Timo Karppinen / Mbed OS Hello_IHM02A1_OS_L476RG

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@22:e81ccf73bc5d, 2017-03-01 (annotated)

Committer:
Davidroid
Date:
Wed Mar 01 17:53:04 2017 +0000
Revision:
22:e81ccf73bc5d
Parent:
18:591a007effc2
Child:
23:073b26366d03
Fitting mbed coding style.

Who changed what in which revision?

UserRevisionLine numberNew 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>&copy; 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 18:591a007effc2 58 #define STEPS_1 (400 * 128) /* 1 revolution given a 400 steps motor configured at 1/128 microstep mode. */
Davidroid 18:591a007effc2 59 #define STEPS_2 (STEPS_1 * 2)
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 22:e81ccf73bc5d 73 L6470_Init_t init[L6470DAISYCHAINSIZE] = {
Davidroid 9:f35fbeedb8f4 74 /* First Motor. */
Davidroid 9:f35fbeedb8f4 75 {
Davidroid 18:591a007effc2 76 9.0, /* Motor supply voltage in V. */
Davidroid 18:591a007effc2 77 400, /* Min number of steps per revolution for the motor. */
Davidroid 18:591a007effc2 78 1.7, /* Max motor phase voltage in A. */
Davidroid 18:591a007effc2 79 3.06, /* Max motor phase voltage in V. */
Davidroid 18:591a007effc2 80 300.0, /* Motor initial speed [step/s]. */
Davidroid 18:591a007effc2 81 500.0, /* Motor acceleration [step/s^2] (comment for infinite acceleration mode). */
Davidroid 18:591a007effc2 82 500.0, /* Motor deceleration [step/s^2] (comment for infinite deceleration mode). */
Davidroid 18:591a007effc2 83 992.0, /* Motor maximum speed [step/s]. */
Davidroid 18:591a007effc2 84 0.0, /* Motor minimum speed [step/s]. */
Davidroid 18:591a007effc2 85 602.7, /* Motor full-step speed threshold [step/s]. */
Davidroid 18:591a007effc2 86 3.06, /* Holding kval [V]. */
Davidroid 18:591a007effc2 87 3.06, /* Constant speed kval [V]. */
Davidroid 18:591a007effc2 88 3.06, /* Acceleration starting kval [V]. */
Davidroid 18:591a007effc2 89 3.06, /* Deceleration starting kval [V]. */
Davidroid 18:591a007effc2 90 61.52, /* Intersect speed for bemf compensation curve slope changing [step/s]. */
Davidroid 18:591a007effc2 91 392.1569e-6, /* Start slope [s/step]. */
Davidroid 18:591a007effc2 92 643.1372e-6, /* Acceleration final slope [s/step]. */
Davidroid 18:591a007effc2 93 643.1372e-6, /* Deceleration final slope [s/step]. */
Davidroid 18:591a007effc2 94 0, /* Thermal compensation factor (range [0, 15]). */
Davidroid 18:591a007effc2 95 3.06 * 1000 * 1.10, /* Ocd threshold [ma] (range [375 ma, 6000 ma]). */
Davidroid 18:591a007effc2 96 3.06 * 1000 * 1.00, /* Stall threshold [ma] (range [31.25 ma, 4000 ma]). */
Davidroid 18:591a007effc2 97 StepperMotor::STEP_MODE_1_128, /* Step mode selection. */
Davidroid 18:591a007effc2 98 0xFF, /* Alarm conditions enable. */
Davidroid 18:591a007effc2 99 0x2E88 /* Ic configuration. */
Davidroid 9:f35fbeedb8f4 100 },
Davidroid 9:f35fbeedb8f4 101
Davidroid 9:f35fbeedb8f4 102 /* Second Motor. */
Davidroid 9:f35fbeedb8f4 103 {
Davidroid 18:591a007effc2 104 9.0, /* Motor supply voltage in V. */
Davidroid 18:591a007effc2 105 400, /* Min number of steps per revolution for the motor. */
Davidroid 18:591a007effc2 106 1.7, /* Max motor phase voltage in A. */
Davidroid 18:591a007effc2 107 3.06, /* Max motor phase voltage in V. */
Davidroid 18:591a007effc2 108 300.0, /* Motor initial speed [step/s]. */
Davidroid 18:591a007effc2 109 500.0, /* Motor acceleration [step/s^2] (comment for infinite acceleration mode). */
Davidroid 18:591a007effc2 110 500.0, /* Motor deceleration [step/s^2] (comment for infinite deceleration mode). */
Davidroid 18:591a007effc2 111 992.0, /* Motor maximum speed [step/s]. */
Davidroid 18:591a007effc2 112 0.0, /* Motor minimum speed [step/s]. */
Davidroid 18:591a007effc2 113 602.7, /* Motor full-step speed threshold [step/s]. */
Davidroid 18:591a007effc2 114 3.06, /* Holding kval [V]. */
Davidroid 18:591a007effc2 115 3.06, /* Constant speed kval [V]. */
Davidroid 18:591a007effc2 116 3.06, /* Acceleration starting kval [V]. */
Davidroid 18:591a007effc2 117 3.06, /* Deceleration starting kval [V]. */
Davidroid 18:591a007effc2 118 61.52, /* Intersect speed for bemf compensation curve slope changing [step/s]. */
Davidroid 18:591a007effc2 119 392.1569e-6, /* Start slope [s/step]. */
Davidroid 18:591a007effc2 120 643.1372e-6, /* Acceleration final slope [s/step]. */
Davidroid 18:591a007effc2 121 643.1372e-6, /* Deceleration final slope [s/step]. */
Davidroid 18:591a007effc2 122 0, /* Thermal compensation factor (range [0, 15]). */
Davidroid 18:591a007effc2 123 3.06 * 1000 * 1.10, /* Ocd threshold [ma] (range [375 ma, 6000 ma]). */
Davidroid 18:591a007effc2 124 3.06 * 1000 * 1.00, /* Stall threshold [ma] (range [31.25 ma, 4000 ma]). */
Davidroid 18:591a007effc2 125 StepperMotor::STEP_MODE_1_128, /* Step mode selection. */
Davidroid 18:591a007effc2 126 0xFF, /* Alarm conditions enable. */
Davidroid 18:591a007effc2 127 0x2E88 /* Ic configuration. */
Davidroid 9:f35fbeedb8f4 128 }
Davidroid 9:f35fbeedb8f4 129 };
Davidroid 9:f35fbeedb8f4 130
Davidroid 0:5148e9486cf2 131
Davidroid 0:5148e9486cf2 132 /* Main ----------------------------------------------------------------------*/
Davidroid 0:5148e9486cf2 133
Davidroid 0:5148e9486cf2 134 int main()
Davidroid 0:5148e9486cf2 135 {
Davidroid 1:9f1974b0960d 136 /*----- Initialization. -----*/
Davidroid 1:9f1974b0960d 137
Davidroid 2:41eeee48951b 138 /* Initializing SPI bus. */
Davidroid 3:fd280b953f77 139 DevSPI dev_spi(D11, D12, D3);
Davidroid 0:5148e9486cf2 140
Davidroid 5:3b8e19bbf386 141 /* Initializing Motor Control Expansion Board. */
Davidroid 9:f35fbeedb8f4 142 x_nucleo_ihm02a1 = new X_NUCLEO_IHM02A1(&init[0], &init[1], A4, A5, D4, A2, &dev_spi);
Davidroid 0:5148e9486cf2 143
Davidroid 1:9f1974b0960d 144 /* Building a list of motor control components. */
Davidroid 1:9f1974b0960d 145 L6470 **motors = x_nucleo_ihm02a1->GetComponents();
Davidroid 0:5148e9486cf2 146
Davidroid 0:5148e9486cf2 147 /* Printing to the console. */
Davidroid 0:5148e9486cf2 148 printf("Motor Control Application Example for 2 Motors\r\n\n");
Davidroid 0:5148e9486cf2 149
Davidroid 1:9f1974b0960d 150
Davidroid 1:9f1974b0960d 151 /*----- Setting home and marke positions, getting positions, and going to positions. -----*/
Davidroid 1:9f1974b0960d 152
Davidroid 1:9f1974b0960d 153 /* Printing to the console. */
Davidroid 1:9f1974b0960d 154 printf("--> Setting home position.\r\n");
Davidroid 1:9f1974b0960d 155
Davidroid 1:9f1974b0960d 156 /* Setting the home position. */
Davidroid 1:9f1974b0960d 157 motors[0]->SetHome();
Davidroid 1:9f1974b0960d 158
Davidroid 1:9f1974b0960d 159 /* Waiting. */
Davidroid 1:9f1974b0960d 160 wait_ms(DELAY_1);
Davidroid 0:5148e9486cf2 161
Davidroid 1:9f1974b0960d 162 /* Getting the current position. */
Davidroid 1:9f1974b0960d 163 int position = motors[0]->GetPosition();
Davidroid 18:591a007effc2 164
Davidroid 1:9f1974b0960d 165 /* Printing to the console. */
Davidroid 1:9f1974b0960d 166 printf("--> Getting the current position: %d\r\n", position);
Davidroid 1:9f1974b0960d 167
Davidroid 1:9f1974b0960d 168 /* Waiting. */
Davidroid 1:9f1974b0960d 169 wait_ms(DELAY_1);
Davidroid 1:9f1974b0960d 170
Davidroid 1:9f1974b0960d 171 /* Printing to the console. */
Davidroid 1:9f1974b0960d 172 printf("--> Moving forward %d steps.\r\n", STEPS_1);
Davidroid 1:9f1974b0960d 173
Davidroid 1:9f1974b0960d 174 /* Moving. */
Davidroid 1:9f1974b0960d 175 motors[0]->Move(StepperMotor::FWD, STEPS_1);
Davidroid 0:5148e9486cf2 176
Davidroid 1:9f1974b0960d 177 /* Waiting while active. */
Davidroid 1:9f1974b0960d 178 motors[0]->WaitWhileActive();
Davidroid 1:9f1974b0960d 179
Davidroid 1:9f1974b0960d 180 /* Getting the current position. */
Davidroid 1:9f1974b0960d 181 position = motors[0]->GetPosition();
Davidroid 1:9f1974b0960d 182
Davidroid 1:9f1974b0960d 183 /* Printing to the console. */
Davidroid 1:9f1974b0960d 184 printf("--> Getting the current position: %d\r\n", position);
Davidroid 1:9f1974b0960d 185
Davidroid 1:9f1974b0960d 186 /* Printing to the console. */
Davidroid 1:9f1974b0960d 187 printf("--> Marking the current position.\r\n");
Davidroid 0:5148e9486cf2 188
Davidroid 1:9f1974b0960d 189 /* Marking the current position. */
Davidroid 1:9f1974b0960d 190 motors[0]->SetMark();
Davidroid 1:9f1974b0960d 191
Davidroid 1:9f1974b0960d 192 /* Waiting. */
Davidroid 1:9f1974b0960d 193 wait_ms(DELAY_1);
Davidroid 1:9f1974b0960d 194
Davidroid 1:9f1974b0960d 195 /* Printing to the console. */
Davidroid 1:9f1974b0960d 196 printf("--> Moving backward %d steps.\r\n", STEPS_2);
Davidroid 1:9f1974b0960d 197
Davidroid 1:9f1974b0960d 198 /* Moving. */
Davidroid 1:9f1974b0960d 199 motors[0]->Move(StepperMotor::BWD, STEPS_2);
Davidroid 1:9f1974b0960d 200
Davidroid 1:9f1974b0960d 201 /* Waiting while active. */
Davidroid 1:9f1974b0960d 202 motors[0]->WaitWhileActive();
Davidroid 0:5148e9486cf2 203
Davidroid 1:9f1974b0960d 204 /* Waiting. */
Davidroid 1:9f1974b0960d 205 wait_ms(DELAY_1);
Davidroid 1:9f1974b0960d 206
Davidroid 1:9f1974b0960d 207 /* Getting the current position. */
Davidroid 1:9f1974b0960d 208 position = motors[0]->GetPosition();
Davidroid 1:9f1974b0960d 209
Davidroid 1:9f1974b0960d 210 /* Printing to the console. */
Davidroid 1:9f1974b0960d 211 printf("--> Getting the current position: %d\r\n", position);
Davidroid 1:9f1974b0960d 212
Davidroid 1:9f1974b0960d 213 /* Waiting. */
Davidroid 1:9f1974b0960d 214 wait_ms(DELAY_1);
Davidroid 0:5148e9486cf2 215
Davidroid 1:9f1974b0960d 216 /* Printing to the console. */
Davidroid 1:9f1974b0960d 217 printf("--> Going to marked position.\r\n");
Davidroid 0:5148e9486cf2 218
Davidroid 1:9f1974b0960d 219 /* Going to marked position. */
Davidroid 1:9f1974b0960d 220 motors[0]->GoMark();
Davidroid 1:9f1974b0960d 221
Davidroid 1:9f1974b0960d 222 /* Waiting while active. */
Davidroid 1:9f1974b0960d 223 motors[0]->WaitWhileActive();
Davidroid 0:5148e9486cf2 224
Davidroid 1:9f1974b0960d 225 /* Waiting. */
Davidroid 1:9f1974b0960d 226 wait_ms(DELAY_1);
Davidroid 0:5148e9486cf2 227
Davidroid 1:9f1974b0960d 228 /* Getting the current position. */
Davidroid 1:9f1974b0960d 229 position = motors[0]->GetPosition();
Davidroid 1:9f1974b0960d 230
Davidroid 1:9f1974b0960d 231 /* Printing to the console. */
Davidroid 1:9f1974b0960d 232 printf("--> Getting the current position: %d\r\n", position);
Davidroid 0:5148e9486cf2 233
Davidroid 1:9f1974b0960d 234 /* Waiting. */
Davidroid 1:9f1974b0960d 235 wait_ms(DELAY_1);
Davidroid 1:9f1974b0960d 236
Davidroid 1:9f1974b0960d 237 /* Printing to the console. */
Davidroid 1:9f1974b0960d 238 printf("--> Going to home position.\r\n");
Davidroid 0:5148e9486cf2 239
Davidroid 1:9f1974b0960d 240 /* Going to home position. */
Davidroid 1:9f1974b0960d 241 motors[0]->GoHome();
Davidroid 1:9f1974b0960d 242
Davidroid 1:9f1974b0960d 243 /* Waiting while active. */
Davidroid 1:9f1974b0960d 244 motors[0]->WaitWhileActive();
Davidroid 1:9f1974b0960d 245
Davidroid 1:9f1974b0960d 246 /* Waiting. */
Davidroid 1:9f1974b0960d 247 wait_ms(DELAY_1);
Davidroid 0:5148e9486cf2 248
Davidroid 1:9f1974b0960d 249 /* Getting the current position. */
Davidroid 1:9f1974b0960d 250 position = motors[0]->GetPosition();
Davidroid 1:9f1974b0960d 251
Davidroid 1:9f1974b0960d 252 /* Printing to the console. */
Davidroid 1:9f1974b0960d 253 printf("--> Getting the current position: %d\r\n", position);
Davidroid 1:9f1974b0960d 254
Davidroid 1:9f1974b0960d 255 /* Waiting. */
Davidroid 18:591a007effc2 256 wait_ms(DELAY_1);
Davidroid 18:591a007effc2 257
Davidroid 18:591a007effc2 258 /* Printing to the console. */
Davidroid 18:591a007effc2 259 printf("--> Halving the microsteps.\r\n");
Davidroid 18:591a007effc2 260
Davidroid 18:591a007effc2 261 /* Halving the microsteps. */
Davidroid 18:591a007effc2 262 init[0].step_sel = (init[0].step_sel > 0 ? init[0].step_sel - 1 : init[0].step_sel);
Davidroid 22:e81ccf73bc5d 263 if (!motors[0]->SetStepMode((StepperMotor::step_mode_t) init[0].step_sel)) {
Davidroid 18:591a007effc2 264 printf(" Step Mode not allowed.\r\n");
Davidroid 22:e81ccf73bc5d 265 }
Davidroid 18:591a007effc2 266
Davidroid 18:591a007effc2 267 /* Waiting. */
Davidroid 18:591a007effc2 268 wait_ms(DELAY_1);
Davidroid 18:591a007effc2 269
Davidroid 18:591a007effc2 270 /* Printing to the console. */
Davidroid 18:591a007effc2 271 printf("--> Setting home position.\r\n");
Davidroid 18:591a007effc2 272
Davidroid 18:591a007effc2 273 /* Setting the home position. */
Davidroid 18:591a007effc2 274 motors[0]->SetHome();
Davidroid 18:591a007effc2 275
Davidroid 18:591a007effc2 276 /* Waiting. */
Davidroid 18:591a007effc2 277 wait_ms(DELAY_1);
Davidroid 18:591a007effc2 278
Davidroid 18:591a007effc2 279 /* Getting the current position. */
Davidroid 18:591a007effc2 280 position = motors[0]->GetPosition();
Davidroid 18:591a007effc2 281
Davidroid 18:591a007effc2 282 /* Printing to the console. */
Davidroid 18:591a007effc2 283 printf("--> Getting the current position: %d\r\n", position);
Davidroid 18:591a007effc2 284
Davidroid 18:591a007effc2 285 /* Waiting. */
Davidroid 18:591a007effc2 286 wait_ms(DELAY_1);
Davidroid 18:591a007effc2 287
Davidroid 18:591a007effc2 288 /* Printing to the console. */
Davidroid 18:591a007effc2 289 printf("--> Moving forward %d steps.\r\n", STEPS_1);
Davidroid 18:591a007effc2 290
Davidroid 18:591a007effc2 291 /* Moving. */
Davidroid 18:591a007effc2 292 motors[0]->Move(StepperMotor::FWD, STEPS_1);
Davidroid 18:591a007effc2 293
Davidroid 18:591a007effc2 294 /* Waiting while active. */
Davidroid 18:591a007effc2 295 motors[0]->WaitWhileActive();
Davidroid 18:591a007effc2 296
Davidroid 18:591a007effc2 297 /* Getting the current position. */
Davidroid 18:591a007effc2 298 position = motors[0]->GetPosition();
Davidroid 18:591a007effc2 299
Davidroid 18:591a007effc2 300 /* Printing to the console. */
Davidroid 18:591a007effc2 301 printf("--> Getting the current position: %d\r\n", position);
Davidroid 18:591a007effc2 302
Davidroid 18:591a007effc2 303 /* Printing to the console. */
Davidroid 18:591a007effc2 304 printf("--> Marking the current position.\r\n");
Davidroid 18:591a007effc2 305
Davidroid 18:591a007effc2 306 /* Marking the current position. */
Davidroid 18:591a007effc2 307 motors[0]->SetMark();
Davidroid 18:591a007effc2 308
Davidroid 18:591a007effc2 309 /* Waiting. */
Davidroid 1:9f1974b0960d 310 wait_ms(DELAY_2);
Davidroid 0:5148e9486cf2 311
Davidroid 0:5148e9486cf2 312
Davidroid 1:9f1974b0960d 313 /*----- Running together for a certain amount of time. -----*/
Davidroid 1:9f1974b0960d 314
Davidroid 1:9f1974b0960d 315 /* Printing to the console. */
Davidroid 1:9f1974b0960d 316 printf("--> Running together for %d seconds.\r\n", DELAY_3 / 1000);
Davidroid 0:5148e9486cf2 317
Davidroid 1:9f1974b0960d 318 /* Preparing each motor to perform a run at a specified speed. */
Davidroid 22:e81ccf73bc5d 319 for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
Davidroid 1:9f1974b0960d 320 motors[m]->PrepareRun(StepperMotor::BWD, 400);
Davidroid 22:e81ccf73bc5d 321 }
Davidroid 0:5148e9486cf2 322
Davidroid 1:9f1974b0960d 323 /* Performing the action on each motor at the same time. */
Davidroid 1:9f1974b0960d 324 x_nucleo_ihm02a1->PerformPreparedActions();
Davidroid 0:5148e9486cf2 325
Davidroid 1:9f1974b0960d 326 /* Waiting. */
Davidroid 1:9f1974b0960d 327 wait_ms(DELAY_3);
Davidroid 1:9f1974b0960d 328
Davidroid 1:9f1974b0960d 329
Davidroid 1:9f1974b0960d 330 /*----- Increasing the speed while running. -----*/
Davidroid 0:5148e9486cf2 331
Davidroid 1:9f1974b0960d 332 /* Preparing each motor to perform a run at a specified speed. */
Davidroid 22:e81ccf73bc5d 333 for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
Davidroid 1:9f1974b0960d 334 motors[m]->PrepareGetSpeed();
Davidroid 22:e81ccf73bc5d 335 }
Davidroid 0:5148e9486cf2 336
Davidroid 1:9f1974b0960d 337 /* Performing the action on each motor at the same time. */
Davidroid 1:9f1974b0960d 338 uint32_t* results = x_nucleo_ihm02a1->PerformPreparedActions();
Davidroid 0:5148e9486cf2 339
Davidroid 1:9f1974b0960d 340 /* Printing to the console. */
Davidroid 1:9f1974b0960d 341 printf(" Speed: M1 %d, M2 %d.\r\n", results[0], results[1]);
Davidroid 1:9f1974b0960d 342
Davidroid 1:9f1974b0960d 343 /* Printing to the console. */
Davidroid 18:591a007effc2 344 printf("--> Doublig the speed while running again for %d seconds.\r\n", DELAY_3 / 1000);
Davidroid 0:5148e9486cf2 345
Davidroid 1:9f1974b0960d 346 /* Preparing each motor to perform a run at a specified speed. */
Davidroid 22:e81ccf73bc5d 347 for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
Davidroid 1:9f1974b0960d 348 motors[m]->PrepareRun(StepperMotor::BWD, results[m] << 1);
Davidroid 22:e81ccf73bc5d 349 }
Davidroid 1:9f1974b0960d 350
Davidroid 1:9f1974b0960d 351 /* Performing the action on each motor at the same time. */
Davidroid 1:9f1974b0960d 352 results = x_nucleo_ihm02a1->PerformPreparedActions();
Davidroid 0:5148e9486cf2 353
Davidroid 1:9f1974b0960d 354 /* Waiting. */
Davidroid 1:9f1974b0960d 355 wait_ms(DELAY_3);
Davidroid 0:5148e9486cf2 356
Davidroid 1:9f1974b0960d 357 /* Preparing each motor to perform a run at a specified speed. */
Davidroid 22:e81ccf73bc5d 358 for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
Davidroid 1:9f1974b0960d 359 motors[m]->PrepareGetSpeed();
Davidroid 22:e81ccf73bc5d 360 }
Davidroid 0:5148e9486cf2 361
Davidroid 1:9f1974b0960d 362 /* Performing the action on each motor at the same time. */
Davidroid 1:9f1974b0960d 363 results = x_nucleo_ihm02a1->PerformPreparedActions();
Davidroid 0:5148e9486cf2 364
Davidroid 1:9f1974b0960d 365 /* Printing to the console. */
Davidroid 1:9f1974b0960d 366 printf(" Speed: M1 %d, M2 %d.\r\n", results[0], results[1]);
Davidroid 1:9f1974b0960d 367
Davidroid 1:9f1974b0960d 368 /* Waiting. */
Davidroid 1:9f1974b0960d 369 wait_ms(DELAY_1);
Davidroid 0:5148e9486cf2 370
Davidroid 0:5148e9486cf2 371
Davidroid 1:9f1974b0960d 372 /*----- Hard Stop. -----*/
Davidroid 0:5148e9486cf2 373
Davidroid 1:9f1974b0960d 374 /* Printing to the console. */
Davidroid 1:9f1974b0960d 375 printf("--> Hard Stop.\r\n");
Davidroid 0:5148e9486cf2 376
Davidroid 1:9f1974b0960d 377 /* Preparing each motor to perform a hard stop. */
Davidroid 22:e81ccf73bc5d 378 for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
Davidroid 1:9f1974b0960d 379 motors[m]->PrepareHardStop();
Davidroid 22:e81ccf73bc5d 380 }
Davidroid 0:5148e9486cf2 381
Davidroid 1:9f1974b0960d 382 /* Performing the action on each motor at the same time. */
Davidroid 1:9f1974b0960d 383 x_nucleo_ihm02a1->PerformPreparedActions();
Davidroid 0:5148e9486cf2 384
Davidroid 1:9f1974b0960d 385 /* Waiting. */
Davidroid 1:9f1974b0960d 386 wait_ms(DELAY_2);
Davidroid 0:5148e9486cf2 387
Davidroid 0:5148e9486cf2 388
Davidroid 1:9f1974b0960d 389 /*----- Doing a full revolution on each motor, one after the other. -----*/
Davidroid 1:9f1974b0960d 390
Davidroid 1:9f1974b0960d 391 /* Printing to the console. */
Davidroid 1:9f1974b0960d 392 printf("--> Doing a full revolution on each motor, one after the other.\r\n");
Davidroid 1:9f1974b0960d 393
Davidroid 1:9f1974b0960d 394 /* Doing a full revolution on each motor, one after the other. */
Davidroid 22:e81ccf73bc5d 395 for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
Davidroid 22:e81ccf73bc5d 396 for (int i = 0; i < MPR_1; i++) {
Davidroid 1:9f1974b0960d 397 /* Computing the number of steps. */
Davidroid 9:f35fbeedb8f4 398 int steps = (int) (((int) init[m].fullstepsperrevolution * pow(2.0f, init[m].step_sel)) / MPR_1);
Davidroid 1:9f1974b0960d 399
Davidroid 1:9f1974b0960d 400 /* Moving. */
Davidroid 1:9f1974b0960d 401 motors[m]->Move(StepperMotor::FWD, steps);
Davidroid 1:9f1974b0960d 402
Davidroid 1:9f1974b0960d 403 /* Waiting while active. */
Davidroid 1:9f1974b0960d 404 motors[m]->WaitWhileActive();
Davidroid 1:9f1974b0960d 405
Davidroid 1:9f1974b0960d 406 /* Waiting. */
Davidroid 1:9f1974b0960d 407 wait_ms(DELAY_1);
Davidroid 1:9f1974b0960d 408 }
Davidroid 22:e81ccf73bc5d 409 }
Davidroid 1:9f1974b0960d 410
Davidroid 1:9f1974b0960d 411 /* Waiting. */
Davidroid 1:9f1974b0960d 412 wait_ms(DELAY_2);
Davidroid 1:9f1974b0960d 413
Davidroid 1:9f1974b0960d 414
Davidroid 1:9f1974b0960d 415 /*----- High Impedance State. -----*/
Davidroid 1:9f1974b0960d 416
Davidroid 1:9f1974b0960d 417 /* Printing to the console. */
Davidroid 1:9f1974b0960d 418 printf("--> High Impedance State.\r\n");
Davidroid 1:9f1974b0960d 419
Davidroid 1:9f1974b0960d 420 /* Preparing each motor to set High Impedance State. */
Davidroid 22:e81ccf73bc5d 421 for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
Davidroid 1:9f1974b0960d 422 motors[m]->PrepareHardHiZ();
Davidroid 22:e81ccf73bc5d 423 }
Davidroid 1:9f1974b0960d 424
Davidroid 1:9f1974b0960d 425 /* Performing the action on each motor at the same time. */
Davidroid 1:9f1974b0960d 426 x_nucleo_ihm02a1->PerformPreparedActions();
Davidroid 1:9f1974b0960d 427
Davidroid 1:9f1974b0960d 428 /* Waiting. */
Davidroid 1:9f1974b0960d 429 wait_ms(DELAY_2);
Davidroid 22:e81ccf73bc5d 430 }