Michal Kravcik / Mbed 2 deprecated IHM02A1

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Dependencies:   mbed X_NUCLEO_IHM02A1

main.cpp@27:46b2cf25a11a, 2020-01-16 (annotated)

Committer:
Kiskovce
Date:
Thu Jan 16 12:23:31 2020 +0000
Revision:
27:46b2cf25a11a
Parent:
26:caec5f51abe8
Child:
28:f6b184e44cc6
aa

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Davidroid 0:5148e9486cf2 1 /**
Davidroid 0:5148e9486cf2 2 ******************************************************************************
Davidroid 0:5148e9486cf2 3 * @file main.cpp
Davidroid 12:5be6dd48b94a 4 * @author Davide Aliprandi, STMicroelectronics
Davidroid 0:5148e9486cf2 5 * @version V1.0.0
Davidroid 0:5148e9486cf2 6 * @date November 4th, 2015
Davidroid 12:5be6dd48b94a 7 * @brief mbed test application for the STMicroelectronics X-NUCLEO-IHM02A1
Davidroid 1:9f1974b0960d 8 * Motor Control Expansion Board: control of 2 motors.
Davidroid 0:5148e9486cf2 9 ******************************************************************************
Davidroid 0:5148e9486cf2 10 * @attention
Davidroid 0:5148e9486cf2 11 *
Davidroid 0:5148e9486cf2 12 * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
Davidroid 0:5148e9486cf2 13 *
Davidroid 0:5148e9486cf2 14 * Redistribution and use in source and binary forms, with or without modification,
Davidroid 0:5148e9486cf2 15 * are permitted provided that the following conditions are met:
Davidroid 0:5148e9486cf2 16 * 1. Redistributions of source code must retain the above copyright notice,
Davidroid 0:5148e9486cf2 17 * this list of conditions and the following disclaimer.
Davidroid 0:5148e9486cf2 18 * 2. Redistributions in binary form must reproduce the above copyright notice,
Davidroid 0:5148e9486cf2 19 * this list of conditions and the following disclaimer in the documentation
Davidroid 0:5148e9486cf2 20 * and/or other materials provided with the distribution.
Davidroid 0:5148e9486cf2 21 * 3. Neither the name of STMicroelectronics nor the names of its contributors
Davidroid 0:5148e9486cf2 22 * may be used to endorse or promote products derived from this software
Davidroid 0:5148e9486cf2 23 * without specific prior written permission.
Davidroid 0:5148e9486cf2 24 *
Davidroid 0:5148e9486cf2 25 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
Davidroid 0:5148e9486cf2 26 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
Davidroid 0:5148e9486cf2 27 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
Davidroid 0:5148e9486cf2 28 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
Davidroid 0:5148e9486cf2 29 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
Davidroid 0:5148e9486cf2 30 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
Davidroid 0:5148e9486cf2 31 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
Davidroid 0:5148e9486cf2 32 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
Davidroid 0:5148e9486cf2 33 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
Davidroid 0:5148e9486cf2 34 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
Davidroid 0:5148e9486cf2 35 *
Davidroid 0:5148e9486cf2 36 ******************************************************************************
Davidroid 0:5148e9486cf2 37 */
Davidroid 0:5148e9486cf2 38
Davidroid 0:5148e9486cf2 39
Davidroid 0:5148e9486cf2 40 /* Includes ------------------------------------------------------------------*/
Davidroid 0:5148e9486cf2 41
Davidroid 0:5148e9486cf2 42 /* mbed specific header files. */
Davidroid 0:5148e9486cf2 43 #include "mbed.h"
Davidroid 0:5148e9486cf2 44
Davidroid 0:5148e9486cf2 45 /* Helper header files. */
Davidroid 0:5148e9486cf2 46 #include "DevSPI.h"
Davidroid 0:5148e9486cf2 47
Davidroid 0:5148e9486cf2 48 /* Expansion Board specific header files. */
Davidroid 26:caec5f51abe8 49 #include "XNucleoIHM02A1.h"
Davidroid 0:5148e9486cf2 50
Davidroid 0:5148e9486cf2 51
Davidroid 0:5148e9486cf2 52 /* Definitions ---------------------------------------------------------------*/
Davidroid 0:5148e9486cf2 53
Davidroid 0:5148e9486cf2 54 /* Number of movements per revolution. */
Davidroid 0:5148e9486cf2 55 #define MPR_1 4
Davidroid 1:9f1974b0960d 56
Davidroid 1:9f1974b0960d 57 /* Number of steps. */
Kiskovce 27:46b2cf25a11a 58 #define STEPS_1 (200 * 128) /* 1 revolution given a 400 steps motor configured at 1/128 microstep mode. */
Davidroid 18:591a007effc2 59 #define STEPS_2 (STEPS_1 * 2)
Davidroid 0:5148e9486cf2 60
Davidroid 0:5148e9486cf2 61 /* Delay in milliseconds. */
Davidroid 1:9f1974b0960d 62 #define DELAY_1 1000
Davidroid 0:5148e9486cf2 63 #define DELAY_2 2000
Davidroid 0:5148e9486cf2 64 #define DELAY_3 5000
Davidroid 0:5148e9486cf2 65
Davidroid 0:5148e9486cf2 66
Davidroid 0:5148e9486cf2 67 /* Variables -----------------------------------------------------------------*/
Davidroid 0:5148e9486cf2 68
Davidroid 0:5148e9486cf2 69 /* Motor Control Expansion Board. */
Davidroid 26:caec5f51abe8 70 XNucleoIHM02A1 *x_nucleo_ihm02a1;
Davidroid 0:5148e9486cf2 71
Davidroid 9:f35fbeedb8f4 72 /* Initialization parameters of the motors connected to the expansion board. */
davide.aliprandi@st.com 24:d1f487cb02ba 73 L6470_init_t init[L6470DAISYCHAINSIZE] = {
Davidroid 9:f35fbeedb8f4 74 /* First Motor. */
Davidroid 9:f35fbeedb8f4 75 {
Kiskovce 27:46b2cf25a11a 76 12.0, /* Motor supply voltage in V. */
Davidroid 18:591a007effc2 77 400, /* Min number of steps per revolution for the motor. */
Kiskovce 27:46b2cf25a11a 78 1.0, /* Max motor phase voltage in A. */
Davidroid 18:591a007effc2 79 3.06, /* Max motor phase voltage in V. */
Davidroid 18:591a007effc2 80 300.0, /* Motor initial speed [step/s]. */
Davidroid 18:591a007effc2 81 500.0, /* Motor acceleration [step/s^2] (comment for infinite acceleration mode). */
Davidroid 18:591a007effc2 82 500.0, /* Motor deceleration [step/s^2] (comment for infinite deceleration mode). */
Davidroid 18:591a007effc2 83 992.0, /* Motor maximum speed [step/s]. */
Davidroid 18:591a007effc2 84 0.0, /* Motor minimum speed [step/s]. */
Davidroid 18:591a007effc2 85 602.7, /* Motor full-step speed threshold [step/s]. */
Davidroid 18:591a007effc2 86 3.06, /* Holding kval [V]. */
Davidroid 18:591a007effc2 87 3.06, /* Constant speed kval [V]. */
Davidroid 18:591a007effc2 88 3.06, /* Acceleration starting kval [V]. */
Davidroid 18:591a007effc2 89 3.06, /* Deceleration starting kval [V]. */
Davidroid 18:591a007effc2 90 61.52, /* Intersect speed for bemf compensation curve slope changing [step/s]. */
Davidroid 18:591a007effc2 91 392.1569e-6, /* Start slope [s/step]. */
Davidroid 18:591a007effc2 92 643.1372e-6, /* Acceleration final slope [s/step]. */
Davidroid 18:591a007effc2 93 643.1372e-6, /* Deceleration final slope [s/step]. */
Davidroid 18:591a007effc2 94 0, /* Thermal compensation factor (range [0, 15]). */
Davidroid 18:591a007effc2 95 3.06 * 1000 * 1.10, /* Ocd threshold [ma] (range [375 ma, 6000 ma]). */
Davidroid 18:591a007effc2 96 3.06 * 1000 * 1.00, /* Stall threshold [ma] (range [31.25 ma, 4000 ma]). */
Davidroid 18:591a007effc2 97 StepperMotor::STEP_MODE_1_128, /* Step mode selection. */
Davidroid 18:591a007effc2 98 0xFF, /* Alarm conditions enable. */
Davidroid 18:591a007effc2 99 0x2E88 /* Ic configuration. */
Davidroid 9:f35fbeedb8f4 100 },
Davidroid 9:f35fbeedb8f4 101
Davidroid 9:f35fbeedb8f4 102 /* Second Motor. */
Davidroid 9:f35fbeedb8f4 103 {
Kiskovce 27:46b2cf25a11a 104 12.0, /* Motor supply voltage in V. */
Davidroid 18:591a007effc2 105 400, /* Min number of steps per revolution for the motor. */
Kiskovce 27:46b2cf25a11a 106 1.0, /* Max motor phase voltage in A. */
Davidroid 18:591a007effc2 107 3.06, /* Max motor phase voltage in V. */
Davidroid 18:591a007effc2 108 300.0, /* Motor initial speed [step/s]. */
Davidroid 18:591a007effc2 109 500.0, /* Motor acceleration [step/s^2] (comment for infinite acceleration mode). */
Davidroid 18:591a007effc2 110 500.0, /* Motor deceleration [step/s^2] (comment for infinite deceleration mode). */
Davidroid 18:591a007effc2 111 992.0, /* Motor maximum speed [step/s]. */
Davidroid 18:591a007effc2 112 0.0, /* Motor minimum speed [step/s]. */
Davidroid 18:591a007effc2 113 602.7, /* Motor full-step speed threshold [step/s]. */
Davidroid 18:591a007effc2 114 3.06, /* Holding kval [V]. */
Davidroid 18:591a007effc2 115 3.06, /* Constant speed kval [V]. */
Davidroid 18:591a007effc2 116 3.06, /* Acceleration starting kval [V]. */
Davidroid 18:591a007effc2 117 3.06, /* Deceleration starting kval [V]. */
Davidroid 18:591a007effc2 118 61.52, /* Intersect speed for bemf compensation curve slope changing [step/s]. */
Davidroid 18:591a007effc2 119 392.1569e-6, /* Start slope [s/step]. */
Davidroid 18:591a007effc2 120 643.1372e-6, /* Acceleration final slope [s/step]. */
Davidroid 18:591a007effc2 121 643.1372e-6, /* Deceleration final slope [s/step]. */
Davidroid 18:591a007effc2 122 0, /* Thermal compensation factor (range [0, 15]). */
Davidroid 18:591a007effc2 123 3.06 * 1000 * 1.10, /* Ocd threshold [ma] (range [375 ma, 6000 ma]). */
Davidroid 18:591a007effc2 124 3.06 * 1000 * 1.00, /* Stall threshold [ma] (range [31.25 ma, 4000 ma]). */
Davidroid 18:591a007effc2 125 StepperMotor::STEP_MODE_1_128, /* Step mode selection. */
Davidroid 18:591a007effc2 126 0xFF, /* Alarm conditions enable. */
Davidroid 18:591a007effc2 127 0x2E88 /* Ic configuration. */
Davidroid 9:f35fbeedb8f4 128 }
Davidroid 9:f35fbeedb8f4 129 };
Davidroid 9:f35fbeedb8f4 130
Davidroid 0:5148e9486cf2 131
Davidroid 0:5148e9486cf2 132 /* Main ----------------------------------------------------------------------*/
Davidroid 0:5148e9486cf2 133
Davidroid 0:5148e9486cf2 134 int main()
Davidroid 0:5148e9486cf2 135 {
Davidroid 1:9f1974b0960d 136 /*----- Initialization. -----*/
Davidroid 1:9f1974b0960d 137
Davidroid 2:41eeee48951b 138 /* Initializing SPI bus. */
Davidroid 23:073b26366d03 139 #ifdef TARGET_STM32F429
Davidroid 23:073b26366d03 140 DevSPI dev_spi(D11, D12, D13);
Davidroid 23:073b26366d03 141 #else
Davidroid 3:fd280b953f77 142 DevSPI dev_spi(D11, D12, D3);
Davidroid 23:073b26366d03 143 #endif
Davidroid 0:5148e9486cf2 144
Davidroid 26:caec5f51abe8 145 x_nucleo_ihm02a1 = new XNucleoIHM02A1(&init[0], &init[1], A4, A5, D4, A2, &dev_spi);
davide.aliprandi@st.com 24:d1f487cb02ba 146 L6470 **motors = x_nucleo_ihm02a1->get_components();
Kiskovce 27:46b2cf25a11a 147
Kiskovce 27:46b2cf25a11a 148 motors[1]->set_home(); /* Setting the home position. */
Kiskovce 27:46b2cf25a11a 149 wait_ms(DELAY_1);
Kiskovce 27:46b2cf25a11a 150 int position = motors[1]->get_position(); /* Getting the current position. */
Kiskovce 27:46b2cf25a11a 151 printf("--> Getting the current position: %d\r\n", position); /* Printing to the console. */
Davidroid 1:9f1974b0960d 152 wait_ms(DELAY_1);
Davidroid 0:5148e9486cf2 153
Kiskovce 27:46b2cf25a11a 154 printf("--> Moving forward %d steps.\r\n", STEPS_1); /* Printing to the console. */
Kiskovce 27:46b2cf25a11a 155 motors[1]->move(StepperMotor::FWD, STEPS_1); /* Moving. */
Davidroid 18:591a007effc2 156
Davidroid 1:9f1974b0960d 157
Kiskovce 27:46b2cf25a11a 158 motors[1]->wait_while_active(); /* Waiting while active. */
Davidroid 1:9f1974b0960d 159
Davidroid 1:9f1974b0960d 160
Kiskovce 27:46b2cf25a11a 161 wait(1);
Kiskovce 27:46b2cf25a11a 162 motors[1]->move(StepperMotor::BWD, STEPS_1); /* Moving. */
Kiskovce 27:46b2cf25a11a 163 motors[1]->wait_while_active(); /* Waiting while active. */
Kiskovce 27:46b2cf25a11a 164
Kiskovce 27:46b2cf25a11a 165 wait(10);
Davidroid 1:9f1974b0960d 166
Davidroid 1:9f1974b0960d 167 /* Getting the current position. */
Kiskovce 27:46b2cf25a11a 168 position = motors[1]->get_position();
Davidroid 1:9f1974b0960d 169
Davidroid 1:9f1974b0960d 170 /* Printing to the console. */
Davidroid 1:9f1974b0960d 171 printf("--> Getting the current position: %d\r\n", position);
Davidroid 1:9f1974b0960d 172
Davidroid 1:9f1974b0960d 173 /* Printing to the console. */
Davidroid 1:9f1974b0960d 174 printf("--> Marking the current position.\r\n");
Davidroid 0:5148e9486cf2 175
Davidroid 1:9f1974b0960d 176 /* Marking the current position. */
Kiskovce 27:46b2cf25a11a 177 motors[1]->set_mark();
Davidroid 1:9f1974b0960d 178
Davidroid 1:9f1974b0960d 179 /* Waiting. */
Davidroid 1:9f1974b0960d 180 wait_ms(DELAY_1);
Davidroid 1:9f1974b0960d 181
Davidroid 1:9f1974b0960d 182 /* Printing to the console. */
Davidroid 1:9f1974b0960d 183 printf("--> Moving backward %d steps.\r\n", STEPS_2);
Davidroid 1:9f1974b0960d 184
Davidroid 1:9f1974b0960d 185 /* Moving. */
Kiskovce 27:46b2cf25a11a 186 motors[1]->move(StepperMotor::BWD, STEPS_2);
Davidroid 1:9f1974b0960d 187
Davidroid 1:9f1974b0960d 188 /* Waiting while active. */
Kiskovce 27:46b2cf25a11a 189 motors[1]->wait_while_active();
Davidroid 0:5148e9486cf2 190
Davidroid 1:9f1974b0960d 191 /* Waiting. */
Davidroid 1:9f1974b0960d 192 wait_ms(DELAY_1);
Davidroid 1:9f1974b0960d 193
Davidroid 1:9f1974b0960d 194 /* Getting the current position. */
davide.aliprandi@st.com 24:d1f487cb02ba 195 position = motors[0]->get_position();
Davidroid 1:9f1974b0960d 196
Davidroid 1:9f1974b0960d 197 /* Printing to the console. */
Davidroid 1:9f1974b0960d 198 printf("--> Getting the current position: %d\r\n", position);
Davidroid 1:9f1974b0960d 199
Davidroid 1:9f1974b0960d 200 /* Waiting. */
Davidroid 1:9f1974b0960d 201 wait_ms(DELAY_1);
Davidroid 0:5148e9486cf2 202
Davidroid 1:9f1974b0960d 203 /* Printing to the console. */
Davidroid 1:9f1974b0960d 204 printf("--> Going to marked position.\r\n");
Davidroid 0:5148e9486cf2 205
Davidroid 1:9f1974b0960d 206 /* Going to marked position. */
Kiskovce 27:46b2cf25a11a 207 motors[1]->go_mark();
Davidroid 1:9f1974b0960d 208
Davidroid 1:9f1974b0960d 209 /* Waiting while active. */
Kiskovce 27:46b2cf25a11a 210 motors[1]->wait_while_active();
Davidroid 0:5148e9486cf2 211
Davidroid 1:9f1974b0960d 212 /* Waiting. */
Davidroid 1:9f1974b0960d 213 wait_ms(DELAY_1);
Davidroid 0:5148e9486cf2 214
Davidroid 1:9f1974b0960d 215 /* Getting the current position. */
Kiskovce 27:46b2cf25a11a 216 position = motors[1]->get_position();
Davidroid 1:9f1974b0960d 217
Davidroid 1:9f1974b0960d 218 /* Printing to the console. */
Davidroid 1:9f1974b0960d 219 printf("--> Getting the current position: %d\r\n", position);
Davidroid 0:5148e9486cf2 220
Davidroid 1:9f1974b0960d 221 /* Waiting. */
Davidroid 1:9f1974b0960d 222 wait_ms(DELAY_1);
Davidroid 1:9f1974b0960d 223
Davidroid 1:9f1974b0960d 224 /* Printing to the console. */
Davidroid 1:9f1974b0960d 225 printf("--> Going to home position.\r\n");
Davidroid 0:5148e9486cf2 226
Davidroid 1:9f1974b0960d 227 /* Going to home position. */
Kiskovce 27:46b2cf25a11a 228 motors[1]->go_home();
Davidroid 1:9f1974b0960d 229
Davidroid 1:9f1974b0960d 230 /* Waiting while active. */
Kiskovce 27:46b2cf25a11a 231 motors[1]->wait_while_active();
Davidroid 1:9f1974b0960d 232
Davidroid 1:9f1974b0960d 233 /* Waiting. */
Davidroid 1:9f1974b0960d 234 wait_ms(DELAY_1);
Davidroid 0:5148e9486cf2 235
Davidroid 1:9f1974b0960d 236 /* Getting the current position. */
Kiskovce 27:46b2cf25a11a 237 position = motors[1]->get_position();
Davidroid 1:9f1974b0960d 238
Davidroid 1:9f1974b0960d 239 /* Printing to the console. */
Davidroid 1:9f1974b0960d 240 printf("--> Getting the current position: %d\r\n", position);
Davidroid 1:9f1974b0960d 241
Davidroid 1:9f1974b0960d 242 /* Waiting. */
Davidroid 18:591a007effc2 243 wait_ms(DELAY_1);
Davidroid 18:591a007effc2 244
Davidroid 18:591a007effc2 245 /* Printing to the console. */
Davidroid 18:591a007effc2 246 printf("--> Halving the microsteps.\r\n");
Davidroid 18:591a007effc2 247
Davidroid 18:591a007effc2 248 /* Halving the microsteps. */
Davidroid 18:591a007effc2 249 init[0].step_sel = (init[0].step_sel > 0 ? init[0].step_sel - 1 : init[0].step_sel);
davide.aliprandi@st.com 24:d1f487cb02ba 250 if (!motors[0]->set_step_mode((StepperMotor::step_mode_t) init[0].step_sel)) {
Davidroid 18:591a007effc2 251 printf(" Step Mode not allowed.\r\n");
Davidroid 22:e81ccf73bc5d 252 }
Davidroid 18:591a007effc2 253
Davidroid 18:591a007effc2 254 /* Waiting. */
Davidroid 18:591a007effc2 255 wait_ms(DELAY_1);
Davidroid 18:591a007effc2 256
Davidroid 18:591a007effc2 257 /* Printing to the console. */
Davidroid 18:591a007effc2 258 printf("--> Setting home position.\r\n");
Davidroid 18:591a007effc2 259
Davidroid 18:591a007effc2 260 /* Setting the home position. */
davide.aliprandi@st.com 24:d1f487cb02ba 261 motors[0]->set_home();
Davidroid 18:591a007effc2 262
Davidroid 18:591a007effc2 263 /* Waiting. */
Davidroid 18:591a007effc2 264 wait_ms(DELAY_1);
Davidroid 18:591a007effc2 265
Davidroid 18:591a007effc2 266 /* Getting the current position. */
davide.aliprandi@st.com 24:d1f487cb02ba 267 position = motors[0]->get_position();
Davidroid 18:591a007effc2 268
Davidroid 18:591a007effc2 269 /* Printing to the console. */
Davidroid 18:591a007effc2 270 printf("--> Getting the current position: %d\r\n", position);
Davidroid 18:591a007effc2 271
Davidroid 18:591a007effc2 272 /* Waiting. */
Davidroid 18:591a007effc2 273 wait_ms(DELAY_1);
Davidroid 18:591a007effc2 274
Davidroid 18:591a007effc2 275 /* Printing to the console. */
Davidroid 18:591a007effc2 276 printf("--> Moving forward %d steps.\r\n", STEPS_1);
Davidroid 18:591a007effc2 277
Davidroid 18:591a007effc2 278 /* Moving. */
davide.aliprandi@st.com 24:d1f487cb02ba 279 motors[0]->move(StepperMotor::FWD, STEPS_1);
Davidroid 18:591a007effc2 280
Davidroid 18:591a007effc2 281 /* Waiting while active. */
davide.aliprandi@st.com 24:d1f487cb02ba 282 motors[0]->wait_while_active();
Davidroid 18:591a007effc2 283
Davidroid 18:591a007effc2 284 /* Getting the current position. */
davide.aliprandi@st.com 24:d1f487cb02ba 285 position = motors[0]->get_position();
Davidroid 18:591a007effc2 286
Davidroid 18:591a007effc2 287 /* Printing to the console. */
Davidroid 18:591a007effc2 288 printf("--> Getting the current position: %d\r\n", position);
Davidroid 18:591a007effc2 289
Davidroid 18:591a007effc2 290 /* Printing to the console. */
Davidroid 18:591a007effc2 291 printf("--> Marking the current position.\r\n");
Davidroid 18:591a007effc2 292
Davidroid 18:591a007effc2 293 /* Marking the current position. */
davide.aliprandi@st.com 24:d1f487cb02ba 294 motors[0]->set_mark();
Davidroid 18:591a007effc2 295
Davidroid 18:591a007effc2 296 /* Waiting. */
Davidroid 1:9f1974b0960d 297 wait_ms(DELAY_2);
Davidroid 0:5148e9486cf2 298
Davidroid 0:5148e9486cf2 299
Davidroid 1:9f1974b0960d 300 /*----- Running together for a certain amount of time. -----*/
Davidroid 1:9f1974b0960d 301
Davidroid 1:9f1974b0960d 302 /* Printing to the console. */
Davidroid 1:9f1974b0960d 303 printf("--> Running together for %d seconds.\r\n", DELAY_3 / 1000);
Davidroid 0:5148e9486cf2 304
Davidroid 1:9f1974b0960d 305 /* Preparing each motor to perform a run at a specified speed. */
Davidroid 22:e81ccf73bc5d 306 for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
davide.aliprandi@st.com 24:d1f487cb02ba 307 motors[m]->prepare_run(StepperMotor::BWD, 400);
Davidroid 22:e81ccf73bc5d 308 }
Davidroid 0:5148e9486cf2 309
Davidroid 1:9f1974b0960d 310 /* Performing the action on each motor at the same time. */
davide.aliprandi@st.com 24:d1f487cb02ba 311 x_nucleo_ihm02a1->perform_prepared_actions();
Davidroid 0:5148e9486cf2 312
Davidroid 1:9f1974b0960d 313 /* Waiting. */
Davidroid 1:9f1974b0960d 314 wait_ms(DELAY_3);
Davidroid 1:9f1974b0960d 315
Davidroid 1:9f1974b0960d 316
Davidroid 1:9f1974b0960d 317 /*----- Increasing the speed while running. -----*/
Davidroid 0:5148e9486cf2 318
Davidroid 1:9f1974b0960d 319 /* Preparing each motor to perform a run at a specified speed. */
Davidroid 22:e81ccf73bc5d 320 for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
davide.aliprandi@st.com 24:d1f487cb02ba 321 motors[m]->prepare_get_speed();
Davidroid 22:e81ccf73bc5d 322 }
Davidroid 0:5148e9486cf2 323
Davidroid 1:9f1974b0960d 324 /* Performing the action on each motor at the same time. */
davide.aliprandi@st.com 24:d1f487cb02ba 325 uint32_t* results = x_nucleo_ihm02a1->perform_prepared_actions();
Davidroid 0:5148e9486cf2 326
Davidroid 1:9f1974b0960d 327 /* Printing to the console. */
Davidroid 1:9f1974b0960d 328 printf(" Speed: M1 %d, M2 %d.\r\n", results[0], results[1]);
Davidroid 1:9f1974b0960d 329
Davidroid 1:9f1974b0960d 330 /* Printing to the console. */
Davidroid 18:591a007effc2 331 printf("--> Doublig the speed while running again for %d seconds.\r\n", DELAY_3 / 1000);
Davidroid 0:5148e9486cf2 332
Davidroid 1:9f1974b0960d 333 /* Preparing each motor to perform a run at a specified speed. */
Davidroid 22:e81ccf73bc5d 334 for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
davide.aliprandi@st.com 24:d1f487cb02ba 335 motors[m]->prepare_run(StepperMotor::BWD, results[m] << 1);
Davidroid 22:e81ccf73bc5d 336 }
Davidroid 1:9f1974b0960d 337
Davidroid 1:9f1974b0960d 338 /* Performing the action on each motor at the same time. */
davide.aliprandi@st.com 24:d1f487cb02ba 339 results = x_nucleo_ihm02a1->perform_prepared_actions();
Davidroid 0:5148e9486cf2 340
Davidroid 1:9f1974b0960d 341 /* Waiting. */
Davidroid 1:9f1974b0960d 342 wait_ms(DELAY_3);
Davidroid 0:5148e9486cf2 343
Davidroid 1:9f1974b0960d 344 /* Preparing each motor to perform a run at a specified speed. */
Davidroid 22:e81ccf73bc5d 345 for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
davide.aliprandi@st.com 24:d1f487cb02ba 346 motors[m]->prepare_get_speed();
Davidroid 22:e81ccf73bc5d 347 }
Davidroid 0:5148e9486cf2 348
Davidroid 1:9f1974b0960d 349 /* Performing the action on each motor at the same time. */
davide.aliprandi@st.com 24:d1f487cb02ba 350 results = x_nucleo_ihm02a1->perform_prepared_actions();
Davidroid 0:5148e9486cf2 351
Davidroid 1:9f1974b0960d 352 /* Printing to the console. */
Davidroid 1:9f1974b0960d 353 printf(" Speed: M1 %d, M2 %d.\r\n", results[0], results[1]);
Davidroid 1:9f1974b0960d 354
Davidroid 1:9f1974b0960d 355 /* Waiting. */
Davidroid 1:9f1974b0960d 356 wait_ms(DELAY_1);
Davidroid 0:5148e9486cf2 357
Davidroid 0:5148e9486cf2 358
Davidroid 1:9f1974b0960d 359 /*----- Hard Stop. -----*/
Davidroid 0:5148e9486cf2 360
Davidroid 1:9f1974b0960d 361 /* Printing to the console. */
Davidroid 1:9f1974b0960d 362 printf("--> Hard Stop.\r\n");
Davidroid 0:5148e9486cf2 363
Davidroid 1:9f1974b0960d 364 /* Preparing each motor to perform a hard stop. */
Davidroid 22:e81ccf73bc5d 365 for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
davide.aliprandi@st.com 24:d1f487cb02ba 366 motors[m]->prepare_hard_stop();
Davidroid 22:e81ccf73bc5d 367 }
Davidroid 0:5148e9486cf2 368
Davidroid 1:9f1974b0960d 369 /* Performing the action on each motor at the same time. */
davide.aliprandi@st.com 24:d1f487cb02ba 370 x_nucleo_ihm02a1->perform_prepared_actions();
Davidroid 0:5148e9486cf2 371
Davidroid 1:9f1974b0960d 372 /* Waiting. */
Davidroid 1:9f1974b0960d 373 wait_ms(DELAY_2);
Davidroid 0:5148e9486cf2 374
Davidroid 0:5148e9486cf2 375
Davidroid 1:9f1974b0960d 376 /*----- Doing a full revolution on each motor, one after the other. -----*/
Davidroid 1:9f1974b0960d 377
Davidroid 1:9f1974b0960d 378 /* Printing to the console. */
Davidroid 1:9f1974b0960d 379 printf("--> Doing a full revolution on each motor, one after the other.\r\n");
Davidroid 1:9f1974b0960d 380
Davidroid 1:9f1974b0960d 381 /* Doing a full revolution on each motor, one after the other. */
Davidroid 22:e81ccf73bc5d 382 for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
Davidroid 22:e81ccf73bc5d 383 for (int i = 0; i < MPR_1; i++) {
Davidroid 1:9f1974b0960d 384 /* Computing the number of steps. */
Davidroid 9:f35fbeedb8f4 385 int steps = (int) (((int) init[m].fullstepsperrevolution * pow(2.0f, init[m].step_sel)) / MPR_1);
Davidroid 1:9f1974b0960d 386
Davidroid 1:9f1974b0960d 387 /* Moving. */
davide.aliprandi@st.com 24:d1f487cb02ba 388 motors[m]->move(StepperMotor::FWD, steps);
Davidroid 1:9f1974b0960d 389
Davidroid 1:9f1974b0960d 390 /* Waiting while active. */
davide.aliprandi@st.com 24:d1f487cb02ba 391 motors[m]->wait_while_active();
Davidroid 1:9f1974b0960d 392
Davidroid 1:9f1974b0960d 393 /* Waiting. */
Davidroid 1:9f1974b0960d 394 wait_ms(DELAY_1);
Davidroid 1:9f1974b0960d 395 }
Davidroid 22:e81ccf73bc5d 396 }
Davidroid 1:9f1974b0960d 397
Davidroid 1:9f1974b0960d 398 /* Waiting. */
Davidroid 1:9f1974b0960d 399 wait_ms(DELAY_2);
Davidroid 1:9f1974b0960d 400
Davidroid 1:9f1974b0960d 401
Davidroid 1:9f1974b0960d 402 /*----- High Impedance State. -----*/
Davidroid 1:9f1974b0960d 403
Davidroid 1:9f1974b0960d 404 /* Printing to the console. */
Davidroid 1:9f1974b0960d 405 printf("--> High Impedance State.\r\n");
Davidroid 1:9f1974b0960d 406
Davidroid 1:9f1974b0960d 407 /* Preparing each motor to set High Impedance State. */
Davidroid 22:e81ccf73bc5d 408 for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
davide.aliprandi@st.com 24:d1f487cb02ba 409 motors[m]->prepare_hard_hiz();
Davidroid 22:e81ccf73bc5d 410 }
Davidroid 1:9f1974b0960d 411
Davidroid 1:9f1974b0960d 412 /* Performing the action on each motor at the same time. */
davide.aliprandi@st.com 24:d1f487cb02ba 413 x_nucleo_ihm02a1->perform_prepared_actions();
Davidroid 1:9f1974b0960d 414
Davidroid 1:9f1974b0960d 415 /* Waiting. */
Davidroid 1:9f1974b0960d 416 wait_ms(DELAY_2);
Davidroid 22:e81ccf73bc5d 417 }