Diff: main.cpp

Revision:

24:d1f487cb02ba

Parent:

23:073b26366d03

Child:

26:caec5f51abe8

--- a/main.cpp	Thu Mar 09 15:35:35 2017 +0000
+++ b/main.cpp	Fri Mar 10 11:20:58 2017 +0100
@@ -46,7 +46,7 @@
 #include "DevSPI.h"
 
 /* Expansion Board specific header files. */
-#include "x_nucleo_ihm02a1_class.h"
+#include "XNucleoIhm02a1.h"
 
 
 /* Definitions ---------------------------------------------------------------*/
@@ -67,10 +67,10 @@
 /* Variables -----------------------------------------------------------------*/
 
 /* Motor Control Expansion Board. */
-X_NUCLEO_IHM02A1 *x_nucleo_ihm02a1;
+XNucleoIhm02a1 *x_nucleo_ihm02a1;
 
 /* Initialization parameters of the motors connected to the expansion board. */
-L6470_Init_t init[L6470DAISYCHAINSIZE] = {
+L6470_init_t init[L6470DAISYCHAINSIZE] = {
     /* First Motor. */
     {
         9.0,                           /* Motor supply voltage in V. */
@@ -143,10 +143,10 @@
 #endif
 
     /* Initializing Motor Control Expansion Board. */
-    x_nucleo_ihm02a1 = new X_NUCLEO_IHM02A1(&init[0], &init[1], A4, A5, D4, A2, &dev_spi);
+    x_nucleo_ihm02a1 = new XNucleoIhm02a1(&init[0], &init[1], A4, A5, D4, A2, &dev_spi);
 
     /* Building a list of motor control components. */
-    L6470 **motors = x_nucleo_ihm02a1->GetComponents();
+    L6470 **motors = x_nucleo_ihm02a1->get_components();
 
     /* Printing to the console. */
     printf("Motor Control Application Example for 2 Motors\r\n\n");
@@ -158,13 +158,13 @@
     printf("--> Setting home position.\r\n");
 
     /* Setting the home position. */
-    motors[0]->SetHome();
+    motors[0]->set_home();
 
     /* Waiting. */
     wait_ms(DELAY_1);
 
     /* Getting the current position. */
-    int position = motors[0]->GetPosition();
+    int position = motors[0]->get_position();
 
     /* Printing to the console. */
     printf("--> Getting the current position: %d\r\n", position);
@@ -176,13 +176,13 @@
     printf("--> Moving forward %d steps.\r\n", STEPS_1);
 
     /* Moving. */
-    motors[0]->Move(StepperMotor::FWD, STEPS_1);
+    motors[0]->move(StepperMotor::FWD, STEPS_1);
 
     /* Waiting while active. */
-    motors[0]->WaitWhileActive();
+    motors[0]->wait_while_active();
 
     /* Getting the current position. */
-    position = motors[0]->GetPosition();
+    position = motors[0]->get_position();
     
     /* Printing to the console. */
     printf("--> Getting the current position: %d\r\n", position);
@@ -191,7 +191,7 @@
     printf("--> Marking the current position.\r\n");
 
     /* Marking the current position. */
-    motors[0]->SetMark();
+    motors[0]->set_mark();
 
     /* Waiting. */
     wait_ms(DELAY_1);
@@ -200,16 +200,16 @@
     printf("--> Moving backward %d steps.\r\n", STEPS_2);
 
     /* Moving. */
-    motors[0]->Move(StepperMotor::BWD, STEPS_2);
+    motors[0]->move(StepperMotor::BWD, STEPS_2);
 
     /* Waiting while active. */
-    motors[0]->WaitWhileActive();
+    motors[0]->wait_while_active();
 
     /* Waiting. */
     wait_ms(DELAY_1);
 
     /* Getting the current position. */
-    position = motors[0]->GetPosition();
+    position = motors[0]->get_position();
     
     /* Printing to the console. */
     printf("--> Getting the current position: %d\r\n", position);
@@ -221,16 +221,16 @@
     printf("--> Going to marked position.\r\n");
 
     /* Going to marked position. */
-    motors[0]->GoMark();
+    motors[0]->go_mark();
     
     /* Waiting while active. */
-    motors[0]->WaitWhileActive();
+    motors[0]->wait_while_active();
 
     /* Waiting. */
     wait_ms(DELAY_1);
 
     /* Getting the current position. */
-    position = motors[0]->GetPosition();
+    position = motors[0]->get_position();
     
     /* Printing to the console. */
     printf("--> Getting the current position: %d\r\n", position);
@@ -242,16 +242,16 @@
     printf("--> Going to home position.\r\n");
 
     /* Going to home position. */
-    motors[0]->GoHome();
+    motors[0]->go_home();
     
     /* Waiting while active. */
-    motors[0]->WaitWhileActive();
+    motors[0]->wait_while_active();
 
     /* Waiting. */
     wait_ms(DELAY_1);
 
     /* Getting the current position. */
-    position = motors[0]->GetPosition();
+    position = motors[0]->get_position();
     
     /* Printing to the console. */
     printf("--> Getting the current position: %d\r\n", position);
@@ -264,7 +264,7 @@
 
     /* 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)) {
+    if (!motors[0]->set_step_mode((StepperMotor::step_mode_t) init[0].step_sel)) {
         printf("    Step Mode not allowed.\r\n");
     }
 
@@ -275,13 +275,13 @@
     printf("--> Setting home position.\r\n");
 
     /* Setting the home position. */
-    motors[0]->SetHome();
+    motors[0]->set_home();
 
     /* Waiting. */
     wait_ms(DELAY_1);
 
     /* Getting the current position. */
-    position = motors[0]->GetPosition();
+    position = motors[0]->get_position();
     
     /* Printing to the console. */
     printf("--> Getting the current position: %d\r\n", position);
@@ -293,13 +293,13 @@
     printf("--> Moving forward %d steps.\r\n", STEPS_1);
 
     /* Moving. */
-    motors[0]->Move(StepperMotor::FWD, STEPS_1);
+    motors[0]->move(StepperMotor::FWD, STEPS_1);
 
     /* Waiting while active. */
-    motors[0]->WaitWhileActive();
+    motors[0]->wait_while_active();
 
     /* Getting the current position. */
-    position = motors[0]->GetPosition();
+    position = motors[0]->get_position();
     
     /* Printing to the console. */
     printf("--> Getting the current position: %d\r\n", position);
@@ -308,7 +308,7 @@
     printf("--> Marking the current position.\r\n");
 
     /* Marking the current position. */
-    motors[0]->SetMark();
+    motors[0]->set_mark();
 
     /* Waiting. */
     wait_ms(DELAY_2);
@@ -321,11 +321,11 @@
 
     /* Preparing each motor to perform a run at a specified speed. */
     for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
-        motors[m]->PrepareRun(StepperMotor::BWD, 400);
+        motors[m]->prepare_run(StepperMotor::BWD, 400);
     }
 
     /* Performing the action on each motor at the same time. */
-    x_nucleo_ihm02a1->PerformPreparedActions();
+    x_nucleo_ihm02a1->perform_prepared_actions();
 
     /* Waiting. */
     wait_ms(DELAY_3);
@@ -335,11 +335,11 @@
 
     /* Preparing each motor to perform a run at a specified speed. */
     for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
-        motors[m]->PrepareGetSpeed();
+        motors[m]->prepare_get_speed();
     }
 
     /* Performing the action on each motor at the same time. */
-    uint32_t* results = x_nucleo_ihm02a1->PerformPreparedActions();
+    uint32_t* results = x_nucleo_ihm02a1->perform_prepared_actions();
 
     /* Printing to the console. */
     printf("    Speed: M1 %d, M2 %d.\r\n", results[0], results[1]);
@@ -349,22 +349,22 @@
 
     /* 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);
+        motors[m]->prepare_run(StepperMotor::BWD, results[m] << 1);
     }
 
     /* Performing the action on each motor at the same time. */
-    results = x_nucleo_ihm02a1->PerformPreparedActions();
+    results = x_nucleo_ihm02a1->perform_prepared_actions();
 
     /* 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();
+        motors[m]->prepare_get_speed();
     }
 
     /* Performing the action on each motor at the same time. */
-    results = x_nucleo_ihm02a1->PerformPreparedActions();
+    results = x_nucleo_ihm02a1->perform_prepared_actions();
 
     /* Printing to the console. */
     printf("    Speed: M1 %d, M2 %d.\r\n", results[0], results[1]);
@@ -380,11 +380,11 @@
 
     /* Preparing each motor to perform a hard stop. */
     for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
-        motors[m]->PrepareHardStop();
+        motors[m]->prepare_hard_stop();
     }
 
     /* Performing the action on each motor at the same time. */
-    x_nucleo_ihm02a1->PerformPreparedActions();
+    x_nucleo_ihm02a1->perform_prepared_actions();
 
     /* Waiting. */
     wait_ms(DELAY_2);
@@ -402,10 +402,10 @@
             int steps = (int) (((int) init[m].fullstepsperrevolution * pow(2.0f, init[m].step_sel)) / MPR_1);
 
             /* Moving. */
-            motors[m]->Move(StepperMotor::FWD, steps);
+            motors[m]->move(StepperMotor::FWD, steps);
             
             /* Waiting while active. */
-            motors[m]->WaitWhileActive();
+            motors[m]->wait_while_active();
 
             /* Waiting. */
             wait_ms(DELAY_1);
@@ -423,11 +423,11 @@
 
     /* Preparing each motor to set High Impedance State. */
     for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
-        motors[m]->PrepareHardHiZ();
+        motors[m]->prepare_hard_hiz();
     }
 
     /* Performing the action on each motor at the same time. */
-    x_nucleo_ihm02a1->PerformPreparedActions();
+    x_nucleo_ihm02a1->perform_prepared_actions();
 
     /* Waiting. */
     wait_ms(DELAY_2);