Diff: main.cpp

Revision:

38:08e421486f20

Parent:

35:2b44ed4ec7a0

--- a/main.cpp	Mon Mar 13 17:46:46 2017 +0000
+++ b/main.cpp	Mon Oct 25 23:29:55 2021 +0000
@@ -48,11 +48,14 @@
 /* Component specific header files. */
 #include "L6474.h"
 
+//
+DigitalIn botao(PC_13);
+
 
 /* Definitions ---------------------------------------------------------------*/
 
 /* Number of steps. */
-#define STEPS_1 (400 * 8)   /* 1 revolution given a 400 steps motor configured at 1/8 microstep mode. */
+#define STEPS_1 (200*2)   /* 1 revolution given a 200 steps motor configured at 1/2 microstep mode. */
 
 /* Delay in milliseconds. */
 #define DELAY_1 1000
@@ -71,15 +74,15 @@
 
 /* Initialization parameters. */
 L6474_init_t init = {
-    160,                              /* Acceleration rate in pps^2. Range: (0..+inf). */
-    160,                              /* Deceleration rate in pps^2. Range: (0..+inf). */
-    1600,                             /* Maximum speed in pps. Range: (30..10000]. */
-    800,                              /* Minimum speed in pps. Range: [30..10000). */
+    100,                              /* Acceleration rate in pps^2. Range: (0..+inf). */
+    100,                              /* Deceleration rate in pps^2. Range: (0..+inf). */
+    700,                             /* Maximum speed in pps. Range: (30..10000]. */
+    30,                              /* Minimum speed in pps. Range: [30..10000). */
     250,                              /* Torque regulation current in mA. Range: 31.25mA to 4000mA. */
     L6474_OCD_TH_750mA,               /* Overcurrent threshold (OCD_TH register). */
     L6474_CONFIG_OC_SD_ENABLE,        /* Overcurrent shutwdown (OC_SD field of CONFIG register). */
     L6474_CONFIG_EN_TQREG_TVAL_USED,  /* Torque regulation method (EN_TQREG field of CONFIG register). */
-    L6474_STEP_SEL_1_8,               /* Step selection (STEP_SEL field of STEP_MODE register). */
+    L6474_STEP_SEL_1_2,               /* Step selection (STEP_SEL field of STEP_MODE register). */
     L6474_SYNC_SEL_1_2,               /* Sync selection (SYNC_SEL field of STEP_MODE register). */
     L6474_FAST_STEP_12us,             /* Fall time value (T_FAST field of T_FAST register). Range: 2us to 32us. */
     L6474_TOFF_FAST_8us,              /* Maximum fast decay time (T_OFF field of T_FAST register). Range: 2us to 32us. */
@@ -125,19 +128,17 @@
     if ((status & L6474_STATUS_NOTPERF_CMD) == L6474_STATUS_NOTPERF_CMD) {
         printf("    WARNING: \"FLAG\" interrupt triggered. Non-performable command detected when updating L6474's registers while not in HiZ state.\r\n");
     }
-    
+
     /* Reset ISR flag. */
     motor->isr_flag = FALSE;
 }
 
-
 /* Main ----------------------------------------------------------------------*/
 
 int main()
 {
     /*----- Initialization. -----*/
-
-    /* Initializing SPI bus. */
+    
     DevSPI dev_spi(D11, D12, D13);
 
     /* Initializing Motor Control Component. */
@@ -150,217 +151,21 @@
     motor->attach_flag_irq(&flag_irq_handler);
     motor->enable_flag_irq();
 
-    /* Printing to the console. */
-    printf("Motor Control Application Example for 1 Motor\r\n\n");
-
-
-    /*----- Moving. -----*/
-
-    /* Printing to the console. */
-    printf("--> Moving forward %d steps.\r\n", STEPS_1);
-
-    /* Moving N steps in the forward direction. */
-    motor->move(StepperMotor::FWD, STEPS_1);
-
-    /* Waiting while the motor is active. */
-    motor->wait_while_active();
-
-    /* Getting current position. */
-    int position = motor->get_position();
-    
-    /* Printing to the console. */
-    printf("    Position: %d.\r\n", position);
-
-    /* Waiting. */
-    wait_ms(DELAY_1);
-
-
-    /*----- Changing the motor setting. -----*/
-
-    /* Printing to the console. */
-    printf("--> Setting Torque Regulation Current to 500[mA].\r\n");
-
-    /* Increasing the torque regulation current to 500[mA]. */
-    motor->set_parameter(L6474_TVAL, 500);
-
-    /* Printing to the console. */
-    printf("--> Doubling the microsteps.\r\n");
-
-    /* Doubling the microsteps. */
-    if (!motor->set_step_mode((StepperMotor::step_mode_t) STEP_MODE_1_16)) {
-        printf("    Step Mode not allowed.\r\n");
-    }
-
-    /* Waiting. */
-    wait_ms(DELAY_1);
-
-    /* Printing to the console. */
-    printf("--> Setting Home.\r\n");
-
-    /* Setting the current position to be the home position. */
-    motor->set_home();
-
-    /* Getting current position. */
-    position = motor->get_position();
-    
-    /* Printing to the console. */
-    printf("    Position: %d.\r\n", position);
-    
-    /* Waiting. */
-    wait_ms(DELAY_2);
-
-
-    /*----- Moving. -----*/
-    
-    /* Printing to the console. */
-    printf("--> Moving backward %d steps.\r\n", STEPS_1);
-
-    /* Moving N steps in the backward direction. */
-    motor->move(StepperMotor::BWD, STEPS_1);
-    
-    /* Waiting while the motor is active. */
-    motor->wait_while_active();
-
-    /* Getting current position. */
-    position = motor->get_position();
-    
-    /* Printing to the console. */
-    printf("    Position: %d.\r\n", position);
-
-    /* Waiting. */
-    wait_ms(DELAY_1);
-
-
-    /*----- Going to a specified position. -----*/
-
-    /* Printing to the console. */
-    printf("--> Going to position %d.\r\n", STEPS_1);
-    
-    /* Requesting to go to a specified position. */
-    motor->go_to(STEPS_1);
-    
-    /* Waiting while the motor is active. */
-    motor->wait_while_active();
-
-    /* Getting current position. */
-    position = motor->get_position();
-    
-    /* Printing to the console. */
-    printf("    Position: %d.\r\n", position);
-    
-    /* Waiting. */
-    wait_ms(DELAY_2);
-
-    
-    /*----- Going Home. -----*/
-
-    /* Printing to the console. */
-    printf("--> Going Home.\r\n");
-    
-    /* Requesting to go to home. */
-    motor->go_home();
-    
-    /* Waiting while the motor is active. */
-    motor->wait_while_active();
-
-    /* Getting current position. */
-    position = motor->get_position();
-
-    /* Printing to the console. */
-    printf("    Position: %d.\r\n", position);
-
-    /* Waiting. */
-    wait_ms(DELAY_2);
-
-
-    /*----- Running. -----*/
-
-    /* Printing to the console. */
-    printf("--> Running backward for %d seconds.\r\n", DELAY_3 / 1000);
-
-    /* Requesting to run backward. */
-    motor->run(StepperMotor::BWD);
-
-    /* Waiting. */
-    wait_ms(DELAY_3);
-
-    /* Getting current speed. */
-    int speed = motor->get_speed();
-
-    /* Printing to the console. */
-    printf("    Speed: %d.\r\n", speed);
-
-    /*----- Increasing the speed while running. -----*/
-
-    /* Printing to the console. */
-    printf("--> Increasing the speed while running again for %d seconds.\r\n", DELAY_3 / 1000);
-
-    /* Increasing the speed. */
-    motor->set_max_speed(SPEED_1);
-
-    /* Waiting. */
-    wait_ms(DELAY_3);
-
-    /* Getting current speed. */
-    speed = motor->get_speed();
-
-    /* Printing to the console. */
-    printf("    Speed: %d.\r\n", speed);
-
-
-    /*----- Decreasing the speed while running. -----*/
-
-    /* Printing to the console. */
-    printf("--> Decreasing the speed while running again for %d seconds.\r\n", DELAY_4 / 1000);
-
-    /* Decreasing the speed. */
-    motor->set_max_speed(SPEED_2);
-
-    /* Waiting. */
-    wait_ms(DELAY_4);
-
-    /* Getting current speed. */
-    speed = motor->get_speed();
-
-    /* Printing to the console. */
-    printf("    Speed: %d.\r\n", speed);
-
-
-    /*----- Hard Stop. -----*/
-
-    /* Printing to the console. */
-    printf("--> Hard Stop.\r\n");
-
-    /* Requesting to immediatly stop. */
-    motor->hard_stop();
-
-    /* Waiting while the motor is active. */
-    motor->wait_while_active();
-
-    /* Waiting. */
-    wait_ms(DELAY_2);
-
-
-    /*----- Infinite Loop. -----*/
-
-    /* Printing to the console. */
-    printf("--> Infinite Loop...\r\n");
-
-    /* Setting the current position to be the home position. */
-    motor->set_home();
 
     /* Infinite Loop. */
     while (true) {
-        /* Requesting to go to a specified position. */
-        motor->go_to(STEPS_1 >> 1);
-
-        /* Waiting while the motor is active. */
-        motor->wait_while_active();
+        
+        if(!botao){
+            //15 voltas para frente
+            motor->move(StepperMotor::FWD, STEPS_1*15);
+            //Espera 
+            motor->wait_while_active();
+            
+            wait(1);
+            //15 voltas para trás
+            motor->move(StepperMotor::BWD, STEPS_1*15);
+        
 
-        /* Requesting to go to a specified position. */
-        motor->go_to(- (STEPS_1 >> 1));
-
-        /* Waiting while the motor is active. */
-        motor->wait_while_active();
+            }
     }
 }