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

Diff: main.cpp

Revision:
8:cec4c2c03a27
Parent:
7:141f878e9590
Child:
9:a9e51320aee4
--- a/main.cpp	Thu Nov 26 16:02:20 2015 +0000
+++ b/main.cpp	Thu Nov 26 16:17:52 2015 +0000
@@ -66,6 +66,8 @@
 
 int main()
 {
+    /*----- Initialization. -----*/
+
     /* Initializing SPI bus. */
     DevSPI dev_spi(D11, D12, D13);
 
@@ -80,214 +82,211 @@
     /* Printing to the console. */
     printf("Motor Control Application Example for 2 Motors\r\n\n");
 
-    /* Main Loop. */
-    while(true)
-    {
-        /*----- Moving. -----*/
+
+    /*----- Moving. -----*/
+
+    /* Printing to the console. */
+    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. */
+    motor1->Move(StepperMotor::FWD, ROUND_ANGLE_STEPS >> 1);
+    motor2->Move(StepperMotor::FWD, ROUND_ANGLE_STEPS);
+
+    /* Waiting while the motor is active. */
+    motor1->WaitWhileActive();
+    motor2->WaitWhileActive();
+
+    /* Getting current position. */
+    int position1 = motor1->GetPosition();
+    int position2 = motor2->GetPosition();
+    
+    /* Printing to the console. */
+    printf("    Position: M1 %d, M2 %d.\r\n", position1, position2);
+
+    /* Waiting 2 seconds. */
+    wait_ms(2000);
+
+    
+    /*----- Moving. -----*/
+    
+    /* Printing to the console. */
+    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. */
+    motor1->Move(StepperMotor::BWD, ROUND_ANGLE_STEPS >> 1);
+    motor2->Move(StepperMotor::BWD, ROUND_ANGLE_STEPS);
+    
+    /* Waiting while the motor is active. */
+    motor1->WaitWhileActive();
+    motor2->WaitWhileActive();
+
+    /* Getting current position. */
+    position1 = motor1->GetPosition();
+    position2 = motor2->GetPosition();
+    
+    /* Printing to the console. */
+    printf("    Position: M1 %d, M2 %d.\r\n", position1, position2);
+    printf("--> Setting Home.\r\n");
+
+    /* Setting the current position to be the home position. */
+    motor1->SetHome();
+    motor2->SetHome();
+
+    /* Waiting 2 seconds. */
+    wait_ms(2000);
+
+
+    /*----- Going to a specified position. -----*/
+
+    /* Printing to the console. */
+    printf("--> Going to position: M1 %d, M2 %d.\r\n", ROUND_ANGLE_STEPS, ROUND_ANGLE_STEPS >> 1);
+    
+    /* Requesting to go to a specified position. */
+    motor1->GoTo(ROUND_ANGLE_STEPS);
+    motor2->GoTo(ROUND_ANGLE_STEPS >> 1);
+    
+    /* Waiting while the motor is active. */
+    motor1->WaitWhileActive();
+    motor2->WaitWhileActive();
+
+    /* Getting current position. */
+    position1 = motor1->GetPosition();
+    position2 = motor2->GetPosition();
+    
+    /* Printing to the console. */
+    printf("    Position: M1 %d, M2 %d.\r\n", position1, position2);
+    
+    /* Waiting 2 seconds. */
+    wait_ms(2000);
+
+    
+    /*----- Going Home. -----*/
+
+    /* Printing to the console. */
+    printf("--> Going Home.\r\n");
+    
+    /* Requesting to go to home. */
+    motor1->GoHome();
+    motor2->GoHome();
+    
+    /* Waiting while the motor is active. */
+    motor1->WaitWhileActive();
+    motor2->WaitWhileActive();
+
+    /* Getting current position. */
+    position1 = motor1->GetPosition();
+    position2 = motor2->GetPosition();
 
-        /* Printing to the console. */
-        printf("--> Moving forward: M1 %d steps, M2 %d steps.\r\n", ROUND_ANGLE_STEPS >> 1, ROUND_ANGLE_STEPS);
+    /* Printing to the console. */
+    printf("    Position: M1 %d, M2 %d.\r\n", position1, position2);
+
+    /* Waiting 2 seconds. */
+    wait_ms(2000);
+
+
+    /*----- Running. -----*/
+
+    /* Printing to the console. */
+    printf("--> M1 running backward, M2 running forward.\r\n");
+
+    /* Requesting to run backward. */
+    motor1->Run(StepperMotor::BWD);
+    motor2->Run(StepperMotor::FWD);
+
+    /* Waiting until delay has expired. */
+    wait_ms(6000);
+
+    /* Getting current speed. */
+    int speed1 = motor1->GetSpeed();
+    int speed2 = motor2->GetSpeed();
+
+    /* Printing to the console. */
+    printf("    Speed: M1 %d, M2 %d.\r\n", speed1, speed2);
+
+    /*----- Increasing the speed while running. -----*/
+
+    /* Printing to the console. */
+    printf("--> Increasing the speed while running.\r\n");
+
+    /* Increasing speed to 2400 step/s. */
+    motor1->SetMaxSpeed(2400);
+    motor2->SetMaxSpeed(2400);
+
+    /* Waiting until delay has expired. */
+    wait_ms(6000);
+
+    /* Getting current speed. */
+    speed1 = motor1->GetSpeed();
+    speed2 = motor2->GetSpeed();
+
+    /* Printing to the console. */
+    printf("    Speed: M1 %d, M2 %d.\r\n", speed1, speed2);
+
+
+    /*----- Decreasing the speed while running. -----*/
 
-        /* Moving N steps in the forward direction. */
-        motor1->Move(StepperMotor::FWD, ROUND_ANGLE_STEPS >> 1);
-        motor2->Move(StepperMotor::FWD, ROUND_ANGLE_STEPS);
+    /* Printing to the console. */
+    printf("--> Decreasing the speed while running.\r\n");
+
+    /* Decreasing speed to 1200 step/s. */
+    motor1->SetMaxSpeed(1200);
+    motor2->SetMaxSpeed(1200);
+
+    /* Waiting until delay has expired. */
+    wait_ms(8000);
+
+    /* Getting current speed. */
+    speed1 = motor1->GetSpeed();
+    speed2 = motor2->GetSpeed();
+
+    /* Printing to the console. */
+    printf("    Speed: M1 %d, M2 %d.\r\n", speed1, speed2);
+
+
+    /*----- Requiring hard-stop while running. -----*/
+
+    /* Printing to the console. */
+    printf("--> Requiring hard-stop while running.\r\n");
+
+    /* Requesting to immediatly stop. */
+    motor1->HardStop();
+    motor2->HardStop();
+
+    /* Waiting while the motor is active. */
+    motor1->WaitWhileActive();
+    motor2->WaitWhileActive();
+
+    /* Waiting 2 seconds. */
+    wait_ms(2000);
+
+
+    /*----- Infinite Loop. -----*/
+
+    /* Printing to the console. */
+    printf("--> Infinite Loop...\r\n");
+
+    /* Setting the current position to be the home position. */
+    motor1->SetHome();
+    motor2->SetHome();
+
+    /* Infinite Loop. */
+    while(1)
+    {
+        /* Requesting to go to a specified position. */
+        motor1->GoTo(ROUND_ANGLE_STEPS >> 1);
+        motor2->GoTo(- (ROUND_ANGLE_STEPS >> 1));
 
         /* Waiting while the motor is active. */
         motor1->WaitWhileActive();
         motor2->WaitWhileActive();
 
-        /* Getting current position. */
-        int position1 = motor1->GetPosition();
-        int position2 = motor2->GetPosition();
-        
-        /* Printing to the console. */
-        printf("    Position: M1 %d, M2 %d.\r\n", position1, position2);
-
-        /* Waiting 2 seconds. */
-        wait_ms(2000);
-
-        
-        /*----- Moving. -----*/
-        
-        /* Printing to the console. */
-        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. */
-        motor1->Move(StepperMotor::BWD, ROUND_ANGLE_STEPS >> 1);
-        motor2->Move(StepperMotor::BWD, ROUND_ANGLE_STEPS);
-        
-        /* Waiting while the motor is active. */
-        motor1->WaitWhileActive();
-        motor2->WaitWhileActive();
-
-        /* Getting current position. */
-        position1 = motor1->GetPosition();
-        position2 = motor2->GetPosition();
-        
-        /* Printing to the console. */
-        printf("    Position: M1 %d, M2 %d.\r\n", position1, position2);
-        printf("--> Setting Home.\r\n");
-
-        /* Setting the current position to be the home position. */
-        motor1->SetHome();
-        motor2->SetHome();
-
-        /* Waiting 2 seconds. */
-        wait_ms(2000);
-
-
-        /*----- Going to a specified position. -----*/
-
-        /* Printing to the console. */
-        printf("--> Going to position: M1 %d, M2 %d.\r\n", ROUND_ANGLE_STEPS, ROUND_ANGLE_STEPS >> 1);
-        
         /* Requesting to go to a specified position. */
-        motor1->GoTo(ROUND_ANGLE_STEPS);
+        motor1->GoTo(- (ROUND_ANGLE_STEPS >> 1));
         motor2->GoTo(ROUND_ANGLE_STEPS >> 1);
-        
-        /* Waiting while the motor is active. */
-        motor1->WaitWhileActive();
-        motor2->WaitWhileActive();
-
-        /* Getting current position. */
-        position1 = motor1->GetPosition();
-        position2 = motor2->GetPosition();
-        
-        /* Printing to the console. */
-        printf("    Position: M1 %d, M2 %d.\r\n", position1, position2);
-        
-        /* Waiting 2 seconds. */
-        wait_ms(2000);
-
-        
-        /*----- Going Home. -----*/
-
-        /* Printing to the console. */
-        printf("--> Going Home.\r\n");
-        
-        /* Requesting to go to home. */
-        motor1->GoHome();
-        motor2->GoHome();
-        
-        /* Waiting while the motor is active. */
-        motor1->WaitWhileActive();
-        motor2->WaitWhileActive();
-
-        /* Getting current position. */
-        position1 = motor1->GetPosition();
-        position2 = motor2->GetPosition();
-
-        /* Printing to the console. */
-        printf("    Position: M1 %d, M2 %d.\r\n", position1, position2);
-
-        /* Waiting 2 seconds. */
-        wait_ms(2000);
-
-
-        /*----- Running. -----*/
-
-        /* Printing to the console. */
-        printf("--> M1 running backward, M2 running forward.\r\n");
-
-        /* Requesting to run backward. */
-        motor1->Run(StepperMotor::BWD);
-        motor2->Run(StepperMotor::FWD);
-
-        /* Waiting until delay has expired. */
-        wait_ms(6000);
-
-        /* Getting current speed. */
-        int speed1 = motor1->GetSpeed();
-        int speed2 = motor2->GetSpeed();
-
-        /* Printing to the console. */
-        printf("    Speed: M1 %d, M2 %d.\r\n", speed1, speed2);
-
-        /*----- Increasing the speed while running. -----*/
-
-        /* Printing to the console. */
-        printf("--> Increasing the speed while running.\r\n");
-
-        /* Increasing speed to 2400 step/s. */
-        motor1->SetMaxSpeed(2400);
-        motor2->SetMaxSpeed(2400);
-
-        /* Waiting until delay has expired. */
-        wait_ms(6000);
-
-        /* Getting current speed. */
-        speed1 = motor1->GetSpeed();
-        speed2 = motor2->GetSpeed();
-
-        /* Printing to the console. */
-        printf("    Speed: M1 %d, M2 %d.\r\n", speed1, speed2);
-
-
-        /*----- Decreasing the speed while running. -----*/
-
-        /* Printing to the console. */
-        printf("--> Decreasing the speed while running.\r\n");
-
-        /* Decreasing speed to 1200 step/s. */
-        motor1->SetMaxSpeed(1200);
-        motor2->SetMaxSpeed(1200);
-
-        /* Waiting until delay has expired. */
-        wait_ms(8000);
-
-        /* Getting current speed. */
-        speed1 = motor1->GetSpeed();
-        speed2 = motor2->GetSpeed();
-
-        /* Printing to the console. */
-        printf("    Speed: M1 %d, M2 %d.\r\n", speed1, speed2);
-
-
-        /*----- Requiring hard-stop while running. -----*/
-
-        /* Printing to the console. */
-        printf("--> Requiring hard-stop while running.\r\n");
-
-        /* Requesting to immediatly stop. */
-        motor1->HardStop();
-        motor2->HardStop();
 
         /* Waiting while the motor is active. */
         motor1->WaitWhileActive();
         motor2->WaitWhileActive();
-
-        /* Waiting 2 seconds. */
-        wait_ms(2000);
-
-
-        /*----- Infinite Loop. -----*/
-
-        /* Printing to the console. */
-        printf("--> Infinite Loop...\r\n");
-
-        /* Setting the current position to be the home position. */
-        motor1->SetHome();
-        motor2->SetHome();
-
-        /* Infinite Loop. */
-        while(1)
-        {
-            /* Requesting to go to a specified position. */
-            motor1->GoTo(ROUND_ANGLE_STEPS >> 1);
-            motor2->GoTo(- (ROUND_ANGLE_STEPS >> 1));
-
-            /* Waiting while the motor is active. */
-            motor1->WaitWhileActive();
-            motor2->WaitWhileActive();
-
-            /* Requesting to go to a specified position. */
-            motor1->GoTo(- (ROUND_ANGLE_STEPS >> 1));
-            motor2->GoTo(ROUND_ANGLE_STEPS >> 1);
-
-            /* Waiting while the motor is active. */
-            motor1->WaitWhileActive();
-            motor2->WaitWhileActive();
-        }
     }
 }