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

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Dependencies:   mbed X_NUCLEO_IHM01A1

Diff: main.cpp

Revision:
29:a80a213c3c94
Parent:
27:e09aa231c16d
Child:
34:543d0d1147d9
diff -r e15fc9311ca3 -r a80a213c3c94 main.cpp
--- a/main.cpp	Wed Aug 03 10:11:21 2016 +0000
+++ b/main.cpp	Thu Sep 08 12:39:58 2016 +0000
@@ -60,7 +60,9 @@
 #define DELAY_3 6000
 #define DELAY_4 8000
 
-/* Speed in step/s. */
+/* Speed in pps (Pulses Per Second).
+   In Full Step mode: 1 pps = 1 step/s).
+   In 1/N Step Mode:  N pps = 1 step/s). */
 #define SPEED_1 2400
 #define SPEED_2 1200
 
@@ -70,10 +72,10 @@
 /* Initialization parameters. */
 L6474_Init_t init =
 {
-    160,                              /* Acceleration rate in step/s2. Range: (0..+inf). */
-    160,                              /* Deceleration rate in step/s2. Range: (0..+inf). */
-    1600,                             /* Maximum speed in step/s. Range: (30..10000]. */
-    800,                              /* Minimum speed in step/s. Range: [30..10000). */
+    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). */
     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). */