Diff: main.cpp

Revision:

1:5822a95491d3

Parent:

0:1cb05bc2807c

Child:

2:ad3a480d3376

--- a/main.cpp	Tue Feb 11 16:02:22 2020 +0000
+++ b/main.cpp	Tue Feb 11 16:59:03 2020 +0000
@@ -1,4 +1,6 @@
 #include "mbed.h"
+#include "DevSPI.h"
+
 #include "PowerStep01.h"
 
 powerstep01_init_u_t init = {
@@ -6,7 +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
-    488, // Maximum speed in step/s, range 15.25 to 15610 steps/s
+    200, // 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
@@ -47,7 +49,7 @@
     POWERSTEP01_CONFIG_PRED_DISABLE // Predictive current enabling , enum powerstep01_ConfigPredEn_t
 };
 
-/* Motor Control Component. */
+DigitalIn button(USER_BUTTON);
 PowerStep01 *motor;
 
 void flag_irq_handler(void)
@@ -97,22 +99,16 @@
  */
 void error_handler(uint16_t error)
 {
-    /* Printing to the console. */
     printf("Error %d detected\r\n\n", error);
-
-    /* Infinite loop */
-    while (true) {
-    }
+    while (true);
 }
 
 /* Main ----------------------------------------------------------------------*/
 
 int main()
 {
-    /* Printing to the console. */
     printf("STARTING MAIN PROGRAM\r\n");
 
-//----- Initialization
     /* Initializing SPI bus. */
     DevSPI dev_spi(D11, D12, D13);
 
@@ -129,23 +125,22 @@
     /* Attaching an error handler */
     motor->attach_error_handler(&error_handler);
 
-    /* Printing to the console. */
-    printf("Motor Control Application Example for 1 Motor\r\n");
+    printf("Press button to start motor control.\r\n");
+    while(button);
 
-//----- move of 16000 steps in the FW direction
     printf("--> Moving forward 480 steps.\r\n");
-    motor->move(StepperMotor::FWD, 480);
+    motor->move(StepperMotor::BWD, 10*16*48);
 
     /* Waiting while the motor is active. */
     motor->wait_while_active();
 
     /* Wait for 2 seconds */
-    ThisThread::sleep_for(2*1000);
+    wait(2);
     //----- Go to position -480
     printf("--> Go to position -480 steps.\r\n");
 
     /* Request device to go to position -480 */
-    motor->go_to(-480);
+    motor->go_to(10*16*48);
 
     /* Wait for the motor ends moving */
     motor->wait_while_active();
@@ -154,9 +149,9 @@
     printf("    Position: %d.\r\n", motor->get_position());
 
     /* Wait for 2 seconds */
-    ThisThread::sleep_for(2*1000);
+    wait(2);
 
-//----- Go Home
+    //----- Go Home
     /* Printing to the console. */
     printf("--> Go to home position.\r\n");
 
@@ -166,21 +161,21 @@
     /* Wait for the motor ends moving */
     motor->wait_while_active();
 
-    /* Wait for 2 seconds */
-    ThisThread::sleep_for(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);
+//    /* 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));
 
-//----- 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
+    //----- Soft stopped required while running
     printf("--> Soft stop requested.\r\n");
 
     /* Request a soft stop of device and keep the power bridges enabled */