Revision 2:ad3a480d3376, committed 2020-03-16

Comitter:

paullj

Date:

Mon Mar 16 15:27:39 2020 +0000

Parent:

1:5822a95491d3

Commit message:

Added basic motor control;

Changed in this revision

diff -r 5822a95491d3 -r ad3a480d3376 main.cpp
--- a/main.cpp	Tue Feb 11 16:59:03 2020 +0000
+++ b/main.cpp	Mon Mar 16 15:27:39 2020 +0000
@@ -8,7 +8,7 @@
     .cm.cp.cmVmSelection = POWERSTEP01_CM_VM_CURRENT, // enum powerstep01_CmVm_t
     582, // Acceleration rate in step/s2, range 14.55 to 59590 steps/s^2
     582, // Deceleration rate in step/s2, range 14.55 to 59590 steps/s^2
-    200, // Maximum speed in step/s, range 15.25 to 15610 steps/s
+    48, // Maximum speed in step/s, range 15.25 to 15610 steps/s
     0, // Minimum speed in step/s, range 0 to 976.3 steps/s
     POWERSTEP01_LSPD_OPT_OFF, // Low speed optimization bit, enum powerstep01_LspdOpt_t
     244.16, // Full step speed in step/s, range 7.63 to 15625 steps/s
@@ -127,60 +127,33 @@
 
     printf("Press button to start motor control.\r\n");
     while(button);
-
-    printf("--> Moving forward 480 steps.\r\n");
-    motor->move(StepperMotor::BWD, 10*16*48);
-
-    /* Waiting while the motor is active. */
+    
+    printf("--> Going to start position.\r\n");
+    motor->move(StepperMotor::FWD, 2000);
     motor->wait_while_active();
 
-    /* Wait for 2 seconds */
-    wait(2);
-    //----- Go to position -480
-    printf("--> Go to position -480 steps.\r\n");
-
-    /* Request device to go to position -480 */
-    motor->go_to(10*16*48);
-
-    /* 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(2);
-
+    while(button) {
+        //----- Go to position 7680
+        printf("--> Go to position -2000 steps.\r\n");
+        /* Request device to go to position 7680 */
+        motor->go_to(-2000);
+        /* Wait for the motor ends moving */
+        motor->wait_while_active();
+        printf("--> Go to position 2000 steps.\r\n");
+        motor->go_to(2000);
+        /* Wait for the motor ends moving */
+        motor->wait_while_active();
+    }
+    
     //----- Go Home
     /* Printing to the console. */
     printf("--> Go to home position.\r\n");
 
     /* Request device to go to Home */
     motor->go_home();
-
-    /* Wait for the motor ends moving */
     motor->wait_while_active();
-
-//    /* Wait for 2 seconds */
-//    wait(2*1000);
-//
-//    //----- run the motor BACKWARD at 120 step/s
-//    printf("--> run the motor backward at 120 step/s.\r\n");
-//    motor->run(StepperMotor::BWD, 120);
-//
-//    //----- Get parameter example
-//    /* Wait for device reaches the targeted speed */
-//    while ((motor->read_status_register() & POWERSTEP01_STATUS_MOT_STATUS) != POWERSTEP01_STATUS_MOT_STATUS_CONST_SPD);
-//
-//    /* Record the reached speed in step/s and print to the console */
-//    printf("    Reached Speed: %f step/s.\r\n", motor->get_analog_value(POWERSTEP01_SPEED));
-
-    //----- Soft stopped required while running
-    printf("--> Soft stop requested.\r\n");
-
     /* Request a soft stop of device and keep the power bridges enabled */
     motor->soft_hiz();
-
     /* Wait for the motor of device ends moving */
     motor->wait_while_active();
 }
\ No newline at end of file