duckietownhsunina
seconda prova motore
Dependencies: X_NUCLEO_IHM12A1 X_NUCLEO_IKS01A2 mbed
Fork of
prova_motore
by 
duckietownhsunina
Diff: main.cpp
- Revision:
- 5:1808ddbbef21
- Parent:
- 2:1e4061cedf1d
- Child:
- 6:a065c24e0106
--- a/main.cpp Wed Nov 23 09:19:34 2016 +0000
+++ b/main.cpp Thu Feb 16 12:20:59 2017 +0000
@@ -1,42 +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 ------------------------------------------------------------------*/
/* mbed specific header files. */
#include "mbed.h"
@@ -47,226 +8,90 @@
/* Variables -----------------------------------------------------------------*/
/* Initialization parameters of the motor connected to the expansion board. */
- Stspin240_250_Init_t initDeviceParameters =
- {
- 20000, /* Frequency of PWM of Input Bridge A in Hz up to 100000Hz */
- 20000, /* Frequency of PWM of Input Bridge B in Hz up to 100000Hz */
- 20000, /* Frequency of PWM used for Ref pin in Hz up to 100000Hz */
- 50, /* Duty cycle of PWM used for Ref pin (from 0 to 100) */
- TRUE /* Dual Bridge configuration (FALSE for mono, TRUE for dual brush dc) */
- };
+Stspin240_250_Init_t initDeviceParameters = {
+ 20000, /* Frequency of PWM of Input Bridge A in Hz up to 100000Hz */
+ 20000, /* Frequency of PWM of Input Bridge B in Hz up to 100000Hz */
+ 20000, /* Frequency of PWM used for Ref pin in Hz up to 100000Hz */
+ 50, /* Duty cycle of PWM used for Ref pin (from 0 to 100) */
+ TRUE /* Dual Bridge configuration (FALSE for mono, TRUE for dual brush dc) */
+};
/* Motor Control Component. */
STSPIN240_250 *motor;
-/* Functions -----------------------------------------------------------------*/
-
-/**
- * @brief This is an example of error handler.
- * @param[in] error Number of the error
- * @retval None
- * @note If needed, implement it, and then attach it:
- * + motor->AttachErrorHandler(&myErrorHandler);
- */
-void myErrorHandler(uint16_t error)
-{
- /* Printing to the console. */
- printf("Error %d detected\r\n\n", error);
-
- /* Infinite loop */
- while(1)
- {
- }
-}
-
-/**
- * @brief This is an example of user handler for the flag interrupt.
- * @param None
- * @retval None
- * @note If needed, implement it, and then attach and enable it:
- * + motor->AttachFlagIRQ(&myFlagIRQHandler);
- * + motor->EnableFlagIRQ();
- * To disable it:
- * + motor->DisbleFlagIRQ();
- */
-void myFlagIRQHandler(void)
-{
- /* Code to be customised */
- /************************/
-
- printf(" WARNING: \"FLAG\" interrupt triggered.\r\n");
-
- /* Get the state of bridge A */
- uint16_t bridgeState = motor->GetBridgeStatus(0);
-
- if (bridgeState == 0)
- {
- if (motor->GetDeviceState(0) != INACTIVE)
- {
- /* Bridges were disabled due to overcurrent or over temperature */
- /* When motor was running */
- myErrorHandler(0XBAD0);
- }
- }
-}
/* 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);
+
+ uint8_t demoStep = 0;
+ // riv
+ /* Initializing Motor Control Component. */
+ motor = new STSPIN240_250(D2, D9, D6, D7, D5, D4, A0 ); //Chiamo i l costruttore per inizializzare l'oggetto motor
+
+ /* Set dual bridge enabled as two motors are used*/
+ motor->SetDualFullBridgeConfig(1);
- /* Set dual bridge enabled as two motors are used*/
- motor->SetDualFullBridgeConfig(1);
+ /* Set PWM Frequency of Ref to 15000 Hz */
+ motor->SetRefPwmFreq(0, 15000); //frequenza clock
+
+ /* Set PWM duty cycle of Ref to 60% */
+ motor->SetRefPwmDc(0, 60);
- /* Attaching and enabling an interrupt handler. */
- motor->AttachFlagIRQ(&myFlagIRQHandler);
- motor->EnableFlagIRQ();
-
- /* Attaching an error handler */
- motor->AttachErrorHandler(&myErrorHandler);
+ /* Set PWM Frequency of bridge A inputs to 10000 Hz */
+ motor->SetBridgeInputPwmFreq(0,10000);
- /* Printing to the console. */
- printf("Motor Control Application Example for 2 brush DC motors\r\n");
-
- /* Set PWM Frequency of Ref to 15000 Hz */
- motor->SetRefPwmFreq(0, 15000);
+ /* Set PWM Frequency of bridge B inputs to 10000 Hz */
+ motor->SetBridgeInputPwmFreq(1,10000);
- /* Set PWM duty cycle of Ref to 60% */
- motor->SetRefPwmDc(0, 60);
-
- /* Set PWM Frequency of bridge A inputs to 10000 Hz */
- motor->SetBridgeInputPwmFreq(0,10000);
-
- /* 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;
- }
-
- /* Wait for 5 seconds */
- wait_ms(5000);
+
- /* Increment demostep*/
- demoStep++;
- if (demoStep > 12)
- {
- demoStep = 0;
- }
- }
+ //INIZIALIZZAZIONI, s1 e s2 conterranno i valori di velocità da dare ai singoli motori
+
+ int s0=50;
+ int s1=50;
+
+ //Definisco due oggetti della classe AnalogIn che chiamo ten1 e ten2, chiamo il costruttore per inizializzarli
+ AnalogIn ten0(A1); //indico che vorrò leggere la tensione analogica su questi due pin,
+ AnalogIn ten1(A2); //è la stessa di quella che ho sulle due ruote
+
+ /**** SETTO I DUE MOTORI ALLA STESSA VELOCITA, 50%, E ALLA STESSA DIREZIONE ****/
+
+ motor->SetSpeed(0,s0); //SETTO LA VELOCITà DEL MOTORE 0 AL 50%
+ motor->SetSpeed(1,s1); //RIDUCO LA VELOCITA DEL MOTORE 0
+ motor->Run(1, BDCMotor::FWD); //FACCIO ANDARE AVANTI IL MOTORE 1, per farlo andare indietro basta mettere BWD invece di FWD
+ motor->Run(0, BDCMotor::FWD); //MOTORE 0 IN AVANTI
+
+
+ while (1)
+ {
+
+ if(ten1.read() - ten0.read() >0.1) //la tensione sul motore 0 è 10 volte quella dell'altro motore
+ {
+ s1+=10;
+ motor->SetSpeed(1,s1); //aumento la velocità del 5%
+ // motor->Run(1, BDCMotor::FWD);
+
+ printf(" Velocita S1 %6ld\n", s1);
+ }
+
+ else if (ten0.read() - ten1.read() >0.1) //la tensione sul motore 0 è 10 volte quella dell'altro motore
+ {
+
+ s0 +=10;
+ motor->SetSpeed(0,s0); //aumento la velocità del 5%
+ // motor->Run(0, BDCMotor::FWD);
+
+ printf(" Velocita S0 %6ld\n", s0);
+
+
+
+
+ }
+
+ wait_ms(250); // 250 ms
+ }
+
+
}
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/