Signori, questo è il codice di doukietown...... divertitevi
Dependencies: HCSR04 TCS3200 X_NUCLEO_IHM12A1 mbed
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main.cpp
- Committer:
- Manu_L
- Date:
- 2016-11-17
- Revision:
- 2:1e4061cedf1d
- Parent:
- 0:773e2a2be16f
- Child:
- 5:7517162fb2b9
File content as of revision 2:1e4061cedf1d:
/** ****************************************************************************** * @file main.cpp * @author IPC Rennes * @version V1.0.0 * @date April 25th, 2016 * @brief mbed simple application for the STMicroelectronics X-NUCLEO-IHM12A1 * Motor Control Expansion Board: control of 2 Brush DC motors. ****************************************************************************** * @attention * * <h2><center>© COPYRIGHT(c) 2016 STMicroelectronics</center></h2> * * Redistribution and use in source and binary forms, with or without modification, * are permitted provided that the following conditions are met: * 1. Redistributions of source code must retain the above copyright notice, * this list of conditions and the following disclaimer. * 2. Redistributions in binary form must reproduce the above copyright notice, * this list of conditions and the following disclaimer in the documentation * and/or other materials provided with the distribution. * 3. Neither the name of STMicroelectronics nor the names of its contributors * may be used to endorse or promote products derived from this software * without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * ****************************************************************************** */ /* Includes ------------------------------------------------------------------*/ /* mbed specific header files. */ #include "mbed.h" /* Component specific header files. */ #include "stspin240_250_class.h" /* Variables -----------------------------------------------------------------*/ /* Initialization parameters of the motor connected to the expansion board. */ Stspin240_250_Init_t initDeviceParameters = { 20000, /* Frequency of PWM of Input Bridge A in Hz up to 100000Hz */ 20000, /* Frequency of PWM of Input Bridge B in Hz up to 100000Hz */ 20000, /* Frequency of PWM used for Ref pin in Hz up to 100000Hz */ 50, /* Duty cycle of PWM used for Ref pin (from 0 to 100) */ TRUE /* Dual Bridge configuration (FALSE for mono, TRUE for dual brush dc) */ }; /* Motor Control Component. */ STSPIN240_250 *motor; /* Functions -----------------------------------------------------------------*/ /** * @brief This is an example of error handler. * @param[in] error Number of the error * @retval None * @note If needed, implement it, and then attach it: * + motor->AttachErrorHandler(&myErrorHandler); */ void myErrorHandler(uint16_t error) { /* Printing to the console. */ printf("Error %d detected\r\n\n", error); /* Infinite loop */ while(1) { } } /** * @brief This is an example of user handler for the flag interrupt. * @param None * @retval None * @note If needed, implement it, and then attach and enable it: * + motor->AttachFlagIRQ(&myFlagIRQHandler); * + motor->EnableFlagIRQ(); * To disable it: * + motor->DisbleFlagIRQ(); */ void myFlagIRQHandler(void) { /* Code to be customised */ /************************/ printf(" WARNING: \"FLAG\" interrupt triggered.\r\n"); /* Get the state of bridge A */ uint16_t bridgeState = motor->GetBridgeStatus(0); if (bridgeState == 0) { if (motor->GetDeviceState(0) != INACTIVE) { /* Bridges were disabled due to overcurrent or over temperature */ /* When motor was running */ myErrorHandler(0XBAD0); } } } /* Main ----------------------------------------------------------------------*/ int main() { uint8_t demoStep = 0; /* Printing to the console. */ printf("STARTING MAIN PROGRAM\r\n"); //----- Initialization /* Initializing Motor Control Component. */ #if (defined TARGET_NUCLEO_F030R8)||(defined TARGET_NUCLEO_F334R8) motor = new STSPIN240_250(D2, D9, D6, D7, D5, D4, A2); #elif (defined TARGET_NUCLEO_L152RE) motor = new STSPIN240_250(D2, D9, D6, D7, D5, D4, A3); #else motor = new STSPIN240_250(D2, D9, D6, D7, D5, D4, A0); #endif if (motor->Init(&initDeviceParameters) != COMPONENT_OK) exit(EXIT_FAILURE); /* Set dual bridge enabled as two motors are used*/ motor->SetDualFullBridgeConfig(1); /* Attaching and enabling an interrupt handler. */ motor->AttachFlagIRQ(&myFlagIRQHandler); motor->EnableFlagIRQ(); /* Attaching an error handler */ motor->AttachErrorHandler(&myErrorHandler); /* Printing to the console. */ printf("Motor Control Application Example for 2 brush DC motors\r\n"); /* Set PWM Frequency of Ref to 15000 Hz */ motor->SetRefPwmFreq(0, 15000); /* Set PWM duty cycle of Ref to 60% */ motor->SetRefPwmDc(0, 60); /* Set PWM Frequency of bridge A inputs to 10000 Hz */ motor->SetBridgeInputPwmFreq(0,10000); /* Set PWM Frequency of bridge B inputs to 10000 Hz */ motor->SetBridgeInputPwmFreq(1,10000); /* Infinite Loop. */ printf("--> Infinite Loop...\r\n"); while (1) { switch (demoStep) { case 0: printf("STEP 0: Motor(0) FWD Speed=100%% - Motor(1) Inactive\r\n"); /* Set speed of motor 0 to 100 % */ motor->SetSpeed(0,100); /* start motor 0 to run forward*/ /* if chip is in standby mode */ /* it is automatically awakened */ motor->Run(0, BDCMotor::FWD); break; case 1: printf("STEP 1: Motor(0) FWD Speed=75%% - Motor(1) BWD Speed=100%%\r\n"); /* Set speed of motor 0 to 75 % */ motor->SetSpeed(0,75); /* Set speed of motor 1 to 100 % */ motor->SetSpeed(1,100); /* start motor 1 to run backward */ motor->Run(1, BDCMotor::BWD); break; case 2: printf("STEP 2: Motor(0) FWD Speed=50%% - Motor(1) BWD Speed=75%%\r\n"); /* Set speed of motor 0 to 50 % */ motor->SetSpeed(0,50); /* Set speed of motor 1 to 75% */ motor->SetSpeed(1,75); break; case 3: printf("STEP 3: Motor(0) FWD Speed=25%% - Motor(1) BWD Speed=50%%\r\n"); /* Set speed of motor 0 to 25 % */ motor->SetSpeed(0,25); /* Set speed of motor 1 to 50% */ motor->SetSpeed(1,50); break; case 4: printf("STEP 4: Motor(0) Stopped - Motor(1) BWD Speed=25%%\r\n"); /* Stop Motor 0 */ motor->HardStop(0); /* Set speed of motor 1 to 25% */ motor->SetSpeed(1,25); break; case 5: printf("STEP 5: Motor(0) BWD Speed=25%% - Motor(1) Stopped\r\n"); /* Set speed of motor 0 to 25 % */ motor->SetSpeed(0,25); /* start motor 0 to run backward */ motor->Run(0, BDCMotor::BWD); /* Stop Motor 1 */ motor->HardStop(1); break; case 6: printf("STEP 6: Motor(0) BWD Speed=50%% - Motor(1) FWD Speed=25%%\r\n"); /* Set speed of motor 0 to 50 % */ motor->SetSpeed(0,50); /* Set speed of motor 1 to 25 % */ motor->SetSpeed(1,25); /* start motor 1 to run backward */ motor->Run(1, BDCMotor::FWD); break; case 7: printf("STEP 7: Motor(0) BWD Speed=75%% - Motor(1) FWD Speed=50%%\r\n"); /* Set speed of motor 0 to 75 % */ motor->SetSpeed(0,75); /* Set speed of motor 1 to 50 % */ motor->SetSpeed(1,50); break; case 8: printf("STEP 8: Motor(0) BWD Speed=100%% - Motor(1) FWD Speed=75%%\r\n"); /* Set speed of motor 0 to 100 % */ motor->SetSpeed(0,100); /* Set speed of motor 1 to 75 % */ motor->SetSpeed(1,75); break; case 9: printf("STEP 9: Motor(0) BWD Speed=100%% - Motor(1) FWD Speed=100%%\r\n"); /* Set speed of motor 1 to 100 % */ motor->SetSpeed(1,100); break; case 10: printf("STEP 10\r\n: Stop both motors and disable bridges\r\n"); /* Stop both motors and disable bridge */ motor->HardHiZ(0); motor->HardHiZ(1); break; case 11: printf("STEP 11: Motor(0) FWD Speed=100%% - Motor(1) FWD Speed=100%%\r\n"); /* Start both motors to go forward*/ motor->Run(0,BDCMotor::FWD); motor->Run(1,BDCMotor::FWD); break; case 12: default: printf("STEP 12: Stop both motors and enter standby mode\r\n"); /* Stop both motors and put chip in standby mode */ motor->Reset(); break; } /* Wait for 5 seconds */ wait_ms(5000); /* Increment demostep*/ demoStep++; if (demoStep > 12) { demoStep = 0; } } } /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/