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ST Microelectronics IHM02A1 motor driver board for two stepping motors. ST L647OPD motion controller ICs are used on the IHM02A1. Nanotec ST4118X1404-A motors used on testing.
Dependencies: X_NUCLEO_IHM02A1
main.cpp@12:5be6dd48b94a, 2016-01-15 (annotated)
- Committer:
- Davidroid
- Date:
- Fri Jan 15 17:06:26 2016 +0000
- Revision:
- 12:5be6dd48b94a
- Parent:
- 11:79fcaf38c09d
- Child:
- 15:698fe51556c0
+ Updated with the new version of the library.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Davidroid | 0:5148e9486cf2 | 1 | /** |
Davidroid | 0:5148e9486cf2 | 2 | ****************************************************************************** |
Davidroid | 0:5148e9486cf2 | 3 | * @file main.cpp |
Davidroid | 12:5be6dd48b94a | 4 | * @author Davide Aliprandi, STMicroelectronics |
Davidroid | 0:5148e9486cf2 | 5 | * @version V1.0.0 |
Davidroid | 0:5148e9486cf2 | 6 | * @date November 4th, 2015 |
Davidroid | 12:5be6dd48b94a | 7 | * @brief mbed test application for the STMicroelectronics X-NUCLEO-IHM02A1 |
Davidroid | 1:9f1974b0960d | 8 | * Motor Control Expansion Board: control of 2 motors. |
Davidroid | 0:5148e9486cf2 | 9 | ****************************************************************************** |
Davidroid | 0:5148e9486cf2 | 10 | * @attention |
Davidroid | 0:5148e9486cf2 | 11 | * |
Davidroid | 0:5148e9486cf2 | 12 | * <h2><center>© COPYRIGHT(c) 2015 STMicroelectronics</center></h2> |
Davidroid | 0:5148e9486cf2 | 13 | * |
Davidroid | 0:5148e9486cf2 | 14 | * Redistribution and use in source and binary forms, with or without modification, |
Davidroid | 0:5148e9486cf2 | 15 | * are permitted provided that the following conditions are met: |
Davidroid | 0:5148e9486cf2 | 16 | * 1. Redistributions of source code must retain the above copyright notice, |
Davidroid | 0:5148e9486cf2 | 17 | * this list of conditions and the following disclaimer. |
Davidroid | 0:5148e9486cf2 | 18 | * 2. Redistributions in binary form must reproduce the above copyright notice, |
Davidroid | 0:5148e9486cf2 | 19 | * this list of conditions and the following disclaimer in the documentation |
Davidroid | 0:5148e9486cf2 | 20 | * and/or other materials provided with the distribution. |
Davidroid | 0:5148e9486cf2 | 21 | * 3. Neither the name of STMicroelectronics nor the names of its contributors |
Davidroid | 0:5148e9486cf2 | 22 | * may be used to endorse or promote products derived from this software |
Davidroid | 0:5148e9486cf2 | 23 | * without specific prior written permission. |
Davidroid | 0:5148e9486cf2 | 24 | * |
Davidroid | 0:5148e9486cf2 | 25 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
Davidroid | 0:5148e9486cf2 | 26 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
Davidroid | 0:5148e9486cf2 | 27 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE |
Davidroid | 0:5148e9486cf2 | 28 | * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE |
Davidroid | 0:5148e9486cf2 | 29 | * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL |
Davidroid | 0:5148e9486cf2 | 30 | * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR |
Davidroid | 0:5148e9486cf2 | 31 | * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
Davidroid | 0:5148e9486cf2 | 32 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, |
Davidroid | 0:5148e9486cf2 | 33 | * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
Davidroid | 0:5148e9486cf2 | 34 | * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
Davidroid | 0:5148e9486cf2 | 35 | * |
Davidroid | 0:5148e9486cf2 | 36 | ****************************************************************************** |
Davidroid | 0:5148e9486cf2 | 37 | */ |
Davidroid | 0:5148e9486cf2 | 38 | |
Davidroid | 0:5148e9486cf2 | 39 | |
Davidroid | 0:5148e9486cf2 | 40 | /* Includes ------------------------------------------------------------------*/ |
Davidroid | 0:5148e9486cf2 | 41 | |
Davidroid | 0:5148e9486cf2 | 42 | /* mbed specific header files. */ |
Davidroid | 0:5148e9486cf2 | 43 | #include "mbed.h" |
Davidroid | 0:5148e9486cf2 | 44 | |
Davidroid | 0:5148e9486cf2 | 45 | /* Helper header files. */ |
Davidroid | 0:5148e9486cf2 | 46 | #include "DevSPI.h" |
Davidroid | 0:5148e9486cf2 | 47 | |
Davidroid | 0:5148e9486cf2 | 48 | /* Expansion Board specific header files. */ |
Davidroid | 0:5148e9486cf2 | 49 | #include "x_nucleo_ihm02a1_class.h" |
Davidroid | 0:5148e9486cf2 | 50 | |
Davidroid | 0:5148e9486cf2 | 51 | |
Davidroid | 0:5148e9486cf2 | 52 | /* Definitions ---------------------------------------------------------------*/ |
Davidroid | 0:5148e9486cf2 | 53 | |
Davidroid | 0:5148e9486cf2 | 54 | /* Number of movements per revolution. */ |
Davidroid | 0:5148e9486cf2 | 55 | #define MPR_1 4 |
Davidroid | 1:9f1974b0960d | 56 | |
Davidroid | 1:9f1974b0960d | 57 | /* Number of steps. */ |
Davidroid | 1:9f1974b0960d | 58 | #define STEPS_1 100000 |
Davidroid | 1:9f1974b0960d | 59 | #define STEPS_2 200000 |
Davidroid | 0:5148e9486cf2 | 60 | |
Davidroid | 0:5148e9486cf2 | 61 | /* Delay in milliseconds. */ |
Davidroid | 1:9f1974b0960d | 62 | #define DELAY_1 1000 |
Davidroid | 0:5148e9486cf2 | 63 | #define DELAY_2 2000 |
Davidroid | 0:5148e9486cf2 | 64 | #define DELAY_3 5000 |
Davidroid | 0:5148e9486cf2 | 65 | |
Davidroid | 0:5148e9486cf2 | 66 | |
Davidroid | 0:5148e9486cf2 | 67 | /* Variables -----------------------------------------------------------------*/ |
Davidroid | 0:5148e9486cf2 | 68 | |
Davidroid | 0:5148e9486cf2 | 69 | /* Motor Control Expansion Board. */ |
Davidroid | 0:5148e9486cf2 | 70 | X_NUCLEO_IHM02A1 *x_nucleo_ihm02a1; |
Davidroid | 0:5148e9486cf2 | 71 | |
Davidroid | 9:f35fbeedb8f4 | 72 | /* Initialization parameters of the motors connected to the expansion board. */ |
Davidroid | 11:79fcaf38c09d | 73 | L6470_InitTypeDef init[L6470DAISYCHAINSIZE] = |
Davidroid | 9:f35fbeedb8f4 | 74 | { |
Davidroid | 9:f35fbeedb8f4 | 75 | /* First Motor. */ |
Davidroid | 9:f35fbeedb8f4 | 76 | { |
Davidroid | 9:f35fbeedb8f4 | 77 | 9.0, /* Motor supply voltage in V. */ |
Davidroid | 11:79fcaf38c09d | 78 | 400, /* Min number of steps per revolution for the motor. */ |
Davidroid | 9:f35fbeedb8f4 | 79 | 1.7, /* Max motor phase voltage in A. */ |
Davidroid | 9:f35fbeedb8f4 | 80 | 3.06, /* Max motor phase voltage in V. */ |
Davidroid | 9:f35fbeedb8f4 | 81 | 300.0, /* Motor initial speed [step/s]. */ |
Davidroid | 9:f35fbeedb8f4 | 82 | 500.0, /* Motor acceleration [step/s^2] (comment for infinite acceleration mode). */ |
Davidroid | 9:f35fbeedb8f4 | 83 | 500.0, /* Motor deceleration [step/s^2] (comment for infinite deceleration mode). */ |
Davidroid | 9:f35fbeedb8f4 | 84 | 992.0, /* Motor maximum speed [step/s]. */ |
Davidroid | 9:f35fbeedb8f4 | 85 | 0.0, /* Motor minimum speed [step/s]. */ |
Davidroid | 9:f35fbeedb8f4 | 86 | 602.7, /* Motor full-step speed threshold [step/s]. */ |
Davidroid | 9:f35fbeedb8f4 | 87 | 3.06, /* Holding kval [V]. */ |
Davidroid | 9:f35fbeedb8f4 | 88 | 3.06, /* Constant speed kval [V]. */ |
Davidroid | 9:f35fbeedb8f4 | 89 | 3.06, /* Acceleration starting kval [V]. */ |
Davidroid | 9:f35fbeedb8f4 | 90 | 3.06, /* Deceleration starting kval [V]. */ |
Davidroid | 9:f35fbeedb8f4 | 91 | 61.52, /* Intersect speed for bemf compensation curve slope changing [step/s]. */ |
Davidroid | 9:f35fbeedb8f4 | 92 | 392.1569e-6, /* Start slope [s/step]. */ |
Davidroid | 9:f35fbeedb8f4 | 93 | 643.1372e-6, /* Acceleration final slope [s/step]. */ |
Davidroid | 9:f35fbeedb8f4 | 94 | 643.1372e-6, /* Deceleration final slope [s/step]. */ |
Davidroid | 9:f35fbeedb8f4 | 95 | 0, /* Thermal compensation factor (range [0, 15]). */ |
Davidroid | 9:f35fbeedb8f4 | 96 | 3.06 * 1000 * 1.10, /* Ocd threshold [ma] (range [375 ma, 6000 ma]). */ |
Davidroid | 9:f35fbeedb8f4 | 97 | 3.06 * 1000 * 1.00, /* Stall threshold [ma] (range [31.25 ma, 4000 ma]). */ |
Davidroid | 9:f35fbeedb8f4 | 98 | MICROSTEP_1_128, /* Step mode selection. */ |
Davidroid | 9:f35fbeedb8f4 | 99 | 0xFF, /* Alarm conditions enable. */ |
Davidroid | 9:f35fbeedb8f4 | 100 | 0x2E88 /* Ic configuration. */ |
Davidroid | 9:f35fbeedb8f4 | 101 | }, |
Davidroid | 9:f35fbeedb8f4 | 102 | |
Davidroid | 9:f35fbeedb8f4 | 103 | /* Second Motor. */ |
Davidroid | 9:f35fbeedb8f4 | 104 | { |
Davidroid | 9:f35fbeedb8f4 | 105 | 9.0, /* Motor supply voltage in V. */ |
Davidroid | 11:79fcaf38c09d | 106 | 400, /* Min number of steps per revolution for the motor. */ |
Davidroid | 9:f35fbeedb8f4 | 107 | 1.7, /* Max motor phase voltage in A. */ |
Davidroid | 9:f35fbeedb8f4 | 108 | 3.06, /* Max motor phase voltage in V. */ |
Davidroid | 9:f35fbeedb8f4 | 109 | 300.0, /* Motor initial speed [step/s]. */ |
Davidroid | 9:f35fbeedb8f4 | 110 | 500.0, /* Motor acceleration [step/s^2] (comment for infinite acceleration mode). */ |
Davidroid | 9:f35fbeedb8f4 | 111 | 500.0, /* Motor deceleration [step/s^2] (comment for infinite deceleration mode). */ |
Davidroid | 9:f35fbeedb8f4 | 112 | 992.0, /* Motor maximum speed [step/s]. */ |
Davidroid | 9:f35fbeedb8f4 | 113 | 0.0, /* Motor minimum speed [step/s]. */ |
Davidroid | 9:f35fbeedb8f4 | 114 | 602.7, /* Motor full-step speed threshold [step/s]. */ |
Davidroid | 9:f35fbeedb8f4 | 115 | 3.06, /* Holding kval [V]. */ |
Davidroid | 9:f35fbeedb8f4 | 116 | 3.06, /* Constant speed kval [V]. */ |
Davidroid | 9:f35fbeedb8f4 | 117 | 3.06, /* Acceleration starting kval [V]. */ |
Davidroid | 9:f35fbeedb8f4 | 118 | 3.06, /* Deceleration starting kval [V]. */ |
Davidroid | 9:f35fbeedb8f4 | 119 | 61.52, /* Intersect speed for bemf compensation curve slope changing [step/s]. */ |
Davidroid | 9:f35fbeedb8f4 | 120 | 392.1569e-6, /* Start slope [s/step]. */ |
Davidroid | 9:f35fbeedb8f4 | 121 | 643.1372e-6, /* Acceleration final slope [s/step]. */ |
Davidroid | 9:f35fbeedb8f4 | 122 | 643.1372e-6, /* Deceleration final slope [s/step]. */ |
Davidroid | 9:f35fbeedb8f4 | 123 | 0, /* Thermal compensation factor (range [0, 15]). */ |
Davidroid | 9:f35fbeedb8f4 | 124 | 3.06 * 1000 * 1.10, /* Ocd threshold [ma] (range [375 ma, 6000 ma]). */ |
Davidroid | 9:f35fbeedb8f4 | 125 | 3.06 * 1000 * 1.00, /* Stall threshold [ma] (range [31.25 ma, 4000 ma]). */ |
Davidroid | 9:f35fbeedb8f4 | 126 | MICROSTEP_1_128, /* Step mode selection. */ |
Davidroid | 9:f35fbeedb8f4 | 127 | 0xFF, /* Alarm conditions enable. */ |
Davidroid | 9:f35fbeedb8f4 | 128 | 0x2E88 /* Ic configuration. */ |
Davidroid | 9:f35fbeedb8f4 | 129 | } |
Davidroid | 9:f35fbeedb8f4 | 130 | }; |
Davidroid | 9:f35fbeedb8f4 | 131 | |
Davidroid | 0:5148e9486cf2 | 132 | |
Davidroid | 0:5148e9486cf2 | 133 | /* Main ----------------------------------------------------------------------*/ |
Davidroid | 0:5148e9486cf2 | 134 | |
Davidroid | 0:5148e9486cf2 | 135 | int main() |
Davidroid | 0:5148e9486cf2 | 136 | { |
Davidroid | 1:9f1974b0960d | 137 | /*----- Initialization. -----*/ |
Davidroid | 1:9f1974b0960d | 138 | |
Davidroid | 2:41eeee48951b | 139 | /* Initializing SPI bus. */ |
Davidroid | 3:fd280b953f77 | 140 | DevSPI dev_spi(D11, D12, D3); |
Davidroid | 0:5148e9486cf2 | 141 | |
Davidroid | 5:3b8e19bbf386 | 142 | /* Initializing Motor Control Expansion Board. */ |
Davidroid | 9:f35fbeedb8f4 | 143 | x_nucleo_ihm02a1 = new X_NUCLEO_IHM02A1(&init[0], &init[1], A4, A5, D4, A2, &dev_spi); |
Davidroid | 0:5148e9486cf2 | 144 | |
Davidroid | 1:9f1974b0960d | 145 | /* Building a list of motor control components. */ |
Davidroid | 1:9f1974b0960d | 146 | L6470 **motors = x_nucleo_ihm02a1->GetComponents(); |
Davidroid | 0:5148e9486cf2 | 147 | |
Davidroid | 0:5148e9486cf2 | 148 | /* Printing to the console. */ |
Davidroid | 0:5148e9486cf2 | 149 | printf("Motor Control Application Example for 2 Motors\r\n\n"); |
Davidroid | 0:5148e9486cf2 | 150 | |
Davidroid | 1:9f1974b0960d | 151 | |
Davidroid | 1:9f1974b0960d | 152 | /*----- Setting home and marke positions, getting positions, and going to positions. -----*/ |
Davidroid | 1:9f1974b0960d | 153 | |
Davidroid | 1:9f1974b0960d | 154 | /* Printing to the console. */ |
Davidroid | 1:9f1974b0960d | 155 | printf("--> Setting home position.\r\n"); |
Davidroid | 1:9f1974b0960d | 156 | |
Davidroid | 1:9f1974b0960d | 157 | /* Setting the home position. */ |
Davidroid | 1:9f1974b0960d | 158 | motors[0]->SetHome(); |
Davidroid | 1:9f1974b0960d | 159 | |
Davidroid | 1:9f1974b0960d | 160 | /* Waiting. */ |
Davidroid | 1:9f1974b0960d | 161 | wait_ms(DELAY_1); |
Davidroid | 0:5148e9486cf2 | 162 | |
Davidroid | 1:9f1974b0960d | 163 | /* Getting the current position. */ |
Davidroid | 1:9f1974b0960d | 164 | int position = motors[0]->GetPosition(); |
Davidroid | 1:9f1974b0960d | 165 | |
Davidroid | 1:9f1974b0960d | 166 | /* Printing to the console. */ |
Davidroid | 1:9f1974b0960d | 167 | printf("--> Getting the current position: %d\r\n", position); |
Davidroid | 1:9f1974b0960d | 168 | |
Davidroid | 1:9f1974b0960d | 169 | /* Waiting. */ |
Davidroid | 1:9f1974b0960d | 170 | wait_ms(DELAY_1); |
Davidroid | 1:9f1974b0960d | 171 | |
Davidroid | 1:9f1974b0960d | 172 | /* Printing to the console. */ |
Davidroid | 1:9f1974b0960d | 173 | printf("--> Moving forward %d steps.\r\n", STEPS_1); |
Davidroid | 1:9f1974b0960d | 174 | |
Davidroid | 1:9f1974b0960d | 175 | /* Moving. */ |
Davidroid | 1:9f1974b0960d | 176 | motors[0]->Move(StepperMotor::FWD, STEPS_1); |
Davidroid | 0:5148e9486cf2 | 177 | |
Davidroid | 1:9f1974b0960d | 178 | /* Waiting while active. */ |
Davidroid | 1:9f1974b0960d | 179 | motors[0]->WaitWhileActive(); |
Davidroid | 1:9f1974b0960d | 180 | |
Davidroid | 1:9f1974b0960d | 181 | /* Getting the current position. */ |
Davidroid | 1:9f1974b0960d | 182 | position = motors[0]->GetPosition(); |
Davidroid | 1:9f1974b0960d | 183 | |
Davidroid | 1:9f1974b0960d | 184 | /* Printing to the console. */ |
Davidroid | 1:9f1974b0960d | 185 | printf("--> Getting the current position: %d\r\n", position); |
Davidroid | 1:9f1974b0960d | 186 | |
Davidroid | 1:9f1974b0960d | 187 | /* Printing to the console. */ |
Davidroid | 1:9f1974b0960d | 188 | printf("--> Marking the current position.\r\n"); |
Davidroid | 0:5148e9486cf2 | 189 | |
Davidroid | 1:9f1974b0960d | 190 | /* Marking the current position. */ |
Davidroid | 1:9f1974b0960d | 191 | motors[0]->SetMark(); |
Davidroid | 1:9f1974b0960d | 192 | |
Davidroid | 1:9f1974b0960d | 193 | /* Waiting. */ |
Davidroid | 1:9f1974b0960d | 194 | wait_ms(DELAY_1); |
Davidroid | 1:9f1974b0960d | 195 | |
Davidroid | 1:9f1974b0960d | 196 | /* Printing to the console. */ |
Davidroid | 1:9f1974b0960d | 197 | printf("--> Moving backward %d steps.\r\n", STEPS_2); |
Davidroid | 1:9f1974b0960d | 198 | |
Davidroid | 1:9f1974b0960d | 199 | /* Moving. */ |
Davidroid | 1:9f1974b0960d | 200 | motors[0]->Move(StepperMotor::BWD, STEPS_2); |
Davidroid | 1:9f1974b0960d | 201 | |
Davidroid | 1:9f1974b0960d | 202 | /* Waiting while active. */ |
Davidroid | 1:9f1974b0960d | 203 | motors[0]->WaitWhileActive(); |
Davidroid | 0:5148e9486cf2 | 204 | |
Davidroid | 1:9f1974b0960d | 205 | /* Waiting. */ |
Davidroid | 1:9f1974b0960d | 206 | wait_ms(DELAY_1); |
Davidroid | 1:9f1974b0960d | 207 | |
Davidroid | 1:9f1974b0960d | 208 | /* Getting the current position. */ |
Davidroid | 1:9f1974b0960d | 209 | position = motors[0]->GetPosition(); |
Davidroid | 1:9f1974b0960d | 210 | |
Davidroid | 1:9f1974b0960d | 211 | /* Printing to the console. */ |
Davidroid | 1:9f1974b0960d | 212 | printf("--> Getting the current position: %d\r\n", position); |
Davidroid | 1:9f1974b0960d | 213 | |
Davidroid | 1:9f1974b0960d | 214 | /* Waiting. */ |
Davidroid | 1:9f1974b0960d | 215 | wait_ms(DELAY_1); |
Davidroid | 0:5148e9486cf2 | 216 | |
Davidroid | 1:9f1974b0960d | 217 | /* Printing to the console. */ |
Davidroid | 1:9f1974b0960d | 218 | printf("--> Going to marked position.\r\n"); |
Davidroid | 0:5148e9486cf2 | 219 | |
Davidroid | 1:9f1974b0960d | 220 | /* Going to marked position. */ |
Davidroid | 1:9f1974b0960d | 221 | motors[0]->GoMark(); |
Davidroid | 1:9f1974b0960d | 222 | |
Davidroid | 1:9f1974b0960d | 223 | /* Waiting while active. */ |
Davidroid | 1:9f1974b0960d | 224 | motors[0]->WaitWhileActive(); |
Davidroid | 0:5148e9486cf2 | 225 | |
Davidroid | 1:9f1974b0960d | 226 | /* Waiting. */ |
Davidroid | 1:9f1974b0960d | 227 | wait_ms(DELAY_1); |
Davidroid | 0:5148e9486cf2 | 228 | |
Davidroid | 1:9f1974b0960d | 229 | /* Getting the current position. */ |
Davidroid | 1:9f1974b0960d | 230 | position = motors[0]->GetPosition(); |
Davidroid | 1:9f1974b0960d | 231 | |
Davidroid | 1:9f1974b0960d | 232 | /* Printing to the console. */ |
Davidroid | 1:9f1974b0960d | 233 | printf("--> Getting the current position: %d\r\n", position); |
Davidroid | 0:5148e9486cf2 | 234 | |
Davidroid | 1:9f1974b0960d | 235 | /* Waiting. */ |
Davidroid | 1:9f1974b0960d | 236 | wait_ms(DELAY_1); |
Davidroid | 1:9f1974b0960d | 237 | |
Davidroid | 1:9f1974b0960d | 238 | /* Printing to the console. */ |
Davidroid | 1:9f1974b0960d | 239 | printf("--> Going to home position.\r\n"); |
Davidroid | 0:5148e9486cf2 | 240 | |
Davidroid | 1:9f1974b0960d | 241 | /* Going to home position. */ |
Davidroid | 1:9f1974b0960d | 242 | motors[0]->GoHome(); |
Davidroid | 1:9f1974b0960d | 243 | |
Davidroid | 1:9f1974b0960d | 244 | /* Waiting while active. */ |
Davidroid | 1:9f1974b0960d | 245 | motors[0]->WaitWhileActive(); |
Davidroid | 1:9f1974b0960d | 246 | |
Davidroid | 1:9f1974b0960d | 247 | /* Waiting. */ |
Davidroid | 1:9f1974b0960d | 248 | wait_ms(DELAY_1); |
Davidroid | 0:5148e9486cf2 | 249 | |
Davidroid | 1:9f1974b0960d | 250 | /* Getting the current position. */ |
Davidroid | 1:9f1974b0960d | 251 | position = motors[0]->GetPosition(); |
Davidroid | 1:9f1974b0960d | 252 | |
Davidroid | 1:9f1974b0960d | 253 | /* Printing to the console. */ |
Davidroid | 1:9f1974b0960d | 254 | printf("--> Getting the current position: %d\r\n", position); |
Davidroid | 1:9f1974b0960d | 255 | |
Davidroid | 1:9f1974b0960d | 256 | /* Waiting. */ |
Davidroid | 1:9f1974b0960d | 257 | wait_ms(DELAY_2); |
Davidroid | 0:5148e9486cf2 | 258 | |
Davidroid | 0:5148e9486cf2 | 259 | |
Davidroid | 1:9f1974b0960d | 260 | /*----- Running together for a certain amount of time. -----*/ |
Davidroid | 1:9f1974b0960d | 261 | |
Davidroid | 1:9f1974b0960d | 262 | /* Printing to the console. */ |
Davidroid | 1:9f1974b0960d | 263 | printf("--> Running together for %d seconds.\r\n", DELAY_3 / 1000); |
Davidroid | 0:5148e9486cf2 | 264 | |
Davidroid | 1:9f1974b0960d | 265 | /* Preparing each motor to perform a run at a specified speed. */ |
Davidroid | 1:9f1974b0960d | 266 | for (int m = 0; m < L6470DAISYCHAINSIZE; m++) |
Davidroid | 1:9f1974b0960d | 267 | motors[m]->PrepareRun(StepperMotor::BWD, 400); |
Davidroid | 0:5148e9486cf2 | 268 | |
Davidroid | 1:9f1974b0960d | 269 | /* Performing the action on each motor at the same time. */ |
Davidroid | 1:9f1974b0960d | 270 | x_nucleo_ihm02a1->PerformPreparedActions(); |
Davidroid | 0:5148e9486cf2 | 271 | |
Davidroid | 1:9f1974b0960d | 272 | /* Waiting. */ |
Davidroid | 1:9f1974b0960d | 273 | wait_ms(DELAY_3); |
Davidroid | 1:9f1974b0960d | 274 | |
Davidroid | 1:9f1974b0960d | 275 | |
Davidroid | 1:9f1974b0960d | 276 | /*----- Increasing the speed while running. -----*/ |
Davidroid | 0:5148e9486cf2 | 277 | |
Davidroid | 1:9f1974b0960d | 278 | /* Preparing each motor to perform a run at a specified speed. */ |
Davidroid | 1:9f1974b0960d | 279 | for (int m = 0; m < L6470DAISYCHAINSIZE; m++) |
Davidroid | 1:9f1974b0960d | 280 | motors[m]->PrepareGetSpeed(); |
Davidroid | 0:5148e9486cf2 | 281 | |
Davidroid | 1:9f1974b0960d | 282 | /* Performing the action on each motor at the same time. */ |
Davidroid | 1:9f1974b0960d | 283 | uint32_t* results = x_nucleo_ihm02a1->PerformPreparedActions(); |
Davidroid | 0:5148e9486cf2 | 284 | |
Davidroid | 1:9f1974b0960d | 285 | /* Printing to the console. */ |
Davidroid | 1:9f1974b0960d | 286 | printf(" Speed: M1 %d, M2 %d.\r\n", results[0], results[1]); |
Davidroid | 1:9f1974b0960d | 287 | |
Davidroid | 1:9f1974b0960d | 288 | /* Printing to the console. */ |
Davidroid | 1:9f1974b0960d | 289 | printf("--> Doublig the speed while running.\r\n"); |
Davidroid | 0:5148e9486cf2 | 290 | |
Davidroid | 1:9f1974b0960d | 291 | /* Preparing each motor to perform a run at a specified speed. */ |
Davidroid | 1:9f1974b0960d | 292 | for (int m = 0; m < L6470DAISYCHAINSIZE; m++) |
Davidroid | 1:9f1974b0960d | 293 | motors[m]->PrepareRun(StepperMotor::BWD, results[m] << 1); |
Davidroid | 1:9f1974b0960d | 294 | |
Davidroid | 1:9f1974b0960d | 295 | /* Performing the action on each motor at the same time. */ |
Davidroid | 1:9f1974b0960d | 296 | results = x_nucleo_ihm02a1->PerformPreparedActions(); |
Davidroid | 0:5148e9486cf2 | 297 | |
Davidroid | 1:9f1974b0960d | 298 | /* Waiting. */ |
Davidroid | 1:9f1974b0960d | 299 | wait_ms(DELAY_3); |
Davidroid | 0:5148e9486cf2 | 300 | |
Davidroid | 1:9f1974b0960d | 301 | /* Preparing each motor to perform a run at a specified speed. */ |
Davidroid | 1:9f1974b0960d | 302 | for (int m = 0; m < L6470DAISYCHAINSIZE; m++) |
Davidroid | 1:9f1974b0960d | 303 | motors[m]->PrepareGetSpeed(); |
Davidroid | 0:5148e9486cf2 | 304 | |
Davidroid | 1:9f1974b0960d | 305 | /* Performing the action on each motor at the same time. */ |
Davidroid | 1:9f1974b0960d | 306 | results = x_nucleo_ihm02a1->PerformPreparedActions(); |
Davidroid | 0:5148e9486cf2 | 307 | |
Davidroid | 1:9f1974b0960d | 308 | /* Printing to the console. */ |
Davidroid | 1:9f1974b0960d | 309 | printf(" Speed: M1 %d, M2 %d.\r\n", results[0], results[1]); |
Davidroid | 1:9f1974b0960d | 310 | |
Davidroid | 1:9f1974b0960d | 311 | /* Waiting. */ |
Davidroid | 1:9f1974b0960d | 312 | wait_ms(DELAY_1); |
Davidroid | 0:5148e9486cf2 | 313 | |
Davidroid | 0:5148e9486cf2 | 314 | |
Davidroid | 1:9f1974b0960d | 315 | /*----- Hard Stop. -----*/ |
Davidroid | 0:5148e9486cf2 | 316 | |
Davidroid | 1:9f1974b0960d | 317 | /* Printing to the console. */ |
Davidroid | 1:9f1974b0960d | 318 | printf("--> Hard Stop.\r\n"); |
Davidroid | 0:5148e9486cf2 | 319 | |
Davidroid | 1:9f1974b0960d | 320 | /* Preparing each motor to perform a hard stop. */ |
Davidroid | 1:9f1974b0960d | 321 | for (int m = 0; m < L6470DAISYCHAINSIZE; m++) |
Davidroid | 1:9f1974b0960d | 322 | motors[m]->PrepareHardStop(); |
Davidroid | 0:5148e9486cf2 | 323 | |
Davidroid | 1:9f1974b0960d | 324 | /* Performing the action on each motor at the same time. */ |
Davidroid | 1:9f1974b0960d | 325 | x_nucleo_ihm02a1->PerformPreparedActions(); |
Davidroid | 0:5148e9486cf2 | 326 | |
Davidroid | 1:9f1974b0960d | 327 | /* Waiting. */ |
Davidroid | 1:9f1974b0960d | 328 | wait_ms(DELAY_2); |
Davidroid | 0:5148e9486cf2 | 329 | |
Davidroid | 0:5148e9486cf2 | 330 | |
Davidroid | 1:9f1974b0960d | 331 | /*----- Doing a full revolution on each motor, one after the other. -----*/ |
Davidroid | 1:9f1974b0960d | 332 | |
Davidroid | 1:9f1974b0960d | 333 | /* Printing to the console. */ |
Davidroid | 1:9f1974b0960d | 334 | printf("--> Doing a full revolution on each motor, one after the other.\r\n"); |
Davidroid | 1:9f1974b0960d | 335 | |
Davidroid | 1:9f1974b0960d | 336 | /* Doing a full revolution on each motor, one after the other. */ |
Davidroid | 1:9f1974b0960d | 337 | for (int m = 0; m < L6470DAISYCHAINSIZE; m++) |
Davidroid | 1:9f1974b0960d | 338 | for (int i = 0; i < MPR_1; i++) |
Davidroid | 1:9f1974b0960d | 339 | { |
Davidroid | 1:9f1974b0960d | 340 | /* Computing the number of steps. */ |
Davidroid | 9:f35fbeedb8f4 | 341 | int steps = (int) (((int) init[m].fullstepsperrevolution * pow(2.0f, init[m].step_sel)) / MPR_1); |
Davidroid | 1:9f1974b0960d | 342 | |
Davidroid | 1:9f1974b0960d | 343 | /* Moving. */ |
Davidroid | 1:9f1974b0960d | 344 | motors[m]->Move(StepperMotor::FWD, steps); |
Davidroid | 1:9f1974b0960d | 345 | |
Davidroid | 1:9f1974b0960d | 346 | /* Waiting while active. */ |
Davidroid | 1:9f1974b0960d | 347 | motors[m]->WaitWhileActive(); |
Davidroid | 1:9f1974b0960d | 348 | |
Davidroid | 1:9f1974b0960d | 349 | /* Waiting. */ |
Davidroid | 1:9f1974b0960d | 350 | wait_ms(DELAY_1); |
Davidroid | 1:9f1974b0960d | 351 | } |
Davidroid | 1:9f1974b0960d | 352 | |
Davidroid | 1:9f1974b0960d | 353 | /* Waiting. */ |
Davidroid | 1:9f1974b0960d | 354 | wait_ms(DELAY_2); |
Davidroid | 1:9f1974b0960d | 355 | |
Davidroid | 1:9f1974b0960d | 356 | |
Davidroid | 1:9f1974b0960d | 357 | /*----- High Impedance State. -----*/ |
Davidroid | 1:9f1974b0960d | 358 | |
Davidroid | 1:9f1974b0960d | 359 | /* Printing to the console. */ |
Davidroid | 1:9f1974b0960d | 360 | printf("--> High Impedance State.\r\n"); |
Davidroid | 1:9f1974b0960d | 361 | |
Davidroid | 1:9f1974b0960d | 362 | /* Preparing each motor to set High Impedance State. */ |
Davidroid | 1:9f1974b0960d | 363 | for (int m = 0; m < L6470DAISYCHAINSIZE; m++) |
Davidroid | 1:9f1974b0960d | 364 | motors[m]->PrepareHardHiZ(); |
Davidroid | 1:9f1974b0960d | 365 | |
Davidroid | 1:9f1974b0960d | 366 | /* Performing the action on each motor at the same time. */ |
Davidroid | 1:9f1974b0960d | 367 | x_nucleo_ihm02a1->PerformPreparedActions(); |
Davidroid | 1:9f1974b0960d | 368 | |
Davidroid | 1:9f1974b0960d | 369 | /* Waiting. */ |
Davidroid | 1:9f1974b0960d | 370 | wait_ms(DELAY_2); |
Davidroid | 0:5148e9486cf2 | 371 | } |