Arkadi Rafalovich / Mbed 2 deprecated Thesis_Rotating_Platform_Demo

Theis Rotating Platform Demo code

Dependencies:   X_NUCLEO_IHM01A1_Demo_Code mbed

Fork of Demo_IHM01A1_3-Motors by Arkadi Rafalovich

main.cpp@6:10bf302cd369, 2015-11-25 (annotated)

Committer:
Davidroid
Date:
Wed Nov 25 12:15:45 2015 +0000
Revision:
6:10bf302cd369
Parent:
5:a0268a435bb1
Child:
7:141f878e9590
+ Updated with the new X_NUCLEO_IHM01A1 library.

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 0:e6a49a092e2a 4 * @author Davide Aliprandi / AST
Davidroid 0:e6a49a092e2a 5 * @version V1.0.0
Davidroid 0:e6a49a092e2a 6 * @date October 14th, 2015
Davidroid 0:e6a49a092e2a 7 * @brief mbed test application for the STMicrolectronics 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>&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 0:e6a49a092e2a 54 /* Number of steps corresponding to one round angle of the motor. */
Davidroid 3:02d9ec4f88b2 55 #define ROUND_ANGLE_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;
Davidroid 0:e6a49a092e2a 63
Davidroid 0:e6a49a092e2a 64
Davidroid 0:e6a49a092e2a 65 /* Main ----------------------------------------------------------------------*/
Davidroid 0:e6a49a092e2a 66
Davidroid 0:e6a49a092e2a 67 int main()
Davidroid 0:e6a49a092e2a 68 {
Davidroid 0:e6a49a092e2a 69 /* Initializing SPI bus. */
Davidroid 0:e6a49a092e2a 70 DevSPI dev_spi(D11, D12, D13);
Davidroid 0:e6a49a092e2a 71
Davidroid 0:e6a49a092e2a 72 /* Initializing Motor Control Component. */
Davidroid 5:a0268a435bb1 73 motor1 = new L6474(D2, D8, D7, D9, D10, dev_spi);
Davidroid 3:02d9ec4f88b2 74 if (motor1->Init(NULL) != COMPONENT_OK)
Davidroid 3:02d9ec4f88b2 75 return false;
Davidroid 5:a0268a435bb1 76 motor2 = new L6474(D2, D8, D4, D3, D10, dev_spi);
Davidroid 3:02d9ec4f88b2 77 if (motor2->Init(NULL) != COMPONENT_OK)
Davidroid 0:e6a49a092e2a 78 return false;
Davidroid 0:e6a49a092e2a 79
Davidroid 0:e6a49a092e2a 80 /* Printing to the console. */
Davidroid 3:02d9ec4f88b2 81 printf("Motor Control Application Example for 2 Motors\r\n\n");
Davidroid 0:e6a49a092e2a 82
Davidroid 0:e6a49a092e2a 83 /* Main Loop. */
Davidroid 0:e6a49a092e2a 84 while(true)
Davidroid 0:e6a49a092e2a 85 {
Davidroid 3:02d9ec4f88b2 86 /*----- Moving. -----*/
Davidroid 0:e6a49a092e2a 87
Davidroid 0:e6a49a092e2a 88 /* Printing to the console. */
Davidroid 3:02d9ec4f88b2 89 printf("--> Moving forward: M1 %d steps, M2 %d steps.\r\n", ROUND_ANGLE_STEPS >> 1, ROUND_ANGLE_STEPS);
Davidroid 0:e6a49a092e2a 90
Davidroid 0:e6a49a092e2a 91 /* Moving N steps in the forward direction. */
Davidroid 3:02d9ec4f88b2 92 motor1->Move(StepperMotor::FWD, ROUND_ANGLE_STEPS >> 1);
Davidroid 3:02d9ec4f88b2 93 motor2->Move(StepperMotor::FWD, ROUND_ANGLE_STEPS);
Davidroid 3:02d9ec4f88b2 94
Davidroid 0:e6a49a092e2a 95 /* Waiting while the motor is active. */
Davidroid 3:02d9ec4f88b2 96 motor1->WaitWhileActive();
Davidroid 3:02d9ec4f88b2 97 motor2->WaitWhileActive();
Davidroid 0:e6a49a092e2a 98
Davidroid 0:e6a49a092e2a 99 /* Getting current position. */
Davidroid 3:02d9ec4f88b2 100 int position1 = motor1->GetPosition();
Davidroid 3:02d9ec4f88b2 101 int position2 = motor2->GetPosition();
Davidroid 0:e6a49a092e2a 102
Davidroid 0:e6a49a092e2a 103 /* Printing to the console. */
Davidroid 3:02d9ec4f88b2 104 printf(" Position: M1 %d, M2 %d.\r\n", position1, position2);
Davidroid 0:e6a49a092e2a 105
Davidroid 0:e6a49a092e2a 106 /* Waiting 2 seconds. */
Davidroid 0:e6a49a092e2a 107 wait_ms(2000);
Davidroid 0:e6a49a092e2a 108
Davidroid 0:e6a49a092e2a 109
Davidroid 3:02d9ec4f88b2 110 /*----- Moving. -----*/
Davidroid 0:e6a49a092e2a 111
Davidroid 0:e6a49a092e2a 112 /* Printing to the console. */
Davidroid 3:02d9ec4f88b2 113 printf("--> Moving backward: M1 %d steps, M2 %d steps.\r\n", ROUND_ANGLE_STEPS >> 1, ROUND_ANGLE_STEPS);
Davidroid 3:02d9ec4f88b2 114
Davidroid 0:e6a49a092e2a 115
Davidroid 0:e6a49a092e2a 116 /* Moving N steps in the backward direction. */
Davidroid 3:02d9ec4f88b2 117 motor1->Move(StepperMotor::BWD, ROUND_ANGLE_STEPS >> 1);
Davidroid 3:02d9ec4f88b2 118 motor2->Move(StepperMotor::BWD, ROUND_ANGLE_STEPS);
Davidroid 0:e6a49a092e2a 119
Davidroid 0:e6a49a092e2a 120 /* Waiting while the motor is active. */
Davidroid 3:02d9ec4f88b2 121 motor1->WaitWhileActive();
Davidroid 3:02d9ec4f88b2 122 motor2->WaitWhileActive();
Davidroid 0:e6a49a092e2a 123
Davidroid 0:e6a49a092e2a 124 /* Getting current position. */
Davidroid 3:02d9ec4f88b2 125 position1 = motor1->GetPosition();
Davidroid 3:02d9ec4f88b2 126 position2 = motor2->GetPosition();
Davidroid 0:e6a49a092e2a 127
Davidroid 0:e6a49a092e2a 128 /* Printing to the console. */
Davidroid 3:02d9ec4f88b2 129 printf(" Position: M1 %d, M2 %d.\r\n", position1, position2);
Davidroid 3:02d9ec4f88b2 130 printf("--> Setting Home.\r\n");
Davidroid 0:e6a49a092e2a 131
Davidroid 0:e6a49a092e2a 132 /* Setting the current position to be the home position. */
Davidroid 3:02d9ec4f88b2 133 motor1->SetHome();
Davidroid 3:02d9ec4f88b2 134 motor2->SetHome();
Davidroid 0:e6a49a092e2a 135
Davidroid 0:e6a49a092e2a 136 /* Waiting 2 seconds. */
Davidroid 0:e6a49a092e2a 137 wait_ms(2000);
Davidroid 0:e6a49a092e2a 138
Davidroid 0:e6a49a092e2a 139
Davidroid 0:e6a49a092e2a 140 /*----- Going to a specified position. -----*/
Davidroid 0:e6a49a092e2a 141
Davidroid 0:e6a49a092e2a 142 /* Printing to the console. */
Davidroid 3:02d9ec4f88b2 143 printf("--> Going to position: M1 %d, M2 %d.\r\n", ROUND_ANGLE_STEPS, ROUND_ANGLE_STEPS >> 1);
Davidroid 0:e6a49a092e2a 144
Davidroid 0:e6a49a092e2a 145 /* Requesting to go to a specified position. */
Davidroid 3:02d9ec4f88b2 146 motor1->GoTo(ROUND_ANGLE_STEPS);
Davidroid 3:02d9ec4f88b2 147 motor2->GoTo(ROUND_ANGLE_STEPS >> 1);
Davidroid 0:e6a49a092e2a 148
Davidroid 0:e6a49a092e2a 149 /* Waiting while the motor is active. */
Davidroid 3:02d9ec4f88b2 150 motor1->WaitWhileActive();
Davidroid 3:02d9ec4f88b2 151 motor2->WaitWhileActive();
Davidroid 0:e6a49a092e2a 152
Davidroid 0:e6a49a092e2a 153 /* Getting current position. */
Davidroid 3:02d9ec4f88b2 154 position1 = motor1->GetPosition();
Davidroid 3:02d9ec4f88b2 155 position2 = motor2->GetPosition();
Davidroid 0:e6a49a092e2a 156
Davidroid 0:e6a49a092e2a 157 /* Printing to the console. */
Davidroid 3:02d9ec4f88b2 158 printf(" Position: M1 %d, M2 %d.\r\n", position1, position2);
Davidroid 0:e6a49a092e2a 159
Davidroid 0:e6a49a092e2a 160 /* Waiting 2 seconds. */
Davidroid 0:e6a49a092e2a 161 wait_ms(2000);
Davidroid 0:e6a49a092e2a 162
Davidroid 0:e6a49a092e2a 163
Davidroid 0:e6a49a092e2a 164 /*----- Going Home. -----*/
Davidroid 0:e6a49a092e2a 165
Davidroid 0:e6a49a092e2a 166 /* Printing to the console. */
Davidroid 0:e6a49a092e2a 167 printf("--> Going Home.\r\n");
Davidroid 0:e6a49a092e2a 168
Davidroid 0:e6a49a092e2a 169 /* Requesting to go to home. */
Davidroid 3:02d9ec4f88b2 170 motor1->GoHome();
Davidroid 3:02d9ec4f88b2 171 motor2->GoHome();
Davidroid 0:e6a49a092e2a 172
Davidroid 0:e6a49a092e2a 173 /* Waiting while the motor is active. */
Davidroid 3:02d9ec4f88b2 174 motor1->WaitWhileActive();
Davidroid 3:02d9ec4f88b2 175 motor2->WaitWhileActive();
Davidroid 0:e6a49a092e2a 176
Davidroid 0:e6a49a092e2a 177 /* Getting current position. */
Davidroid 3:02d9ec4f88b2 178 position1 = motor1->GetPosition();
Davidroid 3:02d9ec4f88b2 179 position2 = motor2->GetPosition();
Davidroid 0:e6a49a092e2a 180
Davidroid 0:e6a49a092e2a 181 /* Printing to the console. */
Davidroid 3:02d9ec4f88b2 182 printf(" Position: M1 %d, M2 %d.\r\n", position1, position2);
Davidroid 0:e6a49a092e2a 183
Davidroid 0:e6a49a092e2a 184 /* Waiting 2 seconds. */
Davidroid 0:e6a49a092e2a 185 wait_ms(2000);
Davidroid 0:e6a49a092e2a 186
Davidroid 0:e6a49a092e2a 187
Davidroid 3:02d9ec4f88b2 188 /*----- Running. -----*/
Davidroid 0:e6a49a092e2a 189
Davidroid 0:e6a49a092e2a 190 /* Printing to the console. */
Davidroid 3:02d9ec4f88b2 191 printf("--> M1 running backward, M2 running forward.\r\n");
Davidroid 0:e6a49a092e2a 192
Davidroid 0:e6a49a092e2a 193 /* Requesting to run backward. */
Davidroid 3:02d9ec4f88b2 194 motor1->Run(StepperMotor::BWD);
Davidroid 3:02d9ec4f88b2 195 motor2->Run(StepperMotor::FWD);
Davidroid 0:e6a49a092e2a 196
Davidroid 0:e6a49a092e2a 197 /* Waiting until delay has expired. */
Davidroid 1:fbf28f3367aa 198 wait_ms(6000);
Davidroid 0:e6a49a092e2a 199
Davidroid 0:e6a49a092e2a 200 /* Getting current speed. */
Davidroid 3:02d9ec4f88b2 201 int speed1 = motor1->GetSpeed();
Davidroid 3:02d9ec4f88b2 202 int speed2 = motor2->GetSpeed();
Davidroid 0:e6a49a092e2a 203
Davidroid 0:e6a49a092e2a 204 /* Printing to the console. */
Davidroid 3:02d9ec4f88b2 205 printf(" Speed: M1 %d, M2 %d.\r\n", speed1, speed2);
Davidroid 0:e6a49a092e2a 206
Davidroid 0:e6a49a092e2a 207 /*----- Increasing the speed while running. -----*/
Davidroid 0:e6a49a092e2a 208
Davidroid 0:e6a49a092e2a 209 /* Printing to the console. */
Davidroid 0:e6a49a092e2a 210 printf("--> Increasing the speed while running.\r\n");
Davidroid 0:e6a49a092e2a 211
Davidroid 0:e6a49a092e2a 212 /* Increasing speed to 2400 step/s. */
Davidroid 3:02d9ec4f88b2 213 motor1->SetMaxSpeed(2400);
Davidroid 3:02d9ec4f88b2 214 motor2->SetMaxSpeed(2400);
Davidroid 0:e6a49a092e2a 215
Davidroid 0:e6a49a092e2a 216 /* Waiting until delay has expired. */
Davidroid 1:fbf28f3367aa 217 wait_ms(6000);
Davidroid 0:e6a49a092e2a 218
Davidroid 0:e6a49a092e2a 219 /* Getting current speed. */
Davidroid 3:02d9ec4f88b2 220 speed1 = motor1->GetSpeed();
Davidroid 3:02d9ec4f88b2 221 speed2 = motor2->GetSpeed();
Davidroid 0:e6a49a092e2a 222
Davidroid 0:e6a49a092e2a 223 /* Printing to the console. */
Davidroid 3:02d9ec4f88b2 224 printf(" Speed: M1 %d, M2 %d.\r\n", speed1, speed2);
Davidroid 0:e6a49a092e2a 225
Davidroid 0:e6a49a092e2a 226
Davidroid 0:e6a49a092e2a 227 /*----- Decreasing the speed while running. -----*/
Davidroid 0:e6a49a092e2a 228
Davidroid 0:e6a49a092e2a 229 /* Printing to the console. */
Davidroid 0:e6a49a092e2a 230 printf("--> Decreasing the speed while running.\r\n");
Davidroid 0:e6a49a092e2a 231
Davidroid 0:e6a49a092e2a 232 /* Decreasing speed to 1200 step/s. */
Davidroid 3:02d9ec4f88b2 233 motor1->SetMaxSpeed(1200);
Davidroid 3:02d9ec4f88b2 234 motor2->SetMaxSpeed(1200);
Davidroid 0:e6a49a092e2a 235
Davidroid 0:e6a49a092e2a 236 /* Waiting until delay has expired. */
Davidroid 1:fbf28f3367aa 237 wait_ms(8000);
Davidroid 0:e6a49a092e2a 238
Davidroid 0:e6a49a092e2a 239 /* Getting current speed. */
Davidroid 3:02d9ec4f88b2 240 speed1 = motor1->GetSpeed();
Davidroid 3:02d9ec4f88b2 241 speed2 = motor2->GetSpeed();
Davidroid 0:e6a49a092e2a 242
Davidroid 0:e6a49a092e2a 243 /* Printing to the console. */
Davidroid 3:02d9ec4f88b2 244 printf(" Speed: M1 %d, M2 %d.\r\n", speed1, speed2);
Davidroid 0:e6a49a092e2a 245
Davidroid 0:e6a49a092e2a 246
Davidroid 0:e6a49a092e2a 247 /*----- Requiring hard-stop while running. -----*/
Davidroid 0:e6a49a092e2a 248
Davidroid 0:e6a49a092e2a 249 /* Printing to the console. */
Davidroid 0:e6a49a092e2a 250 printf("--> Requiring hard-stop while running.\r\n");
Davidroid 0:e6a49a092e2a 251
Davidroid 0:e6a49a092e2a 252 /* Requesting to immediatly stop. */
Davidroid 3:02d9ec4f88b2 253 motor1->HardStop();
Davidroid 3:02d9ec4f88b2 254 motor2->HardStop();
Davidroid 0:e6a49a092e2a 255
Davidroid 0:e6a49a092e2a 256 /* Waiting while the motor is active. */
Davidroid 3:02d9ec4f88b2 257 motor1->WaitWhileActive();
Davidroid 3:02d9ec4f88b2 258 motor2->WaitWhileActive();
Davidroid 0:e6a49a092e2a 259
Davidroid 0:e6a49a092e2a 260 /* Waiting 2 seconds. */
Davidroid 0:e6a49a092e2a 261 wait_ms(2000);
Davidroid 0:e6a49a092e2a 262
Davidroid 0:e6a49a092e2a 263
Davidroid 0:e6a49a092e2a 264 /*----- Infinite Loop. -----*/
Davidroid 0:e6a49a092e2a 265
Davidroid 0:e6a49a092e2a 266 /* Printing to the console. */
Davidroid 0:e6a49a092e2a 267 printf("--> Infinite Loop...\r\n");
Davidroid 0:e6a49a092e2a 268
Davidroid 0:e6a49a092e2a 269 /* Setting the current position to be the home position. */
Davidroid 3:02d9ec4f88b2 270 motor1->SetHome();
Davidroid 3:02d9ec4f88b2 271 motor2->SetHome();
Davidroid 0:e6a49a092e2a 272
Davidroid 0:e6a49a092e2a 273 /* Infinite Loop. */
Davidroid 0:e6a49a092e2a 274 while(1)
Davidroid 0:e6a49a092e2a 275 {
Davidroid 0:e6a49a092e2a 276 /* Requesting to go to a specified position. */
Davidroid 3:02d9ec4f88b2 277 motor1->GoTo(ROUND_ANGLE_STEPS >> 1);
Davidroid 3:02d9ec4f88b2 278 motor2->GoTo(- (ROUND_ANGLE_STEPS >> 1));
Davidroid 0:e6a49a092e2a 279
Davidroid 0:e6a49a092e2a 280 /* Waiting while the motor is active. */
Davidroid 3:02d9ec4f88b2 281 motor1->WaitWhileActive();
Davidroid 3:02d9ec4f88b2 282 motor2->WaitWhileActive();
Davidroid 0:e6a49a092e2a 283
Davidroid 0:e6a49a092e2a 284 /* Requesting to go to a specified position. */
Davidroid 3:02d9ec4f88b2 285 motor1->GoTo(- (ROUND_ANGLE_STEPS >> 1));
Davidroid 3:02d9ec4f88b2 286 motor2->GoTo(ROUND_ANGLE_STEPS >> 1);
Davidroid 0:e6a49a092e2a 287
Davidroid 0:e6a49a092e2a 288 /* Waiting while the motor is active. */
Davidroid 3:02d9ec4f88b2 289 motor1->WaitWhileActive();
Davidroid 3:02d9ec4f88b2 290 motor2->WaitWhileActive();
Davidroid 0:e6a49a092e2a 291 }
Davidroid 0:e6a49a092e2a 292 }
Davidroid 0:e6a49a092e2a 293 }