Simple code to run steps
Dependencies: X-NUCLEO-IHM05A1 mbed
Fork of HelloWorld_IHM05A1 by
Diff: main.cpp
- Revision:
- 9:4b2736fbecdf
- Parent:
- 8:baedd289a8cc
- Child:
- 10:93b6d1b02071
--- a/main.cpp Fri Jul 28 13:07:13 2017 +0000 +++ b/main.cpp Mon Jan 01 11:02:36 2018 +0000 @@ -44,7 +44,11 @@ /* Component specific header files. */ #include "L6208.h" - +#define DELAY_STEPS 1000 +#define STEPS_PER 1 +#define NUM_STEPS 400 +#define NUM_ROTATION 1 +int32_t steps=0; /* Definitions ---------------------------------------------------------------*/ #ifdef TARGET_NUCLEO_F334R8 #define VREFA_PWM_PIN D11 @@ -62,14 +66,14 @@ /* Initialization parameters of the motor connected to the expansion board. */ l6208_init_t init = { - 1500, //Acceleration rate in step/s^2 or (1/16)th step/s^2 for microstep modes - 40, //Acceleration current torque in % (from 0 to 100) - 1500, //Deceleration rate in step/s^2 or (1/16)th step/s^2 for microstep modes + 400, //Acceleration rate in step/s^2 or (1/16)th step/s^2 for microstep modes + 30, //Acceleration current torque in % (from 0 to 100) + 400, //Deceleration rate in step/s^2 or (1/16)th step/s^2 for microstep modes 30, //Deceleration current torque in % (from 0 to 100) - 1500, //Running speed in step/s or (1/16)th step/s for microstep modes - 50, //Running current torque in % (from 0 to 100) + 20, //Running speed in step/s or (1/16)th step/s for microstep modes + 30, //Running current torque in % (from 0 to 100) 20, //Holding current torque in % (from 0 to 100) - STEP_MODE_1_16, //Step mode via enum motorStepMode_t + STEP_MODE_HALF, //Step mode via enum motorStepMode_t FAST_DECAY, //Decay mode via enum motorDecayMode_t 0, //Dwelling time in ms FALSE, //Automatic HIZ STOP @@ -142,171 +146,52 @@ motor->attach_error_handler(&my_error_handler); /* Printing to the console. */ - printf("Motor Control Application Example for 1 Motor\r\n"); + printf("Run motor at 1/16 micro stepping"); -//----- run the motor BACKWARD - printf("--> Running the motor backward.\r\n"); - motor->run(StepperMotor::BWD); - - while (motor->get_status()!=STEADY) { - /* Print reached speed to the console in step/s or microsteps/s */ - printf(" Reached Speed: %d microstep/s.\r\n", motor->get_speed()); - wait_ms(50); - } - printf(" Reached Speed: %d microstep/s.\r\n", motor->get_speed()); - - /* Wait for 1 second */ - wait_ms(1000); - -//----- Decrease speed while running to one quarter of the previous speed - motor->set_max_speed(motor->get_speed()>>2); - - /* Wait until the motor starts decelerating */ - while (motor->get_status()==STEADY); - /* Wait and print speed while the motor is not steady running */ - while (motor->get_status()!=STEADY) { - /* Print reached speed to the console in step/s or microsteps/s */ - printf(" Reached Speed: %d microstep/s.\r\n", motor->get_speed()); - wait_ms(50); - } - printf(" Reached Speed: %d microstep/s.\r\n", motor->get_speed()); - - /* Wait for 5 seconds */ - wait_ms(5000); - -//----- Soft stop required while running - printf("--> Soft stop requested.\r\n"); - motor->soft_stop(); - - /* Wait for the motor of device ends moving */ - motor->wait_while_active(); - - /* Wait for 2 seconds */ - wait_ms(2000); - -//----- Change step mode to full step mode - motor->set_step_mode(StepperMotor::STEP_MODE_FULL); - printf(" Motor step mode: %d (0:FS, 1:1/2, 2:1/4, 3:1/8, 4:1/16).\r\n", motor->get_step_mode()); - - /* Get current position of device and print to the console */ - printf(" Position: %d.\r\n", motor->get_position()); - - /* Set speed, acceleration and deceleration to scale with normal mode */ - motor->set_max_speed(init.maxSpeedSps>>4); - motor->set_acceleration(motor->get_acceleration()>>4); - motor->set_deceleration(motor->get_deceleration()>>4); /* Print parameters to the console */ printf(" Motor Max Speed: %d step/s.\r\n", motor->get_max_speed()); printf(" Motor Min Speed: %d step/s.\r\n", motor->get_min_speed()); printf(" Motor Acceleration: %d step/s.\r\n", motor->get_acceleration()); printf(" Motor Deceleration: %d step/s.\r\n", motor->get_deceleration()); -//----- move of 200 steps in the FW direction - printf("--> Moving forward 200 steps.\r\n"); - motor->move(StepperMotor::FWD, 200); - - /* Waiting while the motor is active. */ - motor->wait_while_active(); - - /* Get current position of device and print to the console */ - printf(" Position: %d.\r\n", motor->get_position()); - - /* Disable the power bridges */ - motor->disable(); - - /* Check that the power bridges are actually disabled */ - if (motor->check_status_hw()!=0) { - printf(" Motor driver disabled.\r\n"); - } else { - printf(" Failed to disable the motor driver.\r\n"); - } - - /* Wait for 2 seconds */ - wait_ms(2000); - - //----- Change step mode to 1/4 microstepping mode - motor->set_step_mode(StepperMotor::STEP_MODE_1_4); + +//----- Change step mode to full step mode + motor->set_step_mode(StepperMotor::STEP_MODE_HALF); printf(" Motor step mode: %d (0:FS, 1:1/2, 2:1/4, 3:1/8, 4:1/16).\r\n", motor->get_step_mode()); - - /* Get current position of device and print to the console */ - printf(" Position: %d.\r\n", motor->get_position()); - - /* Set speed, acceleration and deceleration to scale with microstep mode */ - motor->set_max_speed(motor->get_max_speed()<<4); - motor->set_acceleration(motor->get_acceleration()<<4); - motor->set_deceleration(motor->get_deceleration()<<4); - /* Print parameters to the console */ - printf(" Motor Max Speed: %d step/s.\r\n", motor->get_max_speed()); - printf(" Motor Min Speed: %d step/s.\r\n", motor->get_min_speed()); - printf(" Motor Acceleration: %d step/s.\r\n", motor->get_acceleration()); - printf(" Motor Deceleration: %d step/s.\r\n", motor->get_deceleration()); - - /* Request to go position 800 (quarter steps) */ - motor->go_to(800); - - /* 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_ms(2000); - -//----- Restore step mode to its initialization value - motor->set_step_mode((StepperMotor::step_mode_t)init.stepMode); - printf(" Motor step mode: %d (0:FS, 1:1/2, 2:1/4, 3:1/8, 4:1/16).\r\n", motor->get_step_mode()); - - /* Get current position of device and print to the console */ - printf(" Position: %d.\r\n", motor->get_position()); - -//----- Change decay mode - motor->set_decay_mode(SLOW_DECAY); - printf(" Motor decay mode: %d (0:slow decay, 1:fast decay).\r\n", motor->get_decay_mode()); - -//----- Go to position -6400 - printf("--> Go to position -6400 steps.\r\n"); - motor->go_to(-6400); - - /* 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_ms(2000); +////----- run the motor BACKWARD +// printf("--> Running the motor backward.\r\n"); +// motor->run(StepperMotor::BWD); +// +// +// // wait untill motor is at const speed +// while (motor->get_status()!=STEADY) { +// /* Print reached speed to the console in step/s or microsteps/s */ +// printf(" Reached Speed: %d microstep/s.\r\n", motor->get_speed()); +// wait_ms(50); +// } +// printf(" Reached Speed: %d microstep/s.\r\n", motor->get_speed()); +// +// // run continious +// /* Wait for 1 second */ +// wait(60); +// +////----- Soft stop required while running +// printf("--> Soft stop requested.\r\n"); +// motor->soft_stop(); +// +// /* Wait for the motor of device ends moving */ +// motor->wait_while_active(); -//----- Restore decay mode to its initialization value - motor->set_decay_mode(init.decayMode); - printf(" Motor decay mode: %d (0:slow decay, 1:fast decay).\r\n", motor->get_decay_mode()); - -//----- Go Home - printf("--> Go to home position.\r\n"); - motor->go_home(); - - /* Wait for the motor ends moving */ - motor->wait_while_active(); - - /* Wait for 1 second */ - wait_ms(1000); - - /* Infinite Loop. */ - printf("--> Infinite Loop...\r\n"); - //while (true) { - int i; - for (i = 0; i < 2; i++) { - /* Request device to go position -3200 */ - motor->go_to(-3200); - /* Waiting while the motor is active. */ - motor->wait_while_active(); - - /* Request device to go position 3200 */ - motor->go_to(3200); - - /* Waiting while the motor is active. */ - motor->wait_while_active(); +while (steps<NUM_STEPS*NUM_ROTATION){ + //----- move of STEPS_PER steps in the FW direction + + motor->move(StepperMotor::FWD, STEPS_PER); + /* Wait for DELAY_STEPS*/ + wait_ms(DELAY_STEPS); + steps=motor->get_position(); + printf("--> %d steps.\r\n",steps); } }