Teste de Built System / Mbed OS V0_Button_two_Buttonfff

BO

Dependencies:   X_NUCLEO_IHM01A1

Fork of V0_Button_two_Buttonfff by Pecunia_Insper

main.cpp@33:351a888e5b3f, 2018-04-18 (annotated)

Committer:
cauecitrini
Date:
Wed Apr 18 14:59:00 2018 +0000
Revision:
33:351a888e5b3f
Parent:
32:9fe53ea8430c 
Problema de built system

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Davidroid 0:e6a49a092e2a 1 /**
Davidroid 0:e6a49a092e2a 2 ******************************************************************************
Davidroid 0:e6a49a092e2a 3 * @file main.cpp
Davidroid 17:aae1446c67f4 4 * @author Davide Aliprandi, STMicroelectronics
Davidroid 0:e6a49a092e2a 5 * @version V1.0.0
Davidroid 0:e6a49a092e2a 6 * @date October 14th, 2015
Davidroid 17:aae1446c67f4 7 * @brief mbed test application for the STMicroelectronics X-NUCLEO-IHM01A1
Davidroid 3:02d9ec4f88b2 8 * Motor Control Expansion Board: control of 2 motors.
Davidroid 0:e6a49a092e2a 9 ******************************************************************************
Davidroid 0:e6a49a092e2a 10 * @attention
Davidroid 0:e6a49a092e2a 11 *
Davidroid 0:e6a49a092e2a 12 * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
Davidroid 0:e6a49a092e2a 13 *
Davidroid 0:e6a49a092e2a 14 * Redistribution and use in source and binary forms, with or without modification,
Davidroid 0:e6a49a092e2a 15 * are permitted provided that the following conditions are met:
Davidroid 0:e6a49a092e2a 16 * 1. Redistributions of source code must retain the above copyright notice,
Davidroid 0:e6a49a092e2a 17 * this list of conditions and the following disclaimer.
Davidroid 0:e6a49a092e2a 18 * 2. Redistributions in binary form must reproduce the above copyright notice,
Davidroid 0:e6a49a092e2a 19 * this list of conditions and the following disclaimer in the documentation
Davidroid 0:e6a49a092e2a 20 * and/or other materials provided with the distribution.
Davidroid 0:e6a49a092e2a 21 * 3. Neither the name of STMicroelectronics nor the names of its contributors
Davidroid 0:e6a49a092e2a 22 * may be used to endorse or promote products derived from this software
Davidroid 0:e6a49a092e2a 23 * without specific prior written permission.
Davidroid 0:e6a49a092e2a 24 *
Davidroid 0:e6a49a092e2a 25 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
Davidroid 0:e6a49a092e2a 26 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
Davidroid 0:e6a49a092e2a 27 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
Davidroid 0:e6a49a092e2a 28 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
Davidroid 0:e6a49a092e2a 29 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
Davidroid 0:e6a49a092e2a 30 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
Davidroid 0:e6a49a092e2a 31 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
Davidroid 0:e6a49a092e2a 32 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
Davidroid 0:e6a49a092e2a 33 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
Davidroid 0:e6a49a092e2a 34 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
Davidroid 0:e6a49a092e2a 35 *
Davidroid 0:e6a49a092e2a 36 ******************************************************************************
Davidroid 0:e6a49a092e2a 37 */
Davidroid 0:e6a49a092e2a 38
Davidroid 0:e6a49a092e2a 39
Davidroid 0:e6a49a092e2a 40 /* Includes ------------------------------------------------------------------*/
Davidroid 0:e6a49a092e2a 41
Davidroid 0:e6a49a092e2a 42 /* mbed specific header files. */
Davidroid 0:e6a49a092e2a 43 #include "mbed.h"
Davidroid 0:e6a49a092e2a 44
Davidroid 0:e6a49a092e2a 45 /* Helper header files. */
Davidroid 0:e6a49a092e2a 46 #include "DevSPI.h"
Davidroid 0:e6a49a092e2a 47
Davidroid 0:e6a49a092e2a 48 /* Component specific header files. */
Davidroid 29:526970c1d998 49 #include "L6474.h"
Davidroid 0:e6a49a092e2a 50
Davidroid 0:e6a49a092e2a 51
Davidroid 0:e6a49a092e2a 52 /* Definitions ---------------------------------------------------------------*/
Davidroid 0:e6a49a092e2a 53
Davidroid 24:8cb3c4ad055f 54 /* Number of steps. */
gianlucamgf 32:9fe53ea8430c 55 #define STEPS 100
Davidroid 0:e6a49a092e2a 56
Davidroid 24:8cb3c4ad055f 57 /* Delay in milliseconds. */
gianlucamgf 32:9fe53ea8430c 58 #define DELAY_1 100
gianlucamgf 32:9fe53ea8430c 59 #define DELAY_2 3000
gianlucamgf 32:9fe53ea8430c 60 #define DELAY_3 4000
Davidroid 24:8cb3c4ad055f 61
Davidroid 24:8cb3c4ad055f 62 /* Speed in pps (Pulses Per Second).
Davidroid 24:8cb3c4ad055f 63 In Full Step mode: 1 pps = 1 step/s).
Davidroid 24:8cb3c4ad055f 64 In 1/N Step Mode: N pps = 1 step/s). */
Davidroid 24:8cb3c4ad055f 65 #define SPEED_1 2400
Davidroid 24:8cb3c4ad055f 66 #define SPEED_2 1200
Davidroid 24:8cb3c4ad055f 67
Davidroid 0:e6a49a092e2a 68
Davidroid 0:e6a49a092e2a 69 /* Variables -----------------------------------------------------------------*/
Davidroid 0:e6a49a092e2a 70
gianlucamgf 32:9fe53ea8430c 71 DigitalIn mybutton(USER_BUTTON);
gianlucamgf 32:9fe53ea8430c 72 bool x=true;
Davidroid 0:e6a49a092e2a 73 /* Motor Control Component. */
Davidroid 3:02d9ec4f88b2 74 L6474 *motor1;
Davidroid 3:02d9ec4f88b2 75 L6474 *motor2;
Davidroid 0:e6a49a092e2a 76
Davidroid 0:e6a49a092e2a 77
Davidroid 0:e6a49a092e2a 78 /* Main ----------------------------------------------------------------------*/
Davidroid 0:e6a49a092e2a 79
Davidroid 0:e6a49a092e2a 80 int main()
Davidroid 0:e6a49a092e2a 81 {
Davidroid 8:cec4c2c03a27 82 /*----- Initialization. -----*/
Davidroid 8:cec4c2c03a27 83
Davidroid 0:e6a49a092e2a 84 /* Initializing SPI bus. */
Davidroid 0:e6a49a092e2a 85 DevSPI dev_spi(D11, D12, D13);
Davidroid 0:e6a49a092e2a 86
Davidroid 9:a9e51320aee4 87 /* Initializing Motor Control Components. */
Davidroid 5:a0268a435bb1 88 motor1 = new L6474(D2, D8, D7, D9, D10, dev_spi);
Davidroid 16:810667a9f31f 89 motor2 = new L6474(D2, D8, D4, D3, D10, dev_spi);
Davidroid 29:526970c1d998 90 if (motor1->init() != COMPONENT_OK) {
Davidroid 14:fcd452b03d1a 91 exit(EXIT_FAILURE);
Davidroid 28:3f17a4152bcf 92 }
Davidroid 29:526970c1d998 93 if (motor2->init() != COMPONENT_OK) {
Davidroid 14:fcd452b03d1a 94 exit(EXIT_FAILURE);
Davidroid 28:3f17a4152bcf 95 }
Davidroid 0:e6a49a092e2a 96
Davidroid 0:e6a49a092e2a 97 /* Printing to the console. */
Davidroid 3:02d9ec4f88b2 98 printf("Motor Control Application Example for 2 Motors\r\n\n");
Davidroid 0:e6a49a092e2a 99
gianlucamgf 32:9fe53ea8430c 100 /*----- Moving F. -----*/
gianlucamgf 32:9fe53ea8430c 101 while(true) {
gianlucamgf 32:9fe53ea8430c 102 if (mybutton == 0) // Button is pressed
gianlucamgf 32:9fe53ea8430c 103 {
gianlucamgf 32:9fe53ea8430c 104 x=!x;
gianlucamgf 32:9fe53ea8430c 105 printf("x =%d", x);
gianlucamgf 32:9fe53ea8430c 106 }
gianlucamgf 32:9fe53ea8430c 107 if (x==true) // Button is pressed
gianlucamgf 32:9fe53ea8430c 108 {
gianlucamgf 32:9fe53ea8430c 109 /* Printing to the console. */
gianlucamgf 32:9fe53ea8430c 110 printf("--> Moving forward: M1 %d steps, M2 %d steps.\r\n", STEPS >> 1, STEPS);
Davidroid 8:cec4c2c03a27 111
gianlucamgf 32:9fe53ea8430c 112 /* Moving N steps in the forward direction. */
gianlucamgf 32:9fe53ea8430c 113 motor1->move(StepperMotor::FWD, STEPS >> 1);
gianlucamgf 32:9fe53ea8430c 114 motor2->move(StepperMotor::FWD, STEPS >> 1);
Davidroid 8:cec4c2c03a27 115
gianlucamgf 32:9fe53ea8430c 116 /* Waiting while the motor is active. */
gianlucamgf 32:9fe53ea8430c 117 motor1->wait_while_active();
gianlucamgf 32:9fe53ea8430c 118 motor2->wait_while_active();
gianlucamgf 32:9fe53ea8430c 119
gianlucamgf 32:9fe53ea8430c 120 /* Getting current position. */
gianlucamgf 32:9fe53ea8430c 121 int position1 = motor1->get_position();
gianlucamgf 32:9fe53ea8430c 122 int position2 = motor2->get_position();
Davidroid 8:cec4c2c03a27 123
gianlucamgf 32:9fe53ea8430c 124 /* Printing to the console. */
gianlucamgf 32:9fe53ea8430c 125 printf(" Position: M1 %d, M2 %d.\r\n", position1, position2);
Davidroid 8:cec4c2c03a27 126
gianlucamgf 32:9fe53ea8430c 127 /* Waiting 2 seconds. */
gianlucamgf 32:9fe53ea8430c 128 wait_ms(DELAY_1);
gianlucamgf 32:9fe53ea8430c 129 }
gianlucamgf 32:9fe53ea8430c 130 if (x==false) // Button is pressed
gianlucamgf 32:9fe53ea8430c 131 {
gianlucamgf 32:9fe53ea8430c 132 /*----- Moving B. -----*/
Davidroid 8:cec4c2c03a27 133
gianlucamgf 32:9fe53ea8430c 134 /* Printing to the console. */
gianlucamgf 32:9fe53ea8430c 135
gianlucamgf 32:9fe53ea8430c 136 printf("--> Moving backward: M1 %d steps, M2 %d steps.\r\n", STEPS >> 1, STEPS);
Davidroid 8:cec4c2c03a27 137
Davidroid 8:cec4c2c03a27 138
gianlucamgf 32:9fe53ea8430c 139 /* Moving N steps in the backward direction. */
gianlucamgf 32:9fe53ea8430c 140 motor1->move(StepperMotor::BWD, STEPS >> 1);
gianlucamgf 32:9fe53ea8430c 141 motor2->move(StepperMotor::BWD, STEPS >> 1);
Davidroid 8:cec4c2c03a27 142
gianlucamgf 32:9fe53ea8430c 143 /* Waiting while the motor is active. */
gianlucamgf 32:9fe53ea8430c 144 motor1->wait_while_active();
gianlucamgf 32:9fe53ea8430c 145 motor2->wait_while_active();
Davidroid 8:cec4c2c03a27 146
gianlucamgf 32:9fe53ea8430c 147 /* Getting current position. */
gianlucamgf 32:9fe53ea8430c 148 int position1 = motor1->get_position();
gianlucamgf 32:9fe53ea8430c 149 int position2 = motor2->get_position();
Davidroid 8:cec4c2c03a27 150
gianlucamgf 32:9fe53ea8430c 151 /* Printing to the console. */
gianlucamgf 32:9fe53ea8430c 152 printf(" Position: M1 %d, M2 %d.\r\n", position1, position2);
gianlucamgf 32:9fe53ea8430c 153 printf("--> Setting Home.\r\n");
Davidroid 8:cec4c2c03a27 154
Davidroid 8:cec4c2c03a27 155
gianlucamgf 32:9fe53ea8430c 156 /* Waiting 2 seconds. */
gianlucamgf 32:9fe53ea8430c 157 wait_ms(DELAY_1);
gianlucamgf 32:9fe53ea8430c 158 }
Davidroid 0:e6a49a092e2a 159 }
Davidroid 0:e6a49a092e2a 160 }
cauecitrini 33:351a888e5b3f 161