Revision 27:46b2cf25a11a, committed 2020-01-16

Comitter:

Kiskovce

Date:

Thu Jan 16 12:23:31 2020 +0000

Parent:

26:caec5f51abe8

Child:

28:f6b184e44cc6

Commit message:

aa

Changed in this revision

--- a/main.cpp	Mon Mar 13 17:53:12 2017 +0000
+++ b/main.cpp	Thu Jan 16 12:23:31 2020 +0000
@@ -55,7 +55,7 @@
 #define MPR_1 4
 
 /* Number of steps. */
-#define STEPS_1 (400 * 128)   /* 1 revolution given a 400 steps motor configured at 1/128 microstep mode. */
+#define STEPS_1 (200 * 128)   /* 1 revolution given a 400 steps motor configured at 1/128 microstep mode. */
 #define STEPS_2 (STEPS_1 * 2)
 
 /* Delay in milliseconds. */
@@ -73,9 +73,9 @@
 L6470_init_t init[L6470DAISYCHAINSIZE] = {
     /* First Motor. */
     {
-        9.0,                           /* Motor supply voltage in V. */
+        12.0,                           /* Motor supply voltage in V. */
         400,                           /* Min number of steps per revolution for the motor. */
-        1.7,                           /* Max motor phase voltage in A. */
+        1.0,                           /* Max motor phase voltage in A. */
         3.06,                          /* Max motor phase voltage in V. */
         300.0,                         /* Motor initial speed [step/s]. */
         500.0,                         /* Motor acceleration [step/s^2] (comment for infinite acceleration mode). */
@@ -101,9 +101,9 @@
 
     /* Second Motor. */
     {
-        9.0,                           /* Motor supply voltage in V. */
+        12.0,                           /* Motor supply voltage in V. */
         400,                           /* Min number of steps per revolution for the motor. */
-        1.7,                           /* Max motor phase voltage in A. */
+        1.0,                           /* Max motor phase voltage in A. */
         3.06,                          /* Max motor phase voltage in V. */
         300.0,                         /* Motor initial speed [step/s]. */
         500.0,                         /* Motor acceleration [step/s^2] (comment for infinite acceleration mode). */
@@ -142,47 +142,30 @@
     DevSPI dev_spi(D11, D12, D3);
 #endif
 
-    /* Initializing Motor Control Expansion Board. */
     x_nucleo_ihm02a1 = new XNucleoIHM02A1(&init[0], &init[1], A4, A5, D4, A2, &dev_spi);
-
-    /* Building a list of motor control components. */
     L6470 **motors = x_nucleo_ihm02a1->get_components();
-
-    /* Printing to the console. */
-    printf("Motor Control Application Example for 2 Motors\r\n\n");
-
-
-    /*----- Setting home and marke positions, getting positions, and going to positions. -----*/
-
-    /* Printing to the console. */
-    printf("--> Setting home position.\r\n");
-
-    /* Setting the home position. */
-    motors[0]->set_home();
-
-    /* Waiting. */
+  
+    motors[1]->set_home();   /* Setting the home position. */
+    wait_ms(DELAY_1);
+    int position = motors[1]->get_position();  /* Getting the current position. */
+    printf("--> Getting the current position: %d\r\n", position); /* Printing to the console. */ 
     wait_ms(DELAY_1);
 
-    /* Getting the current position. */
-    int position = motors[0]->get_position();
+    printf("--> Moving forward %d steps.\r\n", STEPS_1);   /* Printing to the console. */
+    motors[1]->move(StepperMotor::FWD, STEPS_1);   /* Moving. */
 
-    /* Printing to the console. */
-    printf("--> Getting the current position: %d\r\n", position);
 
-    /* Waiting. */
-    wait_ms(DELAY_1);
+    motors[1]->wait_while_active();     /* Waiting while active. */
 
-    /* Printing to the console. */
-    printf("--> Moving forward %d steps.\r\n", STEPS_1);
 
-    /* Moving. */
-    motors[0]->move(StepperMotor::FWD, STEPS_1);
-
-    /* Waiting while active. */
-    motors[0]->wait_while_active();
+    wait(1);
+    motors[1]->move(StepperMotor::BWD, STEPS_1);   /* Moving. */
+    motors[1]->wait_while_active();     /* Waiting while active. */
+    
+    wait(10);
 
     /* Getting the current position. */
-    position = motors[0]->get_position();
+    position = motors[1]->get_position();
     
     /* Printing to the console. */
     printf("--> Getting the current position: %d\r\n", position);
@@ -191,7 +174,7 @@
     printf("--> Marking the current position.\r\n");
 
     /* Marking the current position. */
-    motors[0]->set_mark();
+    motors[1]->set_mark();
 
     /* Waiting. */
     wait_ms(DELAY_1);
@@ -200,10 +183,10 @@
     printf("--> Moving backward %d steps.\r\n", STEPS_2);
 
     /* Moving. */
-    motors[0]->move(StepperMotor::BWD, STEPS_2);
+    motors[1]->move(StepperMotor::BWD, STEPS_2);
 
     /* Waiting while active. */
-    motors[0]->wait_while_active();
+    motors[1]->wait_while_active();
 
     /* Waiting. */
     wait_ms(DELAY_1);
@@ -221,16 +204,16 @@
     printf("--> Going to marked position.\r\n");
 
     /* Going to marked position. */
-    motors[0]->go_mark();
+    motors[1]->go_mark();
     
     /* Waiting while active. */
-    motors[0]->wait_while_active();
+    motors[1]->wait_while_active();
 
     /* Waiting. */
     wait_ms(DELAY_1);
 
     /* Getting the current position. */
-    position = motors[0]->get_position();
+    position = motors[1]->get_position();
     
     /* Printing to the console. */
     printf("--> Getting the current position: %d\r\n", position);
@@ -242,16 +225,16 @@
     printf("--> Going to home position.\r\n");
 
     /* Going to home position. */
-    motors[0]->go_home();
+    motors[1]->go_home();
     
     /* Waiting while active. */
-    motors[0]->wait_while_active();
+    motors[1]->wait_while_active();
 
     /* Waiting. */
     wait_ms(DELAY_1);
 
     /* Getting the current position. */
-    position = motors[0]->get_position();
+    position = motors[1]->get_position();
     
     /* Printing to the console. */
     printf("--> Getting the current position: %d\r\n", position);