Jaeyeol Lee / Mbed OS 200117StepMotorControl

200117StepMotorControl

Dependencies:   X_NUCLEO_IHM02A1 TextLCD

main.cpp@3:fd280b953f77, 2015-11-27 (annotated)

Committer:
Davidroid
Date:
Fri Nov 27 16:41:46 2015 +0000
Revision:
3:fd280b953f77
Parent:
2:41eeee48951b
Child:
5:3b8e19bbf386
+ Updated with SPI SCK on D3 by default, as required by the X_NUCLEO_IHM02A1 board.

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 2:41eeee48951b 4 * @author Davide Aliprandi, STMicrolectronics
Davidroid 0:5148e9486cf2 5 * @version V1.0.0
Davidroid 0:5148e9486cf2 6 * @date November 4th, 2015
Davidroid 1:9f1974b0960d 7 * @brief mbed test application for the STMicrolectronics 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 1:9f1974b0960d 58 #define STEPS_1 100000
Davidroid 1:9f1974b0960d 59 #define STEPS_2 200000
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 0:5148e9486cf2 72
Davidroid 0:5148e9486cf2 73 /* Main ----------------------------------------------------------------------*/
Davidroid 0:5148e9486cf2 74
Davidroid 0:5148e9486cf2 75 int main()
Davidroid 0:5148e9486cf2 76 {
Davidroid 1:9f1974b0960d 77 /*----- Initialization. -----*/
Davidroid 1:9f1974b0960d 78
Davidroid 2:41eeee48951b 79 /* Initializing SPI bus. */
Davidroid 3:fd280b953f77 80 DevSPI dev_spi(D11, D12, D3);
Davidroid 0:5148e9486cf2 81
Davidroid 2:41eeee48951b 82 /* Initializing Motor Control Expansion Board.
Davidroid 2:41eeee48951b 83
Davidroid 2:41eeee48951b 84 You can stack up to 4 expansion boards together, each one controlling
Davidroid 2:41eeee48951b 85 two stepper motors in daisy-chain configuration, so that motors will
Davidroid 2:41eeee48951b 86 be in daisy-chain configuration two-by-two.
Davidroid 0:5148e9486cf2 87
Davidroid 2:41eeee48951b 88 Concerning the SSEL pin of SPI communication, expansion boards must
Davidroid 2:41eeee48951b 89 be in one of the following configurations:
Davidroid 2:41eeee48951b 90 + SB_23 resistor connected only --> SSEL on pin A2;
Davidroid 2:41eeee48951b 91 + SB_7 resistor connected only --> SSEL on pin D2;
Davidroid 2:41eeee48951b 92 + SB_8 resistor connected only --> SSEL on pin D10;
Davidroid 2:41eeee48951b 93 + SB_9 resistor connected only --> SSEL on pin D5.
Davidroid 2:41eeee48951b 94 */
Davidroid 2:41eeee48951b 95 x_nucleo_ihm02a1 = new X_NUCLEO_IHM02A1(A4, A5, D4, A2, &dev_spi);
Davidroid 0:5148e9486cf2 96
Davidroid 1:9f1974b0960d 97 /* Building a list of motor control components. */
Davidroid 1:9f1974b0960d 98 L6470 **motors = x_nucleo_ihm02a1->GetComponents();
Davidroid 0:5148e9486cf2 99
Davidroid 0:5148e9486cf2 100 /* Printing to the console. */
Davidroid 0:5148e9486cf2 101 printf("Motor Control Application Example for 2 Motors\r\n\n");
Davidroid 0:5148e9486cf2 102
Davidroid 1:9f1974b0960d 103
Davidroid 1:9f1974b0960d 104 /*----- Setting home and marke positions, getting positions, and going to positions. -----*/
Davidroid 1:9f1974b0960d 105
Davidroid 1:9f1974b0960d 106 /* Printing to the console. */
Davidroid 1:9f1974b0960d 107 printf("--> Setting home position.\r\n");
Davidroid 1:9f1974b0960d 108
Davidroid 1:9f1974b0960d 109 /* Setting the home position. */
Davidroid 1:9f1974b0960d 110 motors[0]->SetHome();
Davidroid 1:9f1974b0960d 111
Davidroid 1:9f1974b0960d 112 /* Waiting. */
Davidroid 1:9f1974b0960d 113 wait_ms(DELAY_1);
Davidroid 0:5148e9486cf2 114
Davidroid 1:9f1974b0960d 115 /* Getting the current position. */
Davidroid 1:9f1974b0960d 116 int position = motors[0]->GetPosition();
Davidroid 1:9f1974b0960d 117
Davidroid 1:9f1974b0960d 118 /* Printing to the console. */
Davidroid 1:9f1974b0960d 119 printf("--> Getting the current position: %d\r\n", position);
Davidroid 1:9f1974b0960d 120
Davidroid 1:9f1974b0960d 121 /* Waiting. */
Davidroid 1:9f1974b0960d 122 wait_ms(DELAY_1);
Davidroid 1:9f1974b0960d 123
Davidroid 1:9f1974b0960d 124 /* Printing to the console. */
Davidroid 1:9f1974b0960d 125 printf("--> Moving forward %d steps.\r\n", STEPS_1);
Davidroid 1:9f1974b0960d 126
Davidroid 1:9f1974b0960d 127 /* Moving. */
Davidroid 1:9f1974b0960d 128 motors[0]->Move(StepperMotor::FWD, STEPS_1);
Davidroid 0:5148e9486cf2 129
Davidroid 1:9f1974b0960d 130 /* Waiting while active. */
Davidroid 1:9f1974b0960d 131 motors[0]->WaitWhileActive();
Davidroid 1:9f1974b0960d 132
Davidroid 1:9f1974b0960d 133 /* Getting the current position. */
Davidroid 1:9f1974b0960d 134 position = motors[0]->GetPosition();
Davidroid 1:9f1974b0960d 135
Davidroid 1:9f1974b0960d 136 /* Printing to the console. */
Davidroid 1:9f1974b0960d 137 printf("--> Getting the current position: %d\r\n", position);
Davidroid 1:9f1974b0960d 138
Davidroid 1:9f1974b0960d 139 /* Printing to the console. */
Davidroid 1:9f1974b0960d 140 printf("--> Marking the current position.\r\n");
Davidroid 0:5148e9486cf2 141
Davidroid 1:9f1974b0960d 142 /* Marking the current position. */
Davidroid 1:9f1974b0960d 143 motors[0]->SetMark();
Davidroid 1:9f1974b0960d 144
Davidroid 1:9f1974b0960d 145 /* Waiting. */
Davidroid 1:9f1974b0960d 146 wait_ms(DELAY_1);
Davidroid 1:9f1974b0960d 147
Davidroid 1:9f1974b0960d 148 /* Printing to the console. */
Davidroid 1:9f1974b0960d 149 printf("--> Moving backward %d steps.\r\n", STEPS_2);
Davidroid 1:9f1974b0960d 150
Davidroid 1:9f1974b0960d 151 /* Moving. */
Davidroid 1:9f1974b0960d 152 motors[0]->Move(StepperMotor::BWD, STEPS_2);
Davidroid 1:9f1974b0960d 153
Davidroid 1:9f1974b0960d 154 /* Waiting while active. */
Davidroid 1:9f1974b0960d 155 motors[0]->WaitWhileActive();
Davidroid 0:5148e9486cf2 156
Davidroid 1:9f1974b0960d 157 /* Waiting. */
Davidroid 1:9f1974b0960d 158 wait_ms(DELAY_1);
Davidroid 1:9f1974b0960d 159
Davidroid 1:9f1974b0960d 160 /* Getting the current position. */
Davidroid 1:9f1974b0960d 161 position = motors[0]->GetPosition();
Davidroid 1:9f1974b0960d 162
Davidroid 1:9f1974b0960d 163 /* Printing to the console. */
Davidroid 1:9f1974b0960d 164 printf("--> Getting the current position: %d\r\n", position);
Davidroid 1:9f1974b0960d 165
Davidroid 1:9f1974b0960d 166 /* Waiting. */
Davidroid 1:9f1974b0960d 167 wait_ms(DELAY_1);
Davidroid 0:5148e9486cf2 168
Davidroid 1:9f1974b0960d 169 /* Printing to the console. */
Davidroid 1:9f1974b0960d 170 printf("--> Going to marked position.\r\n");
Davidroid 0:5148e9486cf2 171
Davidroid 1:9f1974b0960d 172 /* Going to marked position. */
Davidroid 1:9f1974b0960d 173 motors[0]->GoMark();
Davidroid 1:9f1974b0960d 174
Davidroid 1:9f1974b0960d 175 /* Waiting while active. */
Davidroid 1:9f1974b0960d 176 motors[0]->WaitWhileActive();
Davidroid 0:5148e9486cf2 177
Davidroid 1:9f1974b0960d 178 /* Waiting. */
Davidroid 1:9f1974b0960d 179 wait_ms(DELAY_1);
Davidroid 0:5148e9486cf2 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 0:5148e9486cf2 186
Davidroid 1:9f1974b0960d 187 /* Waiting. */
Davidroid 1:9f1974b0960d 188 wait_ms(DELAY_1);
Davidroid 1:9f1974b0960d 189
Davidroid 1:9f1974b0960d 190 /* Printing to the console. */
Davidroid 1:9f1974b0960d 191 printf("--> Going to home position.\r\n");
Davidroid 0:5148e9486cf2 192
Davidroid 1:9f1974b0960d 193 /* Going to home position. */
Davidroid 1:9f1974b0960d 194 motors[0]->GoHome();
Davidroid 1:9f1974b0960d 195
Davidroid 1:9f1974b0960d 196 /* Waiting while active. */
Davidroid 1:9f1974b0960d 197 motors[0]->WaitWhileActive();
Davidroid 1:9f1974b0960d 198
Davidroid 1:9f1974b0960d 199 /* Waiting. */
Davidroid 1:9f1974b0960d 200 wait_ms(DELAY_1);
Davidroid 0:5148e9486cf2 201
Davidroid 1:9f1974b0960d 202 /* Getting the current position. */
Davidroid 1:9f1974b0960d 203 position = motors[0]->GetPosition();
Davidroid 1:9f1974b0960d 204
Davidroid 1:9f1974b0960d 205 /* Printing to the console. */
Davidroid 1:9f1974b0960d 206 printf("--> Getting the current position: %d\r\n", position);
Davidroid 1:9f1974b0960d 207
Davidroid 1:9f1974b0960d 208 /* Waiting. */
Davidroid 1:9f1974b0960d 209 wait_ms(DELAY_2);
Davidroid 0:5148e9486cf2 210
Davidroid 0:5148e9486cf2 211
Davidroid 1:9f1974b0960d 212 /*----- Running together for a certain amount of time. -----*/
Davidroid 1:9f1974b0960d 213
Davidroid 1:9f1974b0960d 214 /* Printing to the console. */
Davidroid 1:9f1974b0960d 215 printf("--> Running together for %d seconds.\r\n", DELAY_3 / 1000);
Davidroid 0:5148e9486cf2 216
Davidroid 1:9f1974b0960d 217 /* Preparing each motor to perform a run at a specified speed. */
Davidroid 1:9f1974b0960d 218 for (int m = 0; m < L6470DAISYCHAINSIZE; m++)
Davidroid 1:9f1974b0960d 219 motors[m]->PrepareRun(StepperMotor::BWD, 400);
Davidroid 0:5148e9486cf2 220
Davidroid 1:9f1974b0960d 221 /* Performing the action on each motor at the same time. */
Davidroid 1:9f1974b0960d 222 x_nucleo_ihm02a1->PerformPreparedActions();
Davidroid 0:5148e9486cf2 223
Davidroid 1:9f1974b0960d 224 /* Waiting. */
Davidroid 1:9f1974b0960d 225 wait_ms(DELAY_3);
Davidroid 1:9f1974b0960d 226
Davidroid 1:9f1974b0960d 227
Davidroid 1:9f1974b0960d 228 /*----- Increasing the speed while running. -----*/
Davidroid 0:5148e9486cf2 229
Davidroid 1:9f1974b0960d 230 /* Preparing each motor to perform a run at a specified speed. */
Davidroid 1:9f1974b0960d 231 for (int m = 0; m < L6470DAISYCHAINSIZE; m++)
Davidroid 1:9f1974b0960d 232 motors[m]->PrepareGetSpeed();
Davidroid 0:5148e9486cf2 233
Davidroid 1:9f1974b0960d 234 /* Performing the action on each motor at the same time. */
Davidroid 1:9f1974b0960d 235 uint32_t* results = x_nucleo_ihm02a1->PerformPreparedActions();
Davidroid 0:5148e9486cf2 236
Davidroid 1:9f1974b0960d 237 /* Printing to the console. */
Davidroid 1:9f1974b0960d 238 printf(" Speed: M1 %d, M2 %d.\r\n", results[0], results[1]);
Davidroid 1:9f1974b0960d 239
Davidroid 1:9f1974b0960d 240 /* Printing to the console. */
Davidroid 1:9f1974b0960d 241 printf("--> Doublig the speed while running.\r\n");
Davidroid 0:5148e9486cf2 242
Davidroid 1:9f1974b0960d 243 /* Preparing each motor to perform a run at a specified speed. */
Davidroid 1:9f1974b0960d 244 for (int m = 0; m < L6470DAISYCHAINSIZE; m++)
Davidroid 1:9f1974b0960d 245 motors[m]->PrepareRun(StepperMotor::BWD, results[m] << 1);
Davidroid 1:9f1974b0960d 246
Davidroid 1:9f1974b0960d 247 /* Performing the action on each motor at the same time. */
Davidroid 1:9f1974b0960d 248 results = x_nucleo_ihm02a1->PerformPreparedActions();
Davidroid 0:5148e9486cf2 249
Davidroid 1:9f1974b0960d 250 /* Waiting. */
Davidroid 1:9f1974b0960d 251 wait_ms(DELAY_3);
Davidroid 0:5148e9486cf2 252
Davidroid 1:9f1974b0960d 253 /* Preparing each motor to perform a run at a specified speed. */
Davidroid 1:9f1974b0960d 254 for (int m = 0; m < L6470DAISYCHAINSIZE; m++)
Davidroid 1:9f1974b0960d 255 motors[m]->PrepareGetSpeed();
Davidroid 0:5148e9486cf2 256
Davidroid 1:9f1974b0960d 257 /* Performing the action on each motor at the same time. */
Davidroid 1:9f1974b0960d 258 results = x_nucleo_ihm02a1->PerformPreparedActions();
Davidroid 0:5148e9486cf2 259
Davidroid 1:9f1974b0960d 260 /* Printing to the console. */
Davidroid 1:9f1974b0960d 261 printf(" Speed: M1 %d, M2 %d.\r\n", results[0], results[1]);
Davidroid 1:9f1974b0960d 262
Davidroid 1:9f1974b0960d 263 /* Waiting. */
Davidroid 1:9f1974b0960d 264 wait_ms(DELAY_1);
Davidroid 0:5148e9486cf2 265
Davidroid 0:5148e9486cf2 266
Davidroid 1:9f1974b0960d 267 /*----- Hard Stop. -----*/
Davidroid 0:5148e9486cf2 268
Davidroid 1:9f1974b0960d 269 /* Printing to the console. */
Davidroid 1:9f1974b0960d 270 printf("--> Hard Stop.\r\n");
Davidroid 0:5148e9486cf2 271
Davidroid 1:9f1974b0960d 272 /* Preparing each motor to perform a hard stop. */
Davidroid 1:9f1974b0960d 273 for (int m = 0; m < L6470DAISYCHAINSIZE; m++)
Davidroid 1:9f1974b0960d 274 motors[m]->PrepareHardStop();
Davidroid 0:5148e9486cf2 275
Davidroid 1:9f1974b0960d 276 /* Performing the action on each motor at the same time. */
Davidroid 1:9f1974b0960d 277 x_nucleo_ihm02a1->PerformPreparedActions();
Davidroid 0:5148e9486cf2 278
Davidroid 1:9f1974b0960d 279 /* Waiting. */
Davidroid 1:9f1974b0960d 280 wait_ms(DELAY_2);
Davidroid 0:5148e9486cf2 281
Davidroid 0:5148e9486cf2 282
Davidroid 1:9f1974b0960d 283 /*----- Doing a full revolution on each motor, one after the other. -----*/
Davidroid 1:9f1974b0960d 284
Davidroid 1:9f1974b0960d 285 /* Printing to the console. */
Davidroid 1:9f1974b0960d 286 printf("--> Doing a full revolution on each motor, one after the other.\r\n");
Davidroid 1:9f1974b0960d 287
Davidroid 1:9f1974b0960d 288 /* Doing a full revolution on each motor, one after the other. */
Davidroid 1:9f1974b0960d 289 for (int m = 0; m < L6470DAISYCHAINSIZE; m++)
Davidroid 1:9f1974b0960d 290 for (int i = 0; i < MPR_1; i++)
Davidroid 1:9f1974b0960d 291 {
Davidroid 1:9f1974b0960d 292 /* Computing the number of steps. */
Davidroid 1:9f1974b0960d 293 int steps = (int) (((int) X_NUCLEO_IHM02A1::MotorParameterInitData[0][m].fullstepsperrevolution * pow(2.0f, X_NUCLEO_IHM02A1::MotorParameterInitData[0][m].step_sel)) / MPR_1);
Davidroid 1:9f1974b0960d 294
Davidroid 1:9f1974b0960d 295 /* Moving. */
Davidroid 1:9f1974b0960d 296 motors[m]->Move(StepperMotor::FWD, steps);
Davidroid 1:9f1974b0960d 297
Davidroid 1:9f1974b0960d 298 /* Waiting while active. */
Davidroid 1:9f1974b0960d 299 motors[m]->WaitWhileActive();
Davidroid 1:9f1974b0960d 300
Davidroid 1:9f1974b0960d 301 /* Waiting. */
Davidroid 1:9f1974b0960d 302 wait_ms(DELAY_1);
Davidroid 1:9f1974b0960d 303 }
Davidroid 1:9f1974b0960d 304
Davidroid 1:9f1974b0960d 305 /* Waiting. */
Davidroid 1:9f1974b0960d 306 wait_ms(DELAY_2);
Davidroid 1:9f1974b0960d 307
Davidroid 1:9f1974b0960d 308
Davidroid 1:9f1974b0960d 309 /*----- High Impedance State. -----*/
Davidroid 1:9f1974b0960d 310
Davidroid 1:9f1974b0960d 311 /* Printing to the console. */
Davidroid 1:9f1974b0960d 312 printf("--> High Impedance State.\r\n");
Davidroid 1:9f1974b0960d 313
Davidroid 1:9f1974b0960d 314 /* Preparing each motor to set High Impedance State. */
Davidroid 1:9f1974b0960d 315 for (int m = 0; m < L6470DAISYCHAINSIZE; m++)
Davidroid 1:9f1974b0960d 316 motors[m]->PrepareHardHiZ();
Davidroid 1:9f1974b0960d 317
Davidroid 1:9f1974b0960d 318 /* Performing the action on each motor at the same time. */
Davidroid 1:9f1974b0960d 319 x_nucleo_ihm02a1->PerformPreparedActions();
Davidroid 1:9f1974b0960d 320
Davidroid 1:9f1974b0960d 321 /* Waiting. */
Davidroid 1:9f1974b0960d 322 wait_ms(DELAY_2);
Davidroid 0:5148e9486cf2 323 }