Robby Lopez
Test
Dependencies: X_NUCLEO_IHM02A1 mbed
Fork of
HelloWorld_IHM02A1
by 
ST
Diff: main.cpp
- Revision:
- 20:64b4bb57c3c6
- Parent:
- 18:591a007effc2
--- a/main.cpp Fri Apr 08 13:02:44 2016 +0000
+++ b/main.cpp Thu May 10 02:12:07 2018 +0000
@@ -48,6 +48,8 @@
/* Expansion Board specific header files. */
#include "x_nucleo_ihm02a1_class.h"
+/* String libraries for splitting commands*/
+#include <string.h>
/* Definitions ---------------------------------------------------------------*/
@@ -55,7 +57,7 @@
#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. */
@@ -66,6 +68,9 @@
/* Variables -----------------------------------------------------------------*/
+/* Serial port to USB*/
+Serial pc(USBTX,USBRX);//tx, rx
+
/* Motor Control Expansion Board. */
X_NUCLEO_IHM02A1 *x_nucleo_ihm02a1;
@@ -74,16 +79,16 @@
{
/* First Motor. */
{
- 9.0, /* Motor supply voltage in V. */
- 400, /* Min number of steps per revolution for the motor. */
- 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). */
- 500.0, /* Motor deceleration [step/s^2] (comment for infinite deceleration mode). */
- 992.0, /* Motor maximum speed [step/s]. */
+ 12.0, /* Motor supply voltage in V. */
+ 200, /* Min number of steps per revolution for the motor. */
+ 0.5, /* Max motor phase voltage in A. */
+ 5.06, /* Max motor phase voltage in V. */
+ 200.0, /* Motor initial speed [step/s]. */
+ 300.0, /* Motor acceleration [step/s^2] (comment for infinite acceleration mode). */
+ 300.0, /* Motor deceleration [step/s^2] (comment for infinite deceleration mode). */
+ 400.0, /* Motor maximum speed [step/s]. */
0.0, /* Motor minimum speed [step/s]. */
- 602.7, /* Motor full-step speed threshold [step/s]. */
+ 800, /* Motor full-step speed threshold [step/s]. */
3.06, /* Holding kval [V]. */
3.06, /* Constant speed kval [V]. */
3.06, /* Acceleration starting kval [V]. */
@@ -102,16 +107,16 @@
/* Second Motor. */
{
- 9.0, /* Motor supply voltage in V. */
- 400, /* Min number of steps per revolution for the motor. */
- 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). */
- 500.0, /* Motor deceleration [step/s^2] (comment for infinite deceleration mode). */
- 992.0, /* Motor maximum speed [step/s]. */
+ 12.0, /* Motor supply voltage in V. */
+ 200, /* Min number of steps per revolution for the motor. */
+ 0.5, /* Max motor phase voltage in A. */
+ 5.06, /* Max motor phase voltage in V. */
+ 200.0, /* Motor initial speed [step/s]. */
+ 300.0, /* Motor acceleration [step/s^2] (comment for infinite acceleration mode). */
+ 300.0, /* Motor deceleration [step/s^2] (comment for infinite deceleration mode). */
+ 400.0, /* Motor maximum speed [step/s]. */
0.0, /* Motor minimum speed [step/s]. */
- 602.7, /* Motor full-step speed threshold [step/s]. */
+ 800, /* Motor full-step speed threshold [step/s]. */
3.06, /* Holding kval [V]. */
3.06, /* Constant speed kval [V]. */
3.06, /* Acceleration starting kval [V]. */
@@ -128,297 +133,501 @@
0x2E88 /* Ic configuration. */
}
};
+
+DigitalIn enable(PA_8);
+/* Building a list of motor control components. */
+//L6470 **motors = x_nucleo_ihm02a1->GetComponents();
+L6470 **motors;
+void highZ(){
+ /* Preparing each motor to set High Impedance State. */
+ for (int m = 0; m < L6470DAISYCHAINSIZE; m++)
+ motors[m]->PrepareHardHiZ();
+
+ /* Performing the action on each motor at the same time. */
+ x_nucleo_ihm02a1->PerformPreparedActions();
+}
+
+void hardStop(int motor){
+ // /*----- Hard Stop. -----*/
+//
+ /* Printing to the console. */
+// pc.printf("--> Hard Stop.\r\n");
+
+ /* Preparing each motor to perform a hard stop. */
+// for (int m = 0; m < L6470DAISYCHAINSIZE; m++)
+ motors[motor]->PrepareHardStop();
+
+ /* Performing the action on each motor at the same time. */
+ x_nucleo_ihm02a1->PerformPreparedActions();
+
+ highZ();
+ /* Waiting. */
+// wait_ms(DELAY_2);
+}
+
+void stopAllMotors(){
+ /* Preparing each motor to perform a hard stop. */
+ for (int m = 0; m < L6470DAISYCHAINSIZE; m++)
+ motors[m]->PrepareHardStop();
+
+ /* Performing the action on each motor at the same time. */
+ x_nucleo_ihm02a1->PerformPreparedActions();
+
+ highZ();
+}
+
+void setHome(int motor){
+ motors[motor]->SetHome();
+}
+
+int getPosition(int motor){
+ int position = motors[motor]->GetPosition();
+ return position;
+}
+
+void moveSteps(int motor, int steps){
+
+ if(steps < 0)
+ motors[motor]->Move(StepperMotor::BWD, steps*-1);
+ else
+ motors[motor]->Move(StepperMotor::FWD, steps);
+ motors[motor]->WaitWhileActive();
+ hardStop(motor);
+}
+
+void runAtSpeed(int motor, int speed){
+ if(speed < 0)
+ motors[motor]->PrepareRun(StepperMotor::BWD, speed*-1);
+ else if(speed > 0)
+ motors[motor]->PrepareRun(StepperMotor::FWD, speed);
+ else{
+ hardStop(motor);
+ return;
+ }
+ /* Performing the action on each motor at the same time. */
+ x_nucleo_ihm02a1->PerformPreparedActions();
+}
+
+void moveInSync(int steps){
+ if(steps < 0){
+ motors[0]->PrepareMove(StepperMotor::BWD, steps*-1);
+ motors[1]->PrepareMove(StepperMotor::BWD, steps*-1);
+ }
+ else if(steps > 0){
+ motors[0]->PrepareMove(StepperMotor::FWD, steps);
+ motors[1]->PrepareMove(StepperMotor::FWD, steps);
+ }
+ x_nucleo_ihm02a1->PerformPreparedActions();
+ motors[0]->WaitWhileActive();
+ motors[1]->WaitWhileActive();
+}
+
+void goXRHome(int speed){
+ //while not pushing button move motor to the left?
+ motors[0]->PrepareRun(StepperMotor::BWD, speed);
+ motors[1]->PrepareRun(StepperMotor::BWD, speed);
+
+ x_nucleo_ihm02a1->PerformPreparedActions();
+
+// while(
+ wait_ms(5000);
+
+ stopAllMotors();
+}
+
+void goHome(int motor, int speed){
+ //while not pushing button move motor to the left?
+ motors[motor]->PrepareRun(StepperMotor::BWD, speed);
+
+ x_nucleo_ihm02a1->PerformPreparedActions();
+
+// while(
+ wait_ms(5000);
+
+ stopAllMotors();
+}
+
+void readSerial(){
+ char rx_line[10];
+// while(pc.readable()){
+ pc.scanf("%s", rx_line);
+ //pc.printf("Spoken %s \r\n", rx_line);
+
+ char cmd[10], cmdv[10], cmdv2[10];
+ int values = sscanf(rx_line, "%[^','],%[^','],%s",cmd, cmdv, cmdv2);
+ //pc.printf("%d\r\n",values);
+ int cmd_value = atoi(cmdv);
+ int cmd_value2 = atoi(cmdv2);
+ //pc.printf("%s\r\n%d\r\n%d\r\n", cmd, cmd_value, cmd_value2);
+
+ char c = cmd[0];
+ //pc.printf("%c", c);
+ int pos;
+ int pos2;
+ switch(c){
+ case 'a':
+
+ return;
+ case 'b':
+ //set home
+ setHome(cmd_value);
+ pos = getPosition(cmd_value);
+ pc.printf("%c,%d,%d\r\n",c,cmd_value,pos);
+ return;
+ case 'c':
+ //get position
+ pos = getPosition(cmd_value);
+ pc.printf("%c,%d,%d\r\n",c,cmd_value,pos);
+ return;
+ case 'd':
+
+ break;
+ case 'e':
+ //move steps
+ moveSteps(cmd_value, cmd_value2);
+ pos = getPosition(cmd_value);
+ pc.printf("%c,%d,%d\r\n",c,cmd_value,pos);
+ return;
+ case 'f':
+ //run at a given speed or change to run until hit bump
+ runAtSpeed(cmd_value, cmd_value2);
+ break;
+ case 'g':
+ //Halt
+ stopAllMotors();
+ break;
+ case 'h':
+ //move X to home (and R cause connected)
+ goXRHome(cmd_value2);
+ pos = getPosition(0);
+ pos2 = getPosition(1);
+ pc.printf("%c,%d,%d\r\n",c,pos,pos2);
+ return;
+ case 'i':
+ //move X numebr of steps and R cause connected
+ moveInSync(cmd_value);
+ pos = getPosition(0);
+ pos2 = getPosition(1);
+ pc.printf("%c,%d,%d\r\n",c,pos,pos2);
+ return;
+ case 'j':
+ //go home
+ goHome(cmd_value, cmd_value2);
+ pos = getPosition(cmd_value);
+ pc.printf("%c,%d,%d\r\n",c,cmd_value,pos);
+ return;
+ default:
+ //N/A command
+ pc.printf("Do not understand commands: %s with value %d\r\n", cmd, cmd_value);
+ return;
+ }
+ pc.printf("complete\r\n");
+}
/* Main ----------------------------------------------------------------------*/
int main()
{
- /*----- Initialization. -----*/
-
/* Initializing SPI bus. */
- DevSPI dev_spi(D11, D12, D3);
-
+ DevSPI dev_spi(D11, D12, D13);
+
/* Initializing Motor Control Expansion Board. */
x_nucleo_ihm02a1 = new X_NUCLEO_IHM02A1(&init[0], &init[1], A4, A5, D4, A2, &dev_spi);
-
- /* Building a list of motor control components. */
- L6470 **motors = x_nucleo_ihm02a1->GetComponents();
-
- /* 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]->SetHome();
-
- /* Waiting. */
- wait_ms(DELAY_1);
-
- /* Getting the current position. */
- int position = motors[0]->GetPosition();
-
- /* Printing to the console. */
- 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]->WaitWhileActive();
-
- /* Getting the current position. */
- position = motors[0]->GetPosition();
- /* Printing to the console. */
- 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]->SetMark();
-
- /* Waiting. */
- wait_ms(DELAY_1);
-
- /* Printing to the console. */
- printf("--> Moving backward %d steps.\r\n", STEPS_2);
-
- /* Moving. */
- motors[0]->Move(StepperMotor::BWD, STEPS_2);
-
- /* Waiting while active. */
- motors[0]->WaitWhileActive();
-
- /* Waiting. */
- wait_ms(DELAY_1);
-
- /* Getting the current position. */
- position = motors[0]->GetPosition();
-
- /* 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[0]->GoMark();
-
- /* Waiting while active. */
- motors[0]->WaitWhileActive();
-
- /* Waiting. */
- wait_ms(DELAY_1);
-
- /* Getting the current position. */
- position = motors[0]->GetPosition();
-
- /* 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 home position.\r\n");
-
- /* Going to home position. */
- motors[0]->GoHome();
-
- /* Waiting while active. */
- motors[0]->WaitWhileActive();
-
- /* Waiting. */
- wait_ms(DELAY_1);
-
- /* Getting the current position. */
- position = motors[0]->GetPosition();
-
- /* Printing to the console. */
- 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]->SetStepMode((StepperMotor::step_mode_t) init[0].step_sel))
- printf(" Step Mode not allowed.\r\n");
-
- /* Waiting. */
- wait_ms(DELAY_1);
-
- /* Printing to the console. */
- printf("--> Setting home position.\r\n");
-
- /* Setting the home position. */
- motors[0]->SetHome();
-
- /* Waiting. */
- wait_ms(DELAY_1);
-
- /* Getting the current position. */
- position = motors[0]->GetPosition();
-
- /* Printing to the console. */
- printf("--> Getting the current position: %d\r\n", position);
+ motors = x_nucleo_ihm02a1->GetComponents();
- /* 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]->WaitWhileActive();
-
- /* Getting the current position. */
- position = motors[0]->GetPosition();
+ pc.attach(readSerial);
+ pc.printf("ready\r\n");
+
+ while(1){
+ }
- /* Printing to the console. */
- 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]->SetMark();
-
- /* Waiting. */
- 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]->PrepareRun(StepperMotor::BWD, 400);
-
- /* Performing the action on each motor at the same time. */
- x_nucleo_ihm02a1->PerformPreparedActions();
-
- /* Waiting. */
- 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]->PrepareGetSpeed();
-
- /* Performing the action on each motor at the same time. */
- uint32_t* results = x_nucleo_ihm02a1->PerformPreparedActions();
-
- /* Printing to the console. */
- printf(" Speed: M1 %d, M2 %d.\r\n", results[0], results[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]->PrepareRun(StepperMotor::BWD, results[m] << 1);
-
- /* Performing the action on each motor at the same time. */
- results = x_nucleo_ihm02a1->PerformPreparedActions();
-
- /* Waiting. */
- wait_ms(DELAY_3);
-
- /* Preparing each motor to perform a run at a specified speed. */
- for (int m = 0; m < L6470DAISYCHAINSIZE; m++)
- motors[m]->PrepareGetSpeed();
-
- /* Performing the action on each motor at the same time. */
- results = x_nucleo_ihm02a1->PerformPreparedActions();
-
- /* Printing to the console. */
- 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]->PrepareHardStop();
-
- /* Performing the action on each motor at the same time. */
- x_nucleo_ihm02a1->PerformPreparedActions();
-
- /* Waiting. */
- 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]->WaitWhileActive();
-
- /* Waiting. */
- 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]->PrepareHardHiZ();
-
- /* Performing the action on each motor at the same time. */
- x_nucleo_ihm02a1->PerformPreparedActions();
-
- /* Waiting. */
- wait_ms(DELAY_2);
+ ///*----- Initialization. -----*/
+//
+// /* Initializing SPI bus. */
+// DevSPI dev_spi(D11, D12, D13);
+//
+// /* Initializing Motor Control Expansion Board. */
+// x_nucleo_ihm02a1 = new X_NUCLEO_IHM02A1(&init[0], &init[1], A4, A5, D4, A2, &dev_spi);
+//
+// /* Building a list of motor control components. */
+// L6470 **motors = x_nucleo_ihm02a1->GetComponents();
+//
+// /* Printing to the console. */
+// pc.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. */
+// pc.printf("--> Setting home position.\r\n");
+//
+// /* Setting the home position. */
+// motors[0]->SetHome();
+//
+// /* Waiting. */
+// wait_ms(DELAY_1);
+//
+// /* Getting the current position. */
+// int position = motors[0]->GetPosition();
+//
+// /* Printing to the console. */
+// pc.printf("--> Getting the current position: %d\r\n", position);
+//
+// /* Waiting. */
+// wait_ms(DELAY_1);
+//
+// /* Printing to the console. */
+// pc.printf("--> Moving forward %d steps.\r\n", STEPS_1);
+//
+// /* Moving. */
+// motors[0]->Move(StepperMotor::FWD, STEPS_1);
+//
+// /* Waiting while active. */
+// motors[0]->WaitWhileActive();
+//
+// /* Getting the current position. */
+// position = motors[0]->GetPosition();
+//
+// /* Printing to the console. */
+// pc.printf("--> Getting the current position: %d\r\n", position);
+//
+// /* Printing to the console. */
+// pc.printf("--> Marking the current position.\r\n");
+//
+// /* Marking the current position. */
+// motors[0]->SetMark();
+//
+// /* Waiting. */
+// wait_ms(DELAY_1);
+//
+// /* Printing to the console. */
+// pc.printf("--> Moving backward %d steps.\r\n", STEPS_2);
+//
+// /* Moving. */
+ //motors[0]->Move(StepperMotor::BWD, STEPS_2);
+//
+// /* Waiting while active. */
+// motors[0]->WaitWhileActive();
+//
+// /* Waiting. */
+// wait_ms(DELAY_1);
+//
+// /* Getting the current position. */
+// position = motors[0]->GetPosition();
+//
+// /* Printing to the console. */
+// pc.printf("--> Getting the current position: %d\r\n", position);
+//
+// /* Waiting. */
+// wait_ms(DELAY_1);
+//
+// /* Printing to the console. */
+// pc.printf("--> Going to marked position.\r\n");
+//
+// /* Going to marked position. */
+// motors[0]->GoMark();
+//
+// /* Waiting while active. */
+// motors[0]->WaitWhileActive();
+//
+// /* Waiting. */
+// wait_ms(DELAY_1);
+//
+// /* Getting the current position. */
+// position = motors[0]->GetPosition();
+//
+// /* Printing to the console. */
+// pc.printf("--> Getting the current position: %d\r\n", position);
+//
+// /* Waiting. */
+// wait_ms(DELAY_1);
+//
+// /* Printing to the console. */
+// pc.printf("--> Going to home position.\r\n");
+//
+// /* Going to home position. */
+// motors[0]->GoHome();
+//
+// /* Waiting while active. */
+// motors[0]->WaitWhileActive();
+//
+// /* Waiting. */
+// wait_ms(DELAY_1);
+//
+// /* Getting the current position. */
+// position = motors[0]->GetPosition();
+//
+// /* Printing to the console. */
+// pc.printf("--> Getting the current position: %d\r\n", position);
+//
+// /* Waiting. */
+// wait_ms(DELAY_1);
+//
+// /* Printing to the console. */
+// pc.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]->SetStepMode((StepperMotor::step_mode_t) init[0].step_sel))
+// pc.printf(" Step Mode not allowed.\r\n");
+//
+// /* Waiting. */
+// wait_ms(DELAY_1);
+//
+// /* Printing to the console. */
+// pc.printf("--> Setting home position.\r\n");
+//
+// /* Setting the home position. */
+// motors[0]->SetHome();
+//
+// /* Waiting. */
+// wait_ms(DELAY_1);
+//
+// /* Getting the current position. */
+// position = motors[0]->GetPosition();
+//
+// /* Printing to the console. */
+// pc.printf("--> Getting the current position: %d\r\n", position);
+//
+// /* Waiting. */
+// wait_ms(DELAY_1);
+//
+// /* Printing to the console. */
+// pc.printf("--> Moving forward %d steps.\r\n", STEPS_1);
+//
+// /* Moving. */
+// motors[0]->Move(StepperMotor::FWD, STEPS_1);
+//
+// /* Waiting while active. */
+// motors[0]->WaitWhileActive();
+//
+// /* Getting the current position. */
+// position = motors[0]->GetPosition();
+//
+// /* Printing to the console. */
+// pc.printf("--> Getting the current position: %d\r\n", position);
+//
+// /* Printing to the console. */
+// pc.printf("--> Marking the current position.\r\n");
+//
+// /* Marking the current position. */
+// motors[0]->SetMark();
+//
+// /* Waiting. */
+// wait_ms(DELAY_2);
+//
+//
+// /*----- Running together for a certain amount of time. -----*/
+//
+// /* Printing to the console. */
+// pc.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]->PrepareRun(StepperMotor::BWD, 400);
+//
+// /* Performing the action on each motor at the same time. */
+// x_nucleo_ihm02a1->PerformPreparedActions();
+//
+// /* Waiting. */
+// 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]->PrepareGetSpeed();
+//
+// /* Performing the action on each motor at the same time. */
+// uint32_t* results = x_nucleo_ihm02a1->PerformPreparedActions();
+//
+// /* Printing to the console. */
+// pc.printf(" Speed: M1 %d, M2 %d.\r\n", results[0], results[1]);
+//
+// /* Printing to the console. */
+// pc.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]->PrepareRun(StepperMotor::BWD, results[m] << 1);
+//
+// /* Performing the action on each motor at the same time. */
+// results = x_nucleo_ihm02a1->PerformPreparedActions();
+//
+// /* Waiting. */
+// wait_ms(DELAY_3);
+//
+// /* Preparing each motor to perform a run at a specified speed. */
+// for (int m = 0; m < L6470DAISYCHAINSIZE; m++)
+// motors[m]->PrepareGetSpeed();
+//
+// /* Performing the action on each motor at the same time. */
+// results = x_nucleo_ihm02a1->PerformPreparedActions();
+//
+// /* Printing to the console. */
+// pc.printf(" Speed: M1 %d, M2 %d.\r\n", results[0], results[1]);
+//
+// /* Waiting. */
+// wait_ms(DELAY_1);
+//
+//
+// /*----- Hard Stop. -----*/
+//
+// /* Printing to the console. */
+// pc.printf("--> Hard Stop.\r\n");
+//
+// /* Preparing each motor to perform a hard stop. */
+// for (int m = 0; m < L6470DAISYCHAINSIZE; m++)
+// motors[m]->PrepareHardStop();
+//
+// /* Performing the action on each motor at the same time. */
+// x_nucleo_ihm02a1->PerformPreparedActions();
+//
+// /* Waiting. */
+// wait_ms(DELAY_2);
+//
+//
+// /*----- Doing a full revolution on each motor, one after the other. -----*/
+//
+// /* Printing to the console. */
+// pc.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]->WaitWhileActive();
+//
+// /* Waiting. */
+// wait_ms(DELAY_1);
+// }
+//
+// /* Waiting. */
+// wait_ms(DELAY_2);
+//
+//
+// /*----- High Impedance State. -----*/
+//
+// /* Printing to the console. */
+// pc.printf("--> High Impedance State.\r\n");
+//
+// /* Preparing each motor to set High Impedance State. */
+// for (int m = 0; m < L6470DAISYCHAINSIZE; m++)
+// motors[m]->PrepareHardHiZ();
+//
+// /* Performing the action on each motor at the same time. */
+// x_nucleo_ihm02a1->PerformPreparedActions();
+//
+// /* Waiting. */
+// wait_ms(DELAY_2);
}
\ No newline at end of file