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@0:e6a49a092e2a, 2015-10-14 (annotated)

Committer:
Davidroid
Date:
Wed Oct 14 15:21:49 2015 +0000
Revision:
0:e6a49a092e2a
Child:
1:fbf28f3367aa
mbed test application for the STMicrolectronics X-NUCLEO-IHM01A1; Motor Control Expansion Board: control of 1 motor.

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 0:e6a49a092e2a 8 * Motor Control Expansion Board: control of 1 motor.
Davidroid 0:e6a49a092e2a 9 * This application makes use of a C++ component architecture obtained
Davidroid 0:e6a49a092e2a 10 * from the C component architecture through the Stm32CubeTOO tool.
Davidroid 0:e6a49a092e2a 11 ******************************************************************************
Davidroid 0:e6a49a092e2a 12 * @attention
Davidroid 0:e6a49a092e2a 13 *
Davidroid 0:e6a49a092e2a 14 * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
Davidroid 0:e6a49a092e2a 15 *
Davidroid 0:e6a49a092e2a 16 * Redistribution and use in source and binary forms, with or without modification,
Davidroid 0:e6a49a092e2a 17 * are permitted provided that the following conditions are met:
Davidroid 0:e6a49a092e2a 18 * 1. Redistributions of source code must retain the above copyright notice,
Davidroid 0:e6a49a092e2a 19 * this list of conditions and the following disclaimer.
Davidroid 0:e6a49a092e2a 20 * 2. Redistributions in binary form must reproduce the above copyright notice,
Davidroid 0:e6a49a092e2a 21 * this list of conditions and the following disclaimer in the documentation
Davidroid 0:e6a49a092e2a 22 * and/or other materials provided with the distribution.
Davidroid 0:e6a49a092e2a 23 * 3. Neither the name of STMicroelectronics nor the names of its contributors
Davidroid 0:e6a49a092e2a 24 * may be used to endorse or promote products derived from this software
Davidroid 0:e6a49a092e2a 25 * without specific prior written permission.
Davidroid 0:e6a49a092e2a 26 *
Davidroid 0:e6a49a092e2a 27 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
Davidroid 0:e6a49a092e2a 28 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
Davidroid 0:e6a49a092e2a 29 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
Davidroid 0:e6a49a092e2a 30 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
Davidroid 0:e6a49a092e2a 31 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
Davidroid 0:e6a49a092e2a 32 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
Davidroid 0:e6a49a092e2a 33 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
Davidroid 0:e6a49a092e2a 34 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
Davidroid 0:e6a49a092e2a 35 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
Davidroid 0:e6a49a092e2a 36 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
Davidroid 0:e6a49a092e2a 37 *
Davidroid 0:e6a49a092e2a 38 ******************************************************************************
Davidroid 0:e6a49a092e2a 39 */
Davidroid 0:e6a49a092e2a 40
Davidroid 0:e6a49a092e2a 41
Davidroid 0:e6a49a092e2a 42 /* Includes ------------------------------------------------------------------*/
Davidroid 0:e6a49a092e2a 43
Davidroid 0:e6a49a092e2a 44 /* mbed specific header files. */
Davidroid 0:e6a49a092e2a 45 #include "mbed.h"
Davidroid 0:e6a49a092e2a 46
Davidroid 0:e6a49a092e2a 47 /* Helper header files. */
Davidroid 0:e6a49a092e2a 48 #include "DevSPI.h"
Davidroid 0:e6a49a092e2a 49
Davidroid 0:e6a49a092e2a 50 /* Component specific header files. */
Davidroid 0:e6a49a092e2a 51 #include "l6474_class.h"
Davidroid 0:e6a49a092e2a 52
Davidroid 0:e6a49a092e2a 53
Davidroid 0:e6a49a092e2a 54 /* Definitions ---------------------------------------------------------------*/
Davidroid 0:e6a49a092e2a 55
Davidroid 0:e6a49a092e2a 56 /* Number of steps corresponding to one round angle of the motor. */
Davidroid 0:e6a49a092e2a 57 #define ROUND_ANGLE_STEPS 1600
Davidroid 0:e6a49a092e2a 58
Davidroid 0:e6a49a092e2a 59
Davidroid 0:e6a49a092e2a 60 /* Variables -----------------------------------------------------------------*/
Davidroid 0:e6a49a092e2a 61
Davidroid 0:e6a49a092e2a 62 /* Motor Control Component. */
Davidroid 0:e6a49a092e2a 63 L6474 *l6474;
Davidroid 0:e6a49a092e2a 64
Davidroid 0:e6a49a092e2a 65 /* Flag to identify whenever a PWM pulse has finished. */
Davidroid 0:e6a49a092e2a 66 volatile int pwm_pulse_finished_flag;
Davidroid 0:e6a49a092e2a 67
Davidroid 0:e6a49a092e2a 68 /* Flag to identify whenever the desired delay has expired. */
Davidroid 0:e6a49a092e2a 69 volatile int delay_expired_flag;
Davidroid 0:e6a49a092e2a 70
Davidroid 0:e6a49a092e2a 71
Davidroid 0:e6a49a092e2a 72 /* Functions -----------------------------------------------------------------*/
Davidroid 0:e6a49a092e2a 73
Davidroid 0:e6a49a092e2a 74 /*
Davidroid 0:e6a49a092e2a 75 * @brief PWM callback.
Davidroid 0:e6a49a092e2a 76 * @param None
Davidroid 0:e6a49a092e2a 77 * @retval None
Davidroid 0:e6a49a092e2a 78 */
Davidroid 0:e6a49a092e2a 79 void PWMCallback(void)
Davidroid 0:e6a49a092e2a 80 {
Davidroid 0:e6a49a092e2a 81 pwm_pulse_finished_flag = 1;
Davidroid 0:e6a49a092e2a 82 }
Davidroid 0:e6a49a092e2a 83
Davidroid 0:e6a49a092e2a 84 /*
Davidroid 0:e6a49a092e2a 85 * @brief Delay callback.
Davidroid 0:e6a49a092e2a 86 * @param None
Davidroid 0:e6a49a092e2a 87 * @retval None
Davidroid 0:e6a49a092e2a 88 */
Davidroid 0:e6a49a092e2a 89 void DelayCallback()
Davidroid 0:e6a49a092e2a 90 {
Davidroid 0:e6a49a092e2a 91 delay_expired_flag = 1;
Davidroid 0:e6a49a092e2a 92 }
Davidroid 0:e6a49a092e2a 93
Davidroid 0:e6a49a092e2a 94 /*
Davidroid 0:e6a49a092e2a 95 * @brief Waiting until PWM pulse has finished.
Davidroid 0:e6a49a092e2a 96 * @param None
Davidroid 0:e6a49a092e2a 97 * @retval None
Davidroid 0:e6a49a092e2a 98 */
Davidroid 0:e6a49a092e2a 99 void WaitForPWMPulse(void)
Davidroid 0:e6a49a092e2a 100 {
Davidroid 0:e6a49a092e2a 101 /* Waiting until PWM flag is set. */
Davidroid 0:e6a49a092e2a 102 while (pwm_pulse_finished_flag == 0);
Davidroid 0:e6a49a092e2a 103
Davidroid 0:e6a49a092e2a 104 /* Resetting PWM flag. */
Davidroid 0:e6a49a092e2a 105 pwm_pulse_finished_flag = 0;
Davidroid 0:e6a49a092e2a 106
Davidroid 0:e6a49a092e2a 107 /* Setting the device state machine. */
Davidroid 0:e6a49a092e2a 108 if (l6474->GetDeviceState() != INACTIVE)
Davidroid 0:e6a49a092e2a 109 l6474->StepClockHandler();
Davidroid 0:e6a49a092e2a 110 }
Davidroid 0:e6a49a092e2a 111
Davidroid 0:e6a49a092e2a 112 /*
Davidroid 0:e6a49a092e2a 113 * @brief Waiting while the motor is active.
Davidroid 0:e6a49a092e2a 114 * @param None
Davidroid 0:e6a49a092e2a 115 * @retval None
Davidroid 0:e6a49a092e2a 116 */
Davidroid 0:e6a49a092e2a 117 void WaitWhileActive(void)
Davidroid 0:e6a49a092e2a 118 {
Davidroid 0:e6a49a092e2a 119 while (l6474->GetDeviceState() != INACTIVE)
Davidroid 0:e6a49a092e2a 120 WaitForPWMPulse();
Davidroid 0:e6a49a092e2a 121 }
Davidroid 0:e6a49a092e2a 122
Davidroid 0:e6a49a092e2a 123 /*
Davidroid 0:e6a49a092e2a 124 * @brief Waiting until delay has expired.
Davidroid 0:e6a49a092e2a 125 * @param delay delay in milliseconds.
Davidroid 0:e6a49a092e2a 126 * @retval None
Davidroid 0:e6a49a092e2a 127 */
Davidroid 0:e6a49a092e2a 128 void WaitForDelay(int delay)
Davidroid 0:e6a49a092e2a 129 {
Davidroid 0:e6a49a092e2a 130 Timeout timeout;
Davidroid 0:e6a49a092e2a 131 timeout.attach(&DelayCallback, delay / 1E3);
Davidroid 0:e6a49a092e2a 132
Davidroid 0:e6a49a092e2a 133 delay_expired_flag = 0;
Davidroid 0:e6a49a092e2a 134 while (delay_expired_flag == 0)
Davidroid 0:e6a49a092e2a 135 WaitForPWMPulse();
Davidroid 0:e6a49a092e2a 136 }
Davidroid 0:e6a49a092e2a 137
Davidroid 0:e6a49a092e2a 138
Davidroid 0:e6a49a092e2a 139 /* Main ----------------------------------------------------------------------*/
Davidroid 0:e6a49a092e2a 140
Davidroid 0:e6a49a092e2a 141 int main()
Davidroid 0:e6a49a092e2a 142 {
Davidroid 0:e6a49a092e2a 143 /* Initializing SPI bus. */
Davidroid 0:e6a49a092e2a 144 DevSPI dev_spi(D11, D12, D13);
Davidroid 0:e6a49a092e2a 145
Davidroid 0:e6a49a092e2a 146 /* Resetting Timer PWM flag. */
Davidroid 0:e6a49a092e2a 147 pwm_pulse_finished_flag = 0;
Davidroid 0:e6a49a092e2a 148
Davidroid 0:e6a49a092e2a 149 /* Initializing Motor Control Component. */
Davidroid 0:e6a49a092e2a 150 l6474 = new L6474(D8, D7, D9, D10, dev_spi);
Davidroid 0:e6a49a092e2a 151 if (l6474->Init(NULL) != COMPONENT_OK)
Davidroid 0:e6a49a092e2a 152 return false;
Davidroid 0:e6a49a092e2a 153
Davidroid 0:e6a49a092e2a 154 /* Printing to the console. */
Davidroid 0:e6a49a092e2a 155 printf("Motor Control Application Example for 1 Motor\r\n\n");
Davidroid 0:e6a49a092e2a 156
Davidroid 0:e6a49a092e2a 157 /* Main Loop. */
Davidroid 0:e6a49a092e2a 158 while(true)
Davidroid 0:e6a49a092e2a 159 {
Davidroid 0:e6a49a092e2a 160 /*----- Moving forward of N steps. -----*/
Davidroid 0:e6a49a092e2a 161
Davidroid 0:e6a49a092e2a 162 /* Printing to the console. */
Davidroid 0:e6a49a092e2a 163 printf("--> Moving forward %d steps.\r\n", ROUND_ANGLE_STEPS);
Davidroid 0:e6a49a092e2a 164
Davidroid 0:e6a49a092e2a 165 /* Moving N steps in the forward direction. */
Davidroid 0:e6a49a092e2a 166 l6474->Move(FORWARD, ROUND_ANGLE_STEPS);
Davidroid 0:e6a49a092e2a 167
Davidroid 0:e6a49a092e2a 168 /* Waiting while the motor is active. */
Davidroid 0:e6a49a092e2a 169 WaitWhileActive();
Davidroid 0:e6a49a092e2a 170
Davidroid 0:e6a49a092e2a 171 /* Getting current position. */
Davidroid 0:e6a49a092e2a 172 int position = l6474->GetPosition();
Davidroid 0:e6a49a092e2a 173
Davidroid 0:e6a49a092e2a 174 /* Printing to the console. */
Davidroid 0:e6a49a092e2a 175 printf(" Position: %d.\r\n", position);
Davidroid 0:e6a49a092e2a 176
Davidroid 0:e6a49a092e2a 177 /* Waiting 2 seconds. */
Davidroid 0:e6a49a092e2a 178 wait_ms(2000);
Davidroid 0:e6a49a092e2a 179
Davidroid 0:e6a49a092e2a 180
Davidroid 0:e6a49a092e2a 181 /*----- Moving backward N steps. -----*/
Davidroid 0:e6a49a092e2a 182
Davidroid 0:e6a49a092e2a 183 /* Printing to the console. */
Davidroid 0:e6a49a092e2a 184 printf("--> Moving backward %d steps.\r\n", ROUND_ANGLE_STEPS);
Davidroid 0:e6a49a092e2a 185
Davidroid 0:e6a49a092e2a 186 /* Moving N steps in the backward direction. */
Davidroid 0:e6a49a092e2a 187 l6474->Move(BACKWARD, ROUND_ANGLE_STEPS);
Davidroid 0:e6a49a092e2a 188
Davidroid 0:e6a49a092e2a 189 /* Waiting while the motor is active. */
Davidroid 0:e6a49a092e2a 190 WaitWhileActive();
Davidroid 0:e6a49a092e2a 191
Davidroid 0:e6a49a092e2a 192 /* Getting current position. */
Davidroid 0:e6a49a092e2a 193 position = l6474->GetPosition();
Davidroid 0:e6a49a092e2a 194
Davidroid 0:e6a49a092e2a 195 /* Printing to the console. */
Davidroid 0:e6a49a092e2a 196 printf(" Position: %d.\r\n", position);
Davidroid 0:e6a49a092e2a 197
Davidroid 0:e6a49a092e2a 198 /* Setting the current position to be the home position. */
Davidroid 0:e6a49a092e2a 199 l6474->SetHome();
Davidroid 0:e6a49a092e2a 200
Davidroid 0:e6a49a092e2a 201 /* Waiting 2 seconds. */
Davidroid 0:e6a49a092e2a 202 wait_ms(2000);
Davidroid 0:e6a49a092e2a 203
Davidroid 0:e6a49a092e2a 204
Davidroid 0:e6a49a092e2a 205 /*----- Going to a specified position. -----*/
Davidroid 0:e6a49a092e2a 206
Davidroid 0:e6a49a092e2a 207 /* Printing to the console. */
Davidroid 0:e6a49a092e2a 208 printf("--> Going to position %d.\r\n", ROUND_ANGLE_STEPS >> 1);
Davidroid 0:e6a49a092e2a 209
Davidroid 0:e6a49a092e2a 210 /* Requesting to go to a specified position. */
Davidroid 0:e6a49a092e2a 211 l6474->GoTo(ROUND_ANGLE_STEPS >> 1);
Davidroid 0:e6a49a092e2a 212
Davidroid 0:e6a49a092e2a 213 /* Waiting while the motor is active. */
Davidroid 0:e6a49a092e2a 214 WaitWhileActive();
Davidroid 0:e6a49a092e2a 215
Davidroid 0:e6a49a092e2a 216 /* Getting current position. */
Davidroid 0:e6a49a092e2a 217 position = l6474->GetPosition();
Davidroid 0:e6a49a092e2a 218
Davidroid 0:e6a49a092e2a 219 /* Printing to the console. */
Davidroid 0:e6a49a092e2a 220 printf(" Position: %d.\r\n", position);
Davidroid 0:e6a49a092e2a 221
Davidroid 0:e6a49a092e2a 222 /* Waiting 2 seconds. */
Davidroid 0:e6a49a092e2a 223 wait_ms(2000);
Davidroid 0:e6a49a092e2a 224
Davidroid 0:e6a49a092e2a 225
Davidroid 0:e6a49a092e2a 226 /*----- Going Home. -----*/
Davidroid 0:e6a49a092e2a 227
Davidroid 0:e6a49a092e2a 228 /* Printing to the console. */
Davidroid 0:e6a49a092e2a 229 printf("--> Going Home.\r\n");
Davidroid 0:e6a49a092e2a 230
Davidroid 0:e6a49a092e2a 231 /* Requesting to go to home. */
Davidroid 0:e6a49a092e2a 232 l6474->GoHome();
Davidroid 0:e6a49a092e2a 233
Davidroid 0:e6a49a092e2a 234 /* Waiting while the motor is active. */
Davidroid 0:e6a49a092e2a 235 WaitWhileActive();
Davidroid 0:e6a49a092e2a 236
Davidroid 0:e6a49a092e2a 237 /* Getting current position. */
Davidroid 0:e6a49a092e2a 238 position = l6474->GetPosition();
Davidroid 0:e6a49a092e2a 239
Davidroid 0:e6a49a092e2a 240 /* Printing to the console. */
Davidroid 0:e6a49a092e2a 241 printf(" Position: %d.\r\n", position);
Davidroid 0:e6a49a092e2a 242
Davidroid 0:e6a49a092e2a 243 /* Waiting 2 seconds. */
Davidroid 0:e6a49a092e2a 244 wait_ms(2000);
Davidroid 0:e6a49a092e2a 245
Davidroid 0:e6a49a092e2a 246
Davidroid 0:e6a49a092e2a 247 /*----- Moving backward. -----*/
Davidroid 0:e6a49a092e2a 248
Davidroid 0:e6a49a092e2a 249 /* Printing to the console. */
Davidroid 0:e6a49a092e2a 250 printf("--> Moving backward.\r\n");
Davidroid 0:e6a49a092e2a 251
Davidroid 0:e6a49a092e2a 252 /* Requesting to run backward. */
Davidroid 0:e6a49a092e2a 253 l6474->Run(BACKWARD);
Davidroid 0:e6a49a092e2a 254
Davidroid 0:e6a49a092e2a 255 /* Waiting until delay has expired. */
Davidroid 0:e6a49a092e2a 256 WaitForDelay(6000);
Davidroid 0:e6a49a092e2a 257
Davidroid 0:e6a49a092e2a 258 /* Getting current speed. */
Davidroid 0:e6a49a092e2a 259 int speed = l6474->GetCurrentSpeed();
Davidroid 0:e6a49a092e2a 260
Davidroid 0:e6a49a092e2a 261 /* Printing to the console. */
Davidroid 0:e6a49a092e2a 262 printf(" Speed: %d.\r\n", speed);
Davidroid 0:e6a49a092e2a 263
Davidroid 0:e6a49a092e2a 264
Davidroid 0:e6a49a092e2a 265 /*----- Increasing the speed while running. -----*/
Davidroid 0:e6a49a092e2a 266
Davidroid 0:e6a49a092e2a 267 /* Printing to the console. */
Davidroid 0:e6a49a092e2a 268 printf("--> Increasing the speed while running.\r\n");
Davidroid 0:e6a49a092e2a 269
Davidroid 0:e6a49a092e2a 270 /* Increasing speed to 2400 step/s. */
Davidroid 0:e6a49a092e2a 271 l6474->SetMaxSpeed(2400);
Davidroid 0:e6a49a092e2a 272
Davidroid 0:e6a49a092e2a 273 /* Waiting until delay has expired. */
Davidroid 0:e6a49a092e2a 274 WaitForDelay(6000);
Davidroid 0:e6a49a092e2a 275
Davidroid 0:e6a49a092e2a 276 /* Getting current speed. */
Davidroid 0:e6a49a092e2a 277 speed = l6474->GetCurrentSpeed();
Davidroid 0:e6a49a092e2a 278
Davidroid 0:e6a49a092e2a 279 /* Printing to the console. */
Davidroid 0:e6a49a092e2a 280 printf(" Speed: %d.\r\n", speed);
Davidroid 0:e6a49a092e2a 281
Davidroid 0:e6a49a092e2a 282
Davidroid 0:e6a49a092e2a 283 /*----- Decreasing the speed while running. -----*/
Davidroid 0:e6a49a092e2a 284
Davidroid 0:e6a49a092e2a 285 /* Printing to the console. */
Davidroid 0:e6a49a092e2a 286 printf("--> Decreasing the speed while running.\r\n");
Davidroid 0:e6a49a092e2a 287
Davidroid 0:e6a49a092e2a 288 /* Decreasing speed to 1200 step/s. */
Davidroid 0:e6a49a092e2a 289 l6474->SetMaxSpeed(1200);
Davidroid 0:e6a49a092e2a 290
Davidroid 0:e6a49a092e2a 291 /* Waiting until delay has expired. */
Davidroid 0:e6a49a092e2a 292 WaitForDelay(8000);
Davidroid 0:e6a49a092e2a 293
Davidroid 0:e6a49a092e2a 294 /* Getting current speed. */
Davidroid 0:e6a49a092e2a 295 speed = l6474->GetCurrentSpeed();
Davidroid 0:e6a49a092e2a 296
Davidroid 0:e6a49a092e2a 297 /* Printing to the console. */
Davidroid 0:e6a49a092e2a 298 printf(" Speed: %d.\r\n", speed);
Davidroid 0:e6a49a092e2a 299
Davidroid 0:e6a49a092e2a 300
Davidroid 0:e6a49a092e2a 301 /*----- Moving forward. -----*/
Davidroid 0:e6a49a092e2a 302
Davidroid 0:e6a49a092e2a 303 /* Printing to the console. */
Davidroid 0:e6a49a092e2a 304 printf("--> Moving forward.\r\n");
Davidroid 0:e6a49a092e2a 305
Davidroid 0:e6a49a092e2a 306 /* Requesting to run in forward direction. */
Davidroid 0:e6a49a092e2a 307 l6474->Run(FORWARD);
Davidroid 0:e6a49a092e2a 308
Davidroid 0:e6a49a092e2a 309 /* Waiting until delay has expired. */
Davidroid 0:e6a49a092e2a 310 WaitForDelay(4000);
Davidroid 0:e6a49a092e2a 311
Davidroid 0:e6a49a092e2a 312
Davidroid 0:e6a49a092e2a 313 /*----- Requiring hard-stop while running. -----*/
Davidroid 0:e6a49a092e2a 314
Davidroid 0:e6a49a092e2a 315 /* Printing to the console. */
Davidroid 0:e6a49a092e2a 316 printf("--> Requiring hard-stop while running.\r\n");
Davidroid 0:e6a49a092e2a 317
Davidroid 0:e6a49a092e2a 318 /* Requesting to immediatly stop. */
Davidroid 0:e6a49a092e2a 319 l6474->HardStop();
Davidroid 0:e6a49a092e2a 320
Davidroid 0:e6a49a092e2a 321 /* Waiting while the motor is active. */
Davidroid 0:e6a49a092e2a 322 WaitWhileActive();
Davidroid 0:e6a49a092e2a 323
Davidroid 0:e6a49a092e2a 324 /* Waiting 2 seconds. */
Davidroid 0:e6a49a092e2a 325 wait_ms(2000);
Davidroid 0:e6a49a092e2a 326
Davidroid 0:e6a49a092e2a 327
Davidroid 0:e6a49a092e2a 328 /*----- Infinite Loop. -----*/
Davidroid 0:e6a49a092e2a 329
Davidroid 0:e6a49a092e2a 330 /* Printing to the console. */
Davidroid 0:e6a49a092e2a 331 printf("--> Infinite Loop...\r\n");
Davidroid 0:e6a49a092e2a 332
Davidroid 0:e6a49a092e2a 333 /* Setting the current position to be the home position. */
Davidroid 0:e6a49a092e2a 334 l6474->SetHome();
Davidroid 0:e6a49a092e2a 335
Davidroid 0:e6a49a092e2a 336 /* Infinite Loop. */
Davidroid 0:e6a49a092e2a 337 while(1)
Davidroid 0:e6a49a092e2a 338 {
Davidroid 0:e6a49a092e2a 339 /* Requesting to go to a specified position. */
Davidroid 0:e6a49a092e2a 340 l6474->GoTo(- ROUND_ANGLE_STEPS >> 2);
Davidroid 0:e6a49a092e2a 341
Davidroid 0:e6a49a092e2a 342 /* Waiting while the motor is active. */
Davidroid 0:e6a49a092e2a 343 WaitWhileActive();
Davidroid 0:e6a49a092e2a 344
Davidroid 0:e6a49a092e2a 345 /* Requesting to go to a specified position. */
Davidroid 0:e6a49a092e2a 346 l6474->GoTo(ROUND_ANGLE_STEPS >> 2);
Davidroid 0:e6a49a092e2a 347
Davidroid 0:e6a49a092e2a 348 /* Waiting while the motor is active. */
Davidroid 0:e6a49a092e2a 349 WaitWhileActive();
Davidroid 0:e6a49a092e2a 350 }
Davidroid 0:e6a49a092e2a 351 }
Davidroid 0:e6a49a092e2a 352 }