Rodrigo Vianna / Mbed 2 deprecated APS2-MEA-2021_1-RodrigoVianna

APS2 MEA Rodrigo Vianna

Dependencies:   mbed X_NUCLEO_IHM01A1

main.cpp@29:a80a213c3c94, 2016-09-08 (annotated)

Committer:
Davidroid
Date:
Thu Sep 08 12:39:58 2016 +0000
Revision:
29:a80a213c3c94
Parent:
27:e09aa231c16d
Child:
34:543d0d1147d9
Comment about pps added.

Who changed what in which revision?

UserRevisionLine numberNew 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>&copy; 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 26:b0203c2265e5 54 /* Number of steps. */
Davidroid 26:b0203c2265e5 55 #define STEPS_1 (400 * 8) /* 1 revolution given a 400 steps motor configured at 1/8 microstep mode. */
Davidroid 26:b0203c2265e5 56
Davidroid 26:b0203c2265e5 57 /* Delay in milliseconds. */
Davidroid 26:b0203c2265e5 58 #define DELAY_1 1000
Davidroid 26:b0203c2265e5 59 #define DELAY_2 2000
Davidroid 26:b0203c2265e5 60 #define DELAY_3 6000
Davidroid 26:b0203c2265e5 61 #define DELAY_4 8000
Davidroid 26:b0203c2265e5 62
Davidroid 29:a80a213c3c94 63 /* Speed in pps (Pulses Per Second).
Davidroid 29:a80a213c3c94 64 In Full Step mode: 1 pps = 1 step/s).
Davidroid 29:a80a213c3c94 65 In 1/N Step Mode: N pps = 1 step/s). */
Davidroid 26:b0203c2265e5 66 #define SPEED_1 2400
Davidroid 26:b0203c2265e5 67 #define SPEED_2 1200
Davidroid 0:e6a49a092e2a 68
Davidroid 0:e6a49a092e2a 69
Davidroid 0:e6a49a092e2a 70 /* Variables -----------------------------------------------------------------*/
Davidroid 0:e6a49a092e2a 71
Davidroid 19:1cd7f65c155c 72 /* Initialization parameters. */
Davidroid 23:54503e363f67 73 L6474_Init_t init =
Davidroid 19:1cd7f65c155c 74 {
Davidroid 29:a80a213c3c94 75 160, /* Acceleration rate in pps^2. Range: (0..+inf). */
Davidroid 29:a80a213c3c94 76 160, /* Deceleration rate in pps^2. Range: (0..+inf). */
Davidroid 29:a80a213c3c94 77 1600, /* Maximum speed in pps. Range: (30..10000]. */
Davidroid 29:a80a213c3c94 78 800, /* Minimum speed in pps. Range: [30..10000). */
Davidroid 19:1cd7f65c155c 79 250, /* Torque regulation current in mA. Range: 31.25mA to 4000mA. */
Davidroid 19:1cd7f65c155c 80 L6474_OCD_TH_750mA, /* Overcurrent threshold (OCD_TH register). */
Davidroid 19:1cd7f65c155c 81 L6474_CONFIG_OC_SD_ENABLE, /* Overcurrent shutwdown (OC_SD field of CONFIG register). */
Davidroid 19:1cd7f65c155c 82 L6474_CONFIG_EN_TQREG_TVAL_USED, /* Torque regulation method (EN_TQREG field of CONFIG register). */
Davidroid 26:b0203c2265e5 83 L6474_STEP_SEL_1_8, /* Step selection (STEP_SEL field of STEP_MODE register). */
Davidroid 19:1cd7f65c155c 84 L6474_SYNC_SEL_1_2, /* Sync selection (SYNC_SEL field of STEP_MODE register). */
Davidroid 19:1cd7f65c155c 85 L6474_FAST_STEP_12us, /* Fall time value (T_FAST field of T_FAST register). Range: 2us to 32us. */
Davidroid 19:1cd7f65c155c 86 L6474_TOFF_FAST_8us, /* Maximum fast decay time (T_OFF field of T_FAST register). Range: 2us to 32us. */
Davidroid 19:1cd7f65c155c 87 3, /* Minimum ON time in us (TON_MIN register). Range: 0.5us to 64us. */
Davidroid 19:1cd7f65c155c 88 21, /* Minimum OFF time in us (TOFF_MIN register). Range: 0.5us to 64us. */
Davidroid 19:1cd7f65c155c 89 L6474_CONFIG_TOFF_044us, /* Target Swicthing Period (field TOFF of CONFIG register). */
Davidroid 19:1cd7f65c155c 90 L6474_CONFIG_SR_320V_us, /* Slew rate (POW_SR field of CONFIG register). */
Davidroid 19:1cd7f65c155c 91 L6474_CONFIG_INT_16MHZ, /* Clock setting (OSC_CLK_SEL field of CONFIG register). */
Davidroid 19:1cd7f65c155c 92 L6474_ALARM_EN_OVERCURRENT |
Davidroid 19:1cd7f65c155c 93 L6474_ALARM_EN_THERMAL_SHUTDOWN |
Davidroid 19:1cd7f65c155c 94 L6474_ALARM_EN_THERMAL_WARNING |
Davidroid 19:1cd7f65c155c 95 L6474_ALARM_EN_UNDERVOLTAGE |
Davidroid 19:1cd7f65c155c 96 L6474_ALARM_EN_SW_TURN_ON |
Davidroid 19:1cd7f65c155c 97 L6474_ALARM_EN_WRONG_NPERF_CMD /* Alarm (ALARM_EN register). */
Davidroid 19:1cd7f65c155c 98 };
Davidroid 19:1cd7f65c155c 99
Davidroid 0:e6a49a092e2a 100 /* Motor Control Component. */
Davidroid 1:fbf28f3367aa 101 L6474 *motor;
Davidroid 0:e6a49a092e2a 102
Davidroid 0:e6a49a092e2a 103
Davidroid 19:1cd7f65c155c 104 /* Functions -----------------------------------------------------------------*/
Davidroid 19:1cd7f65c155c 105
Davidroid 19:1cd7f65c155c 106 /**
Davidroid 25:3c863b420ac5 107 * @brief This is an example of user handler for the flag interrupt.
Davidroid 25:3c863b420ac5 108 * @param None
Davidroid 25:3c863b420ac5 109 * @retval None
Davidroid 25:3c863b420ac5 110 * @note If needed, implement it, and then attach and enable it:
Davidroid 25:3c863b420ac5 111 * + motor->AttachFlagIRQ(&FlagIRQHandler);
Davidroid 25:3c863b420ac5 112 * + motor->EnableFlagIRQ();
Davidroid 25:3c863b420ac5 113 * To disable it:
Davidroid 25:3c863b420ac5 114 * + motor->DisbleFlagIRQ();
Davidroid 25:3c863b420ac5 115 */
Davidroid 19:1cd7f65c155c 116 void FlagIRQHandler(void)
Davidroid 19:1cd7f65c155c 117 {
Davidroid 19:1cd7f65c155c 118 /* Set ISR flag. */
Davidroid 19:1cd7f65c155c 119 motor->isr_flag = TRUE;
Davidroid 19:1cd7f65c155c 120
Davidroid 19:1cd7f65c155c 121 /* Get the value of the status register. */
Davidroid 19:1cd7f65c155c 122 unsigned int status = motor->GetStatus();
Davidroid 19:1cd7f65c155c 123
Davidroid 19:1cd7f65c155c 124 /* Check NOTPERF_CMD flag: if set, the command received by SPI can't be performed. */
Davidroid 19:1cd7f65c155c 125 /* This often occures when a command is sent to the L6474 while it is not in HiZ state. */
Davidroid 19:1cd7f65c155c 126 if ((status & L6474_STATUS_NOTPERF_CMD) == L6474_STATUS_NOTPERF_CMD)
Davidroid 19:1cd7f65c155c 127 printf(" WARNING: \"FLAG\" interrupt triggered. Non-performable command detected when updating L6474's registers while not in HiZ state.\r\n");
Davidroid 19:1cd7f65c155c 128
Davidroid 19:1cd7f65c155c 129 /* Reset ISR flag. */
Davidroid 19:1cd7f65c155c 130 motor->isr_flag = FALSE;
Davidroid 19:1cd7f65c155c 131 }
Davidroid 19:1cd7f65c155c 132
Davidroid 19:1cd7f65c155c 133
Davidroid 0:e6a49a092e2a 134 /* Main ----------------------------------------------------------------------*/
Davidroid 0:e6a49a092e2a 135
Davidroid 0:e6a49a092e2a 136 int main()
Davidroid 0:e6a49a092e2a 137 {
Davidroid 6:32166bfc04b0 138 /*----- Initialization. -----*/
Davidroid 6:32166bfc04b0 139
Davidroid 0:e6a49a092e2a 140 /* Initializing SPI bus. */
Davidroid 0:e6a49a092e2a 141 DevSPI dev_spi(D11, D12, D13);
Davidroid 0:e6a49a092e2a 142
Davidroid 11:3e303a25770d 143 /* Initializing Motor Control Component. */
Davidroid 5:8065b587ade0 144 motor = new L6474(D2, D8, D7, D9, D10, dev_spi);
Davidroid 19:1cd7f65c155c 145 if (motor->Init(&init) != COMPONENT_OK)
Davidroid 17:4830b25fec7f 146 exit(EXIT_FAILURE);
Davidroid 0:e6a49a092e2a 147
Davidroid 19:1cd7f65c155c 148 /* Attaching and enabling interrupt handlers. */
Davidroid 19:1cd7f65c155c 149 motor->AttachFlagIRQ(&FlagIRQHandler);
Davidroid 19:1cd7f65c155c 150 motor->EnableFlagIRQ();
Davidroid 19:1cd7f65c155c 151
Davidroid 0:e6a49a092e2a 152 /* Printing to the console. */
Davidroid 0:e6a49a092e2a 153 printf("Motor Control Application Example for 1 Motor\r\n\n");
Davidroid 0:e6a49a092e2a 154
Davidroid 6:32166bfc04b0 155
Davidroid 6:32166bfc04b0 156 /*----- Moving. -----*/
Davidroid 6:32166bfc04b0 157
Davidroid 6:32166bfc04b0 158 /* Printing to the console. */
Davidroid 26:b0203c2265e5 159 printf("--> Moving forward %d steps.\r\n", STEPS_1);
Davidroid 6:32166bfc04b0 160
Davidroid 6:32166bfc04b0 161 /* Moving N steps in the forward direction. */
Davidroid 26:b0203c2265e5 162 motor->Move(StepperMotor::FWD, STEPS_1);
Davidroid 6:32166bfc04b0 163
Davidroid 6:32166bfc04b0 164 /* Waiting while the motor is active. */
Davidroid 6:32166bfc04b0 165 motor->WaitWhileActive();
Davidroid 6:32166bfc04b0 166
Davidroid 6:32166bfc04b0 167 /* Getting current position. */
Davidroid 6:32166bfc04b0 168 int position = motor->GetPosition();
Davidroid 6:32166bfc04b0 169
Davidroid 6:32166bfc04b0 170 /* Printing to the console. */
Davidroid 6:32166bfc04b0 171 printf(" Position: %d.\r\n", position);
Davidroid 6:32166bfc04b0 172
Davidroid 26:b0203c2265e5 173 /* Waiting. */
Davidroid 26:b0203c2265e5 174 wait_ms(DELAY_1);
Davidroid 6:32166bfc04b0 175
Davidroid 19:1cd7f65c155c 176
Davidroid 26:b0203c2265e5 177 /*----- Changing the motor setting. -----*/
Davidroid 19:1cd7f65c155c 178
Davidroid 19:1cd7f65c155c 179 /* Printing to the console. */
Davidroid 27:e09aa231c16d 180 printf("--> Setting Torque Regulation Current to 500[mA].\r\n");
Davidroid 27:e09aa231c16d 181
Davidroid 27:e09aa231c16d 182 /* Increasing the torque regulation current to 500[mA]. */
Davidroid 27:e09aa231c16d 183 motor->SetParameter(L6474_TVAL, 500);
Davidroid 27:e09aa231c16d 184
Davidroid 27:e09aa231c16d 185 /* Printing to the console. */
Davidroid 26:b0203c2265e5 186 printf("--> Doubling the microsteps.\r\n");
Davidroid 19:1cd7f65c155c 187
Davidroid 26:b0203c2265e5 188 /* Doubling the microsteps. */
Davidroid 26:b0203c2265e5 189 if (!motor->SetStepMode((StepperMotor::step_mode_t) STEP_MODE_1_16))
Davidroid 26:b0203c2265e5 190 printf(" Step Mode not allowed.\r\n");
Davidroid 19:1cd7f65c155c 191
Davidroid 26:b0203c2265e5 192 /* Waiting. */
Davidroid 26:b0203c2265e5 193 wait_ms(DELAY_1);
Davidroid 19:1cd7f65c155c 194
Davidroid 27:e09aa231c16d 195 /* Printing to the console. */
Davidroid 27:e09aa231c16d 196 printf("--> Setting Home.\r\n");
Davidroid 27:e09aa231c16d 197
Davidroid 27:e09aa231c16d 198 /* Setting the current position to be the home position. */
Davidroid 27:e09aa231c16d 199 motor->SetHome();
Davidroid 27:e09aa231c16d 200
Davidroid 27:e09aa231c16d 201 /* Getting current position. */
Davidroid 27:e09aa231c16d 202 position = motor->GetPosition();
Davidroid 27:e09aa231c16d 203
Davidroid 27:e09aa231c16d 204 /* Printing to the console. */
Davidroid 27:e09aa231c16d 205 printf(" Position: %d.\r\n", position);
Davidroid 27:e09aa231c16d 206
Davidroid 27:e09aa231c16d 207 /* Waiting. */
Davidroid 27:e09aa231c16d 208 wait_ms(DELAY_2);
Davidroid 27:e09aa231c16d 209
Davidroid 19:1cd7f65c155c 210
Davidroid 6:32166bfc04b0 211 /*----- Moving. -----*/
Davidroid 6:32166bfc04b0 212
Davidroid 6:32166bfc04b0 213 /* Printing to the console. */
Davidroid 26:b0203c2265e5 214 printf("--> Moving backward %d steps.\r\n", STEPS_1);
Davidroid 6:32166bfc04b0 215
Davidroid 6:32166bfc04b0 216 /* Moving N steps in the backward direction. */
Davidroid 26:b0203c2265e5 217 motor->Move(StepperMotor::BWD, STEPS_1);
Davidroid 6:32166bfc04b0 218
Davidroid 6:32166bfc04b0 219 /* Waiting while the motor is active. */
Davidroid 6:32166bfc04b0 220 motor->WaitWhileActive();
Davidroid 6:32166bfc04b0 221
Davidroid 6:32166bfc04b0 222 /* Getting current position. */
Davidroid 6:32166bfc04b0 223 position = motor->GetPosition();
Davidroid 6:32166bfc04b0 224
Davidroid 6:32166bfc04b0 225 /* Printing to the console. */
Davidroid 6:32166bfc04b0 226 printf(" Position: %d.\r\n", position);
Davidroid 6:32166bfc04b0 227
Davidroid 26:b0203c2265e5 228 /* Waiting. */
Davidroid 26:b0203c2265e5 229 wait_ms(DELAY_1);
Davidroid 6:32166bfc04b0 230
Davidroid 6:32166bfc04b0 231
Davidroid 6:32166bfc04b0 232 /*----- Going to a specified position. -----*/
Davidroid 6:32166bfc04b0 233
Davidroid 6:32166bfc04b0 234 /* Printing to the console. */
Davidroid 26:b0203c2265e5 235 printf("--> Going to position %d.\r\n", STEPS_1);
Davidroid 6:32166bfc04b0 236
Davidroid 6:32166bfc04b0 237 /* Requesting to go to a specified position. */
Davidroid 26:b0203c2265e5 238 motor->GoTo(STEPS_1);
Davidroid 6:32166bfc04b0 239
Davidroid 6:32166bfc04b0 240 /* Waiting while the motor is active. */
Davidroid 6:32166bfc04b0 241 motor->WaitWhileActive();
Davidroid 6:32166bfc04b0 242
Davidroid 6:32166bfc04b0 243 /* Getting current position. */
Davidroid 6:32166bfc04b0 244 position = motor->GetPosition();
Davidroid 6:32166bfc04b0 245
Davidroid 6:32166bfc04b0 246 /* Printing to the console. */
Davidroid 6:32166bfc04b0 247 printf(" Position: %d.\r\n", position);
Davidroid 6:32166bfc04b0 248
Davidroid 26:b0203c2265e5 249 /* Waiting. */
Davidroid 26:b0203c2265e5 250 wait_ms(DELAY_2);
Davidroid 6:32166bfc04b0 251
Davidroid 6:32166bfc04b0 252
Davidroid 6:32166bfc04b0 253 /*----- Going Home. -----*/
Davidroid 6:32166bfc04b0 254
Davidroid 6:32166bfc04b0 255 /* Printing to the console. */
Davidroid 6:32166bfc04b0 256 printf("--> Going Home.\r\n");
Davidroid 6:32166bfc04b0 257
Davidroid 6:32166bfc04b0 258 /* Requesting to go to home. */
Davidroid 6:32166bfc04b0 259 motor->GoHome();
Davidroid 6:32166bfc04b0 260
Davidroid 6:32166bfc04b0 261 /* Waiting while the motor is active. */
Davidroid 6:32166bfc04b0 262 motor->WaitWhileActive();
Davidroid 6:32166bfc04b0 263
Davidroid 6:32166bfc04b0 264 /* Getting current position. */
Davidroid 6:32166bfc04b0 265 position = motor->GetPosition();
Davidroid 6:32166bfc04b0 266
Davidroid 6:32166bfc04b0 267 /* Printing to the console. */
Davidroid 6:32166bfc04b0 268 printf(" Position: %d.\r\n", position);
Davidroid 0:e6a49a092e2a 269
Davidroid 26:b0203c2265e5 270 /* Waiting. */
Davidroid 26:b0203c2265e5 271 wait_ms(DELAY_2);
Davidroid 6:32166bfc04b0 272
Davidroid 6:32166bfc04b0 273
Davidroid 6:32166bfc04b0 274 /*----- Running. -----*/
Davidroid 6:32166bfc04b0 275
Davidroid 6:32166bfc04b0 276 /* Printing to the console. */
Davidroid 26:b0203c2265e5 277 printf("--> Running backward for %d seconds.\r\n", DELAY_3 / 1000);
Davidroid 6:32166bfc04b0 278
Davidroid 6:32166bfc04b0 279 /* Requesting to run backward. */
Davidroid 6:32166bfc04b0 280 motor->Run(StepperMotor::BWD);
Davidroid 6:32166bfc04b0 281
Davidroid 26:b0203c2265e5 282 /* Waiting. */
Davidroid 26:b0203c2265e5 283 wait_ms(DELAY_3);
Davidroid 6:32166bfc04b0 284
Davidroid 6:32166bfc04b0 285 /* Getting current speed. */
Davidroid 6:32166bfc04b0 286 int speed = motor->GetSpeed();
Davidroid 6:32166bfc04b0 287
Davidroid 6:32166bfc04b0 288 /* Printing to the console. */
Davidroid 6:32166bfc04b0 289 printf(" Speed: %d.\r\n", speed);
Davidroid 6:32166bfc04b0 290
Davidroid 6:32166bfc04b0 291 /*----- Increasing the speed while running. -----*/
Davidroid 6:32166bfc04b0 292
Davidroid 6:32166bfc04b0 293 /* Printing to the console. */
Davidroid 26:b0203c2265e5 294 printf("--> Increasing the speed while running again for %d seconds.\r\n", DELAY_3 / 1000);
Davidroid 6:32166bfc04b0 295
Davidroid 26:b0203c2265e5 296 /* Increasing the speed. */
Davidroid 26:b0203c2265e5 297 motor->SetMaxSpeed(SPEED_1);
Davidroid 6:32166bfc04b0 298
Davidroid 26:b0203c2265e5 299 /* Waiting. */
Davidroid 26:b0203c2265e5 300 wait_ms(DELAY_3);
Davidroid 6:32166bfc04b0 301
Davidroid 6:32166bfc04b0 302 /* Getting current speed. */
Davidroid 6:32166bfc04b0 303 speed = motor->GetSpeed();
Davidroid 6:32166bfc04b0 304
Davidroid 6:32166bfc04b0 305 /* Printing to the console. */
Davidroid 6:32166bfc04b0 306 printf(" Speed: %d.\r\n", speed);
Davidroid 6:32166bfc04b0 307
Davidroid 6:32166bfc04b0 308
Davidroid 6:32166bfc04b0 309 /*----- Decreasing the speed while running. -----*/
Davidroid 0:e6a49a092e2a 310
Davidroid 6:32166bfc04b0 311 /* Printing to the console. */
Davidroid 26:b0203c2265e5 312 printf("--> Decreasing the speed while running again for %d seconds.\r\n", DELAY_4 / 1000);
Davidroid 6:32166bfc04b0 313
Davidroid 26:b0203c2265e5 314 /* Decreasing the speed. */
Davidroid 26:b0203c2265e5 315 motor->SetMaxSpeed(SPEED_2);
Davidroid 6:32166bfc04b0 316
Davidroid 26:b0203c2265e5 317 /* Waiting. */
Davidroid 26:b0203c2265e5 318 wait_ms(DELAY_4);
Davidroid 6:32166bfc04b0 319
Davidroid 6:32166bfc04b0 320 /* Getting current speed. */
Davidroid 6:32166bfc04b0 321 speed = motor->GetSpeed();
Davidroid 6:32166bfc04b0 322
Davidroid 6:32166bfc04b0 323 /* Printing to the console. */
Davidroid 6:32166bfc04b0 324 printf(" Speed: %d.\r\n", speed);
Davidroid 6:32166bfc04b0 325
Davidroid 6:32166bfc04b0 326
Davidroid 26:b0203c2265e5 327 /*----- Hard Stop. -----*/
Davidroid 6:32166bfc04b0 328
Davidroid 6:32166bfc04b0 329 /* Printing to the console. */
Davidroid 26:b0203c2265e5 330 printf("--> Hard Stop.\r\n");
Davidroid 6:32166bfc04b0 331
Davidroid 6:32166bfc04b0 332 /* Requesting to immediatly stop. */
Davidroid 6:32166bfc04b0 333 motor->HardStop();
Davidroid 6:32166bfc04b0 334
Davidroid 6:32166bfc04b0 335 /* Waiting while the motor is active. */
Davidroid 6:32166bfc04b0 336 motor->WaitWhileActive();
Davidroid 6:32166bfc04b0 337
Davidroid 26:b0203c2265e5 338 /* Waiting. */
Davidroid 26:b0203c2265e5 339 wait_ms(DELAY_2);
Davidroid 6:32166bfc04b0 340
Davidroid 6:32166bfc04b0 341
Davidroid 6:32166bfc04b0 342 /*----- Infinite Loop. -----*/
Davidroid 6:32166bfc04b0 343
Davidroid 6:32166bfc04b0 344 /* Printing to the console. */
Davidroid 6:32166bfc04b0 345 printf("--> Infinite Loop...\r\n");
Davidroid 6:32166bfc04b0 346
Davidroid 6:32166bfc04b0 347 /* Setting the current position to be the home position. */
Davidroid 6:32166bfc04b0 348 motor->SetHome();
Davidroid 6:32166bfc04b0 349
Davidroid 6:32166bfc04b0 350 /* Infinite Loop. */
Davidroid 6:32166bfc04b0 351 while (1)
Davidroid 6:32166bfc04b0 352 {
Davidroid 6:32166bfc04b0 353 /* Requesting to go to a specified position. */
Davidroid 26:b0203c2265e5 354 motor->GoTo(STEPS_1 >> 1);
Davidroid 3:fffa53c7aed2 355
Davidroid 0:e6a49a092e2a 356 /* Waiting while the motor is active. */
Davidroid 1:fbf28f3367aa 357 motor->WaitWhileActive();
Davidroid 0:e6a49a092e2a 358
Davidroid 0:e6a49a092e2a 359 /* Requesting to go to a specified position. */
Davidroid 26:b0203c2265e5 360 motor->GoTo(- (STEPS_1 >> 1));
Davidroid 0:e6a49a092e2a 361
Davidroid 0:e6a49a092e2a 362 /* Waiting while the motor is active. */
Davidroid 1:fbf28f3367aa 363 motor->WaitWhileActive();
Davidroid 0:e6a49a092e2a 364 }
Davidroid 0:e6a49a092e2a 365 }