Revision 5:9d031bbc6a8e, committed 2017-02-15

Comitter:

cpecorella

Date:

Wed Feb 15 10:30:38 2017 +0000

Parent:

4:d6077c2bfddd

Commit message:

prime funzioni per i motori

Changed in this revision

diff -r d6077c2bfddd -r 9d031bbc6a8e main.cpp
--- a/main.cpp	Wed Nov 23 09:19:34 2016 +0000
+++ b/main.cpp	Wed Feb 15 10:30:38 2017 +0000
@@ -1,40 +1,3 @@
-/**
- ******************************************************************************
- * @file    main.cpp
- * @author  IPC Rennes
- * @version V1.0.0
- * @date    April 25th, 2016
- * @brief   mbed simple application for the STMicroelectronics X-NUCLEO-IHM12A1
- *          Motor Control Expansion Board: control of 2 Brush DC motors.
- ******************************************************************************
- * @attention
- *
- * <h2><center>&copy; COPYRIGHT(c) 2016 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 ------------------------------------------------------------------*/
 
@@ -109,26 +72,22 @@
     }
   }
 }
+void go (float speed,bool direction);
+void turn(bool direction);
+void stop();
 
 /* Main ----------------------------------------------------------------------*/
 
 int main()
 {
-  uint8_t demoStep = 0;
   
   /* Printing to the console. */
   printf("STARTING MAIN PROGRAM\r\n");
     
 //----- Initialization 
-  
-  /* Initializing Motor Control Component. */
-  #if (defined TARGET_NUCLEO_F030R8)||(defined TARGET_NUCLEO_F334R8)
-  motor = new STSPIN240_250(D2, D9, D6, D7, D5, D4, A2);
-  #elif (defined TARGET_NUCLEO_L152RE)
-  motor = new STSPIN240_250(D2, D9, D6, D7, D5, D4, A3);
-  #else
+
   motor = new STSPIN240_250(D2, D9, D6, D7, D5, D4, A0);
-  #endif
+ 
   if (motor->Init(&initDeviceParameters) != COMPONENT_OK) exit(EXIT_FAILURE);
 
   /* Set dual bridge enabled as two motors are used*/
@@ -148,125 +107,65 @@
   motor->SetRefPwmFreq(0, 15000); 
 
   /* Set PWM duty cycle of Ref to 60% */ 
-  motor->SetRefPwmDc(0, 60); 
+  motor->SetRefPwmDc(0, 60);
   
   /* Set PWM Frequency of bridge A inputs to 10000 Hz */ 
-  motor->SetBridgeInputPwmFreq(0,10000); 
+  motor->SetBridgeInputPwmFreq(0,10); 
   
   /* Set PWM Frequency of bridge B inputs to 10000 Hz */ 
   motor->SetBridgeInputPwmFreq(1,10000); 
   
   /* Infinite Loop. */
   printf("--> Infinite Loop...\r\n");
+  
+  
   while (1)
   {
-    switch (demoStep)
-    {  
-        case 0:
-          printf("STEP 0: Motor(0) FWD Speed=100%% - Motor(1) Inactive\r\n");
-          /* Set speed of motor 0 to 100 % */
-          motor->SetSpeed(0,100); 
-          /* start motor 0 to run forward*/
-          /* if chip is in standby mode */
-          /* it is automatically awakened */
-          motor->Run(0, BDCMotor::FWD);
-          break;
-         case 1:
-          printf("STEP 1: Motor(0) FWD Speed=75%% - Motor(1) BWD Speed=100%%\r\n");
-          /* Set speed of motor 0 to 75 % */
-          motor->SetSpeed(0,75); 
-          /* Set speed of motor 1 to 100 % */
-          motor->SetSpeed(1,100); 
-          /* start motor 1 to run backward */
-          motor->Run(1, BDCMotor::BWD);
-          break;
-        case 2:
-          printf("STEP 2: Motor(0) FWD Speed=50%% - Motor(1) BWD Speed=75%%\r\n");
-          /* Set speed of motor 0 to 50 % */
-          motor->SetSpeed(0,50);   
-         /* Set speed of motor 1 to 75% */
-          motor->SetSpeed(1,75); 
-          break;      
-        case 3:
-          printf("STEP 3: Motor(0) FWD Speed=25%% - Motor(1) BWD Speed=50%%\r\n");
-          /* Set speed of motor 0 to 25 % */
-          motor->SetSpeed(0,25);  
-          /* Set speed of motor 1 to 50% */
-          motor->SetSpeed(1,50);          
-          break;  
-        case 4:
-          printf("STEP 4: Motor(0) Stopped - Motor(1) BWD Speed=25%%\r\n");
-          /* Stop Motor 0 */
-          motor->HardStop(0);   
-          /* Set speed of motor 1 to 25% */
-          motor->SetSpeed(1,25);      
-          break;         
-         case 5:
-          printf("STEP 5: Motor(0) BWD Speed=25%% - Motor(1) Stopped\r\n");
-          /* Set speed of motor 0 to 25 % */
-          motor->SetSpeed(0,25); 
-          /* start motor 0 to run backward */
-          motor->Run(0, BDCMotor::BWD);
-          /* Stop Motor 1 */
-          motor->HardStop(1);   
-          break;
-         case 6:
-          printf("STEP 6: Motor(0) BWD Speed=50%% - Motor(1) FWD Speed=25%%\r\n");
-          /* Set speed of motor 0 to 50 % */
-          motor->SetSpeed(0,50); 
-          /* Set speed of motor 1 to 25 % */
-          motor->SetSpeed(1,25); 
-          /* start motor 1 to run backward */
-          motor->Run(1, BDCMotor::FWD);
-          break;
-        case 7:
-          printf("STEP 7: Motor(0) BWD Speed=75%% - Motor(1) FWD Speed=50%%\r\n");
-          /* Set speed of motor 0 to 75 % */
-          motor->SetSpeed(0,75);   
-          /* Set speed of motor 1 to 50 % */
-          motor->SetSpeed(1,50);             
-          break;      
-        case 8:
-          printf("STEP 8: Motor(0) BWD Speed=100%% - Motor(1) FWD Speed=75%%\r\n");
-          /* Set speed of motor 0 to 100 % */
-          motor->SetSpeed(0,100);   
-          /* Set speed of motor 1 to 75 % */
-          motor->SetSpeed(1,75);   
-          break;  
-        case 9:
-          printf("STEP 9: Motor(0) BWD Speed=100%% - Motor(1) FWD Speed=100%%\r\n");
-          /* Set speed of motor 1 to 100 % */
-          motor->SetSpeed(1,100);    
-          break;   
-        case 10:
-          printf("STEP 10\r\n: Stop both motors and disable bridges\r\n");
-          /* Stop both motors and disable bridge */
-          motor->HardHiZ(0);    
-          motor->HardHiZ(1);    
-          break;           
-        case 11:
-          printf("STEP 11: Motor(0) FWD Speed=100%% - Motor(1) FWD Speed=100%%\r\n");
-          /* Start both motors to go forward*/
-          motor->Run(0,BDCMotor::FWD);    
-          motor->Run(1,BDCMotor::FWD);    
-          break;                 
-        case 12:
-        default:
-          printf("STEP 12: Stop both motors and enter standby mode\r\n");
-          /* Stop both motors and put chip in standby mode */
-          motor->Reset();    
-          break;            
+    go(100,1);
+
+    
+    
+  }
+}
+ 
+void go (float speed,bool direction){
+    /* direction 1 forward, 0 back*/
+    motor->SetSpeed(0,speed);
+    motor->SetSpeed(1,speed);
+    
+    if (direction){
+        motor->Run(0,BDCMotor::FWD);
+        motor->Run(1,BDCMotor::FWD);
+        }
+    else{
+        motor->Run(0,BDCMotor::BWD);
+        motor->Run(1,BDCMotor::BWD);
+        }
+}
+
+void stop(){
+    motor->SetSpeed(0,0);
+    motor->SetSpeed(1,0);
     }
-  
-    /* Wait for 5 seconds */  
-    wait_ms(5000);
     
-    /* Increment demostep*/  
-    demoStep++;
-    if (demoStep > 12)
-    {
-      demoStep = 0;
+void turn(bool direction){
+    /*dir 1 left - 0 right */
+    if (direction){
+        motor->SetSpeed(0,20);
+        motor->SetSpeed(1,70);
+        
+        motor->Run(0,BDCMotor::FWD);
+        motor->Run(1,BDCMotor::FWD);
+        
+        wait_ms(1100);
+        }
+    else {
+        motor->SetSpeed(1,20);
+        motor->SetSpeed(0,70);
+        
+        motor->Run(0,BDCMotor::FWD);
+        motor->Run(1,BDCMotor::FWD);
+        
+        wait_ms(1100);
+            }
     }
-  } 
-}
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/