Thomas Byrne
testing
Dependencies: mbed tinyshell X_NUCLEO_IHM02A1
Diff: main.cpp
- Revision:
- 27:2abcf13d90a3
- Parent:
- 26:caec5f51abe8
- Child:
- 28:19b25daa7777
--- a/main.cpp Mon Mar 13 17:53:12 2017 +0000
+++ b/main.cpp Wed Mar 31 22:28:53 2021 +0000
@@ -51,12 +51,29 @@
/* Definitions ---------------------------------------------------------------*/
+/* Motor specs */
+#define MOTOR_SUPPLY_VOLTAGE_V 12.0
+#define STEPS_PER_REV 200.0
+#define MAX_PHASE_CURRENT_A 0.67
+#define PHASE_RES_OHMS 12.0
+#define MOTOR_INITIAL_SPEED_SPS 1000.0
+#define MOTOR_ACCEL_SPS2 200.0
+#define MOTOR_MAX_SPEED_SPS 2000.0
+#define FULL_STEP_TH_SPS 602.7
+#define DUMMY_KVAL_V 3.06
+#define BEMF_ICPT_SPS 61.52
+#define START_SLOPE 392.1569e-6
+#define FINAL_SLOPE 643.1372e-6
+#define OCD_TH_MA 600.0
+#define STALL_TH_MA 1000.0
+
/* Number of movements per revolution. */
#define MPR_1 4
/* Number of steps. */
-#define STEPS_1 (400 * 128) /* 1 revolution given a 400 steps motor configured at 1/128 microstep mode. */
+#define STEPS_1 (20000 * 1) /* 1 revolution given a 200 step motor and 100:1 gearbox, with full stepping */
#define STEPS_2 (STEPS_1 * 2)
+#define SPEED_SPS 10000 // steps per second
/* Delay in milliseconds. */
#define DELAY_1 1000
@@ -73,58 +90,58 @@
L6470_init_t init[L6470DAISYCHAINSIZE] = {
/* First Motor. */
{
- 9.0, /* Motor supply voltage in V. */
- 400, /* Min number of steps per revolution for the motor. */
- 1.7, /* Max motor phase voltage in A. */
- 3.06, /* Max motor phase voltage in V. */
- 300.0, /* Motor initial speed [step/s]. */
- 500.0, /* Motor acceleration [step/s^2] (comment for infinite acceleration mode). */
- 500.0, /* Motor deceleration [step/s^2] (comment for infinite deceleration mode). */
- 992.0, /* Motor maximum speed [step/s]. */
- 0.0, /* Motor minimum speed [step/s]. */
- 602.7, /* Motor full-step speed threshold [step/s]. */
- 3.06, /* Holding kval [V]. */
- 3.06, /* Constant speed kval [V]. */
- 3.06, /* Acceleration starting kval [V]. */
- 3.06, /* Deceleration starting kval [V]. */
- 61.52, /* Intersect speed for bemf compensation curve slope changing [step/s]. */
- 392.1569e-6, /* Start slope [s/step]. */
- 643.1372e-6, /* Acceleration final slope [s/step]. */
- 643.1372e-6, /* Deceleration final slope [s/step]. */
- 0, /* Thermal compensation factor (range [0, 15]). */
- 3.06 * 1000 * 1.10, /* Ocd threshold [ma] (range [375 ma, 6000 ma]). */
- 3.06 * 1000 * 1.00, /* Stall threshold [ma] (range [31.25 ma, 4000 ma]). */
- StepperMotor::STEP_MODE_1_128, /* Step mode selection. */
- 0xFF, /* Alarm conditions enable. */
- 0x2E88 /* Ic configuration. */
+ MOTOR_SUPPLY_VOLTAGE_V, /* Motor supply voltage in V. */
+ STEPS_PER_REV, /* Min number of steps per revolution for the motor. */
+ MAX_PHASE_CURRENT_A, /* Max motor phase voltage in A. */
+ MAX_PHASE_CURRENT_A * PHASE_RES_OHMS, /* Max motor phase voltage in V. (12 ohms per phase) */
+ MOTOR_INITIAL_SPEED_SPS, /* Motor initial speed [step/s]. */
+ MOTOR_ACCEL_SPS2, /* Motor acceleration [step/s^2] (comment for infinite acceleration mode). */
+ MOTOR_ACCEL_SPS2, /* Motor deceleration [step/s^2] (comment for infinite deceleration mode). */
+ MOTOR_MAX_SPEED_SPS, /* Motor maximum speed [step/s]. */
+ 0.0, /* Motor minimum speed [step/s]. */
+ FULL_STEP_TH_SPS, /* Motor full-step speed threshold [step/s]. */
+ DUMMY_KVAL_V, /* Holding kval [V]. */
+ DUMMY_KVAL_V, /* Constant speed kval [V]. */
+ DUMMY_KVAL_V, /* Acceleration starting kval [V]. */
+ DUMMY_KVAL_V, /* Deceleration starting kval [V]. */
+ BEMF_ICPT_SPS, /* Intersect speed for bemf compensation curve slope changing [step/s]. */
+ START_SLOPE, /* Start slope [s/step]. */
+ FINAL_SLOPE, /* Acceleration final slope [s/step]. */
+ FINAL_SLOPE, /* Deceleration final slope [s/step]. */
+ 0, /* Thermal compensation factor (range [0, 15]). */
+ OCD_TH_MA, /* Ocd threshold [ma] (range [375 ma, 6000 ma]). */
+ STALL_TH_MA, /* Stall threshold [ma] (range [31.25 ma, 4000 ma]). */
+ StepperMotor::STEP_MODE_FULL, /* Step mode selection. */
+ 0xFF, /* Alarm conditions enable. */
+ 0x2E88 /* Ic configuration. */
},
/* Second Motor. */
{
- 9.0, /* Motor supply voltage in V. */
- 400, /* Min number of steps per revolution for the motor. */
- 1.7, /* Max motor phase voltage in A. */
- 3.06, /* Max motor phase voltage in V. */
- 300.0, /* Motor initial speed [step/s]. */
- 500.0, /* Motor acceleration [step/s^2] (comment for infinite acceleration mode). */
- 500.0, /* Motor deceleration [step/s^2] (comment for infinite deceleration mode). */
- 992.0, /* Motor maximum speed [step/s]. */
- 0.0, /* Motor minimum speed [step/s]. */
- 602.7, /* Motor full-step speed threshold [step/s]. */
- 3.06, /* Holding kval [V]. */
- 3.06, /* Constant speed kval [V]. */
- 3.06, /* Acceleration starting kval [V]. */
- 3.06, /* Deceleration starting kval [V]. */
- 61.52, /* Intersect speed for bemf compensation curve slope changing [step/s]. */
- 392.1569e-6, /* Start slope [s/step]. */
- 643.1372e-6, /* Acceleration final slope [s/step]. */
- 643.1372e-6, /* Deceleration final slope [s/step]. */
- 0, /* Thermal compensation factor (range [0, 15]). */
- 3.06 * 1000 * 1.10, /* Ocd threshold [ma] (range [375 ma, 6000 ma]). */
- 3.06 * 1000 * 1.00, /* Stall threshold [ma] (range [31.25 ma, 4000 ma]). */
- StepperMotor::STEP_MODE_1_128, /* Step mode selection. */
- 0xFF, /* Alarm conditions enable. */
- 0x2E88 /* Ic configuration. */
+ MOTOR_SUPPLY_VOLTAGE_V, /* Motor supply voltage in V. */
+ STEPS_PER_REV, /* Min number of steps per revolution for the motor. */
+ MAX_PHASE_CURRENT_A, /* Max motor phase voltage in A. */
+ MAX_PHASE_CURRENT_A * PHASE_RES_OHMS, /* Max motor phase voltage in V. (12 ohms per phase) */
+ MOTOR_INITIAL_SPEED_SPS, /* Motor initial speed [step/s]. */
+ MOTOR_ACCEL_SPS2, /* Motor acceleration [step/s^2] (comment for infinite acceleration mode). */
+ MOTOR_ACCEL_SPS2, /* Motor deceleration [step/s^2] (comment for infinite deceleration mode). */
+ MOTOR_MAX_SPEED_SPS, /* Motor maximum speed [step/s]. */
+ 0.0, /* Motor minimum speed [step/s]. */
+ FULL_STEP_TH_SPS, /* Motor full-step speed threshold [step/s]. */
+ DUMMY_KVAL_V, /* Holding kval [V]. */
+ DUMMY_KVAL_V, /* Constant speed kval [V]. */
+ DUMMY_KVAL_V, /* Acceleration starting kval [V]. */
+ DUMMY_KVAL_V, /* Deceleration starting kval [V]. */
+ BEMF_ICPT_SPS, /* Intersect speed for bemf compensation curve slope changing [step/s]. */
+ START_SLOPE, /* Start slope [s/step]. */
+ FINAL_SLOPE, /* Acceleration final slope [s/step]. */
+ FINAL_SLOPE, /* Deceleration final slope [s/step]. */
+ 0, /* Thermal compensation factor (range [0, 15]). */
+ OCD_TH_MA, /* Ocd threshold [ma] (range [375 ma, 6000 ma]). */
+ STALL_TH_MA, /* Stall threshold [ma] (range [31.25 ma, 4000 ma]). */
+ StepperMotor::STEP_MODE_FULL, /* Step mode selection. */
+ 0xFF, /* Alarm conditions enable. */
+ 0x2E88 /* Ic configuration. */
}
};
@@ -153,282 +170,292 @@
/*----- Setting home and marke positions, getting positions, and going to positions. -----*/
-
- /* Printing to the console. */
- printf("--> Setting home position.\r\n");
-
- /* Setting the home position. */
- motors[0]->set_home();
-
- /* Waiting. */
- wait_ms(DELAY_1);
-
- /* Getting the current position. */
- int position = motors[0]->get_position();
-
- /* Printing to the console. */
- printf("--> Getting the current position: %d\r\n", position);
-
- /* Waiting. */
- wait_ms(DELAY_1);
-
- /* Printing to the console. */
- printf("--> Moving forward %d steps.\r\n", STEPS_1);
-
- /* Moving. */
- motors[0]->move(StepperMotor::FWD, STEPS_1);
-
- /* Waiting while active. */
- motors[0]->wait_while_active();
-
- /* Getting the current position. */
- position = motors[0]->get_position();
-
- /* Printing to the console. */
- printf("--> Getting the current position: %d\r\n", position);
-
- /* Printing to the console. */
- printf("--> Marking the current position.\r\n");
-
- /* Marking the current position. */
- motors[0]->set_mark();
-
- /* Waiting. */
- wait_ms(DELAY_1);
-
- /* Printing to the console. */
- printf("--> Moving backward %d steps.\r\n", STEPS_2);
-
- /* Moving. */
- motors[0]->move(StepperMotor::BWD, STEPS_2);
-
- /* Waiting while active. */
- motors[0]->wait_while_active();
-
- /* Waiting. */
- wait_ms(DELAY_1);
-
- /* Getting the current position. */
- position = motors[0]->get_position();
-
- /* Printing to the console. */
- printf("--> Getting the current position: %d\r\n", position);
-
- /* Waiting. */
- wait_ms(DELAY_1);
-
- /* Printing to the console. */
- printf("--> Going to marked position.\r\n");
-
- /* Going to marked position. */
- motors[0]->go_mark();
-
- /* Waiting while active. */
- motors[0]->wait_while_active();
-
- /* Waiting. */
- wait_ms(DELAY_1);
-
- /* Getting the current position. */
- position = motors[0]->get_position();
-
- /* Printing to the console. */
- printf("--> Getting the current position: %d\r\n", position);
-
- /* Waiting. */
- wait_ms(DELAY_1);
-
- /* Printing to the console. */
- printf("--> Going to home position.\r\n");
-
- /* Going to home position. */
- motors[0]->go_home();
-
- /* Waiting while active. */
- motors[0]->wait_while_active();
-
- /* Waiting. */
- wait_ms(DELAY_1);
-
- /* Getting the current position. */
- position = motors[0]->get_position();
-
- /* Printing to the console. */
- printf("--> Getting the current position: %d\r\n", position);
-
- /* Waiting. */
- wait_ms(DELAY_1);
-
- /* Printing to the console. */
- printf("--> Halving the microsteps.\r\n");
-
- /* Halving the microsteps. */
- init[0].step_sel = (init[0].step_sel > 0 ? init[0].step_sel - 1 : init[0].step_sel);
- if (!motors[0]->set_step_mode((StepperMotor::step_mode_t) init[0].step_sel)) {
- printf(" Step Mode not allowed.\r\n");
- }
-
- /* Waiting. */
- wait_ms(DELAY_1);
-
- /* Printing to the console. */
- printf("--> Setting home position.\r\n");
-
- /* Setting the home position. */
- motors[0]->set_home();
-
- /* Waiting. */
- wait_ms(DELAY_1);
-
- /* Getting the current position. */
- position = motors[0]->get_position();
-
- /* Printing to the console. */
- printf("--> Getting the current position: %d\r\n", position);
-
- /* Waiting. */
- wait_ms(DELAY_1);
-
- /* Printing to the console. */
- printf("--> Moving forward %d steps.\r\n", STEPS_1);
-
- /* Moving. */
- motors[0]->move(StepperMotor::FWD, STEPS_1);
-
- /* Waiting while active. */
- motors[0]->wait_while_active();
-
- /* Getting the current position. */
- position = motors[0]->get_position();
-
- /* Printing to the console. */
- printf("--> Getting the current position: %d\r\n", position);
-
- /* Printing to the console. */
- printf("--> Marking the current position.\r\n");
-
- /* Marking the current position. */
- motors[0]->set_mark();
-
- /* Waiting. */
- wait_ms(DELAY_2);
-
-
- /*----- Running together for a certain amount of time. -----*/
-
- /* Printing to the console. */
- printf("--> Running together for %d seconds.\r\n", DELAY_3 / 1000);
-
- /* Preparing each motor to perform a run at a specified speed. */
for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
- motors[m]->prepare_run(StepperMotor::BWD, 400);
+ motors[m]->prepare_run(StepperMotor::BWD, SPEED_SPS);
}
/* Performing the action on each motor at the same time. */
x_nucleo_ihm02a1->perform_prepared_actions();
-
- /* Waiting. */
- wait_ms(DELAY_3);
-
-
- /*----- Increasing the speed while running. -----*/
-
- /* Preparing each motor to perform a run at a specified speed. */
- for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
- motors[m]->prepare_get_speed();
- }
-
- /* Performing the action on each motor at the same time. */
- uint32_t* results = x_nucleo_ihm02a1->perform_prepared_actions();
-
- /* Printing to the console. */
- printf(" Speed: M1 %d, M2 %d.\r\n", results[0], results[1]);
-
- /* Printing to the console. */
- printf("--> Doublig the speed while running again for %d seconds.\r\n", DELAY_3 / 1000);
-
- /* Preparing each motor to perform a run at a specified speed. */
- for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
- motors[m]->prepare_run(StepperMotor::BWD, results[m] << 1);
- }
-
- /* Performing the action on each motor at the same time. */
- results = x_nucleo_ihm02a1->perform_prepared_actions();
-
- /* Waiting. */
- wait_ms(DELAY_3);
-
- /* Preparing each motor to perform a run at a specified speed. */
- for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
- motors[m]->prepare_get_speed();
- }
-
- /* Performing the action on each motor at the same time. */
- results = x_nucleo_ihm02a1->perform_prepared_actions();
-
- /* Printing to the console. */
- printf(" Speed: M1 %d, M2 %d.\r\n", results[0], results[1]);
-
- /* Waiting. */
- wait_ms(DELAY_1);
+
+ printf("Running.\r\n");
+}
- /*----- Hard Stop. -----*/
-
- /* Printing to the console. */
- printf("--> Hard Stop.\r\n");
-
- /* Preparing each motor to perform a hard stop. */
- for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
- motors[m]->prepare_hard_stop();
- }
-
- /* Performing the action on each motor at the same time. */
- x_nucleo_ihm02a1->perform_prepared_actions();
+// /* Printing to the console. */
+// printf("--> Setting home position.\r\n");
+//
+// /* Setting the home position. */
+// motors[0]->set_home();
- /* Waiting. */
- wait_ms(DELAY_2);
-
-
- /*----- Doing a full revolution on each motor, one after the other. -----*/
-
- /* Printing to the console. */
- printf("--> Doing a full revolution on each motor, one after the other.\r\n");
-
- /* Doing a full revolution on each motor, one after the other. */
- for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
- for (int i = 0; i < MPR_1; i++) {
- /* Computing the number of steps. */
- int steps = (int) (((int) init[m].fullstepsperrevolution * pow(2.0f, init[m].step_sel)) / MPR_1);
+// /* Waiting. */
+// wait_ms(DELAY_1);
+//
+// /* Getting the current position. */
+// int position = motors[0]->get_position();
+//
+// /* Printing to the console. */
+// printf("--> Getting the current position: %d\r\n", position);
- /* Moving. */
- motors[m]->move(StepperMotor::FWD, steps);
-
- /* Waiting while active. */
- motors[m]->wait_while_active();
-
- /* Waiting. */
- wait_ms(DELAY_1);
- }
- }
-
- /* Waiting. */
- wait_ms(DELAY_2);
-
-
- /*----- High Impedance State. -----*/
-
- /* Printing to the console. */
- printf("--> High Impedance State.\r\n");
-
- /* Preparing each motor to set High Impedance State. */
- for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
- motors[m]->prepare_hard_hiz();
- }
-
- /* Performing the action on each motor at the same time. */
- x_nucleo_ihm02a1->perform_prepared_actions();
-
- /* Waiting. */
- wait_ms(DELAY_2);
-}
+// /* Waiting. */
+// wait_ms(DELAY_1);
+//
+// /* Printing to the console. */
+// printf("--> Moving forward %d steps.\r\n", STEPS_1);
+//
+// /* Moving. */
+// motors[0]->move(StepperMotor::FWD, STEPS_1);
+//
+// /* Waiting while active. */
+// motors[0]->wait_while_active();
+//
+// /* Getting the current position. */
+// position = motors[0]->get_position();
+//
+// /* Printing to the console. */
+// printf("--> Getting the current position: %d\r\n", position);
+//
+// /* Printing to the console. */
+// printf("--> Marking the current position.\r\n");
+//
+// /* Marking the current position. */
+// motors[0]->set_mark();
+//
+// /* Waiting. */
+// wait_ms(DELAY_1);
+//
+// /* Printing to the console. */
+// printf("--> Moving backward %d steps.\r\n", STEPS_2);
+//
+// /* Moving. */
+// motors[0]->move(StepperMotor::BWD, STEPS_2);
+//
+// /* Waiting while active. */
+// motors[0]->wait_while_active();
+//
+// /* Waiting. */
+// wait_ms(DELAY_1);
+//
+// /* Getting the current position. */
+// position = motors[0]->get_position();
+//
+// /* Printing to the console. */
+// printf("--> Getting the current position: %d\r\n", position);
+//
+// /* Waiting. */
+// wait_ms(DELAY_1);
+//
+// /* Printing to the console. */
+// printf("--> Going to marked position.\r\n");
+//
+// /* Going to marked position. */
+// motors[0]->go_mark();
+//
+// /* Waiting while active. */
+// motors[0]->wait_while_active();
+//
+// /* Waiting. */
+// wait_ms(DELAY_1);
+//
+// /* Getting the current position. */
+// position = motors[0]->get_position();
+//
+// /* Printing to the console. */
+// printf("--> Getting the current position: %d\r\n", position);
+//
+// /* Waiting. */
+// wait_ms(DELAY_1);
+//
+// /* Printing to the console. */
+// printf("--> Going to home position.\r\n");
+//
+// /* Going to home position. */
+// motors[0]->go_home();
+//
+// /* Waiting while active. */
+// motors[0]->wait_while_active();
+//
+// /* Waiting. */
+// wait_ms(DELAY_1);
+//
+// /* Getting the current position. */
+// position = motors[0]->get_position();
+//
+// /* Printing to the console. */
+// printf("--> Getting the current position: %d\r\n", position);
+//
+// /* Waiting. */
+// wait_ms(DELAY_1);
+//
+// /* Printing to the console. */
+// printf("--> Halving the microsteps.\r\n");
+//
+// /* Halving the microsteps. */
+// init[0].step_sel = (init[0].step_sel > 0 ? init[0].step_sel - 1 : init[0].step_sel);
+// if (!motors[0]->set_step_mode((StepperMotor::step_mode_t) init[0].step_sel)) {
+// printf(" Step Mode not allowed.\r\n");
+// }
+//
+// /* Waiting. */
+// wait_ms(DELAY_1);
+//
+// /* Printing to the console. */
+// printf("--> Setting home position.\r\n");
+//
+// /* Setting the home position. */
+// motors[0]->set_home();
+//
+// /* Waiting. */
+// wait_ms(DELAY_1);
+//
+// /* Getting the current position. */
+// position = motors[0]->get_position();
+//
+// /* Printing to the console. */
+// printf("--> Getting the current position: %d\r\n", position);
+//
+// /* Waiting. */
+// wait_ms(DELAY_1);
+//
+// /* Printing to the console. */
+// printf("--> Moving forward %d steps.\r\n", STEPS_1);
+//
+// /* Moving. */
+// motors[0]->move(StepperMotor::FWD, STEPS_1);
+//
+// /* Waiting while active. */
+// motors[0]->wait_while_active();
+//
+// /* Getting the current position. */
+// position = motors[0]->get_position();
+//
+// /* Printing to the console. */
+// printf("--> Getting the current position: %d\r\n", position);
+//
+// /* Printing to the console. */
+// printf("--> Marking the current position.\r\n");
+//
+// /* Marking the current position. */
+// motors[0]->set_mark();
+//
+// /* Waiting. */
+// wait_ms(DELAY_2);
+//
+//
+// /*----- Running together for a certain amount of time. -----*/
+//
+// /* Printing to the console. */
+// printf("--> Running together for %d seconds.\r\n", DELAY_3 / 1000);
+//
+// /* Preparing each motor to perform a run at a specified speed. */
+// for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
+// motors[m]->prepare_run(StepperMotor::BWD, 400);
+// }
+//
+// /* Performing the action on each motor at the same time. */
+// x_nucleo_ihm02a1->perform_prepared_actions();
+//
+// /* Waiting. */
+// wait_ms(DELAY_3);
+//
+//
+// /*----- Increasing the speed while running. -----*/
+//
+// /* Preparing each motor to perform a run at a specified speed. */
+// for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
+// motors[m]->prepare_get_speed();
+// }
+//
+// /* Performing the action on each motor at the same time. */
+// uint32_t* results = x_nucleo_ihm02a1->perform_prepared_actions();
+//
+// /* Printing to the console. */
+// printf(" Speed: M1 %d, M2 %d.\r\n", results[0], results[1]);
+//
+// /* Printing to the console. */
+// printf("--> Doublig the speed while running again for %d seconds.\r\n", DELAY_3 / 1000);
+//
+// /* Preparing each motor to perform a run at a specified speed. */
+// for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
+// motors[m]->prepare_run(StepperMotor::BWD, results[m] << 1);
+// }
+//
+// /* Performing the action on each motor at the same time. */
+// results = x_nucleo_ihm02a1->perform_prepared_actions();
+//
+// /* Waiting. */
+// wait_ms(DELAY_3);
+//
+// /* Preparing each motor to perform a run at a specified speed. */
+// for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
+// motors[m]->prepare_get_speed();
+// }
+//
+// /* Performing the action on each motor at the same time. */
+// results = x_nucleo_ihm02a1->perform_prepared_actions();
+//
+// /* Printing to the console. */
+// printf(" Speed: M1 %d, M2 %d.\r\n", results[0], results[1]);
+//
+// /* Waiting. */
+// wait_ms(DELAY_1);
+//
+//
+// /*----- Hard Stop. -----*/
+//
+// /* Printing to the console. */
+// printf("--> Hard Stop.\r\n");
+//
+// /* Preparing each motor to perform a hard stop. */
+// for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
+// motors[m]->prepare_hard_stop();
+// }
+//
+// /* Performing the action on each motor at the same time. */
+// x_nucleo_ihm02a1->perform_prepared_actions();
+//
+// /* Waiting. */
+// wait_ms(DELAY_2);
+//
+//
+// /*----- Doing a full revolution on each motor, one after the other. -----*/
+//
+// /* Printing to the console. */
+// printf("--> Doing a full revolution on each motor, one after the other.\r\n");
+//
+// /* Doing a full revolution on each motor, one after the other. */
+// for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
+// for (int i = 0; i < MPR_1; i++) {
+// /* Computing the number of steps. */
+// int steps = (int) (((int) init[m].fullstepsperrevolution * pow(2.0f, init[m].step_sel)) / MPR_1);
+//
+// /* Moving. */
+// motors[m]->move(StepperMotor::FWD, steps);
+//
+// /* Waiting while active. */
+// motors[m]->wait_while_active();
+//
+// /* Waiting. */
+// wait_ms(DELAY_1);
+// }
+// }
+//
+// /* Waiting. */
+// wait_ms(DELAY_2);
+//
+//
+// /*----- High Impedance State. -----*/
+//
+// /* Printing to the console. */
+// printf("--> High Impedance State.\r\n");
+//
+// /* Preparing each motor to set High Impedance State. */
+// for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
+// motors[m]->prepare_hard_hiz();
+// }
+//
+// /* Performing the action on each motor at the same time. */
+// x_nucleo_ihm02a1->perform_prepared_actions();
+//
+// /* Waiting. */
+// wait_ms(DELAY_2);
+//}