Thomas Byrne / Mbed 2 deprecated HelloWorld_IHM02A1

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Dependencies:   mbed tinyshell X_NUCLEO_IHM02A1

main.cpp@27:2abcf13d90a3, 2021-03-31 (annotated)

Committer:
tom_astranis
Date:
Wed Mar 31 22:28:53 2021 +0000
Revision:
27:2abcf13d90a3
Parent:
26:caec5f51abe8
Child:
28:19b25daa7777
hi

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 26:caec5f51abe8 49 #include "XNucleoIHM02A1.h"
Davidroid 0:5148e9486cf2 50
Davidroid 0:5148e9486cf2 51
Davidroid 0:5148e9486cf2 52 /* Definitions ---------------------------------------------------------------*/
Davidroid 0:5148e9486cf2 53
tom_astranis 27:2abcf13d90a3 54 /* Motor specs */
tom_astranis 27:2abcf13d90a3 55 #define MOTOR_SUPPLY_VOLTAGE_V 12.0
tom_astranis 27:2abcf13d90a3 56 #define STEPS_PER_REV 200.0
tom_astranis 27:2abcf13d90a3 57 #define MAX_PHASE_CURRENT_A 0.67
tom_astranis 27:2abcf13d90a3 58 #define PHASE_RES_OHMS 12.0
tom_astranis 27:2abcf13d90a3 59 #define MOTOR_INITIAL_SPEED_SPS 1000.0
tom_astranis 27:2abcf13d90a3 60 #define MOTOR_ACCEL_SPS2 200.0
tom_astranis 27:2abcf13d90a3 61 #define MOTOR_MAX_SPEED_SPS 2000.0
tom_astranis 27:2abcf13d90a3 62 #define FULL_STEP_TH_SPS 602.7
tom_astranis 27:2abcf13d90a3 63 #define DUMMY_KVAL_V 3.06
tom_astranis 27:2abcf13d90a3 64 #define BEMF_ICPT_SPS 61.52
tom_astranis 27:2abcf13d90a3 65 #define START_SLOPE 392.1569e-6
tom_astranis 27:2abcf13d90a3 66 #define FINAL_SLOPE 643.1372e-6
tom_astranis 27:2abcf13d90a3 67 #define OCD_TH_MA 600.0
tom_astranis 27:2abcf13d90a3 68 #define STALL_TH_MA 1000.0
tom_astranis 27:2abcf13d90a3 69
Davidroid 0:5148e9486cf2 70 /* Number of movements per revolution. */
Davidroid 0:5148e9486cf2 71 #define MPR_1 4
Davidroid 1:9f1974b0960d 72
Davidroid 1:9f1974b0960d 73 /* Number of steps. */
tom_astranis 27:2abcf13d90a3 74 #define STEPS_1 (20000 * 1) /* 1 revolution given a 200 step motor and 100:1 gearbox, with full stepping */
Davidroid 18:591a007effc2 75 #define STEPS_2 (STEPS_1 * 2)
tom_astranis 27:2abcf13d90a3 76 #define SPEED_SPS 10000 // steps per second
Davidroid 0:5148e9486cf2 77
Davidroid 0:5148e9486cf2 78 /* Delay in milliseconds. */
Davidroid 1:9f1974b0960d 79 #define DELAY_1 1000
Davidroid 0:5148e9486cf2 80 #define DELAY_2 2000
Davidroid 0:5148e9486cf2 81 #define DELAY_3 5000
Davidroid 0:5148e9486cf2 82
Davidroid 0:5148e9486cf2 83
Davidroid 0:5148e9486cf2 84 /* Variables -----------------------------------------------------------------*/
Davidroid 0:5148e9486cf2 85
Davidroid 0:5148e9486cf2 86 /* Motor Control Expansion Board. */
Davidroid 26:caec5f51abe8 87 XNucleoIHM02A1 *x_nucleo_ihm02a1;
Davidroid 0:5148e9486cf2 88
Davidroid 9:f35fbeedb8f4 89 /* Initialization parameters of the motors connected to the expansion board. */
davide.aliprandi@st.com 24:d1f487cb02ba 90 L6470_init_t init[L6470DAISYCHAINSIZE] = {
Davidroid 9:f35fbeedb8f4 91 /* First Motor. */
Davidroid 9:f35fbeedb8f4 92 {
tom_astranis 27:2abcf13d90a3 93 MOTOR_SUPPLY_VOLTAGE_V, /* Motor supply voltage in V. */
tom_astranis 27:2abcf13d90a3 94 STEPS_PER_REV, /* Min number of steps per revolution for the motor. */
tom_astranis 27:2abcf13d90a3 95 MAX_PHASE_CURRENT_A, /* Max motor phase voltage in A. */
tom_astranis 27:2abcf13d90a3 96 MAX_PHASE_CURRENT_A * PHASE_RES_OHMS, /* Max motor phase voltage in V. (12 ohms per phase) */
tom_astranis 27:2abcf13d90a3 97 MOTOR_INITIAL_SPEED_SPS, /* Motor initial speed [step/s]. */
tom_astranis 27:2abcf13d90a3 98 MOTOR_ACCEL_SPS2, /* Motor acceleration [step/s^2] (comment for infinite acceleration mode). */
tom_astranis 27:2abcf13d90a3 99 MOTOR_ACCEL_SPS2, /* Motor deceleration [step/s^2] (comment for infinite deceleration mode). */
tom_astranis 27:2abcf13d90a3 100 MOTOR_MAX_SPEED_SPS, /* Motor maximum speed [step/s]. */
tom_astranis 27:2abcf13d90a3 101 0.0, /* Motor minimum speed [step/s]. */
tom_astranis 27:2abcf13d90a3 102 FULL_STEP_TH_SPS, /* Motor full-step speed threshold [step/s]. */
tom_astranis 27:2abcf13d90a3 103 DUMMY_KVAL_V, /* Holding kval [V]. */
tom_astranis 27:2abcf13d90a3 104 DUMMY_KVAL_V, /* Constant speed kval [V]. */
tom_astranis 27:2abcf13d90a3 105 DUMMY_KVAL_V, /* Acceleration starting kval [V]. */
tom_astranis 27:2abcf13d90a3 106 DUMMY_KVAL_V, /* Deceleration starting kval [V]. */
tom_astranis 27:2abcf13d90a3 107 BEMF_ICPT_SPS, /* Intersect speed for bemf compensation curve slope changing [step/s]. */
tom_astranis 27:2abcf13d90a3 108 START_SLOPE, /* Start slope [s/step]. */
tom_astranis 27:2abcf13d90a3 109 FINAL_SLOPE, /* Acceleration final slope [s/step]. */
tom_astranis 27:2abcf13d90a3 110 FINAL_SLOPE, /* Deceleration final slope [s/step]. */
tom_astranis 27:2abcf13d90a3 111 0, /* Thermal compensation factor (range [0, 15]). */
tom_astranis 27:2abcf13d90a3 112 OCD_TH_MA, /* Ocd threshold [ma] (range [375 ma, 6000 ma]). */
tom_astranis 27:2abcf13d90a3 113 STALL_TH_MA, /* Stall threshold [ma] (range [31.25 ma, 4000 ma]). */
tom_astranis 27:2abcf13d90a3 114 StepperMotor::STEP_MODE_FULL, /* Step mode selection. */
tom_astranis 27:2abcf13d90a3 115 0xFF, /* Alarm conditions enable. */
tom_astranis 27:2abcf13d90a3 116 0x2E88 /* Ic configuration. */
Davidroid 9:f35fbeedb8f4 117 },
Davidroid 9:f35fbeedb8f4 118
Davidroid 9:f35fbeedb8f4 119 /* Second Motor. */
Davidroid 9:f35fbeedb8f4 120 {
tom_astranis 27:2abcf13d90a3 121 MOTOR_SUPPLY_VOLTAGE_V, /* Motor supply voltage in V. */
tom_astranis 27:2abcf13d90a3 122 STEPS_PER_REV, /* Min number of steps per revolution for the motor. */
tom_astranis 27:2abcf13d90a3 123 MAX_PHASE_CURRENT_A, /* Max motor phase voltage in A. */
tom_astranis 27:2abcf13d90a3 124 MAX_PHASE_CURRENT_A * PHASE_RES_OHMS, /* Max motor phase voltage in V. (12 ohms per phase) */
tom_astranis 27:2abcf13d90a3 125 MOTOR_INITIAL_SPEED_SPS, /* Motor initial speed [step/s]. */
tom_astranis 27:2abcf13d90a3 126 MOTOR_ACCEL_SPS2, /* Motor acceleration [step/s^2] (comment for infinite acceleration mode). */
tom_astranis 27:2abcf13d90a3 127 MOTOR_ACCEL_SPS2, /* Motor deceleration [step/s^2] (comment for infinite deceleration mode). */
tom_astranis 27:2abcf13d90a3 128 MOTOR_MAX_SPEED_SPS, /* Motor maximum speed [step/s]. */
tom_astranis 27:2abcf13d90a3 129 0.0, /* Motor minimum speed [step/s]. */
tom_astranis 27:2abcf13d90a3 130 FULL_STEP_TH_SPS, /* Motor full-step speed threshold [step/s]. */
tom_astranis 27:2abcf13d90a3 131 DUMMY_KVAL_V, /* Holding kval [V]. */
tom_astranis 27:2abcf13d90a3 132 DUMMY_KVAL_V, /* Constant speed kval [V]. */
tom_astranis 27:2abcf13d90a3 133 DUMMY_KVAL_V, /* Acceleration starting kval [V]. */
tom_astranis 27:2abcf13d90a3 134 DUMMY_KVAL_V, /* Deceleration starting kval [V]. */
tom_astranis 27:2abcf13d90a3 135 BEMF_ICPT_SPS, /* Intersect speed for bemf compensation curve slope changing [step/s]. */
tom_astranis 27:2abcf13d90a3 136 START_SLOPE, /* Start slope [s/step]. */
tom_astranis 27:2abcf13d90a3 137 FINAL_SLOPE, /* Acceleration final slope [s/step]. */
tom_astranis 27:2abcf13d90a3 138 FINAL_SLOPE, /* Deceleration final slope [s/step]. */
tom_astranis 27:2abcf13d90a3 139 0, /* Thermal compensation factor (range [0, 15]). */
tom_astranis 27:2abcf13d90a3 140 OCD_TH_MA, /* Ocd threshold [ma] (range [375 ma, 6000 ma]). */
tom_astranis 27:2abcf13d90a3 141 STALL_TH_MA, /* Stall threshold [ma] (range [31.25 ma, 4000 ma]). */
tom_astranis 27:2abcf13d90a3 142 StepperMotor::STEP_MODE_FULL, /* Step mode selection. */
tom_astranis 27:2abcf13d90a3 143 0xFF, /* Alarm conditions enable. */
tom_astranis 27:2abcf13d90a3 144 0x2E88 /* Ic configuration. */
Davidroid 9:f35fbeedb8f4 145 }
Davidroid 9:f35fbeedb8f4 146 };
Davidroid 9:f35fbeedb8f4 147
Davidroid 0:5148e9486cf2 148
Davidroid 0:5148e9486cf2 149 /* Main ----------------------------------------------------------------------*/
Davidroid 0:5148e9486cf2 150
Davidroid 0:5148e9486cf2 151 int main()
Davidroid 0:5148e9486cf2 152 {
Davidroid 1:9f1974b0960d 153 /*----- Initialization. -----*/
Davidroid 1:9f1974b0960d 154
Davidroid 2:41eeee48951b 155 /* Initializing SPI bus. */
Davidroid 23:073b26366d03 156 #ifdef TARGET_STM32F429
Davidroid 23:073b26366d03 157 DevSPI dev_spi(D11, D12, D13);
Davidroid 23:073b26366d03 158 #else
Davidroid 3:fd280b953f77 159 DevSPI dev_spi(D11, D12, D3);
Davidroid 23:073b26366d03 160 #endif
Davidroid 0:5148e9486cf2 161
Davidroid 5:3b8e19bbf386 162 /* Initializing Motor Control Expansion Board. */
Davidroid 26:caec5f51abe8 163 x_nucleo_ihm02a1 = new XNucleoIHM02A1(&init[0], &init[1], A4, A5, D4, A2, &dev_spi);
Davidroid 0:5148e9486cf2 164
Davidroid 1:9f1974b0960d 165 /* Building a list of motor control components. */
davide.aliprandi@st.com 24:d1f487cb02ba 166 L6470 **motors = x_nucleo_ihm02a1->get_components();
Davidroid 0:5148e9486cf2 167
Davidroid 0:5148e9486cf2 168 /* Printing to the console. */
Davidroid 0:5148e9486cf2 169 printf("Motor Control Application Example for 2 Motors\r\n\n");
Davidroid 0:5148e9486cf2 170
Davidroid 1:9f1974b0960d 171
Davidroid 1:9f1974b0960d 172 /*----- Setting home and marke positions, getting positions, and going to positions. -----*/
Davidroid 22:e81ccf73bc5d 173 for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
tom_astranis 27:2abcf13d90a3 174 motors[m]->prepare_run(StepperMotor::BWD, SPEED_SPS);
Davidroid 22:e81ccf73bc5d 175 }
Davidroid 0:5148e9486cf2 176
Davidroid 1:9f1974b0960d 177 /* Performing the action on each motor at the same time. */
davide.aliprandi@st.com 24:d1f487cb02ba 178 x_nucleo_ihm02a1->perform_prepared_actions();
tom_astranis 27:2abcf13d90a3 179
tom_astranis 27:2abcf13d90a3 180 printf("Running.\r\n");
tom_astranis 27:2abcf13d90a3 181 }
Davidroid 0:5148e9486cf2 182
Davidroid 0:5148e9486cf2 183
tom_astranis 27:2abcf13d90a3 184 // /* Printing to the console. */
tom_astranis 27:2abcf13d90a3 185 // printf("--> Setting home position.\r\n");
tom_astranis 27:2abcf13d90a3 186 //
tom_astranis 27:2abcf13d90a3 187 // /* Setting the home position. */
tom_astranis 27:2abcf13d90a3 188 // motors[0]->set_home();
Davidroid 0:5148e9486cf2 189
tom_astranis 27:2abcf13d90a3 190 // /* Waiting. */
tom_astranis 27:2abcf13d90a3 191 // wait_ms(DELAY_1);
tom_astranis 27:2abcf13d90a3 192 //
tom_astranis 27:2abcf13d90a3 193 // /* Getting the current position. */
tom_astranis 27:2abcf13d90a3 194 // int position = motors[0]->get_position();
tom_astranis 27:2abcf13d90a3 195 //
tom_astranis 27:2abcf13d90a3 196 // /* Printing to the console. */
tom_astranis 27:2abcf13d90a3 197 // printf("--> Getting the current position: %d\r\n", position);
Davidroid 1:9f1974b0960d 198
tom_astranis 27:2abcf13d90a3 199 // /* Waiting. */
tom_astranis 27:2abcf13d90a3 200 // wait_ms(DELAY_1);
tom_astranis 27:2abcf13d90a3 201 //
tom_astranis 27:2abcf13d90a3 202 // /* Printing to the console. */
tom_astranis 27:2abcf13d90a3 203 // printf("--> Moving forward %d steps.\r\n", STEPS_1);
tom_astranis 27:2abcf13d90a3 204 //
tom_astranis 27:2abcf13d90a3 205 // /* Moving. */
tom_astranis 27:2abcf13d90a3 206 // motors[0]->move(StepperMotor::FWD, STEPS_1);
tom_astranis 27:2abcf13d90a3 207 //
tom_astranis 27:2abcf13d90a3 208 // /* Waiting while active. */
tom_astranis 27:2abcf13d90a3 209 // motors[0]->wait_while_active();
tom_astranis 27:2abcf13d90a3 210 //
tom_astranis 27:2abcf13d90a3 211 // /* Getting the current position. */
tom_astranis 27:2abcf13d90a3 212 // position = motors[0]->get_position();
tom_astranis 27:2abcf13d90a3 213 //
tom_astranis 27:2abcf13d90a3 214 // /* Printing to the console. */
tom_astranis 27:2abcf13d90a3 215 // printf("--> Getting the current position: %d\r\n", position);
tom_astranis 27:2abcf13d90a3 216 //
tom_astranis 27:2abcf13d90a3 217 // /* Printing to the console. */
tom_astranis 27:2abcf13d90a3 218 // printf("--> Marking the current position.\r\n");
tom_astranis 27:2abcf13d90a3 219 //
tom_astranis 27:2abcf13d90a3 220 // /* Marking the current position. */
tom_astranis 27:2abcf13d90a3 221 // motors[0]->set_mark();
tom_astranis 27:2abcf13d90a3 222 //
tom_astranis 27:2abcf13d90a3 223 // /* Waiting. */
tom_astranis 27:2abcf13d90a3 224 // wait_ms(DELAY_1);
tom_astranis 27:2abcf13d90a3 225 //
tom_astranis 27:2abcf13d90a3 226 // /* Printing to the console. */
tom_astranis 27:2abcf13d90a3 227 // printf("--> Moving backward %d steps.\r\n", STEPS_2);
tom_astranis 27:2abcf13d90a3 228 //
tom_astranis 27:2abcf13d90a3 229 // /* Moving. */
tom_astranis 27:2abcf13d90a3 230 // motors[0]->move(StepperMotor::BWD, STEPS_2);
tom_astranis 27:2abcf13d90a3 231 //
tom_astranis 27:2abcf13d90a3 232 // /* Waiting while active. */
tom_astranis 27:2abcf13d90a3 233 // motors[0]->wait_while_active();
tom_astranis 27:2abcf13d90a3 234 //
tom_astranis 27:2abcf13d90a3 235 // /* Waiting. */
tom_astranis 27:2abcf13d90a3 236 // wait_ms(DELAY_1);
tom_astranis 27:2abcf13d90a3 237 //
tom_astranis 27:2abcf13d90a3 238 // /* Getting the current position. */
tom_astranis 27:2abcf13d90a3 239 // position = motors[0]->get_position();
tom_astranis 27:2abcf13d90a3 240 //
tom_astranis 27:2abcf13d90a3 241 // /* Printing to the console. */
tom_astranis 27:2abcf13d90a3 242 // printf("--> Getting the current position: %d\r\n", position);
tom_astranis 27:2abcf13d90a3 243 //
tom_astranis 27:2abcf13d90a3 244 // /* Waiting. */
tom_astranis 27:2abcf13d90a3 245 // wait_ms(DELAY_1);
tom_astranis 27:2abcf13d90a3 246 //
tom_astranis 27:2abcf13d90a3 247 // /* Printing to the console. */
tom_astranis 27:2abcf13d90a3 248 // printf("--> Going to marked position.\r\n");
tom_astranis 27:2abcf13d90a3 249 //
tom_astranis 27:2abcf13d90a3 250 // /* Going to marked position. */
tom_astranis 27:2abcf13d90a3 251 // motors[0]->go_mark();
tom_astranis 27:2abcf13d90a3 252 //
tom_astranis 27:2abcf13d90a3 253 // /* Waiting while active. */
tom_astranis 27:2abcf13d90a3 254 // motors[0]->wait_while_active();
tom_astranis 27:2abcf13d90a3 255 //
tom_astranis 27:2abcf13d90a3 256 // /* Waiting. */
tom_astranis 27:2abcf13d90a3 257 // wait_ms(DELAY_1);
tom_astranis 27:2abcf13d90a3 258 //
tom_astranis 27:2abcf13d90a3 259 // /* Getting the current position. */
tom_astranis 27:2abcf13d90a3 260 // position = motors[0]->get_position();
tom_astranis 27:2abcf13d90a3 261 //
tom_astranis 27:2abcf13d90a3 262 // /* Printing to the console. */
tom_astranis 27:2abcf13d90a3 263 // printf("--> Getting the current position: %d\r\n", position);
tom_astranis 27:2abcf13d90a3 264 //
tom_astranis 27:2abcf13d90a3 265 // /* Waiting. */
tom_astranis 27:2abcf13d90a3 266 // wait_ms(DELAY_1);
tom_astranis 27:2abcf13d90a3 267 //
tom_astranis 27:2abcf13d90a3 268 // /* Printing to the console. */
tom_astranis 27:2abcf13d90a3 269 // printf("--> Going to home position.\r\n");
tom_astranis 27:2abcf13d90a3 270 //
tom_astranis 27:2abcf13d90a3 271 // /* Going to home position. */
tom_astranis 27:2abcf13d90a3 272 // motors[0]->go_home();
tom_astranis 27:2abcf13d90a3 273 //
tom_astranis 27:2abcf13d90a3 274 // /* Waiting while active. */
tom_astranis 27:2abcf13d90a3 275 // motors[0]->wait_while_active();
tom_astranis 27:2abcf13d90a3 276 //
tom_astranis 27:2abcf13d90a3 277 // /* Waiting. */
tom_astranis 27:2abcf13d90a3 278 // wait_ms(DELAY_1);
tom_astranis 27:2abcf13d90a3 279 //
tom_astranis 27:2abcf13d90a3 280 // /* Getting the current position. */
tom_astranis 27:2abcf13d90a3 281 // position = motors[0]->get_position();
tom_astranis 27:2abcf13d90a3 282 //
tom_astranis 27:2abcf13d90a3 283 // /* Printing to the console. */
tom_astranis 27:2abcf13d90a3 284 // printf("--> Getting the current position: %d\r\n", position);
tom_astranis 27:2abcf13d90a3 285 //
tom_astranis 27:2abcf13d90a3 286 // /* Waiting. */
tom_astranis 27:2abcf13d90a3 287 // wait_ms(DELAY_1);
tom_astranis 27:2abcf13d90a3 288 //
tom_astranis 27:2abcf13d90a3 289 // /* Printing to the console. */
tom_astranis 27:2abcf13d90a3 290 // printf("--> Halving the microsteps.\r\n");
tom_astranis 27:2abcf13d90a3 291 //
tom_astranis 27:2abcf13d90a3 292 // /* Halving the microsteps. */
tom_astranis 27:2abcf13d90a3 293 // init[0].step_sel = (init[0].step_sel > 0 ? init[0].step_sel - 1 : init[0].step_sel);
tom_astranis 27:2abcf13d90a3 294 // if (!motors[0]->set_step_mode((StepperMotor::step_mode_t) init[0].step_sel)) {
tom_astranis 27:2abcf13d90a3 295 // printf(" Step Mode not allowed.\r\n");
tom_astranis 27:2abcf13d90a3 296 // }
tom_astranis 27:2abcf13d90a3 297 //
tom_astranis 27:2abcf13d90a3 298 // /* Waiting. */
tom_astranis 27:2abcf13d90a3 299 // wait_ms(DELAY_1);
tom_astranis 27:2abcf13d90a3 300 //
tom_astranis 27:2abcf13d90a3 301 // /* Printing to the console. */
tom_astranis 27:2abcf13d90a3 302 // printf("--> Setting home position.\r\n");
tom_astranis 27:2abcf13d90a3 303 //
tom_astranis 27:2abcf13d90a3 304 // /* Setting the home position. */
tom_astranis 27:2abcf13d90a3 305 // motors[0]->set_home();
tom_astranis 27:2abcf13d90a3 306 //
tom_astranis 27:2abcf13d90a3 307 // /* Waiting. */
tom_astranis 27:2abcf13d90a3 308 // wait_ms(DELAY_1);
tom_astranis 27:2abcf13d90a3 309 //
tom_astranis 27:2abcf13d90a3 310 // /* Getting the current position. */
tom_astranis 27:2abcf13d90a3 311 // position = motors[0]->get_position();
tom_astranis 27:2abcf13d90a3 312 //
tom_astranis 27:2abcf13d90a3 313 // /* Printing to the console. */
tom_astranis 27:2abcf13d90a3 314 // printf("--> Getting the current position: %d\r\n", position);
tom_astranis 27:2abcf13d90a3 315 //
tom_astranis 27:2abcf13d90a3 316 // /* Waiting. */
tom_astranis 27:2abcf13d90a3 317 // wait_ms(DELAY_1);
tom_astranis 27:2abcf13d90a3 318 //
tom_astranis 27:2abcf13d90a3 319 // /* Printing to the console. */
tom_astranis 27:2abcf13d90a3 320 // printf("--> Moving forward %d steps.\r\n", STEPS_1);
tom_astranis 27:2abcf13d90a3 321 //
tom_astranis 27:2abcf13d90a3 322 // /* Moving. */
tom_astranis 27:2abcf13d90a3 323 // motors[0]->move(StepperMotor::FWD, STEPS_1);
tom_astranis 27:2abcf13d90a3 324 //
tom_astranis 27:2abcf13d90a3 325 // /* Waiting while active. */
tom_astranis 27:2abcf13d90a3 326 // motors[0]->wait_while_active();
tom_astranis 27:2abcf13d90a3 327 //
tom_astranis 27:2abcf13d90a3 328 // /* Getting the current position. */
tom_astranis 27:2abcf13d90a3 329 // position = motors[0]->get_position();
tom_astranis 27:2abcf13d90a3 330 //
tom_astranis 27:2abcf13d90a3 331 // /* Printing to the console. */
tom_astranis 27:2abcf13d90a3 332 // printf("--> Getting the current position: %d\r\n", position);
tom_astranis 27:2abcf13d90a3 333 //
tom_astranis 27:2abcf13d90a3 334 // /* Printing to the console. */
tom_astranis 27:2abcf13d90a3 335 // printf("--> Marking the current position.\r\n");
tom_astranis 27:2abcf13d90a3 336 //
tom_astranis 27:2abcf13d90a3 337 // /* Marking the current position. */
tom_astranis 27:2abcf13d90a3 338 // motors[0]->set_mark();
tom_astranis 27:2abcf13d90a3 339 //
tom_astranis 27:2abcf13d90a3 340 // /* Waiting. */
tom_astranis 27:2abcf13d90a3 341 // wait_ms(DELAY_2);
tom_astranis 27:2abcf13d90a3 342 //
tom_astranis 27:2abcf13d90a3 343 //
tom_astranis 27:2abcf13d90a3 344 // /*----- Running together for a certain amount of time. -----*/
tom_astranis 27:2abcf13d90a3 345 //
tom_astranis 27:2abcf13d90a3 346 // /* Printing to the console. */
tom_astranis 27:2abcf13d90a3 347 // printf("--> Running together for %d seconds.\r\n", DELAY_3 / 1000);
tom_astranis 27:2abcf13d90a3 348 //
tom_astranis 27:2abcf13d90a3 349 // /* Preparing each motor to perform a run at a specified speed. */
tom_astranis 27:2abcf13d90a3 350 // for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
tom_astranis 27:2abcf13d90a3 351 // motors[m]->prepare_run(StepperMotor::BWD, 400);
tom_astranis 27:2abcf13d90a3 352 // }
tom_astranis 27:2abcf13d90a3 353 //
tom_astranis 27:2abcf13d90a3 354 // /* Performing the action on each motor at the same time. */
tom_astranis 27:2abcf13d90a3 355 // x_nucleo_ihm02a1->perform_prepared_actions();
tom_astranis 27:2abcf13d90a3 356 //
tom_astranis 27:2abcf13d90a3 357 // /* Waiting. */
tom_astranis 27:2abcf13d90a3 358 // wait_ms(DELAY_3);
tom_astranis 27:2abcf13d90a3 359 //
tom_astranis 27:2abcf13d90a3 360 //
tom_astranis 27:2abcf13d90a3 361 // /*----- Increasing the speed while running. -----*/
tom_astranis 27:2abcf13d90a3 362 //
tom_astranis 27:2abcf13d90a3 363 // /* Preparing each motor to perform a run at a specified speed. */
tom_astranis 27:2abcf13d90a3 364 // for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
tom_astranis 27:2abcf13d90a3 365 // motors[m]->prepare_get_speed();
tom_astranis 27:2abcf13d90a3 366 // }
tom_astranis 27:2abcf13d90a3 367 //
tom_astranis 27:2abcf13d90a3 368 // /* Performing the action on each motor at the same time. */
tom_astranis 27:2abcf13d90a3 369 // uint32_t* results = x_nucleo_ihm02a1->perform_prepared_actions();
tom_astranis 27:2abcf13d90a3 370 //
tom_astranis 27:2abcf13d90a3 371 // /* Printing to the console. */
tom_astranis 27:2abcf13d90a3 372 // printf(" Speed: M1 %d, M2 %d.\r\n", results[0], results[1]);
tom_astranis 27:2abcf13d90a3 373 //
tom_astranis 27:2abcf13d90a3 374 // /* Printing to the console. */
tom_astranis 27:2abcf13d90a3 375 // printf("--> Doublig the speed while running again for %d seconds.\r\n", DELAY_3 / 1000);
tom_astranis 27:2abcf13d90a3 376 //
tom_astranis 27:2abcf13d90a3 377 // /* Preparing each motor to perform a run at a specified speed. */
tom_astranis 27:2abcf13d90a3 378 // for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
tom_astranis 27:2abcf13d90a3 379 // motors[m]->prepare_run(StepperMotor::BWD, results[m] << 1);
tom_astranis 27:2abcf13d90a3 380 // }
tom_astranis 27:2abcf13d90a3 381 //
tom_astranis 27:2abcf13d90a3 382 // /* Performing the action on each motor at the same time. */
tom_astranis 27:2abcf13d90a3 383 // results = x_nucleo_ihm02a1->perform_prepared_actions();
tom_astranis 27:2abcf13d90a3 384 //
tom_astranis 27:2abcf13d90a3 385 // /* Waiting. */
tom_astranis 27:2abcf13d90a3 386 // wait_ms(DELAY_3);
tom_astranis 27:2abcf13d90a3 387 //
tom_astranis 27:2abcf13d90a3 388 // /* Preparing each motor to perform a run at a specified speed. */
tom_astranis 27:2abcf13d90a3 389 // for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
tom_astranis 27:2abcf13d90a3 390 // motors[m]->prepare_get_speed();
tom_astranis 27:2abcf13d90a3 391 // }
tom_astranis 27:2abcf13d90a3 392 //
tom_astranis 27:2abcf13d90a3 393 // /* Performing the action on each motor at the same time. */
tom_astranis 27:2abcf13d90a3 394 // results = x_nucleo_ihm02a1->perform_prepared_actions();
tom_astranis 27:2abcf13d90a3 395 //
tom_astranis 27:2abcf13d90a3 396 // /* Printing to the console. */
tom_astranis 27:2abcf13d90a3 397 // printf(" Speed: M1 %d, M2 %d.\r\n", results[0], results[1]);
tom_astranis 27:2abcf13d90a3 398 //
tom_astranis 27:2abcf13d90a3 399 // /* Waiting. */
tom_astranis 27:2abcf13d90a3 400 // wait_ms(DELAY_1);
tom_astranis 27:2abcf13d90a3 401 //
tom_astranis 27:2abcf13d90a3 402 //
tom_astranis 27:2abcf13d90a3 403 // /*----- Hard Stop. -----*/
tom_astranis 27:2abcf13d90a3 404 //
tom_astranis 27:2abcf13d90a3 405 // /* Printing to the console. */
tom_astranis 27:2abcf13d90a3 406 // printf("--> Hard Stop.\r\n");
tom_astranis 27:2abcf13d90a3 407 //
tom_astranis 27:2abcf13d90a3 408 // /* Preparing each motor to perform a hard stop. */
tom_astranis 27:2abcf13d90a3 409 // for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
tom_astranis 27:2abcf13d90a3 410 // motors[m]->prepare_hard_stop();
tom_astranis 27:2abcf13d90a3 411 // }
tom_astranis 27:2abcf13d90a3 412 //
tom_astranis 27:2abcf13d90a3 413 // /* Performing the action on each motor at the same time. */
tom_astranis 27:2abcf13d90a3 414 // x_nucleo_ihm02a1->perform_prepared_actions();
tom_astranis 27:2abcf13d90a3 415 //
tom_astranis 27:2abcf13d90a3 416 // /* Waiting. */
tom_astranis 27:2abcf13d90a3 417 // wait_ms(DELAY_2);
tom_astranis 27:2abcf13d90a3 418 //
tom_astranis 27:2abcf13d90a3 419 //
tom_astranis 27:2abcf13d90a3 420 // /*----- Doing a full revolution on each motor, one after the other. -----*/
tom_astranis 27:2abcf13d90a3 421 //
tom_astranis 27:2abcf13d90a3 422 // /* Printing to the console. */
tom_astranis 27:2abcf13d90a3 423 // printf("--> Doing a full revolution on each motor, one after the other.\r\n");
tom_astranis 27:2abcf13d90a3 424 //
tom_astranis 27:2abcf13d90a3 425 // /* Doing a full revolution on each motor, one after the other. */
tom_astranis 27:2abcf13d90a3 426 // for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
tom_astranis 27:2abcf13d90a3 427 // for (int i = 0; i < MPR_1; i++) {
tom_astranis 27:2abcf13d90a3 428 // /* Computing the number of steps. */
tom_astranis 27:2abcf13d90a3 429 // int steps = (int) (((int) init[m].fullstepsperrevolution * pow(2.0f, init[m].step_sel)) / MPR_1);
tom_astranis 27:2abcf13d90a3 430 //
tom_astranis 27:2abcf13d90a3 431 // /* Moving. */
tom_astranis 27:2abcf13d90a3 432 // motors[m]->move(StepperMotor::FWD, steps);
tom_astranis 27:2abcf13d90a3 433 //
tom_astranis 27:2abcf13d90a3 434 // /* Waiting while active. */
tom_astranis 27:2abcf13d90a3 435 // motors[m]->wait_while_active();
tom_astranis 27:2abcf13d90a3 436 //
tom_astranis 27:2abcf13d90a3 437 // /* Waiting. */
tom_astranis 27:2abcf13d90a3 438 // wait_ms(DELAY_1);
tom_astranis 27:2abcf13d90a3 439 // }
tom_astranis 27:2abcf13d90a3 440 // }
tom_astranis 27:2abcf13d90a3 441 //
tom_astranis 27:2abcf13d90a3 442 // /* Waiting. */
tom_astranis 27:2abcf13d90a3 443 // wait_ms(DELAY_2);
tom_astranis 27:2abcf13d90a3 444 //
tom_astranis 27:2abcf13d90a3 445 //
tom_astranis 27:2abcf13d90a3 446 // /*----- High Impedance State. -----*/
tom_astranis 27:2abcf13d90a3 447 //
tom_astranis 27:2abcf13d90a3 448 // /* Printing to the console. */
tom_astranis 27:2abcf13d90a3 449 // printf("--> High Impedance State.\r\n");
tom_astranis 27:2abcf13d90a3 450 //
tom_astranis 27:2abcf13d90a3 451 // /* Preparing each motor to set High Impedance State. */
tom_astranis 27:2abcf13d90a3 452 // for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
tom_astranis 27:2abcf13d90a3 453 // motors[m]->prepare_hard_hiz();
tom_astranis 27:2abcf13d90a3 454 // }
tom_astranis 27:2abcf13d90a3 455 //
tom_astranis 27:2abcf13d90a3 456 // /* Performing the action on each motor at the same time. */
tom_astranis 27:2abcf13d90a3 457 // x_nucleo_ihm02a1->perform_prepared_actions();
tom_astranis 27:2abcf13d90a3 458 //
tom_astranis 27:2abcf13d90a3 459 // /* Waiting. */
tom_astranis 27:2abcf13d90a3 460 // wait_ms(DELAY_2);
tom_astranis 27:2abcf13d90a3 461 //}