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@17:aae1446c67f4, 2016-01-15 (annotated)

Committer:
Davidroid
Date:
Fri Jan 15 17:01:13 2016 +0000
Revision:
17:aae1446c67f4
Parent:
16:810667a9f31f
Child:
21:ed054abddfe4
+ Updated with the new version of the 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 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>&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 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;
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 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);
Davidroid 14:fcd452b03d1a 77 if (motor1->Init() != COMPONENT_OK)
Davidroid 14:fcd452b03d1a 78 exit(EXIT_FAILURE);
Davidroid 14:fcd452b03d1a 79 if (motor2->Init() != COMPONENT_OK)
Davidroid 14:fcd452b03d1a 80 exit(EXIT_FAILURE);
Davidroid 0:e6a49a092e2a 81
Davidroid 0:e6a49a092e2a 82 /* Printing to the console. */
Davidroid 3:02d9ec4f88b2 83 printf("Motor Control Application Example for 2 Motors\r\n\n");
Davidroid 0:e6a49a092e2a 84
Davidroid 8:cec4c2c03a27 85
Davidroid 8:cec4c2c03a27 86 /*----- Moving. -----*/
Davidroid 8:cec4c2c03a27 87
Davidroid 8:cec4c2c03a27 88 /* Printing to the console. */
Davidroid 9:a9e51320aee4 89 printf("--> Moving forward: M1 %d steps, M2 %d steps.\r\n", STEPS >> 1, STEPS);
Davidroid 8:cec4c2c03a27 90
Davidroid 8:cec4c2c03a27 91 /* Moving N steps in the forward direction. */
Davidroid 9:a9e51320aee4 92 motor1->Move(StepperMotor::FWD, STEPS >> 1);
Davidroid 9:a9e51320aee4 93 motor2->Move(StepperMotor::FWD, STEPS);
Davidroid 8:cec4c2c03a27 94
Davidroid 8:cec4c2c03a27 95 /* Waiting while the motor is active. */
Davidroid 8:cec4c2c03a27 96 motor1->WaitWhileActive();
Davidroid 8:cec4c2c03a27 97 motor2->WaitWhileActive();
Davidroid 8:cec4c2c03a27 98
Davidroid 8:cec4c2c03a27 99 /* Getting current position. */
Davidroid 8:cec4c2c03a27 100 int position1 = motor1->GetPosition();
Davidroid 8:cec4c2c03a27 101 int position2 = motor2->GetPosition();
Davidroid 8:cec4c2c03a27 102
Davidroid 8:cec4c2c03a27 103 /* Printing to the console. */
Davidroid 8:cec4c2c03a27 104 printf(" Position: M1 %d, M2 %d.\r\n", position1, position2);
Davidroid 8:cec4c2c03a27 105
Davidroid 8:cec4c2c03a27 106 /* Waiting 2 seconds. */
Davidroid 8:cec4c2c03a27 107 wait_ms(2000);
Davidroid 8:cec4c2c03a27 108
Davidroid 8:cec4c2c03a27 109
Davidroid 8:cec4c2c03a27 110 /*----- Moving. -----*/
Davidroid 8:cec4c2c03a27 111
Davidroid 8:cec4c2c03a27 112 /* Printing to the console. */
Davidroid 9:a9e51320aee4 113 printf("--> Moving backward: M1 %d steps, M2 %d steps.\r\n", STEPS >> 1, STEPS);
Davidroid 8:cec4c2c03a27 114
Davidroid 8:cec4c2c03a27 115
Davidroid 8:cec4c2c03a27 116 /* Moving N steps in the backward direction. */
Davidroid 9:a9e51320aee4 117 motor1->Move(StepperMotor::BWD, STEPS >> 1);
Davidroid 9:a9e51320aee4 118 motor2->Move(StepperMotor::BWD, STEPS);
Davidroid 8:cec4c2c03a27 119
Davidroid 8:cec4c2c03a27 120 /* Waiting while the motor is active. */
Davidroid 8:cec4c2c03a27 121 motor1->WaitWhileActive();
Davidroid 8:cec4c2c03a27 122 motor2->WaitWhileActive();
Davidroid 8:cec4c2c03a27 123
Davidroid 8:cec4c2c03a27 124 /* Getting current position. */
Davidroid 8:cec4c2c03a27 125 position1 = motor1->GetPosition();
Davidroid 8:cec4c2c03a27 126 position2 = motor2->GetPosition();
Davidroid 8:cec4c2c03a27 127
Davidroid 8:cec4c2c03a27 128 /* Printing to the console. */
Davidroid 8:cec4c2c03a27 129 printf(" Position: M1 %d, M2 %d.\r\n", position1, position2);
Davidroid 8:cec4c2c03a27 130 printf("--> Setting Home.\r\n");
Davidroid 8:cec4c2c03a27 131
Davidroid 8:cec4c2c03a27 132 /* Setting the current position to be the home position. */
Davidroid 8:cec4c2c03a27 133 motor1->SetHome();
Davidroid 8:cec4c2c03a27 134 motor2->SetHome();
Davidroid 8:cec4c2c03a27 135
Davidroid 8:cec4c2c03a27 136 /* Waiting 2 seconds. */
Davidroid 8:cec4c2c03a27 137 wait_ms(2000);
Davidroid 8:cec4c2c03a27 138
Davidroid 8:cec4c2c03a27 139
Davidroid 8:cec4c2c03a27 140 /*----- Going to a specified position. -----*/
Davidroid 8:cec4c2c03a27 141
Davidroid 8:cec4c2c03a27 142 /* Printing to the console. */
Davidroid 9:a9e51320aee4 143 printf("--> Going to position: M1 %d, M2 %d.\r\n", STEPS, STEPS >> 1);
Davidroid 8:cec4c2c03a27 144
Davidroid 8:cec4c2c03a27 145 /* Requesting to go to a specified position. */
Davidroid 9:a9e51320aee4 146 motor1->GoTo(STEPS);
Davidroid 9:a9e51320aee4 147 motor2->GoTo(STEPS >> 1);
Davidroid 8:cec4c2c03a27 148
Davidroid 8:cec4c2c03a27 149 /* Waiting while the motor is active. */
Davidroid 8:cec4c2c03a27 150 motor1->WaitWhileActive();
Davidroid 8:cec4c2c03a27 151 motor2->WaitWhileActive();
Davidroid 8:cec4c2c03a27 152
Davidroid 8:cec4c2c03a27 153 /* Getting current position. */
Davidroid 8:cec4c2c03a27 154 position1 = motor1->GetPosition();
Davidroid 8:cec4c2c03a27 155 position2 = motor2->GetPosition();
Davidroid 8:cec4c2c03a27 156
Davidroid 8:cec4c2c03a27 157 /* Printing to the console. */
Davidroid 8:cec4c2c03a27 158 printf(" Position: M1 %d, M2 %d.\r\n", position1, position2);
Davidroid 8:cec4c2c03a27 159
Davidroid 8:cec4c2c03a27 160 /* Waiting 2 seconds. */
Davidroid 8:cec4c2c03a27 161 wait_ms(2000);
Davidroid 8:cec4c2c03a27 162
Davidroid 8:cec4c2c03a27 163
Davidroid 8:cec4c2c03a27 164 /*----- Going Home. -----*/
Davidroid 8:cec4c2c03a27 165
Davidroid 8:cec4c2c03a27 166 /* Printing to the console. */
Davidroid 8:cec4c2c03a27 167 printf("--> Going Home.\r\n");
Davidroid 8:cec4c2c03a27 168
Davidroid 8:cec4c2c03a27 169 /* Requesting to go to home. */
Davidroid 8:cec4c2c03a27 170 motor1->GoHome();
Davidroid 8:cec4c2c03a27 171 motor2->GoHome();
Davidroid 8:cec4c2c03a27 172
Davidroid 8:cec4c2c03a27 173 /* Waiting while the motor is active. */
Davidroid 8:cec4c2c03a27 174 motor1->WaitWhileActive();
Davidroid 8:cec4c2c03a27 175 motor2->WaitWhileActive();
Davidroid 8:cec4c2c03a27 176
Davidroid 8:cec4c2c03a27 177 /* Getting current position. */
Davidroid 8:cec4c2c03a27 178 position1 = motor1->GetPosition();
Davidroid 8:cec4c2c03a27 179 position2 = motor2->GetPosition();
Davidroid 0:e6a49a092e2a 180
Davidroid 8:cec4c2c03a27 181 /* Printing to the console. */
Davidroid 8:cec4c2c03a27 182 printf(" Position: M1 %d, M2 %d.\r\n", position1, position2);
Davidroid 8:cec4c2c03a27 183
Davidroid 8:cec4c2c03a27 184 /* Waiting 2 seconds. */
Davidroid 8:cec4c2c03a27 185 wait_ms(2000);
Davidroid 8:cec4c2c03a27 186
Davidroid 8:cec4c2c03a27 187
Davidroid 8:cec4c2c03a27 188 /*----- Running. -----*/
Davidroid 8:cec4c2c03a27 189
Davidroid 8:cec4c2c03a27 190 /* Printing to the console. */
Davidroid 8:cec4c2c03a27 191 printf("--> M1 running backward, M2 running forward.\r\n");
Davidroid 8:cec4c2c03a27 192
Davidroid 8:cec4c2c03a27 193 /* Requesting to run backward. */
Davidroid 8:cec4c2c03a27 194 motor1->Run(StepperMotor::BWD);
Davidroid 8:cec4c2c03a27 195 motor2->Run(StepperMotor::FWD);
Davidroid 8:cec4c2c03a27 196
Davidroid 8:cec4c2c03a27 197 /* Waiting until delay has expired. */
Davidroid 8:cec4c2c03a27 198 wait_ms(6000);
Davidroid 8:cec4c2c03a27 199
Davidroid 8:cec4c2c03a27 200 /* Getting current speed. */
Davidroid 8:cec4c2c03a27 201 int speed1 = motor1->GetSpeed();
Davidroid 8:cec4c2c03a27 202 int speed2 = motor2->GetSpeed();
Davidroid 8:cec4c2c03a27 203
Davidroid 8:cec4c2c03a27 204 /* Printing to the console. */
Davidroid 8:cec4c2c03a27 205 printf(" Speed: M1 %d, M2 %d.\r\n", speed1, speed2);
Davidroid 8:cec4c2c03a27 206
Davidroid 8:cec4c2c03a27 207 /*----- Increasing the speed while running. -----*/
Davidroid 8:cec4c2c03a27 208
Davidroid 8:cec4c2c03a27 209 /* Printing to the console. */
Davidroid 8:cec4c2c03a27 210 printf("--> Increasing the speed while running.\r\n");
Davidroid 8:cec4c2c03a27 211
Davidroid 8:cec4c2c03a27 212 /* Increasing speed to 2400 step/s. */
Davidroid 8:cec4c2c03a27 213 motor1->SetMaxSpeed(2400);
Davidroid 8:cec4c2c03a27 214 motor2->SetMaxSpeed(2400);
Davidroid 8:cec4c2c03a27 215
Davidroid 8:cec4c2c03a27 216 /* Waiting until delay has expired. */
Davidroid 8:cec4c2c03a27 217 wait_ms(6000);
Davidroid 8:cec4c2c03a27 218
Davidroid 8:cec4c2c03a27 219 /* Getting current speed. */
Davidroid 8:cec4c2c03a27 220 speed1 = motor1->GetSpeed();
Davidroid 8:cec4c2c03a27 221 speed2 = motor2->GetSpeed();
Davidroid 8:cec4c2c03a27 222
Davidroid 8:cec4c2c03a27 223 /* Printing to the console. */
Davidroid 8:cec4c2c03a27 224 printf(" Speed: M1 %d, M2 %d.\r\n", speed1, speed2);
Davidroid 8:cec4c2c03a27 225
Davidroid 8:cec4c2c03a27 226
Davidroid 8:cec4c2c03a27 227 /*----- Decreasing the speed while running. -----*/
Davidroid 0:e6a49a092e2a 228
Davidroid 8:cec4c2c03a27 229 /* Printing to the console. */
Davidroid 8:cec4c2c03a27 230 printf("--> Decreasing the speed while running.\r\n");
Davidroid 8:cec4c2c03a27 231
Davidroid 8:cec4c2c03a27 232 /* Decreasing speed to 1200 step/s. */
Davidroid 8:cec4c2c03a27 233 motor1->SetMaxSpeed(1200);
Davidroid 8:cec4c2c03a27 234 motor2->SetMaxSpeed(1200);
Davidroid 8:cec4c2c03a27 235
Davidroid 8:cec4c2c03a27 236 /* Waiting until delay has expired. */
Davidroid 8:cec4c2c03a27 237 wait_ms(8000);
Davidroid 8:cec4c2c03a27 238
Davidroid 8:cec4c2c03a27 239 /* Getting current speed. */
Davidroid 8:cec4c2c03a27 240 speed1 = motor1->GetSpeed();
Davidroid 8:cec4c2c03a27 241 speed2 = motor2->GetSpeed();
Davidroid 8:cec4c2c03a27 242
Davidroid 8:cec4c2c03a27 243 /* Printing to the console. */
Davidroid 8:cec4c2c03a27 244 printf(" Speed: M1 %d, M2 %d.\r\n", speed1, speed2);
Davidroid 8:cec4c2c03a27 245
Davidroid 8:cec4c2c03a27 246
Davidroid 8:cec4c2c03a27 247 /*----- Requiring hard-stop while running. -----*/
Davidroid 8:cec4c2c03a27 248
Davidroid 8:cec4c2c03a27 249 /* Printing to the console. */
Davidroid 8:cec4c2c03a27 250 printf("--> Requiring hard-stop while running.\r\n");
Davidroid 8:cec4c2c03a27 251
Davidroid 8:cec4c2c03a27 252 /* Requesting to immediatly stop. */
Davidroid 8:cec4c2c03a27 253 motor1->HardStop();
Davidroid 8:cec4c2c03a27 254 motor2->HardStop();
Davidroid 8:cec4c2c03a27 255
Davidroid 8:cec4c2c03a27 256 /* Waiting while the motor is active. */
Davidroid 8:cec4c2c03a27 257 motor1->WaitWhileActive();
Davidroid 8:cec4c2c03a27 258 motor2->WaitWhileActive();
Davidroid 8:cec4c2c03a27 259
Davidroid 8:cec4c2c03a27 260 /* Waiting 2 seconds. */
Davidroid 8:cec4c2c03a27 261 wait_ms(2000);
Davidroid 8:cec4c2c03a27 262
Davidroid 8:cec4c2c03a27 263
Davidroid 8:cec4c2c03a27 264 /*----- Infinite Loop. -----*/
Davidroid 8:cec4c2c03a27 265
Davidroid 8:cec4c2c03a27 266 /* Printing to the console. */
Davidroid 8:cec4c2c03a27 267 printf("--> Infinite Loop...\r\n");
Davidroid 8:cec4c2c03a27 268
Davidroid 8:cec4c2c03a27 269 /* Setting the current position to be the home position. */
Davidroid 8:cec4c2c03a27 270 motor1->SetHome();
Davidroid 8:cec4c2c03a27 271 motor2->SetHome();
Davidroid 8:cec4c2c03a27 272
Davidroid 8:cec4c2c03a27 273 /* Infinite Loop. */
Davidroid 8:cec4c2c03a27 274 while(1)
Davidroid 8:cec4c2c03a27 275 {
Davidroid 8:cec4c2c03a27 276 /* Requesting to go to a specified position. */
Davidroid 9:a9e51320aee4 277 motor1->GoTo(STEPS >> 1);
Davidroid 9:a9e51320aee4 278 motor2->GoTo(- (STEPS >> 1));
Davidroid 3:02d9ec4f88b2 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 9:a9e51320aee4 285 motor1->GoTo(- (STEPS >> 1));
Davidroid 9:a9e51320aee4 286 motor2->GoTo(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 }