Pratima Gokhale
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/pratima_hb/code/EASE_Example/wiki/Homepage
Information about the hardware needs and setup is provided in the link below. https://os.mbed.com/users/pratima_hb/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/pratima_hb/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
Revision 2:e12e4df7a486, committed 2015-11-13
- Comitter:
- Davidroid
- Date:
- Fri Nov 13 12:59:29 2015 +0000
- Parent:
- 1:fbf28f3367aa
- Child:
- 3:fffa53c7aed2
- Commit message:
- Adaptation to the "StepperMotor" abstract class.
Changed in this revision
| X_NUCLEO_IHM01A1.lib | Show annotated file Show diff for this revision Revisions of this file |
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/X_NUCLEO_IHM01A1.lib Fri Oct 16 13:51:31 2015 +0000 +++ b/X_NUCLEO_IHM01A1.lib Fri Nov 13 12:59:29 2015 +0000 @@ -1,1 +1,1 @@ -https://developer.mbed.org/teams/ST-Expansion-SW-Team/code/X_NUCLEO_IHM01A1/#b38ebb8ea286 +https://developer.mbed.org/teams/ST-Expansion-SW-Team/code/X_NUCLEO_IHM01A1/#83a1eb397a65
--- a/main.cpp Fri Oct 16 13:51:31 2015 +0000
+++ b/main.cpp Fri Nov 13 12:59:29 2015 +0000
@@ -87,7 +87,7 @@
printf("--> Moving forward %d steps.\r\n", ROUND_ANGLE_STEPS);
/* Moving N steps in the forward direction. */
- motor->Move(FORWARD, ROUND_ANGLE_STEPS);
+ motor->Move(StepperMotor::CW, ROUND_ANGLE_STEPS);
/* Waiting while the motor is active. */
motor->WaitWhileActive();
@@ -108,7 +108,7 @@
printf("--> Moving backward %d steps.\r\n", ROUND_ANGLE_STEPS);
/* Moving N steps in the backward direction. */
- motor->Move(BACKWARD, ROUND_ANGLE_STEPS);
+ motor->Move(StepperMotor::CCW, ROUND_ANGLE_STEPS);
/* Waiting while the motor is active. */
motor->WaitWhileActive();
@@ -174,13 +174,13 @@
printf("--> Moving backward.\r\n");
/* Requesting to run backward. */
- motor->Run(BACKWARD);
+ motor->Run(StepperMotor::CCW);
/* Waiting until delay has expired. */
wait_ms(6000);
/* Getting current speed. */
- int speed = motor->GetCurrentSpeed();
+ int speed = motor->GetSpeed();
/* Printing to the console. */
printf(" Speed: %d.\r\n", speed);
@@ -198,7 +198,7 @@
wait_ms(6000);
/* Getting current speed. */
- speed = motor->GetCurrentSpeed();
+ speed = motor->GetSpeed();
/* Printing to the console. */
printf(" Speed: %d.\r\n", speed);
@@ -216,7 +216,7 @@
wait_ms(8000);
/* Getting current speed. */
- speed = motor->GetCurrentSpeed();
+ speed = motor->GetSpeed();
/* Printing to the console. */
printf(" Speed: %d.\r\n", speed);
@@ -228,7 +228,7 @@
printf("--> Moving forward.\r\n");
/* Requesting to run in forward direction. */
- motor->Run(FORWARD);
+ motor->Run(StepperMotor::CW);
/* Waiting until delay has expired. */
wait_ms(4000);