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BO
Dependencies: X_NUCLEO_IHM01A1
Fork of V0_Button_two_Buttonfff by
main.cpp
- Committer:
- cauecitrini
- Date:
- 2018-04-18
- Revision:
- 33:351a888e5b3f
- Parent:
- 32:9fe53ea8430c
File content as of revision 33:351a888e5b3f:
/** ****************************************************************************** * @file main.cpp * @author Davide Aliprandi, STMicroelectronics * @version V1.0.0 * @date October 14th, 2015 * @brief mbed test application for the STMicroelectronics X-NUCLEO-IHM01A1 * Motor Control Expansion Board: control of 2 motors. ****************************************************************************** * @attention * * <h2><center>© COPYRIGHT(c) 2015 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" /* Helper header files. */ #include "DevSPI.h" /* Component specific header files. */ #include "L6474.h" /* Definitions ---------------------------------------------------------------*/ /* Number of steps. */ #define STEPS 100 /* Delay in milliseconds. */ #define DELAY_1 100 #define DELAY_2 3000 #define DELAY_3 4000 /* Speed in pps (Pulses Per Second). In Full Step mode: 1 pps = 1 step/s). In 1/N Step Mode: N pps = 1 step/s). */ #define SPEED_1 2400 #define SPEED_2 1200 /* Variables -----------------------------------------------------------------*/ DigitalIn mybutton(USER_BUTTON); bool x=true; /* Motor Control Component. */ L6474 *motor1; L6474 *motor2; /* Main ----------------------------------------------------------------------*/ int main() { /*----- Initialization. -----*/ /* Initializing SPI bus. */ DevSPI dev_spi(D11, D12, D13); /* Initializing Motor Control Components. */ motor1 = new L6474(D2, D8, D7, D9, D10, dev_spi); motor2 = new L6474(D2, D8, D4, D3, D10, dev_spi); if (motor1->init() != COMPONENT_OK) { exit(EXIT_FAILURE); } if (motor2->init() != COMPONENT_OK) { exit(EXIT_FAILURE); } /* Printing to the console. */ printf("Motor Control Application Example for 2 Motors\r\n\n"); /*----- Moving F. -----*/ while(true) { if (mybutton == 0) // Button is pressed { x=!x; printf("x =%d", x); } if (x==true) // Button is pressed { /* Printing to the console. */ printf("--> Moving forward: M1 %d steps, M2 %d steps.\r\n", STEPS >> 1, STEPS); /* Moving N steps in the forward direction. */ motor1->move(StepperMotor::FWD, STEPS >> 1); motor2->move(StepperMotor::FWD, STEPS >> 1); /* Waiting while the motor is active. */ motor1->wait_while_active(); motor2->wait_while_active(); /* Getting current position. */ int position1 = motor1->get_position(); int position2 = motor2->get_position(); /* Printing to the console. */ printf(" Position: M1 %d, M2 %d.\r\n", position1, position2); /* Waiting 2 seconds. */ wait_ms(DELAY_1); } if (x==false) // Button is pressed { /*----- Moving B. -----*/ /* Printing to the console. */ printf("--> Moving backward: M1 %d steps, M2 %d steps.\r\n", STEPS >> 1, STEPS); /* Moving N steps in the backward direction. */ motor1->move(StepperMotor::BWD, STEPS >> 1); motor2->move(StepperMotor::BWD, STEPS >> 1); /* Waiting while the motor is active. */ motor1->wait_while_active(); motor2->wait_while_active(); /* Getting current position. */ int position1 = motor1->get_position(); int position2 = motor2->get_position(); /* Printing to the console. */ printf(" Position: M1 %d, M2 %d.\r\n", position1, position2); printf("--> Setting Home.\r\n"); /* Waiting 2 seconds. */ wait_ms(DELAY_1); } } }