Theis Rotating Platform Demo code
Dependencies: X_NUCLEO_IHM01A1_Demo_Code mbed
Fork of Demo_IHM01A1_3-Motors by
main.cpp@21:ed054abddfe4, 2016-02-25 (annotated)
- Committer:
- Arkadi
- Date:
- Thu Feb 25 17:27:42 2016 +0000
- Revision:
- 21:ed054abddfe4
- Parent:
- 17:aae1446c67f4
- Child:
- 23:f9d35a756e79
3 motor activation demo
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Davidroid | 0:e6a49a092e2a | 1 | /** |
Davidroid | 0:e6a49a092e2a | 2 | ****************************************************************************** |
Davidroid | 0:e6a49a092e2a | 3 | * @file main.cpp |
Davidroid | 17:aae1446c67f4 | 4 | * @author Davide Aliprandi, STMicroelectronics |
Davidroid | 0:e6a49a092e2a | 5 | * @version V1.0.0 |
Davidroid | 0:e6a49a092e2a | 6 | * @date October 14th, 2015 |
Davidroid | 17:aae1446c67f4 | 7 | * @brief mbed test application for the STMicroelectronics X-NUCLEO-IHM01A1 |
Davidroid | 3:02d9ec4f88b2 | 8 | * Motor Control Expansion Board: control of 2 motors. |
Davidroid | 0:e6a49a092e2a | 9 | ****************************************************************************** |
Davidroid | 0:e6a49a092e2a | 10 | * @attention |
Davidroid | 0:e6a49a092e2a | 11 | * |
Davidroid | 0:e6a49a092e2a | 12 | * <h2><center>© 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 | 9:a9e51320aee4 | 54 | /* Number of steps to move. */ |
Davidroid | 9:a9e51320aee4 | 55 | #define STEPS 3200 |
Davidroid | 0:e6a49a092e2a | 56 | |
Davidroid | 0:e6a49a092e2a | 57 | |
Davidroid | 0:e6a49a092e2a | 58 | /* Variables -----------------------------------------------------------------*/ |
Davidroid | 0:e6a49a092e2a | 59 | |
Davidroid | 0:e6a49a092e2a | 60 | /* Motor Control Component. */ |
Davidroid | 3:02d9ec4f88b2 | 61 | L6474 *motor1; |
Davidroid | 3:02d9ec4f88b2 | 62 | L6474 *motor2; |
Arkadi | 21:ed054abddfe4 | 63 | L6474 *motor3; |
Davidroid | 0:e6a49a092e2a | 64 | |
Davidroid | 0:e6a49a092e2a | 65 | /* Main ----------------------------------------------------------------------*/ |
Davidroid | 0:e6a49a092e2a | 66 | |
Davidroid | 0:e6a49a092e2a | 67 | int main() |
Davidroid | 0:e6a49a092e2a | 68 | { |
Davidroid | 8:cec4c2c03a27 | 69 | /*----- Initialization. -----*/ |
Davidroid | 8:cec4c2c03a27 | 70 | |
Davidroid | 0:e6a49a092e2a | 71 | /* Initializing SPI bus. */ |
Davidroid | 0:e6a49a092e2a | 72 | DevSPI dev_spi(D11, D12, D13); |
Davidroid | 0:e6a49a092e2a | 73 | |
Davidroid | 9:a9e51320aee4 | 74 | /* Initializing Motor Control Components. */ |
Davidroid | 5:a0268a435bb1 | 75 | motor1 = new L6474(D2, D8, D7, D9, D10, dev_spi); |
Davidroid | 16:810667a9f31f | 76 | motor2 = new L6474(D2, D8, D4, D3, D10, dev_spi); |
Arkadi | 21:ed054abddfe4 | 77 | motor3 = new L6474(D2, D8, D5, D6, D10, dev_spi); |
Davidroid | 14:fcd452b03d1a | 78 | if (motor1->Init() != COMPONENT_OK) |
Davidroid | 14:fcd452b03d1a | 79 | exit(EXIT_FAILURE); |
Davidroid | 14:fcd452b03d1a | 80 | if (motor2->Init() != COMPONENT_OK) |
Davidroid | 14:fcd452b03d1a | 81 | exit(EXIT_FAILURE); |
Arkadi | 21:ed054abddfe4 | 82 | if (motor3->Init() != COMPONENT_OK) |
Arkadi | 21:ed054abddfe4 | 83 | exit(EXIT_FAILURE); |
Arkadi | 21:ed054abddfe4 | 84 | |
Arkadi | 21:ed054abddfe4 | 85 | |
Arkadi | 21:ed054abddfe4 | 86 | |
Arkadi | 21:ed054abddfe4 | 87 | /*----- Changing motor setting. -----*/ |
Arkadi | 21:ed054abddfe4 | 88 | |
Arkadi | 21:ed054abddfe4 | 89 | /* Setting High Impedance State to update L6474's registers. */ |
Arkadi | 21:ed054abddfe4 | 90 | motor1->SoftHiZ(); |
Arkadi | 21:ed054abddfe4 | 91 | motor2->SoftHiZ(); |
Arkadi | 21:ed054abddfe4 | 92 | motor3->SoftHiZ(); |
Arkadi | 21:ed054abddfe4 | 93 | // Disabling motor |
Arkadi | 21:ed054abddfe4 | 94 | motor1->Disable(); |
Arkadi | 21:ed054abddfe4 | 95 | motor2->Disable(); |
Arkadi | 21:ed054abddfe4 | 96 | motor3->Disable(); |
Arkadi | 21:ed054abddfe4 | 97 | /* Changing step mode. */ |
Arkadi | 21:ed054abddfe4 | 98 | motor1->SetStepMode(STEP_MODE_1_16); |
Arkadi | 21:ed054abddfe4 | 99 | motor2->SetStepMode(STEP_MODE_1_16); |
Arkadi | 21:ed054abddfe4 | 100 | motor3->SetStepMode(STEP_MODE_1_16); |
Arkadi | 21:ed054abddfe4 | 101 | /* Increasing the torque regulation current to 500mA. */ |
Arkadi | 21:ed054abddfe4 | 102 | motor1->SetParameter(L6474_TVAL, 1250); // Limit 2.0A |
Arkadi | 21:ed054abddfe4 | 103 | motor2->SetParameter(L6474_TVAL, 1700); // Limit 1.7A |
Arkadi | 21:ed054abddfe4 | 104 | motor3->SetParameter(L6474_TVAL, 850); // Limit 1.0A |
Arkadi | 21:ed054abddfe4 | 105 | |
Arkadi | 21:ed054abddfe4 | 106 | /* Max speed to 2400 step/s. */ |
Arkadi | 21:ed054abddfe4 | 107 | motor1->SetMaxSpeed(1000); |
Arkadi | 21:ed054abddfe4 | 108 | motor2->SetMaxSpeed(1000); |
Arkadi | 21:ed054abddfe4 | 109 | motor3->SetMaxSpeed(1000); |
Arkadi | 21:ed054abddfe4 | 110 | |
Arkadi | 21:ed054abddfe4 | 111 | /* Min speed to 200 step/s. */ |
Arkadi | 21:ed054abddfe4 | 112 | motor1->SetMinSpeed(100); |
Arkadi | 21:ed054abddfe4 | 113 | motor2->SetMinSpeed(100); |
Arkadi | 21:ed054abddfe4 | 114 | motor3->SetMinSpeed(100); |
Arkadi | 21:ed054abddfe4 | 115 | |
Arkadi | 21:ed054abddfe4 | 116 | /* set accelerations */ |
Arkadi | 21:ed054abddfe4 | 117 | motor1->SetAcceleration(500); |
Arkadi | 21:ed054abddfe4 | 118 | motor2->SetAcceleration(500); |
Arkadi | 21:ed054abddfe4 | 119 | motor3->SetAcceleration(500); |
Arkadi | 21:ed054abddfe4 | 120 | motor1->SetDeceleration(500); |
Arkadi | 21:ed054abddfe4 | 121 | motor2->SetDeceleration(500); |
Arkadi | 21:ed054abddfe4 | 122 | motor3->SetDeceleration(500); |
Arkadi | 21:ed054abddfe4 | 123 | |
Arkadi | 21:ed054abddfe4 | 124 | // Enabling motor |
Arkadi | 21:ed054abddfe4 | 125 | motor1->Enable(); |
Arkadi | 21:ed054abddfe4 | 126 | motor2->Enable(); |
Arkadi | 21:ed054abddfe4 | 127 | motor3->Enable(); |
Arkadi | 21:ed054abddfe4 | 128 | |
Davidroid | 0:e6a49a092e2a | 129 | |
Davidroid | 0:e6a49a092e2a | 130 | /* Printing to the console. */ |
Arkadi | 21:ed054abddfe4 | 131 | printf("Motor Control Application Example for 3 Motors\r\n\n"); |
Davidroid | 8:cec4c2c03a27 | 132 | |
Davidroid | 8:cec4c2c03a27 | 133 | /*----- Moving. -----*/ |
Arkadi | 21:ed054abddfe4 | 134 | |
Davidroid | 8:cec4c2c03a27 | 135 | /* Moving N steps in the forward direction. */ |
Arkadi | 21:ed054abddfe4 | 136 | motor1->Move(StepperMotor::FWD, STEPS); |
Davidroid | 9:a9e51320aee4 | 137 | motor2->Move(StepperMotor::FWD, STEPS); |
Arkadi | 21:ed054abddfe4 | 138 | motor3->Move(StepperMotor::FWD, STEPS); |
Davidroid | 8:cec4c2c03a27 | 139 | /* Waiting while the motor is active. */ |
Davidroid | 8:cec4c2c03a27 | 140 | motor1->WaitWhileActive(); |
Davidroid | 8:cec4c2c03a27 | 141 | motor2->WaitWhileActive(); |
Arkadi | 21:ed054abddfe4 | 142 | motor3->WaitWhileActive(); |
Arkadi | 21:ed054abddfe4 | 143 | |
Arkadi | 21:ed054abddfe4 | 144 | /* Waiting 2 seconds. */ |
Davidroid | 8:cec4c2c03a27 | 145 | wait_ms(2000); |
Arkadi | 21:ed054abddfe4 | 146 | |
Davidroid | 8:cec4c2c03a27 | 147 | |
Davidroid | 8:cec4c2c03a27 | 148 | /* Moving N steps in the backward direction. */ |
Arkadi | 21:ed054abddfe4 | 149 | motor1->Move(StepperMotor::BWD, STEPS); |
Davidroid | 9:a9e51320aee4 | 150 | motor2->Move(StepperMotor::BWD, STEPS); |
Arkadi | 21:ed054abddfe4 | 151 | motor3->Move(StepperMotor::BWD, STEPS); |
Davidroid | 8:cec4c2c03a27 | 152 | /* Waiting while the motor is active. */ |
Davidroid | 8:cec4c2c03a27 | 153 | motor1->WaitWhileActive(); |
Davidroid | 8:cec4c2c03a27 | 154 | motor2->WaitWhileActive(); |
Arkadi | 21:ed054abddfe4 | 155 | motor3->WaitWhileActive(); |
Davidroid | 8:cec4c2c03a27 | 156 | |
Davidroid | 8:cec4c2c03a27 | 157 | /* Waiting 2 seconds. */ |
Davidroid | 8:cec4c2c03a27 | 158 | wait_ms(2000); |
Davidroid | 8:cec4c2c03a27 | 159 | |
Arkadi | 21:ed054abddfe4 | 160 | /* Infinite Loop. */ |
Arkadi | 21:ed054abddfe4 | 161 | while(1) |
Arkadi | 21:ed054abddfe4 | 162 | { |
Arkadi | 21:ed054abddfe4 | 163 | /*----- Moving. -----*/ |
Davidroid | 8:cec4c2c03a27 | 164 | |
Arkadi | 21:ed054abddfe4 | 165 | /* Moving N steps in the forward direction. */ |
Arkadi | 21:ed054abddfe4 | 166 | motor1->Move(StepperMotor::FWD, STEPS); |
Arkadi | 21:ed054abddfe4 | 167 | motor2->Move(StepperMotor::FWD, STEPS); |
Arkadi | 21:ed054abddfe4 | 168 | motor3->Move(StepperMotor::FWD, STEPS); |
Davidroid | 8:cec4c2c03a27 | 169 | /* Waiting while the motor is active. */ |
Davidroid | 8:cec4c2c03a27 | 170 | motor1->WaitWhileActive(); |
Davidroid | 8:cec4c2c03a27 | 171 | motor2->WaitWhileActive(); |
Arkadi | 21:ed054abddfe4 | 172 | motor3->WaitWhileActive(); |
Arkadi | 21:ed054abddfe4 | 173 | |
Arkadi | 21:ed054abddfe4 | 174 | /* Moving N steps in the backward direction. */ |
Arkadi | 21:ed054abddfe4 | 175 | motor1->Move(StepperMotor::BWD, STEPS); |
Arkadi | 21:ed054abddfe4 | 176 | motor2->Move(StepperMotor::BWD, STEPS); |
Arkadi | 21:ed054abddfe4 | 177 | motor3->Move(StepperMotor::BWD, STEPS); |
Davidroid | 8:cec4c2c03a27 | 178 | /* Waiting while the motor is active. */ |
Davidroid | 8:cec4c2c03a27 | 179 | motor1->WaitWhileActive(); |
Davidroid | 8:cec4c2c03a27 | 180 | motor2->WaitWhileActive(); |
Arkadi | 21:ed054abddfe4 | 181 | motor3->WaitWhileActive(); |
Arkadi | 21:ed054abddfe4 | 182 | |
Davidroid | 8:cec4c2c03a27 | 183 | /* Waiting 2 seconds. */ |
Davidroid | 8:cec4c2c03a27 | 184 | wait_ms(2000); |
Davidroid | 0:e6a49a092e2a | 185 | } |
Davidroid | 0:e6a49a092e2a | 186 | } |