Rodrigo Vianna
APS2 MEA Rodrigo Vianna
Dependencies: mbed X_NUCLEO_IHM01A1
Diff: main.cpp
- Revision:
- 38:08e421486f20
- Parent:
- 35:2b44ed4ec7a0
diff -r 70d96b1ecb98 -r 08e421486f20 main.cpp
--- 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();
+ }
}
}