Jaeyeol Lee / Mbed OS 200117StepMotorControl

200117StepMotorControl

Dependencies:   X_NUCLEO_IHM02A1 TextLCD

main.cpp@18:591a007effc2, 2016-04-07 (annotated)

Committer:
Davidroid
Date:
Thu Apr 07 16:56:27 2016 +0000
Revision:
18:591a007effc2
Parent:
15:698fe51556c0
Child:
22:e81ccf73bc5d
+ Updated with the new version of the library.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Davidroid 0:5148e9486cf2 1 /**
Davidroid 0:5148e9486cf2 2 ******************************************************************************
Davidroid 0:5148e9486cf2 3 * @file main.cpp
Davidroid 12:5be6dd48b94a 4 * @author Davide Aliprandi, STMicroelectronics
Davidroid 0:5148e9486cf2 5 * @version V1.0.0
Davidroid 0:5148e9486cf2 6 * @date November 4th, 2015
Davidroid 12:5be6dd48b94a 7 * @brief mbed test application for the STMicroelectronics X-NUCLEO-IHM02A1
Davidroid 1:9f1974b0960d 8 * Motor Control Expansion Board: control of 2 motors.
Davidroid 0:5148e9486cf2 9 ******************************************************************************
Davidroid 0:5148e9486cf2 10 * @attention
Davidroid 0:5148e9486cf2 11 *
Davidroid 0:5148e9486cf2 12 * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
Davidroid 0:5148e9486cf2 13 *
Davidroid 0:5148e9486cf2 14 * Redistribution and use in source and binary forms, with or without modification,
Davidroid 0:5148e9486cf2 15 * are permitted provided that the following conditions are met:
Davidroid 0:5148e9486cf2 16 * 1. Redistributions of source code must retain the above copyright notice,
Davidroid 0:5148e9486cf2 17 * this list of conditions and the following disclaimer.
Davidroid 0:5148e9486cf2 18 * 2. Redistributions in binary form must reproduce the above copyright notice,
Davidroid 0:5148e9486cf2 19 * this list of conditions and the following disclaimer in the documentation
Davidroid 0:5148e9486cf2 20 * and/or other materials provided with the distribution.
Davidroid 0:5148e9486cf2 21 * 3. Neither the name of STMicroelectronics nor the names of its contributors
Davidroid 0:5148e9486cf2 22 * may be used to endorse or promote products derived from this software
Davidroid 0:5148e9486cf2 23 * without specific prior written permission.
Davidroid 0:5148e9486cf2 24 *
Davidroid 0:5148e9486cf2 25 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
Davidroid 0:5148e9486cf2 26 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
Davidroid 0:5148e9486cf2 27 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
Davidroid 0:5148e9486cf2 28 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
Davidroid 0:5148e9486cf2 29 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
Davidroid 0:5148e9486cf2 30 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
Davidroid 0:5148e9486cf2 31 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
Davidroid 0:5148e9486cf2 32 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
Davidroid 0:5148e9486cf2 33 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
Davidroid 0:5148e9486cf2 34 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
Davidroid 0:5148e9486cf2 35 *
Davidroid 0:5148e9486cf2 36 ******************************************************************************
Davidroid 0:5148e9486cf2 37 */
Davidroid 0:5148e9486cf2 38
Davidroid 0:5148e9486cf2 39
Davidroid 0:5148e9486cf2 40 /* Includes ------------------------------------------------------------------*/
Davidroid 0:5148e9486cf2 41
Davidroid 0:5148e9486cf2 42 /* mbed specific header files. */
Davidroid 0:5148e9486cf2 43 #include "mbed.h"
Davidroid 0:5148e9486cf2 44
Davidroid 0:5148e9486cf2 45 /* Helper header files. */
Davidroid 0:5148e9486cf2 46 #include "DevSPI.h"
Davidroid 0:5148e9486cf2 47
Davidroid 0:5148e9486cf2 48 /* Expansion Board specific header files. */
Davidroid 0:5148e9486cf2 49 #include "x_nucleo_ihm02a1_class.h"
Davidroid 0:5148e9486cf2 50
Davidroid 0:5148e9486cf2 51
Davidroid 0:5148e9486cf2 52 /* Definitions ---------------------------------------------------------------*/
Davidroid 0:5148e9486cf2 53
Davidroid 0:5148e9486cf2 54 /* Number of movements per revolution. */
Davidroid 0:5148e9486cf2 55 #define MPR_1 4
Davidroid 1:9f1974b0960d 56
Davidroid 1:9f1974b0960d 57 /* Number of steps. */
Davidroid 18:591a007effc2 58 #define STEPS_1 (400 * 128) /* 1 revolution given a 400 steps motor configured at 1/128 microstep mode. */
Davidroid 18:591a007effc2 59 #define STEPS_2 (STEPS_1 * 2)
Davidroid 0:5148e9486cf2 60
Davidroid 0:5148e9486cf2 61 /* Delay in milliseconds. */
Davidroid 1:9f1974b0960d 62 #define DELAY_1 1000
Davidroid 0:5148e9486cf2 63 #define DELAY_2 2000
Davidroid 0:5148e9486cf2 64 #define DELAY_3 5000
Davidroid 0:5148e9486cf2 65
Davidroid 0:5148e9486cf2 66
Davidroid 0:5148e9486cf2 67 /* Variables -----------------------------------------------------------------*/
Davidroid 0:5148e9486cf2 68
Davidroid 0:5148e9486cf2 69 /* Motor Control Expansion Board. */
Davidroid 0:5148e9486cf2 70 X_NUCLEO_IHM02A1 *x_nucleo_ihm02a1;
Davidroid 0:5148e9486cf2 71
Davidroid 9:f35fbeedb8f4 72 /* Initialization parameters of the motors connected to the expansion board. */
Davidroid 15:698fe51556c0 73 L6470_Init_t init[L6470DAISYCHAINSIZE] =
Davidroid 9:f35fbeedb8f4 74 {
Davidroid 9:f35fbeedb8f4 75 /* First Motor. */
Davidroid 9:f35fbeedb8f4 76 {
Davidroid 18:591a007effc2 77 9.0, /* Motor supply voltage in V. */
Davidroid 18:591a007effc2 78 400, /* Min number of steps per revolution for the motor. */
Davidroid 18:591a007effc2 79 1.7, /* Max motor phase voltage in A. */
Davidroid 18:591a007effc2 80 3.06, /* Max motor phase voltage in V. */
Davidroid 18:591a007effc2 81 300.0, /* Motor initial speed [step/s]. */
Davidroid 18:591a007effc2 82 500.0, /* Motor acceleration [step/s^2] (comment for infinite acceleration mode). */
Davidroid 18:591a007effc2 83 500.0, /* Motor deceleration [step/s^2] (comment for infinite deceleration mode). */
Davidroid 18:591a007effc2 84 992.0, /* Motor maximum speed [step/s]. */
Davidroid 18:591a007effc2 85 0.0, /* Motor minimum speed [step/s]. */
Davidroid 18:591a007effc2 86 602.7, /* Motor full-step speed threshold [step/s]. */
Davidroid 18:591a007effc2 87 3.06, /* Holding kval [V]. */
Davidroid 18:591a007effc2 88 3.06, /* Constant speed kval [V]. */
Davidroid 18:591a007effc2 89 3.06, /* Acceleration starting kval [V]. */
Davidroid 18:591a007effc2 90 3.06, /* Deceleration starting kval [V]. */
Davidroid 18:591a007effc2 91 61.52, /* Intersect speed for bemf compensation curve slope changing [step/s]. */
Davidroid 18:591a007effc2 92 392.1569e-6, /* Start slope [s/step]. */
Davidroid 18:591a007effc2 93 643.1372e-6, /* Acceleration final slope [s/step]. */
Davidroid 18:591a007effc2 94 643.1372e-6, /* Deceleration final slope [s/step]. */
Davidroid 18:591a007effc2 95 0, /* Thermal compensation factor (range [0, 15]). */
Davidroid 18:591a007effc2 96 3.06 * 1000 * 1.10, /* Ocd threshold [ma] (range [375 ma, 6000 ma]). */
Davidroid 18:591a007effc2 97 3.06 * 1000 * 1.00, /* Stall threshold [ma] (range [31.25 ma, 4000 ma]). */
Davidroid 18:591a007effc2 98 StepperMotor::STEP_MODE_1_128, /* Step mode selection. */
Davidroid 18:591a007effc2 99 0xFF, /* Alarm conditions enable. */
Davidroid 18:591a007effc2 100 0x2E88 /* Ic configuration. */
Davidroid 9:f35fbeedb8f4 101 },
Davidroid 9:f35fbeedb8f4 102
Davidroid 9:f35fbeedb8f4 103 /* Second Motor. */
Davidroid 9:f35fbeedb8f4 104 {
Davidroid 18:591a007effc2 105 9.0, /* Motor supply voltage in V. */
Davidroid 18:591a007effc2 106 400, /* Min number of steps per revolution for the motor. */
Davidroid 18:591a007effc2 107 1.7, /* Max motor phase voltage in A. */
Davidroid 18:591a007effc2 108 3.06, /* Max motor phase voltage in V. */
Davidroid 18:591a007effc2 109 300.0, /* Motor initial speed [step/s]. */
Davidroid 18:591a007effc2 110 500.0, /* Motor acceleration [step/s^2] (comment for infinite acceleration mode). */
Davidroid 18:591a007effc2 111 500.0, /* Motor deceleration [step/s^2] (comment for infinite deceleration mode). */
Davidroid 18:591a007effc2 112 992.0, /* Motor maximum speed [step/s]. */
Davidroid 18:591a007effc2 113 0.0, /* Motor minimum speed [step/s]. */
Davidroid 18:591a007effc2 114 602.7, /* Motor full-step speed threshold [step/s]. */
Davidroid 18:591a007effc2 115 3.06, /* Holding kval [V]. */
Davidroid 18:591a007effc2 116 3.06, /* Constant speed kval [V]. */
Davidroid 18:591a007effc2 117 3.06, /* Acceleration starting kval [V]. */
Davidroid 18:591a007effc2 118 3.06, /* Deceleration starting kval [V]. */
Davidroid 18:591a007effc2 119 61.52, /* Intersect speed for bemf compensation curve slope changing [step/s]. */
Davidroid 18:591a007effc2 120 392.1569e-6, /* Start slope [s/step]. */
Davidroid 18:591a007effc2 121 643.1372e-6, /* Acceleration final slope [s/step]. */
Davidroid 18:591a007effc2 122 643.1372e-6, /* Deceleration final slope [s/step]. */
Davidroid 18:591a007effc2 123 0, /* Thermal compensation factor (range [0, 15]). */
Davidroid 18:591a007effc2 124 3.06 * 1000 * 1.10, /* Ocd threshold [ma] (range [375 ma, 6000 ma]). */
Davidroid 18:591a007effc2 125 3.06 * 1000 * 1.00, /* Stall threshold [ma] (range [31.25 ma, 4000 ma]). */
Davidroid 18:591a007effc2 126 StepperMotor::STEP_MODE_1_128, /* Step mode selection. */
Davidroid 18:591a007effc2 127 0xFF, /* Alarm conditions enable. */
Davidroid 18:591a007effc2 128 0x2E88 /* Ic configuration. */
Davidroid 9:f35fbeedb8f4 129 }
Davidroid 9:f35fbeedb8f4 130 };
Davidroid 9:f35fbeedb8f4 131
Davidroid 0:5148e9486cf2 132
Davidroid 0:5148e9486cf2 133 /* Main ----------------------------------------------------------------------*/
Davidroid 0:5148e9486cf2 134
Davidroid 0:5148e9486cf2 135 int main()
Davidroid 0:5148e9486cf2 136 {
Davidroid 1:9f1974b0960d 137 /*----- Initialization. -----*/
Davidroid 1:9f1974b0960d 138
Davidroid 2:41eeee48951b 139 /* Initializing SPI bus. */
Davidroid 3:fd280b953f77 140 DevSPI dev_spi(D11, D12, D3);
Davidroid 0:5148e9486cf2 141
Davidroid 5:3b8e19bbf386 142 /* Initializing Motor Control Expansion Board. */
Davidroid 9:f35fbeedb8f4 143 x_nucleo_ihm02a1 = new X_NUCLEO_IHM02A1(&init[0], &init[1], A4, A5, D4, A2, &dev_spi);
Davidroid 0:5148e9486cf2 144
Davidroid 1:9f1974b0960d 145 /* Building a list of motor control components. */
Davidroid 1:9f1974b0960d 146 L6470 **motors = x_nucleo_ihm02a1->GetComponents();
Davidroid 0:5148e9486cf2 147
Davidroid 0:5148e9486cf2 148 /* Printing to the console. */
Davidroid 0:5148e9486cf2 149 printf("Motor Control Application Example for 2 Motors\r\n\n");
Davidroid 0:5148e9486cf2 150
Davidroid 1:9f1974b0960d 151
Davidroid 1:9f1974b0960d 152 /*----- Setting home and marke positions, getting positions, and going to positions. -----*/
Davidroid 1:9f1974b0960d 153
Davidroid 1:9f1974b0960d 154 /* Printing to the console. */
Davidroid 1:9f1974b0960d 155 printf("--> Setting home position.\r\n");
Davidroid 1:9f1974b0960d 156
Davidroid 1:9f1974b0960d 157 /* Setting the home position. */
Davidroid 1:9f1974b0960d 158 motors[0]->SetHome();
Davidroid 1:9f1974b0960d 159
Davidroid 1:9f1974b0960d 160 /* Waiting. */
Davidroid 1:9f1974b0960d 161 wait_ms(DELAY_1);
Davidroid 0:5148e9486cf2 162
Davidroid 1:9f1974b0960d 163 /* Getting the current position. */
Davidroid 1:9f1974b0960d 164 int position = motors[0]->GetPosition();
Davidroid 18:591a007effc2 165
Davidroid 1:9f1974b0960d 166 /* Printing to the console. */
Davidroid 1:9f1974b0960d 167 printf("--> Getting the current position: %d\r\n", position);
Davidroid 1:9f1974b0960d 168
Davidroid 1:9f1974b0960d 169 /* Waiting. */
Davidroid 1:9f1974b0960d 170 wait_ms(DELAY_1);
Davidroid 1:9f1974b0960d 171
Davidroid 1:9f1974b0960d 172 /* Printing to the console. */
Davidroid 1:9f1974b0960d 173 printf("--> Moving forward %d steps.\r\n", STEPS_1);
Davidroid 1:9f1974b0960d 174
Davidroid 1:9f1974b0960d 175 /* Moving. */
Davidroid 1:9f1974b0960d 176 motors[0]->Move(StepperMotor::FWD, STEPS_1);
Davidroid 0:5148e9486cf2 177
Davidroid 1:9f1974b0960d 178 /* Waiting while active. */
Davidroid 1:9f1974b0960d 179 motors[0]->WaitWhileActive();
Davidroid 1:9f1974b0960d 180
Davidroid 1:9f1974b0960d 181 /* Getting the current position. */
Davidroid 1:9f1974b0960d 182 position = motors[0]->GetPosition();
Davidroid 1:9f1974b0960d 183
Davidroid 1:9f1974b0960d 184 /* Printing to the console. */
Davidroid 1:9f1974b0960d 185 printf("--> Getting the current position: %d\r\n", position);
Davidroid 1:9f1974b0960d 186
Davidroid 1:9f1974b0960d 187 /* Printing to the console. */
Davidroid 1:9f1974b0960d 188 printf("--> Marking the current position.\r\n");
Davidroid 0:5148e9486cf2 189
Davidroid 1:9f1974b0960d 190 /* Marking the current position. */
Davidroid 1:9f1974b0960d 191 motors[0]->SetMark();
Davidroid 1:9f1974b0960d 192
Davidroid 1:9f1974b0960d 193 /* Waiting. */
Davidroid 1:9f1974b0960d 194 wait_ms(DELAY_1);
Davidroid 1:9f1974b0960d 195
Davidroid 1:9f1974b0960d 196 /* Printing to the console. */
Davidroid 1:9f1974b0960d 197 printf("--> Moving backward %d steps.\r\n", STEPS_2);
Davidroid 1:9f1974b0960d 198
Davidroid 1:9f1974b0960d 199 /* Moving. */
Davidroid 1:9f1974b0960d 200 motors[0]->Move(StepperMotor::BWD, STEPS_2);
Davidroid 1:9f1974b0960d 201
Davidroid 1:9f1974b0960d 202 /* Waiting while active. */
Davidroid 1:9f1974b0960d 203 motors[0]->WaitWhileActive();
Davidroid 0:5148e9486cf2 204
Davidroid 1:9f1974b0960d 205 /* Waiting. */
Davidroid 1:9f1974b0960d 206 wait_ms(DELAY_1);
Davidroid 1:9f1974b0960d 207
Davidroid 1:9f1974b0960d 208 /* Getting the current position. */
Davidroid 1:9f1974b0960d 209 position = motors[0]->GetPosition();
Davidroid 1:9f1974b0960d 210
Davidroid 1:9f1974b0960d 211 /* Printing to the console. */
Davidroid 1:9f1974b0960d 212 printf("--> Getting the current position: %d\r\n", position);
Davidroid 1:9f1974b0960d 213
Davidroid 1:9f1974b0960d 214 /* Waiting. */
Davidroid 1:9f1974b0960d 215 wait_ms(DELAY_1);
Davidroid 0:5148e9486cf2 216
Davidroid 1:9f1974b0960d 217 /* Printing to the console. */
Davidroid 1:9f1974b0960d 218 printf("--> Going to marked position.\r\n");
Davidroid 0:5148e9486cf2 219
Davidroid 1:9f1974b0960d 220 /* Going to marked position. */
Davidroid 1:9f1974b0960d 221 motors[0]->GoMark();
Davidroid 1:9f1974b0960d 222
Davidroid 1:9f1974b0960d 223 /* Waiting while active. */
Davidroid 1:9f1974b0960d 224 motors[0]->WaitWhileActive();
Davidroid 0:5148e9486cf2 225
Davidroid 1:9f1974b0960d 226 /* Waiting. */
Davidroid 1:9f1974b0960d 227 wait_ms(DELAY_1);
Davidroid 0:5148e9486cf2 228
Davidroid 1:9f1974b0960d 229 /* Getting the current position. */
Davidroid 1:9f1974b0960d 230 position = motors[0]->GetPosition();
Davidroid 1:9f1974b0960d 231
Davidroid 1:9f1974b0960d 232 /* Printing to the console. */
Davidroid 1:9f1974b0960d 233 printf("--> Getting the current position: %d\r\n", position);
Davidroid 0:5148e9486cf2 234
Davidroid 1:9f1974b0960d 235 /* Waiting. */
Davidroid 1:9f1974b0960d 236 wait_ms(DELAY_1);
Davidroid 1:9f1974b0960d 237
Davidroid 1:9f1974b0960d 238 /* Printing to the console. */
Davidroid 1:9f1974b0960d 239 printf("--> Going to home position.\r\n");
Davidroid 0:5148e9486cf2 240
Davidroid 1:9f1974b0960d 241 /* Going to home position. */
Davidroid 1:9f1974b0960d 242 motors[0]->GoHome();
Davidroid 1:9f1974b0960d 243
Davidroid 1:9f1974b0960d 244 /* Waiting while active. */
Davidroid 1:9f1974b0960d 245 motors[0]->WaitWhileActive();
Davidroid 1:9f1974b0960d 246
Davidroid 1:9f1974b0960d 247 /* Waiting. */
Davidroid 1:9f1974b0960d 248 wait_ms(DELAY_1);
Davidroid 0:5148e9486cf2 249
Davidroid 1:9f1974b0960d 250 /* Getting the current position. */
Davidroid 1:9f1974b0960d 251 position = motors[0]->GetPosition();
Davidroid 1:9f1974b0960d 252
Davidroid 1:9f1974b0960d 253 /* Printing to the console. */
Davidroid 1:9f1974b0960d 254 printf("--> Getting the current position: %d\r\n", position);
Davidroid 1:9f1974b0960d 255
Davidroid 1:9f1974b0960d 256 /* Waiting. */
Davidroid 18:591a007effc2 257 wait_ms(DELAY_1);
Davidroid 18:591a007effc2 258
Davidroid 18:591a007effc2 259 /* Printing to the console. */
Davidroid 18:591a007effc2 260 printf("--> Halving the microsteps.\r\n");
Davidroid 18:591a007effc2 261
Davidroid 18:591a007effc2 262 /* Halving the microsteps. */
Davidroid 18:591a007effc2 263 init[0].step_sel = (init[0].step_sel > 0 ? init[0].step_sel - 1 : init[0].step_sel);
Davidroid 18:591a007effc2 264 if (!motors[0]->SetStepMode((StepperMotor::step_mode_t) init[0].step_sel))
Davidroid 18:591a007effc2 265 printf(" Step Mode not allowed.\r\n");
Davidroid 18:591a007effc2 266
Davidroid 18:591a007effc2 267 /* Waiting. */
Davidroid 18:591a007effc2 268 wait_ms(DELAY_1);
Davidroid 18:591a007effc2 269
Davidroid 18:591a007effc2 270 /* Printing to the console. */
Davidroid 18:591a007effc2 271 printf("--> Setting home position.\r\n");
Davidroid 18:591a007effc2 272
Davidroid 18:591a007effc2 273 /* Setting the home position. */
Davidroid 18:591a007effc2 274 motors[0]->SetHome();
Davidroid 18:591a007effc2 275
Davidroid 18:591a007effc2 276 /* Waiting. */
Davidroid 18:591a007effc2 277 wait_ms(DELAY_1);
Davidroid 18:591a007effc2 278
Davidroid 18:591a007effc2 279 /* Getting the current position. */
Davidroid 18:591a007effc2 280 position = motors[0]->GetPosition();
Davidroid 18:591a007effc2 281
Davidroid 18:591a007effc2 282 /* Printing to the console. */
Davidroid 18:591a007effc2 283 printf("--> Getting the current position: %d\r\n", position);
Davidroid 18:591a007effc2 284
Davidroid 18:591a007effc2 285 /* Waiting. */
Davidroid 18:591a007effc2 286 wait_ms(DELAY_1);
Davidroid 18:591a007effc2 287
Davidroid 18:591a007effc2 288 /* Printing to the console. */
Davidroid 18:591a007effc2 289 printf("--> Moving forward %d steps.\r\n", STEPS_1);
Davidroid 18:591a007effc2 290
Davidroid 18:591a007effc2 291 /* Moving. */
Davidroid 18:591a007effc2 292 motors[0]->Move(StepperMotor::FWD, STEPS_1);
Davidroid 18:591a007effc2 293
Davidroid 18:591a007effc2 294 /* Waiting while active. */
Davidroid 18:591a007effc2 295 motors[0]->WaitWhileActive();
Davidroid 18:591a007effc2 296
Davidroid 18:591a007effc2 297 /* Getting the current position. */
Davidroid 18:591a007effc2 298 position = motors[0]->GetPosition();
Davidroid 18:591a007effc2 299
Davidroid 18:591a007effc2 300 /* Printing to the console. */
Davidroid 18:591a007effc2 301 printf("--> Getting the current position: %d\r\n", position);
Davidroid 18:591a007effc2 302
Davidroid 18:591a007effc2 303 /* Printing to the console. */
Davidroid 18:591a007effc2 304 printf("--> Marking the current position.\r\n");
Davidroid 18:591a007effc2 305
Davidroid 18:591a007effc2 306 /* Marking the current position. */
Davidroid 18:591a007effc2 307 motors[0]->SetMark();
Davidroid 18:591a007effc2 308
Davidroid 18:591a007effc2 309 /* Waiting. */
Davidroid 1:9f1974b0960d 310 wait_ms(DELAY_2);
Davidroid 0:5148e9486cf2 311
Davidroid 0:5148e9486cf2 312
Davidroid 1:9f1974b0960d 313 /*----- Running together for a certain amount of time. -----*/
Davidroid 1:9f1974b0960d 314
Davidroid 1:9f1974b0960d 315 /* Printing to the console. */
Davidroid 1:9f1974b0960d 316 printf("--> Running together for %d seconds.\r\n", DELAY_3 / 1000);
Davidroid 0:5148e9486cf2 317
Davidroid 1:9f1974b0960d 318 /* Preparing each motor to perform a run at a specified speed. */
Davidroid 1:9f1974b0960d 319 for (int m = 0; m < L6470DAISYCHAINSIZE; m++)
Davidroid 1:9f1974b0960d 320 motors[m]->PrepareRun(StepperMotor::BWD, 400);
Davidroid 0:5148e9486cf2 321
Davidroid 1:9f1974b0960d 322 /* Performing the action on each motor at the same time. */
Davidroid 1:9f1974b0960d 323 x_nucleo_ihm02a1->PerformPreparedActions();
Davidroid 0:5148e9486cf2 324
Davidroid 1:9f1974b0960d 325 /* Waiting. */
Davidroid 1:9f1974b0960d 326 wait_ms(DELAY_3);
Davidroid 1:9f1974b0960d 327
Davidroid 1:9f1974b0960d 328
Davidroid 1:9f1974b0960d 329 /*----- Increasing the speed while running. -----*/
Davidroid 0:5148e9486cf2 330
Davidroid 1:9f1974b0960d 331 /* Preparing each motor to perform a run at a specified speed. */
Davidroid 1:9f1974b0960d 332 for (int m = 0; m < L6470DAISYCHAINSIZE; m++)
Davidroid 1:9f1974b0960d 333 motors[m]->PrepareGetSpeed();
Davidroid 0:5148e9486cf2 334
Davidroid 1:9f1974b0960d 335 /* Performing the action on each motor at the same time. */
Davidroid 1:9f1974b0960d 336 uint32_t* results = x_nucleo_ihm02a1->PerformPreparedActions();
Davidroid 0:5148e9486cf2 337
Davidroid 1:9f1974b0960d 338 /* Printing to the console. */
Davidroid 1:9f1974b0960d 339 printf(" Speed: M1 %d, M2 %d.\r\n", results[0], results[1]);
Davidroid 1:9f1974b0960d 340
Davidroid 1:9f1974b0960d 341 /* Printing to the console. */
Davidroid 18:591a007effc2 342 printf("--> Doublig the speed while running again for %d seconds.\r\n", DELAY_3 / 1000);
Davidroid 0:5148e9486cf2 343
Davidroid 1:9f1974b0960d 344 /* Preparing each motor to perform a run at a specified speed. */
Davidroid 1:9f1974b0960d 345 for (int m = 0; m < L6470DAISYCHAINSIZE; m++)
Davidroid 1:9f1974b0960d 346 motors[m]->PrepareRun(StepperMotor::BWD, results[m] << 1);
Davidroid 1:9f1974b0960d 347
Davidroid 1:9f1974b0960d 348 /* Performing the action on each motor at the same time. */
Davidroid 1:9f1974b0960d 349 results = x_nucleo_ihm02a1->PerformPreparedActions();
Davidroid 0:5148e9486cf2 350
Davidroid 1:9f1974b0960d 351 /* Waiting. */
Davidroid 1:9f1974b0960d 352 wait_ms(DELAY_3);
Davidroid 0:5148e9486cf2 353
Davidroid 1:9f1974b0960d 354 /* Preparing each motor to perform a run at a specified speed. */
Davidroid 1:9f1974b0960d 355 for (int m = 0; m < L6470DAISYCHAINSIZE; m++)
Davidroid 1:9f1974b0960d 356 motors[m]->PrepareGetSpeed();
Davidroid 0:5148e9486cf2 357
Davidroid 1:9f1974b0960d 358 /* Performing the action on each motor at the same time. */
Davidroid 1:9f1974b0960d 359 results = x_nucleo_ihm02a1->PerformPreparedActions();
Davidroid 0:5148e9486cf2 360
Davidroid 1:9f1974b0960d 361 /* Printing to the console. */
Davidroid 1:9f1974b0960d 362 printf(" Speed: M1 %d, M2 %d.\r\n", results[0], results[1]);
Davidroid 1:9f1974b0960d 363
Davidroid 1:9f1974b0960d 364 /* Waiting. */
Davidroid 1:9f1974b0960d 365 wait_ms(DELAY_1);
Davidroid 0:5148e9486cf2 366
Davidroid 0:5148e9486cf2 367
Davidroid 1:9f1974b0960d 368 /*----- Hard Stop. -----*/
Davidroid 0:5148e9486cf2 369
Davidroid 1:9f1974b0960d 370 /* Printing to the console. */
Davidroid 1:9f1974b0960d 371 printf("--> Hard Stop.\r\n");
Davidroid 0:5148e9486cf2 372
Davidroid 1:9f1974b0960d 373 /* Preparing each motor to perform a hard stop. */
Davidroid 1:9f1974b0960d 374 for (int m = 0; m < L6470DAISYCHAINSIZE; m++)
Davidroid 1:9f1974b0960d 375 motors[m]->PrepareHardStop();
Davidroid 0:5148e9486cf2 376
Davidroid 1:9f1974b0960d 377 /* Performing the action on each motor at the same time. */
Davidroid 1:9f1974b0960d 378 x_nucleo_ihm02a1->PerformPreparedActions();
Davidroid 0:5148e9486cf2 379
Davidroid 1:9f1974b0960d 380 /* Waiting. */
Davidroid 1:9f1974b0960d 381 wait_ms(DELAY_2);
Davidroid 0:5148e9486cf2 382
Davidroid 0:5148e9486cf2 383
Davidroid 1:9f1974b0960d 384 /*----- Doing a full revolution on each motor, one after the other. -----*/
Davidroid 1:9f1974b0960d 385
Davidroid 1:9f1974b0960d 386 /* Printing to the console. */
Davidroid 1:9f1974b0960d 387 printf("--> Doing a full revolution on each motor, one after the other.\r\n");
Davidroid 1:9f1974b0960d 388
Davidroid 1:9f1974b0960d 389 /* Doing a full revolution on each motor, one after the other. */
Davidroid 1:9f1974b0960d 390 for (int m = 0; m < L6470DAISYCHAINSIZE; m++)
Davidroid 1:9f1974b0960d 391 for (int i = 0; i < MPR_1; i++)
Davidroid 1:9f1974b0960d 392 {
Davidroid 1:9f1974b0960d 393 /* Computing the number of steps. */
Davidroid 9:f35fbeedb8f4 394 int steps = (int) (((int) init[m].fullstepsperrevolution * pow(2.0f, init[m].step_sel)) / MPR_1);
Davidroid 1:9f1974b0960d 395
Davidroid 1:9f1974b0960d 396 /* Moving. */
Davidroid 1:9f1974b0960d 397 motors[m]->Move(StepperMotor::FWD, steps);
Davidroid 1:9f1974b0960d 398
Davidroid 1:9f1974b0960d 399 /* Waiting while active. */
Davidroid 1:9f1974b0960d 400 motors[m]->WaitWhileActive();
Davidroid 1:9f1974b0960d 401
Davidroid 1:9f1974b0960d 402 /* Waiting. */
Davidroid 1:9f1974b0960d 403 wait_ms(DELAY_1);
Davidroid 1:9f1974b0960d 404 }
Davidroid 1:9f1974b0960d 405
Davidroid 1:9f1974b0960d 406 /* Waiting. */
Davidroid 1:9f1974b0960d 407 wait_ms(DELAY_2);
Davidroid 1:9f1974b0960d 408
Davidroid 1:9f1974b0960d 409
Davidroid 1:9f1974b0960d 410 /*----- High Impedance State. -----*/
Davidroid 1:9f1974b0960d 411
Davidroid 1:9f1974b0960d 412 /* Printing to the console. */
Davidroid 1:9f1974b0960d 413 printf("--> High Impedance State.\r\n");
Davidroid 1:9f1974b0960d 414
Davidroid 1:9f1974b0960d 415 /* Preparing each motor to set High Impedance State. */
Davidroid 1:9f1974b0960d 416 for (int m = 0; m < L6470DAISYCHAINSIZE; m++)
Davidroid 1:9f1974b0960d 417 motors[m]->PrepareHardHiZ();
Davidroid 1:9f1974b0960d 418
Davidroid 1:9f1974b0960d 419 /* Performing the action on each motor at the same time. */
Davidroid 1:9f1974b0960d 420 x_nucleo_ihm02a1->PerformPreparedActions();
Davidroid 1:9f1974b0960d 421
Davidroid 1:9f1974b0960d 422 /* Waiting. */
Davidroid 1:9f1974b0960d 423 wait_ms(DELAY_2);
Davidroid 0:5148e9486cf2 424 }