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Dependencies: X_NUCLEO_IHM04A1 arm_linear_can_2
main.cpp
- Committer:
- s242743
- Date:
- 2019-09-15
- Revision:
- 32:d83629b32b10
- Parent:
- 30:62e21e5b4445
File content as of revision 32:d83629b32b10:
#include "mbed.h" #include "L6206.h" #include "BDCMotor.h" #define TX PC_10 #define RX PC_11 Serial SERIAL(D1, D0) static volatile uint16_t gLastError; static volatile uint8_t gStep = 0; L6206_init_t init = { L6206_CONF_PARAM_PARALLE_BRIDGES, {L6206_CONF_PARAM_FREQ_PWM1A, L6206_CONF_PARAM_FREQ_PWM2A, L6206_CONF_PARAM_FREQ_PWM1B, L6206_CONF_PARAM_FREQ_PWM2B}, {100,100,100,100}, {FORWARD,BACKWARD,FORWARD,BACKWARD}, {INACTIVE,INACTIVE,INACTIVE,INACTIVE}, {FALSE,FALSE} }; // Motor definition L6206 *LinAct; L6206 *EndEff; int speed_elbow = 0; int speed_ee = 0; /*********************************/ /* Interrupt Handlers */ /*********************************/ // Error Handler (called by the library when it reports an error) void my_error_handler(uint16_t error) { /* Backup error number */ gLastError = error; /* Enter your own code here */ } // Flag Handler (overcurrent and thermal alarms reporting) void my_flag_irq_handler(void) { /* Get the state of bridge A */ uint16_t bridgeState = EndEff->get_bridge_status(0); if (bridgeState == 0) { if ((EndEff->get_device_state(0) != INACTIVE)|| (EndEff->get_device_state(1) != INACTIVE)) { /* Bridge A was disabling due to overcurrent or over temperature */ /* When at least on of its motor was running */ my_error_handler(0XBAD0); } } /* Get the state of bridge B */ bridgeState = LinAct->get_bridge_status(1); if (bridgeState == 0) { if ((LinAct->get_device_state(2) != INACTIVE)|| (LinAct->get_device_state(3) != INACTIVE)) { /* Bridge A was disabling due to overcurrent or over temperature */ /* When at least on of its motor was running */ my_error_handler(0XBAD1); } } } /*****************************************************************************/ void rx() { } /*****************************/ /* MAIN */ /*****************************/ int main() { // Motor Initialization #ifdef TARGET_STM32F429 LinAct = new L6206(PB_14, PB_15, PA_8, PA_9, PC_6, PC_7); // EN_A, EN_B, IN1_A, IN2_A, IN1_B, IN2_B EndEff = new L6206(PB_14, PB_15, PA_8, PA_9, PC_6, PC_7); // EN_A, EN_B, IN1_A, IN2_A, IN1_B, IN2_B #else //LinAct = new L6206(PB_14, PB_15, PA_8, PA_9, PC_6, PC_7); LinAct = new L6206(D2, A4, D5, D4, A0, A1); EndEff = new L6206(D2, A4, D5, D4, A0, A1); #endif if (LinAct->init(&init) != COMPONENT_OK) { printf("ERROR: vvMotor Init\n\r"); exit(EXIT_FAILURE); } if (EndEff->init(&init) != COMPONENT_OK) { printf("ERROR: vvMotor Init\n\r"); exit(EXIT_FAILURE); } LinAct->attach_flag_interrupt(my_flag_irq_handler); LinAct->attach_error_handler(my_error_handler); EndEff->attach_flag_interrupt(my_flag_irq_handler); EndEff->attach_error_handler(my_error_handler); printf("DONE: Motor Init\n\r"); LinAct->set_dual_full_bridge_config(PARALLELING_NONE___1_BIDIR_MOTOR_BRIDGE_A__1_BIDIR_MOTOR_BRIDGE_B); EndEff->set_dual_full_bridge_config(PARALLELING_NONE___1_BIDIR_MOTOR_BRIDGE_A__1_BIDIR_MOTOR_BRIDGE_B); while(true) { EndEff->set_speed(0, speed_ee); if(speed_ee < 0) EndEff->run(0, BDCMotor::BWD); else if(speed_ee > 0) EndEff->run(0, BDCMotor::FWD); else if(speed_ee == 0) EndEff->hard_stop(0); LinAct->set_speed(1, speed_elbow); if(speed_elbow < 0) LinAct->run(1, BDCMotor::BWD); else if(speed_elbow > 0) LinAct->run(1, BDCMotor::FWD); else if(speed_elbow == 0) LinAct->hard_stop(1); osDelay(100); } }