insist / Mbed 2 deprecated Motorino_IHM01A1

Codice per pilotare il motore IHM01A1

Dependencies:   mbed X_NUCLEO_IHM01A1

main.cpp@34:543d0d1147d9, 2017-03-01 (annotated)

Committer:
Davidroid
Date:
Wed Mar 01 13:31:48 2017 +0000
Revision:
34:543d0d1147d9
Parent:
29:a80a213c3c94
Child:
35:2b44ed4ec7a0
Fitting mbed coding style.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Davidroid 0:e6a49a092e2a 1 /**
Davidroid 0:e6a49a092e2a 2 ******************************************************************************
Davidroid 0:e6a49a092e2a 3 * @file main.cpp
Davidroid 21:0189493b15ec 4 * @author Davide Aliprandi, STMicroelectronics
Davidroid 0:e6a49a092e2a 5 * @version V1.0.0
Davidroid 0:e6a49a092e2a 6 * @date October 14th, 2015
Davidroid 21:0189493b15ec 7 * @brief mbed test application for the STMicroelectronics X-NUCLEO-IHM01A1
Davidroid 0:e6a49a092e2a 8 * Motor Control Expansion Board: control of 1 motor.
Davidroid 0:e6a49a092e2a 9 ******************************************************************************
Davidroid 0:e6a49a092e2a 10 * @attention
Davidroid 0:e6a49a092e2a 11 *
Davidroid 0:e6a49a092e2a 12 * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
Davidroid 0:e6a49a092e2a 13 *
Davidroid 0:e6a49a092e2a 14 * Redistribution and use in source and binary forms, with or without modification,
Davidroid 0:e6a49a092e2a 15 * are permitted provided that the following conditions are met:
Davidroid 0:e6a49a092e2a 16 * 1. Redistributions of source code must retain the above copyright notice,
Davidroid 0:e6a49a092e2a 17 * this list of conditions and the following disclaimer.
Davidroid 0:e6a49a092e2a 18 * 2. Redistributions in binary form must reproduce the above copyright notice,
Davidroid 0:e6a49a092e2a 19 * this list of conditions and the following disclaimer in the documentation
Davidroid 0:e6a49a092e2a 20 * and/or other materials provided with the distribution.
Davidroid 0:e6a49a092e2a 21 * 3. Neither the name of STMicroelectronics nor the names of its contributors
Davidroid 0:e6a49a092e2a 22 * may be used to endorse or promote products derived from this software
Davidroid 0:e6a49a092e2a 23 * without specific prior written permission.
Davidroid 0:e6a49a092e2a 24 *
Davidroid 0:e6a49a092e2a 25 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
Davidroid 0:e6a49a092e2a 26 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
Davidroid 0:e6a49a092e2a 27 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
Davidroid 0:e6a49a092e2a 28 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
Davidroid 0:e6a49a092e2a 29 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
Davidroid 0:e6a49a092e2a 30 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
Davidroid 0:e6a49a092e2a 31 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
Davidroid 0:e6a49a092e2a 32 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
Davidroid 0:e6a49a092e2a 33 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
Davidroid 0:e6a49a092e2a 34 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
Davidroid 0:e6a49a092e2a 35 *
Davidroid 0:e6a49a092e2a 36 ******************************************************************************
Davidroid 0:e6a49a092e2a 37 */
Davidroid 0:e6a49a092e2a 38
Davidroid 0:e6a49a092e2a 39
Davidroid 0:e6a49a092e2a 40 /* Includes ------------------------------------------------------------------*/
Davidroid 0:e6a49a092e2a 41
Davidroid 0:e6a49a092e2a 42 /* mbed specific header files. */
Davidroid 0:e6a49a092e2a 43 #include "mbed.h"
Davidroid 0:e6a49a092e2a 44
Davidroid 0:e6a49a092e2a 45 /* Helper header files. */
Davidroid 0:e6a49a092e2a 46 #include "DevSPI.h"
Davidroid 0:e6a49a092e2a 47
Davidroid 0:e6a49a092e2a 48 /* Component specific header files. */
Davidroid 0:e6a49a092e2a 49 #include "l6474_class.h"
Davidroid 0:e6a49a092e2a 50
Davidroid 0:e6a49a092e2a 51
Davidroid 0:e6a49a092e2a 52 /* Definitions ---------------------------------------------------------------*/
Davidroid 0:e6a49a092e2a 53
Davidroid 26:b0203c2265e5 54 /* Number of steps. */
Davidroid 26:b0203c2265e5 55 #define STEPS_1 (400 * 8) /* 1 revolution given a 400 steps motor configured at 1/8 microstep mode. */
Davidroid 26:b0203c2265e5 56
Davidroid 26:b0203c2265e5 57 /* Delay in milliseconds. */
Davidroid 26:b0203c2265e5 58 #define DELAY_1 1000
Davidroid 26:b0203c2265e5 59 #define DELAY_2 2000
Davidroid 26:b0203c2265e5 60 #define DELAY_3 6000
Davidroid 26:b0203c2265e5 61 #define DELAY_4 8000
Davidroid 26:b0203c2265e5 62
Davidroid 29:a80a213c3c94 63 /* Speed in pps (Pulses Per Second).
Davidroid 29:a80a213c3c94 64 In Full Step mode: 1 pps = 1 step/s).
Davidroid 29:a80a213c3c94 65 In 1/N Step Mode: N pps = 1 step/s). */
Davidroid 26:b0203c2265e5 66 #define SPEED_1 2400
Davidroid 26:b0203c2265e5 67 #define SPEED_2 1200
Davidroid 0:e6a49a092e2a 68
Davidroid 0:e6a49a092e2a 69
Davidroid 0:e6a49a092e2a 70 /* Variables -----------------------------------------------------------------*/
Davidroid 0:e6a49a092e2a 71
Davidroid 19:1cd7f65c155c 72 /* Initialization parameters. */
Davidroid 34:543d0d1147d9 73 L6474_Init_t init = {
Davidroid 29:a80a213c3c94 74 160, /* Acceleration rate in pps^2. Range: (0..+inf). */
Davidroid 29:a80a213c3c94 75 160, /* Deceleration rate in pps^2. Range: (0..+inf). */
Davidroid 29:a80a213c3c94 76 1600, /* Maximum speed in pps. Range: (30..10000]. */
Davidroid 29:a80a213c3c94 77 800, /* Minimum speed in pps. Range: [30..10000). */
Davidroid 19:1cd7f65c155c 78 250, /* Torque regulation current in mA. Range: 31.25mA to 4000mA. */
Davidroid 19:1cd7f65c155c 79 L6474_OCD_TH_750mA, /* Overcurrent threshold (OCD_TH register). */
Davidroid 19:1cd7f65c155c 80 L6474_CONFIG_OC_SD_ENABLE, /* Overcurrent shutwdown (OC_SD field of CONFIG register). */
Davidroid 19:1cd7f65c155c 81 L6474_CONFIG_EN_TQREG_TVAL_USED, /* Torque regulation method (EN_TQREG field of CONFIG register). */
Davidroid 26:b0203c2265e5 82 L6474_STEP_SEL_1_8, /* Step selection (STEP_SEL field of STEP_MODE register). */
Davidroid 19:1cd7f65c155c 83 L6474_SYNC_SEL_1_2, /* Sync selection (SYNC_SEL field of STEP_MODE register). */
Davidroid 19:1cd7f65c155c 84 L6474_FAST_STEP_12us, /* Fall time value (T_FAST field of T_FAST register). Range: 2us to 32us. */
Davidroid 19:1cd7f65c155c 85 L6474_TOFF_FAST_8us, /* Maximum fast decay time (T_OFF field of T_FAST register). Range: 2us to 32us. */
Davidroid 19:1cd7f65c155c 86 3, /* Minimum ON time in us (TON_MIN register). Range: 0.5us to 64us. */
Davidroid 19:1cd7f65c155c 87 21, /* Minimum OFF time in us (TOFF_MIN register). Range: 0.5us to 64us. */
Davidroid 19:1cd7f65c155c 88 L6474_CONFIG_TOFF_044us, /* Target Swicthing Period (field TOFF of CONFIG register). */
Davidroid 19:1cd7f65c155c 89 L6474_CONFIG_SR_320V_us, /* Slew rate (POW_SR field of CONFIG register). */
Davidroid 19:1cd7f65c155c 90 L6474_CONFIG_INT_16MHZ, /* Clock setting (OSC_CLK_SEL field of CONFIG register). */
Davidroid 19:1cd7f65c155c 91 L6474_ALARM_EN_OVERCURRENT |
Davidroid 19:1cd7f65c155c 92 L6474_ALARM_EN_THERMAL_SHUTDOWN |
Davidroid 19:1cd7f65c155c 93 L6474_ALARM_EN_THERMAL_WARNING |
Davidroid 19:1cd7f65c155c 94 L6474_ALARM_EN_UNDERVOLTAGE |
Davidroid 19:1cd7f65c155c 95 L6474_ALARM_EN_SW_TURN_ON |
Davidroid 19:1cd7f65c155c 96 L6474_ALARM_EN_WRONG_NPERF_CMD /* Alarm (ALARM_EN register). */
Davidroid 19:1cd7f65c155c 97 };
Davidroid 19:1cd7f65c155c 98
Davidroid 0:e6a49a092e2a 99 /* Motor Control Component. */
Davidroid 1:fbf28f3367aa 100 L6474 *motor;
Davidroid 0:e6a49a092e2a 101
Davidroid 0:e6a49a092e2a 102
Davidroid 19:1cd7f65c155c 103 /* Functions -----------------------------------------------------------------*/
Davidroid 19:1cd7f65c155c 104
Davidroid 19:1cd7f65c155c 105 /**
Davidroid 25:3c863b420ac5 106 * @brief This is an example of user handler for the flag interrupt.
Davidroid 25:3c863b420ac5 107 * @param None
Davidroid 25:3c863b420ac5 108 * @retval None
Davidroid 25:3c863b420ac5 109 * @note If needed, implement it, and then attach and enable it:
Davidroid 25:3c863b420ac5 110 * + motor->AttachFlagIRQ(&FlagIRQHandler);
Davidroid 25:3c863b420ac5 111 * + motor->EnableFlagIRQ();
Davidroid 25:3c863b420ac5 112 * To disable it:
Davidroid 25:3c863b420ac5 113 * + motor->DisbleFlagIRQ();
Davidroid 25:3c863b420ac5 114 */
Davidroid 19:1cd7f65c155c 115 void FlagIRQHandler(void)
Davidroid 19:1cd7f65c155c 116 {
Davidroid 19:1cd7f65c155c 117 /* Set ISR flag. */
Davidroid 19:1cd7f65c155c 118 motor->isr_flag = TRUE;
Davidroid 19:1cd7f65c155c 119
Davidroid 19:1cd7f65c155c 120 /* Get the value of the status register. */
Davidroid 19:1cd7f65c155c 121 unsigned int status = motor->GetStatus();
Davidroid 34:543d0d1147d9 122
Davidroid 19:1cd7f65c155c 123 /* Check NOTPERF_CMD flag: if set, the command received by SPI can't be performed. */
Davidroid 19:1cd7f65c155c 124 /* This often occures when a command is sent to the L6474 while it is not in HiZ state. */
Davidroid 34:543d0d1147d9 125 if ((status & L6474_STATUS_NOTPERF_CMD) == L6474_STATUS_NOTPERF_CMD) {
Davidroid 19:1cd7f65c155c 126 printf(" WARNING: \"FLAG\" interrupt triggered. Non-performable command detected when updating L6474's registers while not in HiZ state.\r\n");
Davidroid 34:543d0d1147d9 127 }
Davidroid 19:1cd7f65c155c 128
Davidroid 19:1cd7f65c155c 129 /* Reset ISR flag. */
Davidroid 19:1cd7f65c155c 130 motor->isr_flag = FALSE;
Davidroid 19:1cd7f65c155c 131 }
Davidroid 19:1cd7f65c155c 132
Davidroid 19:1cd7f65c155c 133
Davidroid 0:e6a49a092e2a 134 /* Main ----------------------------------------------------------------------*/
Davidroid 0:e6a49a092e2a 135
Davidroid 0:e6a49a092e2a 136 int main()
Davidroid 0:e6a49a092e2a 137 {
Davidroid 6:32166bfc04b0 138 /*----- Initialization. -----*/
Davidroid 6:32166bfc04b0 139
Davidroid 0:e6a49a092e2a 140 /* Initializing SPI bus. */
Davidroid 0:e6a49a092e2a 141 DevSPI dev_spi(D11, D12, D13);
Davidroid 0:e6a49a092e2a 142
Davidroid 11:3e303a25770d 143 /* Initializing Motor Control Component. */
Davidroid 5:8065b587ade0 144 motor = new L6474(D2, D8, D7, D9, D10, dev_spi);
Davidroid 34:543d0d1147d9 145 if (motor->Init(&init) != COMPONENT_OK) {
Davidroid 17:4830b25fec7f 146 exit(EXIT_FAILURE);
Davidroid 34:543d0d1147d9 147 }
Davidroid 0:e6a49a092e2a 148
Davidroid 19:1cd7f65c155c 149 /* Attaching and enabling interrupt handlers. */
Davidroid 19:1cd7f65c155c 150 motor->AttachFlagIRQ(&FlagIRQHandler);
Davidroid 19:1cd7f65c155c 151 motor->EnableFlagIRQ();
Davidroid 19:1cd7f65c155c 152
Davidroid 0:e6a49a092e2a 153 /* Printing to the console. */
Davidroid 0:e6a49a092e2a 154 printf("Motor Control Application Example for 1 Motor\r\n\n");
Davidroid 0:e6a49a092e2a 155
Davidroid 6:32166bfc04b0 156
Davidroid 6:32166bfc04b0 157 /*----- Moving. -----*/
Davidroid 6:32166bfc04b0 158
Davidroid 6:32166bfc04b0 159 /* Printing to the console. */
Davidroid 26:b0203c2265e5 160 printf("--> Moving forward %d steps.\r\n", STEPS_1);
Davidroid 6:32166bfc04b0 161
Davidroid 6:32166bfc04b0 162 /* Moving N steps in the forward direction. */
Davidroid 26:b0203c2265e5 163 motor->Move(StepperMotor::FWD, STEPS_1);
Davidroid 6:32166bfc04b0 164
Davidroid 6:32166bfc04b0 165 /* Waiting while the motor is active. */
Davidroid 6:32166bfc04b0 166 motor->WaitWhileActive();
Davidroid 6:32166bfc04b0 167
Davidroid 6:32166bfc04b0 168 /* Getting current position. */
Davidroid 6:32166bfc04b0 169 int position = motor->GetPosition();
Davidroid 6:32166bfc04b0 170
Davidroid 6:32166bfc04b0 171 /* Printing to the console. */
Davidroid 6:32166bfc04b0 172 printf(" Position: %d.\r\n", position);
Davidroid 6:32166bfc04b0 173
Davidroid 26:b0203c2265e5 174 /* Waiting. */
Davidroid 26:b0203c2265e5 175 wait_ms(DELAY_1);
Davidroid 6:32166bfc04b0 176
Davidroid 19:1cd7f65c155c 177
Davidroid 26:b0203c2265e5 178 /*----- Changing the motor setting. -----*/
Davidroid 19:1cd7f65c155c 179
Davidroid 19:1cd7f65c155c 180 /* Printing to the console. */
Davidroid 27:e09aa231c16d 181 printf("--> Setting Torque Regulation Current to 500[mA].\r\n");
Davidroid 27:e09aa231c16d 182
Davidroid 27:e09aa231c16d 183 /* Increasing the torque regulation current to 500[mA]. */
Davidroid 27:e09aa231c16d 184 motor->SetParameter(L6474_TVAL, 500);
Davidroid 27:e09aa231c16d 185
Davidroid 27:e09aa231c16d 186 /* Printing to the console. */
Davidroid 26:b0203c2265e5 187 printf("--> Doubling the microsteps.\r\n");
Davidroid 19:1cd7f65c155c 188
Davidroid 26:b0203c2265e5 189 /* Doubling the microsteps. */
Davidroid 34:543d0d1147d9 190 if (!motor->SetStepMode((StepperMotor::step_mode_t) STEP_MODE_1_16)) {
Davidroid 26:b0203c2265e5 191 printf(" Step Mode not allowed.\r\n");
Davidroid 34:543d0d1147d9 192 }
Davidroid 19:1cd7f65c155c 193
Davidroid 26:b0203c2265e5 194 /* Waiting. */
Davidroid 26:b0203c2265e5 195 wait_ms(DELAY_1);
Davidroid 19:1cd7f65c155c 196
Davidroid 27:e09aa231c16d 197 /* Printing to the console. */
Davidroid 27:e09aa231c16d 198 printf("--> Setting Home.\r\n");
Davidroid 27:e09aa231c16d 199
Davidroid 27:e09aa231c16d 200 /* Setting the current position to be the home position. */
Davidroid 27:e09aa231c16d 201 motor->SetHome();
Davidroid 27:e09aa231c16d 202
Davidroid 27:e09aa231c16d 203 /* Getting current position. */
Davidroid 27:e09aa231c16d 204 position = motor->GetPosition();
Davidroid 27:e09aa231c16d 205
Davidroid 27:e09aa231c16d 206 /* Printing to the console. */
Davidroid 27:e09aa231c16d 207 printf(" Position: %d.\r\n", position);
Davidroid 27:e09aa231c16d 208
Davidroid 27:e09aa231c16d 209 /* Waiting. */
Davidroid 27:e09aa231c16d 210 wait_ms(DELAY_2);
Davidroid 27:e09aa231c16d 211
Davidroid 19:1cd7f65c155c 212
Davidroid 6:32166bfc04b0 213 /*----- Moving. -----*/
Davidroid 6:32166bfc04b0 214
Davidroid 6:32166bfc04b0 215 /* Printing to the console. */
Davidroid 26:b0203c2265e5 216 printf("--> Moving backward %d steps.\r\n", STEPS_1);
Davidroid 6:32166bfc04b0 217
Davidroid 6:32166bfc04b0 218 /* Moving N steps in the backward direction. */
Davidroid 26:b0203c2265e5 219 motor->Move(StepperMotor::BWD, STEPS_1);
Davidroid 6:32166bfc04b0 220
Davidroid 6:32166bfc04b0 221 /* Waiting while the motor is active. */
Davidroid 6:32166bfc04b0 222 motor->WaitWhileActive();
Davidroid 6:32166bfc04b0 223
Davidroid 6:32166bfc04b0 224 /* Getting current position. */
Davidroid 6:32166bfc04b0 225 position = motor->GetPosition();
Davidroid 6:32166bfc04b0 226
Davidroid 6:32166bfc04b0 227 /* Printing to the console. */
Davidroid 6:32166bfc04b0 228 printf(" Position: %d.\r\n", position);
Davidroid 6:32166bfc04b0 229
Davidroid 26:b0203c2265e5 230 /* Waiting. */
Davidroid 26:b0203c2265e5 231 wait_ms(DELAY_1);
Davidroid 6:32166bfc04b0 232
Davidroid 6:32166bfc04b0 233
Davidroid 6:32166bfc04b0 234 /*----- Going to a specified position. -----*/
Davidroid 6:32166bfc04b0 235
Davidroid 6:32166bfc04b0 236 /* Printing to the console. */
Davidroid 26:b0203c2265e5 237 printf("--> Going to position %d.\r\n", STEPS_1);
Davidroid 6:32166bfc04b0 238
Davidroid 6:32166bfc04b0 239 /* Requesting to go to a specified position. */
Davidroid 26:b0203c2265e5 240 motor->GoTo(STEPS_1);
Davidroid 6:32166bfc04b0 241
Davidroid 6:32166bfc04b0 242 /* Waiting while the motor is active. */
Davidroid 6:32166bfc04b0 243 motor->WaitWhileActive();
Davidroid 6:32166bfc04b0 244
Davidroid 6:32166bfc04b0 245 /* Getting current position. */
Davidroid 6:32166bfc04b0 246 position = motor->GetPosition();
Davidroid 6:32166bfc04b0 247
Davidroid 6:32166bfc04b0 248 /* Printing to the console. */
Davidroid 6:32166bfc04b0 249 printf(" Position: %d.\r\n", position);
Davidroid 6:32166bfc04b0 250
Davidroid 26:b0203c2265e5 251 /* Waiting. */
Davidroid 26:b0203c2265e5 252 wait_ms(DELAY_2);
Davidroid 6:32166bfc04b0 253
Davidroid 6:32166bfc04b0 254
Davidroid 6:32166bfc04b0 255 /*----- Going Home. -----*/
Davidroid 6:32166bfc04b0 256
Davidroid 6:32166bfc04b0 257 /* Printing to the console. */
Davidroid 6:32166bfc04b0 258 printf("--> Going Home.\r\n");
Davidroid 6:32166bfc04b0 259
Davidroid 6:32166bfc04b0 260 /* Requesting to go to home. */
Davidroid 6:32166bfc04b0 261 motor->GoHome();
Davidroid 6:32166bfc04b0 262
Davidroid 6:32166bfc04b0 263 /* Waiting while the motor is active. */
Davidroid 6:32166bfc04b0 264 motor->WaitWhileActive();
Davidroid 6:32166bfc04b0 265
Davidroid 6:32166bfc04b0 266 /* Getting current position. */
Davidroid 6:32166bfc04b0 267 position = motor->GetPosition();
Davidroid 6:32166bfc04b0 268
Davidroid 6:32166bfc04b0 269 /* Printing to the console. */
Davidroid 6:32166bfc04b0 270 printf(" Position: %d.\r\n", position);
Davidroid 0:e6a49a092e2a 271
Davidroid 26:b0203c2265e5 272 /* Waiting. */
Davidroid 26:b0203c2265e5 273 wait_ms(DELAY_2);
Davidroid 6:32166bfc04b0 274
Davidroid 6:32166bfc04b0 275
Davidroid 6:32166bfc04b0 276 /*----- Running. -----*/
Davidroid 6:32166bfc04b0 277
Davidroid 6:32166bfc04b0 278 /* Printing to the console. */
Davidroid 26:b0203c2265e5 279 printf("--> Running backward for %d seconds.\r\n", DELAY_3 / 1000);
Davidroid 6:32166bfc04b0 280
Davidroid 6:32166bfc04b0 281 /* Requesting to run backward. */
Davidroid 6:32166bfc04b0 282 motor->Run(StepperMotor::BWD);
Davidroid 6:32166bfc04b0 283
Davidroid 26:b0203c2265e5 284 /* Waiting. */
Davidroid 26:b0203c2265e5 285 wait_ms(DELAY_3);
Davidroid 6:32166bfc04b0 286
Davidroid 6:32166bfc04b0 287 /* Getting current speed. */
Davidroid 6:32166bfc04b0 288 int speed = motor->GetSpeed();
Davidroid 6:32166bfc04b0 289
Davidroid 6:32166bfc04b0 290 /* Printing to the console. */
Davidroid 6:32166bfc04b0 291 printf(" Speed: %d.\r\n", speed);
Davidroid 6:32166bfc04b0 292
Davidroid 6:32166bfc04b0 293 /*----- Increasing the speed while running. -----*/
Davidroid 6:32166bfc04b0 294
Davidroid 6:32166bfc04b0 295 /* Printing to the console. */
Davidroid 26:b0203c2265e5 296 printf("--> Increasing the speed while running again for %d seconds.\r\n", DELAY_3 / 1000);
Davidroid 6:32166bfc04b0 297
Davidroid 26:b0203c2265e5 298 /* Increasing the speed. */
Davidroid 26:b0203c2265e5 299 motor->SetMaxSpeed(SPEED_1);
Davidroid 6:32166bfc04b0 300
Davidroid 26:b0203c2265e5 301 /* Waiting. */
Davidroid 26:b0203c2265e5 302 wait_ms(DELAY_3);
Davidroid 6:32166bfc04b0 303
Davidroid 6:32166bfc04b0 304 /* Getting current speed. */
Davidroid 6:32166bfc04b0 305 speed = motor->GetSpeed();
Davidroid 6:32166bfc04b0 306
Davidroid 6:32166bfc04b0 307 /* Printing to the console. */
Davidroid 6:32166bfc04b0 308 printf(" Speed: %d.\r\n", speed);
Davidroid 6:32166bfc04b0 309
Davidroid 6:32166bfc04b0 310
Davidroid 6:32166bfc04b0 311 /*----- Decreasing the speed while running. -----*/
Davidroid 0:e6a49a092e2a 312
Davidroid 6:32166bfc04b0 313 /* Printing to the console. */
Davidroid 26:b0203c2265e5 314 printf("--> Decreasing the speed while running again for %d seconds.\r\n", DELAY_4 / 1000);
Davidroid 6:32166bfc04b0 315
Davidroid 26:b0203c2265e5 316 /* Decreasing the speed. */
Davidroid 26:b0203c2265e5 317 motor->SetMaxSpeed(SPEED_2);
Davidroid 6:32166bfc04b0 318
Davidroid 26:b0203c2265e5 319 /* Waiting. */
Davidroid 26:b0203c2265e5 320 wait_ms(DELAY_4);
Davidroid 6:32166bfc04b0 321
Davidroid 6:32166bfc04b0 322 /* Getting current speed. */
Davidroid 6:32166bfc04b0 323 speed = motor->GetSpeed();
Davidroid 6:32166bfc04b0 324
Davidroid 6:32166bfc04b0 325 /* Printing to the console. */
Davidroid 6:32166bfc04b0 326 printf(" Speed: %d.\r\n", speed);
Davidroid 6:32166bfc04b0 327
Davidroid 6:32166bfc04b0 328
Davidroid 26:b0203c2265e5 329 /*----- Hard Stop. -----*/
Davidroid 6:32166bfc04b0 330
Davidroid 6:32166bfc04b0 331 /* Printing to the console. */
Davidroid 26:b0203c2265e5 332 printf("--> Hard Stop.\r\n");
Davidroid 6:32166bfc04b0 333
Davidroid 6:32166bfc04b0 334 /* Requesting to immediatly stop. */
Davidroid 6:32166bfc04b0 335 motor->HardStop();
Davidroid 6:32166bfc04b0 336
Davidroid 6:32166bfc04b0 337 /* Waiting while the motor is active. */
Davidroid 6:32166bfc04b0 338 motor->WaitWhileActive();
Davidroid 6:32166bfc04b0 339
Davidroid 26:b0203c2265e5 340 /* Waiting. */
Davidroid 26:b0203c2265e5 341 wait_ms(DELAY_2);
Davidroid 6:32166bfc04b0 342
Davidroid 6:32166bfc04b0 343
Davidroid 6:32166bfc04b0 344 /*----- Infinite Loop. -----*/
Davidroid 6:32166bfc04b0 345
Davidroid 6:32166bfc04b0 346 /* Printing to the console. */
Davidroid 6:32166bfc04b0 347 printf("--> Infinite Loop...\r\n");
Davidroid 6:32166bfc04b0 348
Davidroid 6:32166bfc04b0 349 /* Setting the current position to be the home position. */
Davidroid 6:32166bfc04b0 350 motor->SetHome();
Davidroid 6:32166bfc04b0 351
Davidroid 6:32166bfc04b0 352 /* Infinite Loop. */
Davidroid 34:543d0d1147d9 353 while (true) {
Davidroid 6:32166bfc04b0 354 /* Requesting to go to a specified position. */
Davidroid 26:b0203c2265e5 355 motor->GoTo(STEPS_1 >> 1);
Davidroid 3:fffa53c7aed2 356
Davidroid 0:e6a49a092e2a 357 /* Waiting while the motor is active. */
Davidroid 1:fbf28f3367aa 358 motor->WaitWhileActive();
Davidroid 0:e6a49a092e2a 359
Davidroid 0:e6a49a092e2a 360 /* Requesting to go to a specified position. */
Davidroid 26:b0203c2265e5 361 motor->GoTo(- (STEPS_1 >> 1));
Davidroid 0:e6a49a092e2a 362
Davidroid 0:e6a49a092e2a 363 /* Waiting while the motor is active. */
Davidroid 1:fbf28f3367aa 364 motor->WaitWhileActive();
Davidroid 0:e6a49a092e2a 365 }
Davidroid 0:e6a49a092e2a 366 }