main.cpp

00001 /**
00002   ******************************************************************************
00003   * @file    Multi/Examples/MotionControl/IHM04A1_ExampleFor4UniDirMotors/Src/main.c 
00004   * @author  IPC Rennes
00005   * @version V1.0.0
00006   * @date    May 16, 2016
00007   * @brief   This example shows how to use 1 IHM04A1 expansion board with 
00008   * 4 unidirectionnal Brush DC motors.
00009   * Each motor has one lead connected to one of the bridge output, 
00010   * the other lead to the ground. The input bridges are not parallelised.
00011   * The demo sequence starts when the user button is pressed.
00012   * Each time, the user button is pressed, one new motor is activated
00013   ******************************************************************************
00014   * @attention
00015   *
00016   * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
00017   *
00018   * Redistribution and use in source and binary forms, with or without modification,
00019   * are permitted provided that the following conditions are met:
00020   *   1. Redistributions of source code must retain the above copyright notice,
00021   *      this list of conditions and the following disclaimer.
00022   *   2. Redistributions in binary form must reproduce the above copyright notice,
00023   *      this list of conditions and the following disclaimer in the documentation
00024   *      and/or other materials provided with the distribution.
00025   *   3. Neither the name of STMicroelectronics nor the names of its contributors
00026   *      may be used to endorse or promote products derived from this software
00027   *      without specific prior written permission.
00028   *
00029   * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00030   * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00031   * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00032   * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
00033   * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
00034   * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
00035   * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00036   * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
00037   * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
00038   * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00039   *
00040   ******************************************************************************
00041   */
00042 
00043 /* Includes ------------------------------------------------------------------*/
00044 
00045 /* mbed specific header files. */
00046 #include "mbed.h"
00047 
00048 /* Component specific header files. */
00049 #include "l6206_class.h"
00050 
00051 
00052 
00053 /* Definitions ---------------------------------------------------------------*/
00054 
00055 
00056 #define MAX_MOTOR (4)
00057 
00058 
00059 
00060 /* Variables -----------------------------------------------------------------*/
00061 
00062 static volatile uint16_t gLastError;
00063 static volatile uint8_t gStep = 0;
00064 
00065 
00066 
00067 /* Variables -----------------------------------------------------------------*/
00068 
00069 /* Initialization parameters. */
00070 L6206_Init_t init =
00071 {
00072     L6206_CONF_PARAM_PARALLE_BRIDGES,
00073     {L6206_CONF_PARAM_FREQ_PWM1A, L6206_CONF_PARAM_FREQ_PWM2A, L6206_CONF_PARAM_FREQ_PWM1B, L6206_CONF_PARAM_FREQ_PWM2B},
00074     {100,100,100,100},
00075     {FORWARD,FORWARD,BACKWARD,FORWARD},
00076     {INACTIVE,INACTIVE,INACTIVE,INACTIVE},
00077     {FALSE,FALSE}
00078 };
00079 
00080 /* Motor Control Component. */
00081 L6206 *motor;
00082 
00083 /* User button on Nucleo board */
00084 //InterruptIn mybutton_irq(USER_BUTTON);
00085 
00086 
00087 
00088 /* Functions -----------------------------------------------------------------*/
00089 
00090 /**
00091   * @brief  This function is executed in case of error occurrence.
00092   * @param  error number of the error
00093   * @retval None
00094   */
00095 void Error_Handler(uint16_t error)
00096 {
00097   /* Backup error number */
00098   gLastError = error;
00099   
00100   /* Enter your own code here */
00101 }
00102 
00103 /**
00104 * @brief  This function is the User handler for the flag interrupt
00105 * @param  None
00106 * @retval None
00107 * @note   If needed, implement it, and then attach and enable it:
00108 *           + motor->AttachFlagInterrupt(MyFlagInterruptHandler);
00109 */
00110 void MyFlagInterruptHandler(void)
00111 {
00112   /* Code to be customised */
00113   /************************/
00114   /* Get the state of bridge A */
00115   uint16_t bridgeState  = motor->GetBridgeStatus(0);
00116   
00117   if (bridgeState == 0) 
00118   {
00119     if ((motor->GetDeviceState(0) != INACTIVE)||
00120         (motor->GetDeviceState(1) != INACTIVE))
00121     {
00122       /* Bridge A was disabling due to overcurrent or over temperature */
00123       /* When at least on of its  motor was running */
00124         Error_Handler(0XBAD0);
00125     }
00126   }
00127   
00128   /* Get the state of bridge B */
00129   bridgeState  = motor->GetBridgeStatus(1);
00130   
00131   if (bridgeState == 0) 
00132   {
00133     if ((motor->GetDeviceState(2) != INACTIVE)||
00134         (motor->GetDeviceState(3) != INACTIVE))
00135     {
00136       /* Bridge A was disabling due to overcurrent or over temperature */
00137       /* When at least on of its  motor was running */
00138         Error_Handler(0XBAD1);
00139     }
00140   }  
00141  }
00142 
00143 
00144 /* Private functions ---------------------------------------------------------*/
00145 
00146 /**
00147   * @brief  Button Irq
00148   * @param  None
00149   * @retval None
00150   */
00151 
00152 /*void button_pressed(void)
00153 {
00154     mybutton_irq.disable_irq();
00155     gStep++;
00156     if (gStep > MAX_MOTOR)
00157     {
00158         gStep = 0;
00159     }
00160     wait_ms(200);
00161     mybutton_irq.enable_irq();
00162 
00163 }
00164 */
00165 
00166 /**
00167   * @brief  Main program
00168   * @param  None
00169   * @retval None
00170   */
00171 int main(void)
00172 {
00173      
00174             printf("ESTRONCIO\n");
00175 /*Con il codice
00176 
00177 motor->run(0, BDCMotor::FWD); // Forward
00178 
00179 fai andare avanti.
00180 
00181  
00182 
00183 Se vuoi cambiare il verso devi usare questo codice
00184 
00185 motor->run(0, BDCMotor::BWD); // Backword
00186 
00187  
00188 
00189 Lo 0 indica il motore 0, per il secondo motore puoi usare 1 collegandolo opportunamente.
00190 
00191  
00192 
00193 Quindi ad esempio se devi fare andare tutti e due avanti, usi questo codice
00194 
00195 motor->run(0, BDCMotor::FWD); // Forward
00196 
00197 motor->run(1, BDCMotor::FWD); // Forward
00198 
00199  
00200 
00201 Per farli andare indietro
00202 
00203 motor->run(0, BDCMotor::BWD); // Forward
00204 
00205 motor->run(1, BDCMotor::BWD); // Forward
00206 */
00207     /*----- Initialization. -----*/
00208 
00209     /* Initializing Motor Control Component. */
00210     motor = new L6206( D2, A4, D5, D4, A0, A1);
00211 
00212     /* When Init method is called with NULL pointer, the L6206 parameters are set   */
00213     /* with the predefined values from file l6206_target_config.h, otherwise the    */
00214     /* parameters are set using the initDeviceParameters structure values.          */
00215  //   if (motor->Init(&init) != COMPONENT_OK)
00216  //       exit(EXIT_FAILURE);
00217 
00218     /* Attach the function MyFlagInterruptHandler (defined below) to the flag interrupt */
00219  //   motor->AttachFlagInterrupt(MyFlagInterruptHandler);
00220 
00221     /* Attach the function Error_Handler (defined below) to the error Handler*/
00222  //   motor->AttachErrorHandler(Error_Handler);
00223 
00224     /* Printing to the console. */
00225     printf("Motor Control Application Example for 4 Motor\r\n\n");
00226 
00227 
00228     /* Select the configuration with no bridge paralleling, two unidirectionnal motors on bridge A 
00229        and two unidirectionnal motors on bridge B */
00230 
00231   //  motor->SetDualFullBridgeConfig(PARALLELING_NONE___2_UNDIR_MOTOR_BRIDGE_A__2_UNDIR_MOTOR_BRIDGE_B);
00232     motor->SetDualFullBridgeConfig(PARALLELING_NONE___1_BIDIR_MOTOR_BRIDGE_A__1_BIDIR_MOTOR_BRIDGE_B);
00233  
00234     /* Set PWM Frequency of bridge A inputs to 1000 Hz */ 
00235     motor->SetBridgeInputPwmFreq(0,2000);
00236   
00237     /* Set PWM Frequency of bridge B inputs to 2000 Hz */ 
00238     motor->SetBridgeInputPwmFreq(1,2000);
00239   
00240  //   // Attach button_pressed function to Irq
00241  //   mybutton_irq.fall(&button_pressed);
00242 
00243     /* Infinite loop */
00244     while(1)
00245     {
00246 
00247  //       if (gStep > 0)
00248  //       {
00249             printf("ESTRONCIOLETTO\n");
00250  //           printf("Run motor 0 at 20%% of the maximum speed\n");
00251   //          /* Set speed of motor 0 to 20% */
00252   //          motor->SetSpeed(0,40);
00253             /* start motor 0 */
00254  //           motor->Run(0, BDCMotor::FWD);
00255   //      }
00256 
00257   //      if (gStep > 1)
00258   //      {
00259             printf("Run motor 1 e 2 at 50% avanti\n");
00260             /* Set speed of motor 1 to 30 % */
00261             motor->SetSpeed(0,100);
00262             motor->SetSpeed(1,100);
00263             /* start motor 1 */
00264             motor->Run(1, BDCMotor::FWD);
00265             motor->Run(0, BDCMotor::FWD); // Avanti
00266             printf("Motori 1 e 2 FERMI\n");
00267             wait_ms(5000);
00268             motor->HardHiZ(0);   
00269             motor->HardHiZ(1);
00270  //           printf("Motori 1 e 2 FERMI\n");
00271             wait_ms(1000);           
00272             printf("Run motor 1 e 2 at 50% indietro\n");
00273             motor->Run(1, BDCMotor::BWD);
00274             motor->Run(0, BDCMotor::BWD); // Indietro
00275             wait_ms(5000);
00276             motor->HardHiZ(0);   
00277             motor->HardHiZ(1);
00278             printf("Motori 1 e 2 FERMI\n");
00279             wait_ms(1000);
00280  //       }
00281 
00282  //       if (gStep > 2)
00283  //       {
00284  //           printf("Run motor 2 at 40%% of the maximum speed\n");
00285  //           /* Set speed of motor 2 to 40 % */
00286  //           motor->SetSpeed(2,100);
00287  //           /* start motor 2 */
00288  //           motor->Run(2, BDCMotor::FWD);
00289  //       }
00290 
00291  //       if (gStep > 3)
00292  //       {
00293  //           printf("Run motor 3 at 50%% of the maximum speed\n");
00294  //           /* Set speed of motor 3 to 50 % */
00295  //           motor->SetSpeed(3,100);
00296  //           /* start motor 3 */
00297  //           motor->Run(3, BDCMotor::FWD);      
00298  //       }
00299 
00300  //       if (gStep > 0)
00301   //      {
00302   //          wait_ms(1000);
00303         
00304    //         motor->HardHiZ(0);   
00305    //         motor->HardHiZ(1);   
00306   //          motor->HardHiZ(2);   
00307   //          motor->HardHiZ(3);
00308             
00309   //          wait_ms(1000);
00310   //      }
00311 
00312     }
00313 }
00314 
00315 
00316 
00317 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
00318