Theis Rotating Platform Demo code
Dependencies: X_NUCLEO_IHM01A1_Demo_Code mbed
Fork of Demo_IHM01A1_3-Motors by
main.cpp
- Committer:
- Arkadi
- Date:
- 2016-02-25
- Revision:
- 21:ed054abddfe4
- Parent:
- 17:aae1446c67f4
- Child:
- 23:f9d35a756e79
File content as of revision 21:ed054abddfe4:
/** ****************************************************************************** * @file main.cpp * @author Davide Aliprandi, STMicroelectronics * @version V1.0.0 * @date October 14th, 2015 * @brief mbed test application for the STMicroelectronics X-NUCLEO-IHM01A1 * Motor Control Expansion Board: control of 2 motors. ****************************************************************************** * @attention * * <h2><center>© COPYRIGHT(c) 2015 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" /* Helper header files. */ #include "DevSPI.h" /* Component specific header files. */ #include "l6474_class.h" /* Definitions ---------------------------------------------------------------*/ /* Number of steps to move. */ #define STEPS 3200 /* Variables -----------------------------------------------------------------*/ /* Motor Control Component. */ L6474 *motor1; L6474 *motor2; L6474 *motor3; /* Main ----------------------------------------------------------------------*/ int main() { /*----- Initialization. -----*/ /* Initializing SPI bus. */ DevSPI dev_spi(D11, D12, D13); /* Initializing Motor Control Components. */ motor1 = new L6474(D2, D8, D7, D9, D10, dev_spi); motor2 = new L6474(D2, D8, D4, D3, D10, dev_spi); motor3 = new L6474(D2, D8, D5, D6, D10, dev_spi); if (motor1->Init() != COMPONENT_OK) exit(EXIT_FAILURE); if (motor2->Init() != COMPONENT_OK) exit(EXIT_FAILURE); if (motor3->Init() != COMPONENT_OK) exit(EXIT_FAILURE); /*----- Changing motor setting. -----*/ /* Setting High Impedance State to update L6474's registers. */ motor1->SoftHiZ(); motor2->SoftHiZ(); motor3->SoftHiZ(); // Disabling motor motor1->Disable(); motor2->Disable(); motor3->Disable(); /* Changing step mode. */ motor1->SetStepMode(STEP_MODE_1_16); motor2->SetStepMode(STEP_MODE_1_16); motor3->SetStepMode(STEP_MODE_1_16); /* Increasing the torque regulation current to 500mA. */ motor1->SetParameter(L6474_TVAL, 1250); // Limit 2.0A motor2->SetParameter(L6474_TVAL, 1700); // Limit 1.7A motor3->SetParameter(L6474_TVAL, 850); // Limit 1.0A /* Max speed to 2400 step/s. */ motor1->SetMaxSpeed(1000); motor2->SetMaxSpeed(1000); motor3->SetMaxSpeed(1000); /* Min speed to 200 step/s. */ motor1->SetMinSpeed(100); motor2->SetMinSpeed(100); motor3->SetMinSpeed(100); /* set accelerations */ motor1->SetAcceleration(500); motor2->SetAcceleration(500); motor3->SetAcceleration(500); motor1->SetDeceleration(500); motor2->SetDeceleration(500); motor3->SetDeceleration(500); // Enabling motor motor1->Enable(); motor2->Enable(); motor3->Enable(); /* Printing to the console. */ printf("Motor Control Application Example for 3 Motors\r\n\n"); /*----- Moving. -----*/ /* Moving N steps in the forward direction. */ motor1->Move(StepperMotor::FWD, STEPS); motor2->Move(StepperMotor::FWD, STEPS); motor3->Move(StepperMotor::FWD, STEPS); /* Waiting while the motor is active. */ motor1->WaitWhileActive(); motor2->WaitWhileActive(); motor3->WaitWhileActive(); /* Waiting 2 seconds. */ wait_ms(2000); /* Moving N steps in the backward direction. */ motor1->Move(StepperMotor::BWD, STEPS); motor2->Move(StepperMotor::BWD, STEPS); motor3->Move(StepperMotor::BWD, STEPS); /* Waiting while the motor is active. */ motor1->WaitWhileActive(); motor2->WaitWhileActive(); motor3->WaitWhileActive(); /* Waiting 2 seconds. */ wait_ms(2000); /* Infinite Loop. */ while(1) { /*----- Moving. -----*/ /* Moving N steps in the forward direction. */ motor1->Move(StepperMotor::FWD, STEPS); motor2->Move(StepperMotor::FWD, STEPS); motor3->Move(StepperMotor::FWD, STEPS); /* Waiting while the motor is active. */ motor1->WaitWhileActive(); motor2->WaitWhileActive(); motor3->WaitWhileActive(); /* Moving N steps in the backward direction. */ motor1->Move(StepperMotor::BWD, STEPS); motor2->Move(StepperMotor::BWD, STEPS); motor3->Move(StepperMotor::BWD, STEPS); /* Waiting while the motor is active. */ motor1->WaitWhileActive(); motor2->WaitWhileActive(); motor3->WaitWhileActive(); /* Waiting 2 seconds. */ wait_ms(2000); } }