Michal Kravcik
my 2axes stepper
Dependencies: mbed X_NUCLEO_IHM02A1
Revision 29:e1062f9e6394, committed 2020-01-27
- Comitter:
- Kiskovce
- Date:
- Mon Jan 27 13:32:48 2020 +0000
- Parent:
- 28:f6b184e44cc6
- Child:
- 30:da5a3676bfe9
- Commit message:
- new;
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Thu Jan 16 15:12:45 2020 +0100
+++ b/main.cpp Mon Jan 27 13:32:48 2020 +0000
@@ -1,81 +1,29 @@
-/**
- ******************************************************************************
- * @file main.cpp
- * @author Davide Aliprandi, STMicroelectronics
- * @version V1.0.0
- * @date November 4th, 2015
- * @brief mbed test application for the STMicroelectronics X-NUCLEO-IHM02A1
- * Motor Control Expansion Board: control of 2 motors.
- ******************************************************************************
- * @attention
- *
- * <h2><center>© COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
- *
- * Redistribution and use in source and binary forms, with or without modification,
- * are permitted provided that the following conditions are met:
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- * 3. Neither the name of STMicroelectronics nor the names of its contributors
- * may be used to endorse or promote products derived from this software
- * without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
- * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
- * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
- * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- *
- ******************************************************************************
- */
-
-
-/* Includes ------------------------------------------------------------------*/
-
-/* mbed specific header files. */
#include "mbed.h"
-
-/* Helper header files. */
#include "DevSPI.h"
-
-/* Expansion Board specific header files. */
#include "XNucleoIHM02A1.h"
-/* Definitions ---------------------------------------------------------------*/
-
-/* Number of movements per revolution. */
-#define MPR_1 4
-
-/* Number of steps. */
-#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. */
-#define DELAY_1 1000
-#define DELAY_2 2000
-#define DELAY_3 5000
+// MBED PUBLISH -A //////////////////////////
-/* Variables -----------------------------------------------------------------*/
+#define MPR_1 4 /* Number of movements per revolution. */
+#define STEPS_1 (400 * 128) /* 1 revolution given a 400 steps motor configured at 1/128 microstep mode. */
+#define STEPS_2 (STEPS_1 * 2) /* 1 revolution given a 400 steps motor configured at 1/128 microstep mode. */
+#define DELAY_1 1000 /* Delay in milliseconds. */
+#define DELAY_2 2000 /* Delay in milliseconds. */
+#define DELAY_3 5000 /* Delay in milliseconds. */
-/* Motor Control Expansion Board. */
-XNucleoIHM02A1 *x_nucleo_ihm02a1;
+
+
+XNucleoIHM02A1 *x_nucleo_ihm02a1; /* Motor Control Expansion Board. */
/* Initialization parameters of the motors connected to the expansion board. */
L6470_init_t init[L6470DAISYCHAINSIZE] = {
/* First Motor. */
{
- 12.0, /* Motor supply voltage in V. */
+ 9.0, /* Motor supply voltage in V. */
400, /* Min number of steps per revolution for the motor. */
- 1.0, /* Max motor phase voltage in A. */
+ 1.7, /* 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 +49,9 @@
/* Second Motor. */
{
- 12.0, /* Motor supply voltage in V. */
+ 9.0, /* Motor supply voltage in V. */
400, /* Min number of steps per revolution for the motor. */
- 1.0, /* Max motor phase voltage in A. */
+ 1.7, /* 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). */
@@ -142,277 +90,164 @@
DevSPI dev_spi(D11, D12, D3);
#endif
- x_nucleo_ihm02a1 = new XNucleoIHM02A1(&init[0], &init[1], A4, A5, D4, A2, &dev_spi);
- L6470 **motors = x_nucleo_ihm02a1->get_components();
-
- 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);
- printf("--> Moving forward %d steps.\r\n", STEPS_1); /* Printing to the console. */
- motors[1]->move(StepperMotor::FWD, STEPS_1); /* Moving. */
-
-
- motors[1]->wait_while_active(); /* Waiting while active. */
+ x_nucleo_ihm02a1 = new XNucleoIHM02A1(&init[0], &init[1], A4, A5, D4, A2, &dev_spi); /* Initializing Motor Control Expansion Board. */
+ L6470 **motors = x_nucleo_ihm02a1->get_components(); /* Building a list of motor control components. */
- 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[1]->get_position();
-
- /* Printing to the console. */
- printf("--> Just test HG upload \r\n");
- printf("--> Getting the current position: %d\r\n", position);
-
- /* Printing to the console. */
- printf("--> Marking the current position.\r\n");
-
- /* Marking the current position. */
- motors[1]->set_mark();
-
- /* Waiting. */
+ printf("Motor Control Application Example for 2 Motors\r\n\n");
+ printf("--> Setting home position.\r\n"); /* Printing to the console. */
+ motors[0]->set_home(); /* Setting the home position. */
wait_ms(DELAY_1);
- /* Printing to the console. */
- printf("--> Moving backward %d steps.\r\n", STEPS_2);
-
- /* Moving. */
- motors[1]->move(StepperMotor::BWD, STEPS_2);
-
- /* Waiting while active. */
- motors[1]->wait_while_active();
-
- /* Waiting. */
+ int position = motors[0]->get_position(); /* Getting the current position. */
+ printf("--> Getting the current position: %d\r\n", position);
wait_ms(DELAY_1);
- /* Getting the current position. */
- position = motors[0]->get_position();
-
- /* Printing to the console. */
- printf("--> Getting the current position: %d\r\n", position);
-
- /* Waiting. */
- wait_ms(DELAY_1);
-
- /* Printing to the console. */
- printf("--> Going to marked position.\r\n");
-
- /* Going to marked position. */
- motors[1]->go_mark();
-
- /* Waiting while active. */
- motors[1]->wait_while_active();
-
- /* Waiting. */
- wait_ms(DELAY_1);
-
- /* Getting the current position. */
- position = motors[1]->get_position();
-
- /* Printing to the console. */
+ printf("--> Moving forward %d steps.\r\n", STEPS_1);
+ motors[0]->move(StepperMotor::FWD, STEPS_1); /* Moving. */
+ motors[0]->wait_while_active(); /* Waiting while active. */
+ position = motors[0]->get_position(); /* Getting the current position. */
printf("--> Getting the current position: %d\r\n", position);
- /* Waiting. */
- wait_ms(DELAY_1);
- /* Printing to the console. */
- printf("--> Going to home position.\r\n");
-
- /* Going to home position. */
- motors[1]->go_home();
-
- /* Waiting while active. */
- motors[1]->wait_while_active();
-
- /* Waiting. */
+ printf("--> Marking the current position.\r\n");
+ motors[0]->set_mark(); /* Marking the current position. */
wait_ms(DELAY_1);
- /* Getting the current position. */
- position = motors[1]->get_position();
-
- /* Printing to the console. */
+
+ printf("--> Moving backward %d steps.\r\n", STEPS_2);
+ motors[0]->move(StepperMotor::BWD, STEPS_2); /* Moving. */
+ motors[0]->wait_while_active(); /* Waiting while active. */
+ wait_ms(DELAY_1); /* Waiting. */
+ position = motors[0]->get_position(); /* Getting the current position. */
printf("--> Getting the current position: %d\r\n", position);
-
- /* Waiting. */
wait_ms(DELAY_1);
- /* Printing to the console. */
- printf("--> Halving the microsteps.\r\n");
- /* Halving the microsteps. */
- init[0].step_sel = (init[0].step_sel > 0 ? init[0].step_sel - 1 : init[0].step_sel);
- if (!motors[0]->set_step_mode((StepperMotor::step_mode_t) init[0].step_sel)) {
- printf(" Step Mode not allowed.\r\n");
- }
-
- /* Waiting. */
+ printf("--> Going to marked position.\r\n"); /* Printing to the console. */
+ motors[0]->go_mark(); /* Going to marked position. */
+ motors[0]->wait_while_active(); /* Waiting while active. */
+ wait_ms(DELAY_1); /* Waiting. */
+ position = motors[0]->get_position(); /* Getting the current position. */
+ printf("--> Getting the current position: %d\r\n", position);
wait_ms(DELAY_1);
- /* Printing to the console. */
- printf("--> Setting home position.\r\n");
- /* Setting the home position. */
- motors[0]->set_home();
-
- /* Waiting. */
+ printf("--> Going to home position.\r\n");
+ motors[0]->go_home(); /* Going to home position. */
+ motors[0]->wait_while_active(); /* Waiting while active. */
wait_ms(DELAY_1);
+ position = motors[0]->get_position(); /* Getting the current position. */
+ printf("--> Getting the current position: %d\r\n", position); /* Printing to the console. */
+ wait_ms(DELAY_1); /* Waiting. */
- /* Getting the current position. */
- position = motors[0]->get_position();
+ printf("--> Halving the microsteps.\r\n");
+
+ init[0].step_sel = (init[0].step_sel > 0 ? init[0].step_sel - 1 : init[0].step_sel); /* Halving the microsteps. */
+ if (!motors[0]->set_step_mode((StepperMotor::step_mode_t) init[0].step_sel))
+ {
+ printf(" Step Mode not allowed.\r\n");
+ }
+ wait_ms(DELAY_1);
- /* Printing to the console. */
+
+ printf("--> Setting home position.\r\n");
+ motors[0]->set_home(); /* Setting the home position. */
+ wait_ms(DELAY_1);
+ position = motors[0]->get_position(); /* Getting the current position. */
printf("--> Getting the current position: %d\r\n", position);
-
- /* Waiting. */
wait_ms(DELAY_1);
- /* 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();
-
- /* Getting the current position. */
- position = motors[0]->get_position();
-
- /* Printing to the console. */
+ motors[0]->move(StepperMotor::FWD, STEPS_1); /* Moving. */
+ motors[0]->wait_while_active(); /* Waiting while active. */
+ position = motors[0]->get_position(); /* Getting the current position. */
printf("--> Getting the current position: %d\r\n", position);
- /* Printing to the console. */
+
printf("--> Marking the current position.\r\n");
-
- /* Marking the current position. */
- motors[0]->set_mark();
-
- /* Waiting. */
+ motors[0]->set_mark(); /* Marking the current position. */
wait_ms(DELAY_2);
/*----- Running together for a certain amount of time. -----*/
-
- /* Printing to the console. */
printf("--> Running together for %d seconds.\r\n", DELAY_3 / 1000);
-
- /* Preparing each motor to perform a run at a specified speed. */
- for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
- motors[m]->prepare_run(StepperMotor::BWD, 400);
- }
-
- /* Performing the action on each motor at the same time. */
- x_nucleo_ihm02a1->perform_prepared_actions();
-
- /* Waiting. */
+ for (int m = 0; m < L6470DAISYCHAINSIZE; m++) /* Preparing each motor to perform a run at a specified speed. */
+ {
+ motors[m]->prepare_run(StepperMotor::BWD, 400);
+ }
+ x_nucleo_ihm02a1->perform_prepared_actions(); /* Performing the action on each motor at the same time. */
wait_ms(DELAY_3);
/*----- Increasing the speed while running. -----*/
-
- /* Preparing each motor to perform a run at a specified speed. */
- for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
- motors[m]->prepare_get_speed();
- }
-
- /* Performing the action on each motor at the same time. */
- uint32_t* results = x_nucleo_ihm02a1->perform_prepared_actions();
-
- /* Printing to the console. */
+ for (int m = 0; m < L6470DAISYCHAINSIZE; m++) /* Preparing each motor to perform a run at a specified speed. */
+ {
+ motors[m]->prepare_get_speed();
+ }
+ uint32_t* results = x_nucleo_ihm02a1->perform_prepared_actions(); /* Performing the action on each motor at the same time. */
printf(" Speed: M1 %d, M2 %d.\r\n", results[0], results[1]);
+ printf("--> Doublig the speed while running again for %d seconds.\r\n", DELAY_3 / 1000);
+ for (int m = 0; m < L6470DAISYCHAINSIZE; m++) /* Preparing each motor to perform a run at a specified speed. */
+ {
+ motors[m]->prepare_run(StepperMotor::BWD, results[m] << 1);
+ }
- /* Printing to the console. */
- printf("--> Doublig the speed while running again for %d seconds.\r\n", DELAY_3 / 1000);
- /* Preparing each motor to perform a run at a specified speed. */
- for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
- motors[m]->prepare_run(StepperMotor::BWD, results[m] << 1);
- }
-
- /* Performing the action on each motor at the same time. */
- results = x_nucleo_ihm02a1->perform_prepared_actions();
-
- /* Waiting. */
+ results = x_nucleo_ihm02a1->perform_prepared_actions(); /* Performing the action on each motor at the same time. */
wait_ms(DELAY_3);
- /* Preparing each motor to perform a run at a specified speed. */
- for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
- motors[m]->prepare_get_speed();
- }
+
- /* Performing the action on each motor at the same time. */
- results = x_nucleo_ihm02a1->perform_prepared_actions();
-
- /* Printing to the console. */
+ for (int m = 0; m < L6470DAISYCHAINSIZE; m++) /* Preparing each motor to perform a run at a specified speed. */
+ {
+ motors[m]->prepare_get_speed();
+ }
+ results = x_nucleo_ihm02a1->perform_prepared_actions(); /* Performing the action on each motor at the same time. */
printf(" Speed: M1 %d, M2 %d.\r\n", results[0], results[1]);
-
- /* Waiting. */
wait_ms(DELAY_1);
/*----- Hard Stop. -----*/
-
- /* Printing to the console. */
printf("--> Hard Stop.\r\n");
- /* Preparing each motor to perform a hard stop. */
- for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
- motors[m]->prepare_hard_stop();
- }
- /* Performing the action on each motor at the same time. */
- x_nucleo_ihm02a1->perform_prepared_actions();
-
- /* Waiting. */
+ for (int m = 0; m < L6470DAISYCHAINSIZE; m++) /* Preparing each motor to perform a hard stop. */
+ {
+ motors[m]->prepare_hard_stop();
+ }
+ x_nucleo_ihm02a1->perform_prepared_actions(); /* Performing the action on each motor at the same time. */
wait_ms(DELAY_2);
/*----- Doing a full revolution on each motor, one after the other. -----*/
-
- /* Printing to the console. */
printf("--> Doing a full revolution on each motor, one after the other.\r\n");
- /* Doing a full revolution on each motor, one after the other. */
- for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
- for (int i = 0; i < MPR_1; i++) {
- /* Computing the number of steps. */
- int steps = (int) (((int) init[m].fullstepsperrevolution * pow(2.0f, init[m].step_sel)) / MPR_1);
- /* Moving. */
- motors[m]->move(StepperMotor::FWD, steps);
-
- /* Waiting while active. */
- motors[m]->wait_while_active();
-
- /* Waiting. */
- wait_ms(DELAY_1);
+ for (int m = 0; m < L6470DAISYCHAINSIZE; m++) /* Doing a full revolution on each motor, one after the other. */
+ {
+ for (int i = 0; i < MPR_1; i++)
+ {
+ int steps = (int) (((int) init[m].fullstepsperrevolution * pow(2.0f, init[m].step_sel)) / MPR_1); /* Computing the number of steps. */
+ motors[m]->move(StepperMotor::FWD, steps);/* Moving. */
+ motors[m]->wait_while_active(); /* Waiting while active. */
+ wait_ms(DELAY_1);
+ }
}
- }
-
- /* Waiting. */
wait_ms(DELAY_2);
/*----- High Impedance State. -----*/
- /* Printing to the console. */
printf("--> High Impedance State.\r\n");
- /* Preparing each motor to set High Impedance State. */
- for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
- motors[m]->prepare_hard_hiz();
- }
- /* Performing the action on each motor at the same time. */
- x_nucleo_ihm02a1->perform_prepared_actions();
-
- /* Waiting. */
+ for (int m = 0; m < L6470DAISYCHAINSIZE; m++) /* Preparing each motor to set High Impedance State. */
+ {
+ motors[m]->prepare_hard_hiz();
+ }
+ x_nucleo_ihm02a1->perform_prepared_actions(); /* Performing the action on each motor at the same time. */
wait_ms(DELAY_2);
}