APS2
Dependencies: mbed X_NUCLEO_IHM01A1
main.cpp
- Committer:
- stephanie_liu
- Date:
- 2021-10-24
- Revision:
- 38:3d32ce11e4d8
- Parent:
- 35:2b44ed4ec7a0
File content as of revision 38:3d32ce11e4d8:
//Importando bibliotecas #include "mbed.h" #include "DevSPI.h" #include "L6474.h" // Variaveis definição #define STEPS_1 (200 * 2) /*NUMERO DE STEPs - 1 revolution given a 200 steps motor configured at 1/2 meio passo mode. */ // Delay in milliseconds #define DELAY_1 1000 #define DELAY_2 2000 #define DELAY_3 6000 #define DELAY_4 8000 /* 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_1 400 //passos por segundo V1 // Definindo botão DigitalIn button(USER_BUTTON); // inicialização da serial Serial pc(USBTX, USBRX); /* Variables -----------------------------------------------------------------*/ int velocidade; /* Initialization parameters. */ L6474_init_t init = { 900, /* Acceleration rate in pps^2. Range: (0..+inf). */ 900, /* Deceleration rate in pps^2. Range: (0..+inf). */ 1200, /* 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_2, /* Step selection (STEP_SEL field of STEP_MODE register). */ //SETADO PARA MEIO PASSO 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. */ 3, /* Minimum ON time in us (TON_MIN register). Range: 0.5us to 64us. */ 21, /* Minimum OFF time in us (TOFF_MIN register). Range: 0.5us to 64us. */ L6474_CONFIG_TOFF_044us, /* Target Swicthing Period (field TOFF of CONFIG register). */ L6474_CONFIG_SR_320V_us, /* Slew rate (POW_SR field of CONFIG register). */ L6474_CONFIG_INT_16MHZ, /* Clock setting (OSC_CLK_SEL field of CONFIG register). */ L6474_ALARM_EN_OVERCURRENT | L6474_ALARM_EN_THERMAL_SHUTDOWN | L6474_ALARM_EN_THERMAL_WARNING | L6474_ALARM_EN_UNDERVOLTAGE | L6474_ALARM_EN_SW_TURN_ON | L6474_ALARM_EN_WRONG_NPERF_CMD /* Alarm (ALARM_EN register). */ }; /* Motor Control Component. */ L6474 *motor; /* Functions -----------------------------------------------------------------*/ /** * @brief This is an example of user handler for the flag interrupt. * @param None * @retval None * @note If needed, implement it, and then attach and enable it: * + motor->attach_flag_irq(&flag_irq_handler); * + motor->enable_flag_irq(); * To disable it: * + motor->disble_flag_irq(); */ void flag_irq_handler(void){ /* Set ISR flag. */ motor->isr_flag = TRUE; /* Get the value of the status register. */ unsigned int status = motor->get_status(); /* Check NOTPERF_CMD flag: if set, the command received by SPI can't be performed. */ /* This often occures when a command is sent to the L6474 while it is not in HiZ state. */ 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; } int main(){ /*----- Initialization. -----*/ DevSPI dev_spi(D11, D12, D13); //Initializing SPI bus pc.baud(9600); //Initializing serial /* Initializing Motor Control Component. */ motor = new L6474(D2, D8, D7, D9, D10, dev_spi); if (motor->init(&init) != COMPONENT_OK) { exit(EXIT_FAILURE); } /* Attaching and enabling interrupt handlers. */ motor->attach_flag_irq(&flag_irq_handler); motor->enable_flag_irq(); while (1) { velocidade = motor->get_speed(); // pegando a velocidade do motor pc.printf("%d\r\n", velocidade); // print plotter serial da velocidade if (button == 0) { motor->set_max_speed(SPEED_1); /* Increasing the speed. */ motor->move(StepperMotor::FWD, STEPS_1); /* realizando a rotação completa no sentido horario */ motor->wait_while_active(); /* esperando o motor ser ativado. */ wait(1); // Espera 1s antes de mudar de direç˜åo motor->set_max_speed(SPEED_1); /* aumentando a velocidade até o valor de speed 1*/ motor->move(StepperMotor::BWD, STEPS_1); /* SAH realizando a rotação completa*/ } } }