Diff: main.cpp

Revision:

3:02d9ec4f88b2

Parent:

2:e12e4df7a486

Child:

5:a0268a435bb1

--- a/main.cpp	Fri Nov 13 12:59:29 2015 +0000
+++ b/main.cpp	Wed Nov 18 18:46:58 2015 +0000
@@ -5,7 +5,7 @@
  * @version V1.0.0
  * @date    October 14th, 2015
  * @brief   mbed test application for the STMicrolectronics X-NUCLEO-IHM01A1
- *          Motor Control Expansion Board: control of 1 motor.
+ *          Motor Control Expansion Board: control of 2 motors.
  *          This application makes use of a C++ component architecture obtained
  *          from the C component architecture through the Stm32CubeTOO tool.
  ******************************************************************************
@@ -54,13 +54,14 @@
 /* Definitions ---------------------------------------------------------------*/
 
 /* Number of steps corresponding to one round angle of the motor. */
-#define ROUND_ANGLE_STEPS 1600
+#define ROUND_ANGLE_STEPS 3200
 
 
 /* Variables -----------------------------------------------------------------*/
 
 /* Motor Control Component. */
-L6474 *motor;
+L6474 *motor1;
+L6474 *motor2;
 
 
 /* Main ----------------------------------------------------------------------*/
@@ -71,56 +72,68 @@
     DevSPI dev_spi(D11, D12, D13);
 
     /* Initializing Motor Control Component. */
-    motor = new L6474(D8, D7, D9, D10, dev_spi);
-    if (motor->Init(NULL) != COMPONENT_OK)
+    motor1 = new L6474(D8, D7, D9, D10, dev_spi);
+    if (motor1->Init(NULL) != COMPONENT_OK)
+        return false;
+    motor2 = new L6474(D8, D4, D3, D10, dev_spi);
+    if (motor2->Init(NULL) != COMPONENT_OK)
         return false;
 
     /* Printing to the console. */
-    printf("Motor Control Application Example for 1 Motor\r\n\n");
+    printf("Motor Control Application Example for 2 Motors\r\n\n");
 
     /* Main Loop. */
     while(true)
     {
-        /*----- Moving forward of N steps. -----*/
+        /*----- Moving. -----*/
 
         /* Printing to the console. */
-        printf("--> Moving forward %d steps.\r\n", ROUND_ANGLE_STEPS);
+        printf("--> Moving forward: M1 %d steps, M2 %d steps.\r\n", ROUND_ANGLE_STEPS >> 1, ROUND_ANGLE_STEPS);
 
         /* Moving N steps in the forward direction. */
-        motor->Move(StepperMotor::CW, ROUND_ANGLE_STEPS);
-        
+        motor1->Move(StepperMotor::FWD, ROUND_ANGLE_STEPS >> 1);
+        motor2->Move(StepperMotor::FWD, ROUND_ANGLE_STEPS);
+
         /* Waiting while the motor is active. */
-        motor->WaitWhileActive();
+        motor1->WaitWhileActive();
+        motor2->WaitWhileActive();
 
         /* Getting current position. */
-        int position = motor->GetPosition();
+        int position1 = motor1->GetPosition();
+        int position2 = motor2->GetPosition();
         
         /* Printing to the console. */
-        printf("    Position: %d.\r\n", position);
+        printf("    Position: M1 %d, M2 %d.\r\n", position1, position2);
 
         /* Waiting 2 seconds. */
         wait_ms(2000);
 
         
-        /*----- Moving backward N steps. -----*/
+        /*----- Moving. -----*/
         
         /* Printing to the console. */
-        printf("--> Moving backward %d steps.\r\n", ROUND_ANGLE_STEPS);
+        printf("--> Moving backward: M1 %d steps, M2 %d steps.\r\n", ROUND_ANGLE_STEPS >> 1, ROUND_ANGLE_STEPS);
+
         
         /* Moving N steps in the backward direction. */
-        motor->Move(StepperMotor::CCW, ROUND_ANGLE_STEPS);
+        motor1->Move(StepperMotor::BWD, ROUND_ANGLE_STEPS >> 1);
+        motor2->Move(StepperMotor::BWD, ROUND_ANGLE_STEPS);
         
         /* Waiting while the motor is active. */
-        motor->WaitWhileActive();
+        motor1->WaitWhileActive();
+        motor2->WaitWhileActive();
 
         /* Getting current position. */
-        position = motor->GetPosition();
+        position1 = motor1->GetPosition();
+        position2 = motor2->GetPosition();
         
         /* Printing to the console. */
-        printf("    Position: %d.\r\n", position);
+        printf("    Position: M1 %d, M2 %d.\r\n", position1, position2);
+        printf("--> Setting Home.\r\n");
 
         /* Setting the current position to be the home position. */
-        motor->SetHome();
+        motor1->SetHome();
+        motor2->SetHome();
 
         /* Waiting 2 seconds. */
         wait_ms(2000);
@@ -129,19 +142,22 @@
         /*----- Going to a specified position. -----*/
 
         /* Printing to the console. */
-        printf("--> Going to position %d.\r\n", ROUND_ANGLE_STEPS >> 1);
+        printf("--> Going to position: M1 %d, M2 %d.\r\n", ROUND_ANGLE_STEPS, ROUND_ANGLE_STEPS >> 1);
         
         /* Requesting to go to a specified position. */
-        motor->GoTo(ROUND_ANGLE_STEPS >> 1);
+        motor1->GoTo(ROUND_ANGLE_STEPS);
+        motor2->GoTo(ROUND_ANGLE_STEPS >> 1);
         
         /* Waiting while the motor is active. */
-        motor->WaitWhileActive();
+        motor1->WaitWhileActive();
+        motor2->WaitWhileActive();
 
         /* Getting current position. */
-        position = motor->GetPosition();
+        position1 = motor1->GetPosition();
+        position2 = motor2->GetPosition();
         
         /* Printing to the console. */
-        printf("    Position: %d.\r\n", position);
+        printf("    Position: M1 %d, M2 %d.\r\n", position1, position2);
         
         /* Waiting 2 seconds. */
         wait_ms(2000);
@@ -153,38 +169,42 @@
         printf("--> Going Home.\r\n");
         
         /* Requesting to go to home. */
-        motor->GoHome();
+        motor1->GoHome();
+        motor2->GoHome();
         
         /* Waiting while the motor is active. */
-        motor->WaitWhileActive();
+        motor1->WaitWhileActive();
+        motor2->WaitWhileActive();
 
         /* Getting current position. */
-        position = motor->GetPosition();
+        position1 = motor1->GetPosition();
+        position2 = motor2->GetPosition();
 
         /* Printing to the console. */
-        printf("    Position: %d.\r\n", position);
+        printf("    Position: M1 %d, M2 %d.\r\n", position1, position2);
 
         /* Waiting 2 seconds. */
         wait_ms(2000);
 
 
-        /*----- Moving backward. -----*/
+        /*----- Running. -----*/
 
         /* Printing to the console. */
-        printf("--> Moving backward.\r\n");
+        printf("--> M1 running backward, M2 running forward.\r\n");
 
         /* Requesting to run backward. */
-        motor->Run(StepperMotor::CCW);
+        motor1->Run(StepperMotor::BWD);
+        motor2->Run(StepperMotor::FWD);
 
         /* Waiting until delay has expired. */
         wait_ms(6000);
 
         /* Getting current speed. */
-        int speed = motor->GetSpeed();
+        int speed1 = motor1->GetSpeed();
+        int speed2 = motor2->GetSpeed();
 
         /* Printing to the console. */
-        printf("    Speed: %d.\r\n", speed);
-
+        printf("    Speed: M1 %d, M2 %d.\r\n", speed1, speed2);
 
         /*----- Increasing the speed while running. -----*/
 
@@ -192,16 +212,18 @@
         printf("--> Increasing the speed while running.\r\n");
 
         /* Increasing speed to 2400 step/s. */
-        motor->SetMaxSpeed(2400);
+        motor1->SetMaxSpeed(2400);
+        motor2->SetMaxSpeed(2400);
 
         /* Waiting until delay has expired. */
         wait_ms(6000);
 
         /* Getting current speed. */
-        speed = motor->GetSpeed();
+        speed1 = motor1->GetSpeed();
+        speed2 = motor2->GetSpeed();
 
         /* Printing to the console. */
-        printf("    Speed: %d.\r\n", speed);
+        printf("    Speed: M1 %d, M2 %d.\r\n", speed1, speed2);
 
 
         /*----- Decreasing the speed while running. -----*/
@@ -210,29 +232,19 @@
         printf("--> Decreasing the speed while running.\r\n");
 
         /* Decreasing speed to 1200 step/s. */
-        motor->SetMaxSpeed(1200);
+        motor1->SetMaxSpeed(1200);
+        motor2->SetMaxSpeed(1200);
 
         /* Waiting until delay has expired. */
         wait_ms(8000);
 
         /* Getting current speed. */
-        speed = motor->GetSpeed();
-
-        /* Printing to the console. */
-        printf("    Speed: %d.\r\n", speed);
-
-
-        /*----- Moving forward. -----*/
+        speed1 = motor1->GetSpeed();
+        speed2 = motor2->GetSpeed();
 
         /* Printing to the console. */
-        printf("--> Moving forward.\r\n");
+        printf("    Speed: M1 %d, M2 %d.\r\n", speed1, speed2);
 
-        /* Requesting to run in forward direction. */
-        motor->Run(StepperMotor::CW);
-
-        /* Waiting until delay has expired. */
-        wait_ms(4000);
-        
 
         /*----- Requiring hard-stop while running. -----*/
 
@@ -240,10 +252,12 @@
         printf("--> Requiring hard-stop while running.\r\n");
 
         /* Requesting to immediatly stop. */
-        motor->HardStop();
+        motor1->HardStop();
+        motor2->HardStop();
 
         /* Waiting while the motor is active. */
-        motor->WaitWhileActive();
+        motor1->WaitWhileActive();
+        motor2->WaitWhileActive();
 
         /* Waiting 2 seconds. */
         wait_ms(2000);
@@ -255,22 +269,27 @@
         printf("--> Infinite Loop...\r\n");
 
         /* Setting the current position to be the home position. */
-        motor->SetHome();
+        motor1->SetHome();
+        motor2->SetHome();
 
         /* Infinite Loop. */
         while(1)
         {
             /* Requesting to go to a specified position. */
-            motor->GoTo(- ROUND_ANGLE_STEPS >> 2);
+            motor1->GoTo(ROUND_ANGLE_STEPS >> 1);
+            motor2->GoTo(- (ROUND_ANGLE_STEPS >> 1));
 
             /* Waiting while the motor is active. */
-            motor->WaitWhileActive();
+            motor1->WaitWhileActive();
+            motor2->WaitWhileActive();
 
             /* Requesting to go to a specified position. */
-            motor->GoTo(ROUND_ANGLE_STEPS >> 2);
+            motor1->GoTo(- (ROUND_ANGLE_STEPS >> 1));
+            motor2->GoTo(ROUND_ANGLE_STEPS >> 1);
 
             /* Waiting while the motor is active. */
-            motor->WaitWhileActive();
+            motor1->WaitWhileActive();
+            motor2->WaitWhileActive();
         }
     }
 }