Revision 38:3d32ce11e4d8, committed 2021-10-24

Comitter:

stephanie_liu

Date:

Sun Oct 24 22:17:48 2021 +0000

Parent:

37:70d96b1ecb98

Commit message:

APS2 maqelectricas

Changed in this revision

diff -r 70d96b1ecb98 -r 3d32ce11e4d8 main.cpp
--- a/main.cpp	Mon Mar 13 17:46:46 2017 +0000
+++ b/main.cpp	Sun Oct 24 22:17:48 2021 +0000
@@ -1,60 +1,13 @@
-/**
- ******************************************************************************
- * @file    main.cpp
- * @author  Davide Aliprandi, STMicroelectronics
- * @version V1.0.0
- * @date    October 14th, 2015
- * @brief   mbed test application for the STMicroelectronics X-NUCLEO-IHM01A1
- *          Motor Control Expansion Board: control of 1 motor.
- ******************************************************************************
- * @attention
- *
- * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
- *
- * Redistribution and use in source and binary forms, with or without modification,
- * are permitted provided that the following conditions are met:
- *   1. Redistributions of source code must retain the above copyright notice,
- *      this list of conditions and the following disclaimer.
- *   2. Redistributions in binary form must reproduce the above copyright notice,
- *      this list of conditions and the following disclaimer in the documentation
- *      and/or other materials provided with the distribution.
- *   3. Neither the name of STMicroelectronics nor the names of its contributors
- *      may be used to endorse or promote products derived from this software
- *      without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
- * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
- * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
- * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- *
- ******************************************************************************
- */
 
-
-/* Includes ------------------------------------------------------------------*/
-
-/* mbed specific header files. */
+//Importando bibliotecas
 #include "mbed.h"
-
-/* Helper header files. */
 #include "DevSPI.h"
-
-/* Component specific header files. */
 #include "L6474.h"
 
-
-/* Definitions ---------------------------------------------------------------*/
+// Variaveis definição
+#define STEPS_1 (200 * 2)   /*NUMERO DE STEPs - 1 revolution given a 200 steps motor configured at 1/2 meio passo mode. */
 
-/* Number of steps. */
-#define STEPS_1 (400 * 8)   /* 1 revolution given a 400 steps motor configured at 1/8 microstep mode. */
-
-/* Delay in milliseconds. */
+// Delay in milliseconds
 #define DELAY_1 1000
 #define DELAY_2 2000
 #define DELAY_3 6000
@@ -63,23 +16,28 @@
 /* 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
+#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 = {
-    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). */
+    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_8,               /* Step selection (STEP_SEL field of STEP_MODE 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. */
@@ -101,7 +59,6 @@
 
 
 /* Functions -----------------------------------------------------------------*/
-
 /**
  * @brief  This is an example of user handler for the flag interrupt.
  * @param  None
@@ -112,8 +69,7 @@
  *         To disable it:
  *           + motor->disble_flag_irq();
  */
-void flag_irq_handler(void)
-{
+void flag_irq_handler(void){
     /* Set ISR flag. */
     motor->isr_flag = TRUE;
 
@@ -123,244 +79,38 @@
     /* 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");
+        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()
-{
+int main(){
     /*----- Initialization. -----*/
-
-    /* Initializing SPI bus. */
-    DevSPI dev_spi(D11, D12, D13);
+    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();
 
-    /* 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();
-
-        /* Requesting to go to a specified position. */
-        motor->go_to(- (STEPS_1 >> 1));
-
-        /* Waiting while the motor is active. */
-        motor->wait_while_active();
+    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*/
+        }
     }
 }