Example_EtherCAT_System_Using_EASE - This is an example application demonstrating buil…

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Esmacat HarmonicBionics / Mbed OS Example_EtherCAT_System_Using_EASE

This is an example application demonstrating building an EtherCAT system using Esmacat

Dependencies: EsmacatShield X_NUCLEO_IHM01A1

Basic Information of Esmacat

Information about Esmacat and EASE is provided in the link below. https://os.mbed.com/users/esmacat/code/EASE_Example/wiki/Homepage

Information about the hardware needs and setup is provided in the link below. https://os.mbed.com/users/esmacat/code/EASE_Example/wiki/Hardware-Setup

Information about the structure of the system and it's software is provided in the link below. https://os.mbed.com/users/esmacat/code/EASE_Example/wiki/Software

About this example

This is an example application to demonstrate the ease with which a system, which communicates over EtherCAT, can be build. It measures the RPM of a motor using a proximity sensor.

Following lists the hardware required

2 x Mbed boards with Arduino UNO form factor (NUCLEO-F103RB)
2 x EASE boards
1 x proximity sensor shield (X_NUCLEO_6180XA1)
1 x Motor shield (X-NUCLEO-IHM01A1)
1 x stepper motor
1 x Ethernet POE injector with a 24VDC power supply
2 x Ethernet cables
Keyboard, mouse, and monitor
PC with Linux/Windows OS installed
DC power supply for motor

Click here to know more about this Example

main.cpp@25:3c863b420ac5, 2016-03-11 (annotated)

Committer:: Davidroid
Date:: Fri Mar 11 16:12:03 2016 +0000
Revision:: 25:3c863b420ac5
Parent:: 23:54503e363f67
Child:: 26:b0203c2265e5

+ Updated with the new version of the library.

Who changed what in which revision?

User	Revision	Line number	New contents of line
Davidroid	0:e6a49a092e2a	1	/**
Davidroid	0:e6a49a092e2a	2	******************************************************************************
Davidroid	0:e6a49a092e2a	3	* @file main.cpp
Davidroid	21:0189493b15ec	4	* @author Davide Aliprandi, STMicroelectronics
Davidroid	0:e6a49a092e2a	5	* @version V1.0.0
Davidroid	0:e6a49a092e2a	6	* @date October 14th, 2015
Davidroid	21:0189493b15ec	7	* @brief mbed test application for the STMicroelectronics X-NUCLEO-IHM01A1
Davidroid	0:e6a49a092e2a	8	* Motor Control Expansion Board: control of 1 motor.
Davidroid	0:e6a49a092e2a	9	******************************************************************************
Davidroid	0:e6a49a092e2a	10	* @attention
Davidroid	0:e6a49a092e2a	11	*
Davidroid	0:e6a49a092e2a	12	* <h2><center>© COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
Davidroid	0:e6a49a092e2a	13	*
Davidroid	0:e6a49a092e2a	14	* Redistribution and use in source and binary forms, with or without modification,
Davidroid	0:e6a49a092e2a	15	* are permitted provided that the following conditions are met:
Davidroid	0:e6a49a092e2a	16	* 1. Redistributions of source code must retain the above copyright notice,
Davidroid	0:e6a49a092e2a	17	* this list of conditions and the following disclaimer.
Davidroid	0:e6a49a092e2a	18	* 2. Redistributions in binary form must reproduce the above copyright notice,
Davidroid	0:e6a49a092e2a	19	* this list of conditions and the following disclaimer in the documentation
Davidroid	0:e6a49a092e2a	20	* and/or other materials provided with the distribution.
Davidroid	0:e6a49a092e2a	21	* 3. Neither the name of STMicroelectronics nor the names of its contributors
Davidroid	0:e6a49a092e2a	22	* may be used to endorse or promote products derived from this software
Davidroid	0:e6a49a092e2a	23	* without specific prior written permission.
Davidroid	0:e6a49a092e2a	24	*
Davidroid	0:e6a49a092e2a	25	* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
Davidroid	0:e6a49a092e2a	26	* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
Davidroid	0:e6a49a092e2a	27	* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
Davidroid	0:e6a49a092e2a	28	* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
Davidroid	0:e6a49a092e2a	29	* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
Davidroid	0:e6a49a092e2a	30	* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
Davidroid	0:e6a49a092e2a	31	* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
Davidroid	0:e6a49a092e2a	32	* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
Davidroid	0:e6a49a092e2a	33	* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
Davidroid	0:e6a49a092e2a	34	* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
Davidroid	0:e6a49a092e2a	35	*
Davidroid	0:e6a49a092e2a	36	******************************************************************************
Davidroid	0:e6a49a092e2a	37	*/
Davidroid	0:e6a49a092e2a	38
Davidroid	0:e6a49a092e2a	39
Davidroid	0:e6a49a092e2a	40	/* Includes ------------------------------------------------------------------*/
Davidroid	0:e6a49a092e2a	41
Davidroid	0:e6a49a092e2a	42	/* mbed specific header files. */
Davidroid	0:e6a49a092e2a	43	#include "mbed.h"
Davidroid	0:e6a49a092e2a	44
Davidroid	0:e6a49a092e2a	45	/* Helper header files. */
Davidroid	0:e6a49a092e2a	46	#include "DevSPI.h"
Davidroid	0:e6a49a092e2a	47
Davidroid	0:e6a49a092e2a	48	/* Component specific header files. */
Davidroid	0:e6a49a092e2a	49	#include "l6474_class.h"
Davidroid	0:e6a49a092e2a	50
Davidroid	0:e6a49a092e2a	51
Davidroid	0:e6a49a092e2a	52	/* Definitions ---------------------------------------------------------------*/
Davidroid	0:e6a49a092e2a	53
Davidroid	10:8f031470ca9f	54	/* Number of steps to move. */
Davidroid	10:8f031470ca9f	55	#define STEPS 3200
Davidroid	0:e6a49a092e2a	56
Davidroid	0:e6a49a092e2a	57
Davidroid	0:e6a49a092e2a	58	/* Variables -----------------------------------------------------------------*/
Davidroid	0:e6a49a092e2a	59
Davidroid	19:1cd7f65c155c	60	/* Initialization parameters. */
Davidroid	23:54503e363f67	61	L6474_Init_t init =
Davidroid	19:1cd7f65c155c	62	{
Davidroid	19:1cd7f65c155c	63	160, /* Acceleration rate in step/s2. Range: (0..+inf). */
Davidroid	19:1cd7f65c155c	64	160, /* Deceleration rate in step/s2. Range: (0..+inf). */
Davidroid	19:1cd7f65c155c	65	1600, /* Maximum speed in step/s. Range: (30..10000]. */
Davidroid	19:1cd7f65c155c	66	800, /* Minimum speed in step/s. Range: [30..10000). */
Davidroid	19:1cd7f65c155c	67	250, /* Torque regulation current in mA. Range: 31.25mA to 4000mA. */
Davidroid	19:1cd7f65c155c	68	L6474_OCD_TH_750mA, /* Overcurrent threshold (OCD_TH register). */
Davidroid	19:1cd7f65c155c	69	L6474_CONFIG_OC_SD_ENABLE, /* Overcurrent shutwdown (OC_SD field of CONFIG register). */
Davidroid	19:1cd7f65c155c	70	L6474_CONFIG_EN_TQREG_TVAL_USED, /* Torque regulation method (EN_TQREG field of CONFIG register). */
Davidroid	19:1cd7f65c155c	71	L6474_STEP_SEL_1_4, /* Step selection (STEP_SEL field of STEP_MODE register). */
Davidroid	19:1cd7f65c155c	72	L6474_SYNC_SEL_1_2, /* Sync selection (SYNC_SEL field of STEP_MODE register). */
Davidroid	19:1cd7f65c155c	73	L6474_FAST_STEP_12us, /* Fall time value (T_FAST field of T_FAST register). Range: 2us to 32us. */
Davidroid	19:1cd7f65c155c	74	L6474_TOFF_FAST_8us, /* Maximum fast decay time (T_OFF field of T_FAST register). Range: 2us to 32us. */
Davidroid	19:1cd7f65c155c	75	3, /* Minimum ON time in us (TON_MIN register). Range: 0.5us to 64us. */
Davidroid	19:1cd7f65c155c	76	21, /* Minimum OFF time in us (TOFF_MIN register). Range: 0.5us to 64us. */
Davidroid	19:1cd7f65c155c	77	L6474_CONFIG_TOFF_044us, /* Target Swicthing Period (field TOFF of CONFIG register). */
Davidroid	19:1cd7f65c155c	78	L6474_CONFIG_SR_320V_us, /* Slew rate (POW_SR field of CONFIG register). */
Davidroid	19:1cd7f65c155c	79	L6474_CONFIG_INT_16MHZ, /* Clock setting (OSC_CLK_SEL field of CONFIG register). */
Davidroid	19:1cd7f65c155c	80	L6474_ALARM_EN_OVERCURRENT \|
Davidroid	19:1cd7f65c155c	81	L6474_ALARM_EN_THERMAL_SHUTDOWN \|
Davidroid	19:1cd7f65c155c	82	L6474_ALARM_EN_THERMAL_WARNING \|
Davidroid	19:1cd7f65c155c	83	L6474_ALARM_EN_UNDERVOLTAGE \|
Davidroid	19:1cd7f65c155c	84	L6474_ALARM_EN_SW_TURN_ON \|
Davidroid	19:1cd7f65c155c	85	L6474_ALARM_EN_WRONG_NPERF_CMD /* Alarm (ALARM_EN register). */
Davidroid	19:1cd7f65c155c	86	};
Davidroid	19:1cd7f65c155c	87
Davidroid	0:e6a49a092e2a	88	/* Motor Control Component. */
Davidroid	1:fbf28f3367aa	89	L6474 *motor;
Davidroid	0:e6a49a092e2a	90
Davidroid	0:e6a49a092e2a	91
Davidroid	19:1cd7f65c155c	92	/* Functions -----------------------------------------------------------------*/
Davidroid	19:1cd7f65c155c	93
Davidroid	19:1cd7f65c155c	94	/**
Davidroid	25:3c863b420ac5	95	* @brief This is an example of user handler for the flag interrupt.
Davidroid	25:3c863b420ac5	96	* @param None
Davidroid	25:3c863b420ac5	97	* @retval None
Davidroid	25:3c863b420ac5	98	* @note If needed, implement it, and then attach and enable it:
Davidroid	25:3c863b420ac5	99	* + motor->AttachFlagIRQ(&FlagIRQHandler);
Davidroid	25:3c863b420ac5	100	* + motor->EnableFlagIRQ();
Davidroid	25:3c863b420ac5	101	* To disable it:
Davidroid	25:3c863b420ac5	102	* + motor->DisbleFlagIRQ();
Davidroid	25:3c863b420ac5	103	*/
Davidroid	19:1cd7f65c155c	104	void FlagIRQHandler(void)
Davidroid	19:1cd7f65c155c	105	{
Davidroid	19:1cd7f65c155c	106	/* Set ISR flag. */
Davidroid	19:1cd7f65c155c	107	motor->isr_flag = TRUE;
Davidroid	19:1cd7f65c155c	108
Davidroid	19:1cd7f65c155c	109	/* Get the value of the status register. */
Davidroid	19:1cd7f65c155c	110	unsigned int status = motor->GetStatus();
Davidroid	19:1cd7f65c155c	111
Davidroid	19:1cd7f65c155c	112	/* Check NOTPERF_CMD flag: if set, the command received by SPI can't be performed. */
Davidroid	19:1cd7f65c155c	113	/* This often occures when a command is sent to the L6474 while it is not in HiZ state. */
Davidroid	19:1cd7f65c155c	114	if ((status & L6474_STATUS_NOTPERF_CMD) == L6474_STATUS_NOTPERF_CMD)
Davidroid	19:1cd7f65c155c	115	printf(" WARNING: \"FLAG\" interrupt triggered. Non-performable command detected when updating L6474's registers while not in HiZ state.\r\n");
Davidroid	19:1cd7f65c155c	116
Davidroid	19:1cd7f65c155c	117	/* Reset ISR flag. */
Davidroid	19:1cd7f65c155c	118	motor->isr_flag = FALSE;
Davidroid	19:1cd7f65c155c	119	}
Davidroid	19:1cd7f65c155c	120
Davidroid	19:1cd7f65c155c	121
Davidroid	0:e6a49a092e2a	122	/* Main ----------------------------------------------------------------------*/
Davidroid	0:e6a49a092e2a	123
Davidroid	0:e6a49a092e2a	124	int main()
Davidroid	0:e6a49a092e2a	125	{
Davidroid	6:32166bfc04b0	126	/----- Initialization. -----/
Davidroid	6:32166bfc04b0	127
Davidroid	0:e6a49a092e2a	128	/* Initializing SPI bus. */
Davidroid	0:e6a49a092e2a	129	DevSPI dev_spi(D11, D12, D13);
Davidroid	0:e6a49a092e2a	130
Davidroid	11:3e303a25770d	131	/* Initializing Motor Control Component. */
Davidroid	5:8065b587ade0	132	motor = new L6474(D2, D8, D7, D9, D10, dev_spi);
Davidroid	19:1cd7f65c155c	133	if (motor->Init(&init) != COMPONENT_OK)
Davidroid	17:4830b25fec7f	134	exit(EXIT_FAILURE);
Davidroid	0:e6a49a092e2a	135
Davidroid	19:1cd7f65c155c	136	/* Attaching and enabling interrupt handlers. */
Davidroid	19:1cd7f65c155c	137	motor->AttachFlagIRQ(&FlagIRQHandler);
Davidroid	19:1cd7f65c155c	138	motor->EnableFlagIRQ();
Davidroid	19:1cd7f65c155c	139
Davidroid	0:e6a49a092e2a	140	/* Printing to the console. */
Davidroid	0:e6a49a092e2a	141	printf("Motor Control Application Example for 1 Motor\r\n\n");
Davidroid	0:e6a49a092e2a	142
Davidroid	6:32166bfc04b0	143
Davidroid	6:32166bfc04b0	144	/----- Moving. -----/
Davidroid	6:32166bfc04b0	145
Davidroid	6:32166bfc04b0	146	/* Printing to the console. */
Davidroid	10:8f031470ca9f	147	printf("--> Moving forward %d steps.\r\n", STEPS);
Davidroid	6:32166bfc04b0	148
Davidroid	6:32166bfc04b0	149	/* Moving N steps in the forward direction. */
Davidroid	10:8f031470ca9f	150	motor->Move(StepperMotor::FWD, STEPS);
Davidroid	6:32166bfc04b0	151
Davidroid	6:32166bfc04b0	152	/* Waiting while the motor is active. */
Davidroid	6:32166bfc04b0	153	motor->WaitWhileActive();
Davidroid	6:32166bfc04b0	154
Davidroid	6:32166bfc04b0	155	/* Getting current position. */
Davidroid	6:32166bfc04b0	156	int position = motor->GetPosition();
Davidroid	6:32166bfc04b0	157
Davidroid	6:32166bfc04b0	158	/* Printing to the console. */
Davidroid	6:32166bfc04b0	159	printf(" Position: %d.\r\n", position);
Davidroid	6:32166bfc04b0	160
Davidroid	6:32166bfc04b0	161	/* Waiting 2 seconds. */
Davidroid	6:32166bfc04b0	162	wait_ms(2000);
Davidroid	6:32166bfc04b0	163
Davidroid	19:1cd7f65c155c	164
Davidroid	19:1cd7f65c155c	165	/----- Changing motor setting. -----/
Davidroid	19:1cd7f65c155c	166
Davidroid	19:1cd7f65c155c	167	/* Printing to the console. */
Davidroid	19:1cd7f65c155c	168	printf("--> Changing Step Mode and Torque.\r\n");
Davidroid	19:1cd7f65c155c	169
Davidroid	19:1cd7f65c155c	170	/* Setting High Impedance State to update L6474's registers. */
Davidroid	19:1cd7f65c155c	171	motor->SoftHiZ();
Davidroid	19:1cd7f65c155c	172
Davidroid	19:1cd7f65c155c	173	/* Changing step mode. */
Davidroid	19:1cd7f65c155c	174	motor->SetParameter(L6474_STEP_MODE, (unsigned int) L6474_STEP_SEL_1_16 \| (unsigned int) L6474_SYNC_SEL_1_2);
Davidroid	19:1cd7f65c155c	175
Davidroid	19:1cd7f65c155c	176	/* Increasing the torque regulation current to 500mA. */
Davidroid	19:1cd7f65c155c	177	motor->SetParameter(L6474_TVAL, 500);
Davidroid	19:1cd7f65c155c	178
Davidroid	19:1cd7f65c155c	179	/* Waiting 1 second. */
Davidroid	19:1cd7f65c155c	180	wait_ms(1000);
Davidroid	19:1cd7f65c155c	181
Davidroid	19:1cd7f65c155c	182
Davidroid	6:32166bfc04b0	183	/----- Moving. -----/
Davidroid	6:32166bfc04b0	184
Davidroid	6:32166bfc04b0	185	/* Printing to the console. */
Davidroid	19:1cd7f65c155c	186	printf("--> Moving backward %d steps.\r\n", STEPS);
Davidroid	6:32166bfc04b0	187
Davidroid	6:32166bfc04b0	188	/* Moving N steps in the backward direction. */
Davidroid	19:1cd7f65c155c	189	motor->Move(StepperMotor::BWD, STEPS);
Davidroid	6:32166bfc04b0	190
Davidroid	6:32166bfc04b0	191	/* Waiting while the motor is active. */
Davidroid	6:32166bfc04b0	192	motor->WaitWhileActive();
Davidroid	6:32166bfc04b0	193
Davidroid	6:32166bfc04b0	194	/* Getting current position. */
Davidroid	6:32166bfc04b0	195	position = motor->GetPosition();
Davidroid	6:32166bfc04b0	196
Davidroid	6:32166bfc04b0	197	/* Printing to the console. */
Davidroid	6:32166bfc04b0	198	printf(" Position: %d.\r\n", position);
Davidroid	6:32166bfc04b0	199	printf("--> Setting Home.\r\n");
Davidroid	6:32166bfc04b0	200
Davidroid	6:32166bfc04b0	201	/* Setting the current position to be the home position. */
Davidroid	6:32166bfc04b0	202	motor->SetHome();
Davidroid	6:32166bfc04b0	203
Davidroid	6:32166bfc04b0	204	/* Waiting 2 seconds. */
Davidroid	6:32166bfc04b0	205	wait_ms(2000);
Davidroid	6:32166bfc04b0	206
Davidroid	6:32166bfc04b0	207
Davidroid	6:32166bfc04b0	208	/----- Going to a specified position. -----/
Davidroid	6:32166bfc04b0	209
Davidroid	6:32166bfc04b0	210	/* Printing to the console. */
Davidroid	19:1cd7f65c155c	211	printf("--> Going to position %d.\r\n", STEPS);
Davidroid	6:32166bfc04b0	212
Davidroid	6:32166bfc04b0	213	/* Requesting to go to a specified position. */
Davidroid	19:1cd7f65c155c	214	motor->GoTo(STEPS);
Davidroid	6:32166bfc04b0	215
Davidroid	6:32166bfc04b0	216	/* Waiting while the motor is active. */
Davidroid	6:32166bfc04b0	217	motor->WaitWhileActive();
Davidroid	6:32166bfc04b0	218
Davidroid	6:32166bfc04b0	219	/* Getting current position. */
Davidroid	6:32166bfc04b0	220	position = motor->GetPosition();
Davidroid	6:32166bfc04b0	221
Davidroid	6:32166bfc04b0	222	/* Printing to the console. */
Davidroid	6:32166bfc04b0	223	printf(" Position: %d.\r\n", position);
Davidroid	6:32166bfc04b0	224
Davidroid	6:32166bfc04b0	225	/* Waiting 2 seconds. */
Davidroid	6:32166bfc04b0	226	wait_ms(2000);
Davidroid	6:32166bfc04b0	227
Davidroid	6:32166bfc04b0	228
Davidroid	6:32166bfc04b0	229	/----- Going Home. -----/
Davidroid	6:32166bfc04b0	230
Davidroid	6:32166bfc04b0	231	/* Printing to the console. */
Davidroid	6:32166bfc04b0	232	printf("--> Going Home.\r\n");
Davidroid	6:32166bfc04b0	233
Davidroid	6:32166bfc04b0	234	/* Requesting to go to home. */
Davidroid	6:32166bfc04b0	235	motor->GoHome();
Davidroid	6:32166bfc04b0	236
Davidroid	6:32166bfc04b0	237	/* Waiting while the motor is active. */
Davidroid	6:32166bfc04b0	238	motor->WaitWhileActive();
Davidroid	6:32166bfc04b0	239
Davidroid	6:32166bfc04b0	240	/* Getting current position. */
Davidroid	6:32166bfc04b0	241	position = motor->GetPosition();
Davidroid	6:32166bfc04b0	242
Davidroid	6:32166bfc04b0	243	/* Printing to the console. */
Davidroid	6:32166bfc04b0	244	printf(" Position: %d.\r\n", position);
Davidroid	0:e6a49a092e2a	245
Davidroid	6:32166bfc04b0	246	/* Waiting 2 seconds. */
Davidroid	6:32166bfc04b0	247	wait_ms(2000);
Davidroid	6:32166bfc04b0	248
Davidroid	6:32166bfc04b0	249
Davidroid	6:32166bfc04b0	250	/----- Running. -----/
Davidroid	6:32166bfc04b0	251
Davidroid	6:32166bfc04b0	252	/* Printing to the console. */
Davidroid	6:32166bfc04b0	253	printf("--> Running backward.\r\n");
Davidroid	6:32166bfc04b0	254
Davidroid	6:32166bfc04b0	255	/* Requesting to run backward. */
Davidroid	6:32166bfc04b0	256	motor->Run(StepperMotor::BWD);
Davidroid	6:32166bfc04b0	257
Davidroid	6:32166bfc04b0	258	/* Waiting until delay has expired. */
Davidroid	6:32166bfc04b0	259	wait_ms(6000);
Davidroid	6:32166bfc04b0	260
Davidroid	6:32166bfc04b0	261	/* Getting current speed. */
Davidroid	6:32166bfc04b0	262	int speed = motor->GetSpeed();
Davidroid	6:32166bfc04b0	263
Davidroid	6:32166bfc04b0	264	/* Printing to the console. */
Davidroid	6:32166bfc04b0	265	printf(" Speed: %d.\r\n", speed);
Davidroid	6:32166bfc04b0	266
Davidroid	6:32166bfc04b0	267	/----- Increasing the speed while running. -----/
Davidroid	6:32166bfc04b0	268
Davidroid	6:32166bfc04b0	269	/* Printing to the console. */
Davidroid	6:32166bfc04b0	270	printf("--> Increasing the speed while running.\r\n");
Davidroid	6:32166bfc04b0	271
Davidroid	6:32166bfc04b0	272	/* Increasing speed to 2400 step/s. */
Davidroid	6:32166bfc04b0	273	motor->SetMaxSpeed(2400);
Davidroid	6:32166bfc04b0	274
Davidroid	6:32166bfc04b0	275	/* Waiting until delay has expired. */
Davidroid	6:32166bfc04b0	276	wait_ms(6000);
Davidroid	6:32166bfc04b0	277
Davidroid	6:32166bfc04b0	278	/* Getting current speed. */
Davidroid	6:32166bfc04b0	279	speed = motor->GetSpeed();
Davidroid	6:32166bfc04b0	280
Davidroid	6:32166bfc04b0	281	/* Printing to the console. */
Davidroid	6:32166bfc04b0	282	printf(" Speed: %d.\r\n", speed);
Davidroid	6:32166bfc04b0	283
Davidroid	6:32166bfc04b0	284
Davidroid	6:32166bfc04b0	285	/----- Decreasing the speed while running. -----/
Davidroid	0:e6a49a092e2a	286
Davidroid	6:32166bfc04b0	287	/* Printing to the console. */
Davidroid	6:32166bfc04b0	288	printf("--> Decreasing the speed while running.\r\n");
Davidroid	6:32166bfc04b0	289
Davidroid	6:32166bfc04b0	290	/* Decreasing speed to 1200 step/s. */
Davidroid	6:32166bfc04b0	291	motor->SetMaxSpeed(1200);
Davidroid	6:32166bfc04b0	292
Davidroid	6:32166bfc04b0	293	/* Waiting until delay has expired. */
Davidroid	6:32166bfc04b0	294	wait_ms(8000);
Davidroid	6:32166bfc04b0	295
Davidroid	6:32166bfc04b0	296	/* Getting current speed. */
Davidroid	6:32166bfc04b0	297	speed = motor->GetSpeed();
Davidroid	6:32166bfc04b0	298
Davidroid	6:32166bfc04b0	299	/* Printing to the console. */
Davidroid	6:32166bfc04b0	300	printf(" Speed: %d.\r\n", speed);
Davidroid	6:32166bfc04b0	301
Davidroid	6:32166bfc04b0	302
Davidroid	6:32166bfc04b0	303	/----- Requiring hard-stop while running. -----/
Davidroid	6:32166bfc04b0	304
Davidroid	6:32166bfc04b0	305	/* Printing to the console. */
Davidroid	6:32166bfc04b0	306	printf("--> Requiring hard-stop while running.\r\n");
Davidroid	6:32166bfc04b0	307
Davidroid	6:32166bfc04b0	308	/* Requesting to immediatly stop. */
Davidroid	6:32166bfc04b0	309	motor->HardStop();
Davidroid	6:32166bfc04b0	310
Davidroid	6:32166bfc04b0	311	/* Waiting while the motor is active. */
Davidroid	6:32166bfc04b0	312	motor->WaitWhileActive();
Davidroid	6:32166bfc04b0	313
Davidroid	6:32166bfc04b0	314	/* Waiting 2 seconds. */
Davidroid	6:32166bfc04b0	315	wait_ms(2000);
Davidroid	6:32166bfc04b0	316
Davidroid	6:32166bfc04b0	317
Davidroid	6:32166bfc04b0	318	/----- Infinite Loop. -----/
Davidroid	6:32166bfc04b0	319
Davidroid	6:32166bfc04b0	320	/* Printing to the console. */
Davidroid	6:32166bfc04b0	321	printf("--> Infinite Loop...\r\n");
Davidroid	6:32166bfc04b0	322
Davidroid	6:32166bfc04b0	323	/* Setting the current position to be the home position. */
Davidroid	6:32166bfc04b0	324	motor->SetHome();
Davidroid	6:32166bfc04b0	325
Davidroid	6:32166bfc04b0	326	/* Infinite Loop. */
Davidroid	6:32166bfc04b0	327	while (1)
Davidroid	6:32166bfc04b0	328	{
Davidroid	6:32166bfc04b0	329	/* Requesting to go to a specified position. */
Davidroid	10:8f031470ca9f	330	motor->GoTo(STEPS >> 1);
Davidroid	3:fffa53c7aed2	331
Davidroid	0:e6a49a092e2a	332	/* Waiting while the motor is active. */
Davidroid	1:fbf28f3367aa	333	motor->WaitWhileActive();
Davidroid	0:e6a49a092e2a	334
Davidroid	0:e6a49a092e2a	335	/* Requesting to go to a specified position. */
Davidroid	10:8f031470ca9f	336	motor->GoTo(- (STEPS >> 1));
Davidroid	0:e6a49a092e2a	337
Davidroid	0:e6a49a092e2a	338	/* Waiting while the motor is active. */
Davidroid	1:fbf28f3367aa	339	motor->WaitWhileActive();
Davidroid	0:e6a49a092e2a	340	}
Davidroid	0:e6a49a092e2a	341	}

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Repository details

Type:	Program
Mbed OS support:	Mbed OS
Created:	20 Apr 2020
Imports:	3
Forks:	0
Commits:	43
Dependents:	0
Dependencies:	2
Followers:	1

The code in this repository is Apache licensed.