duckietownhsunina
prime funzioni per i motori
Dependencies: X_NUCLEO_IHM12A1 mbed
Fork of
HelloWorld_IHM12A1
by 
ST
Diff: main.cpp
- Revision:
- 5:9d031bbc6a8e
- Parent:
- 2:1e4061cedf1d
--- 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>© 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****/