /* Waiting while the motor is active. */ motor->wait_while_active(); /* Request device to go position 3200 */ - motor->go_to(3200); + motor->go_to(-3200); /* Waiting while the motor is active. */ motor->wait_while_active(); } + wait_ms(5000); + motor->disable(); } -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ +