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Dependencies:   mbed X_NUCLEO_IHM01A1

Revision:
38:8e713e8246ef
Parent:
35:2b44ed4ec7a0
--- a/main.cpp	Mon Mar 13 17:46:46 2017 +0000
+++ b/main.cpp	Sat Oct 23 22:37:30 2021 +0000
@@ -1,42 +1,3 @@
-/**
- ******************************************************************************
- * @file    main.cpp
- * @author  Davide Aliprandi, STMicroelectronics
- * @version V1.0.0
- * @date    October 14th, 2015
- * @brief   mbed test application for the STMicroelectronics X-NUCLEO-IHM01A1
- *          Motor Control Expansion Board: control of 1 motor.
- ******************************************************************************
- * @attention
- *
- * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
- *
- * Redistribution and use in source and binary forms, with or without modification,
- * are permitted provided that the following conditions are met:
- *   1. Redistributions of source code must retain the above copyright notice,
- *      this list of conditions and the following disclaimer.
- *   2. Redistributions in binary form must reproduce the above copyright notice,
- *      this list of conditions and the following disclaimer in the documentation
- *      and/or other materials provided with the distribution.
- *   3. Neither the name of STMicroelectronics nor the names of its contributors
- *      may be used to endorse or promote products derived from this software
- *      without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
- * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
- * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
- * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- *
- ******************************************************************************
- */
-
-
 /* Includes ------------------------------------------------------------------*/
 
 /* mbed specific header files. */
@@ -48,38 +9,31 @@
 /* Component specific header files. */
 #include "L6474.h"
 
-
 /* Definitions ---------------------------------------------------------------*/
 
 /* Number of steps. */
-#define STEPS_1 (400 * 8)   /* 1 revolution given a 400 steps motor configured at 1/8 microstep mode. */
-
-/* Delay in milliseconds. */
-#define DELAY_1 1000
-#define DELAY_2 2000
-#define DELAY_3 6000
-#define DELAY_4 8000
+#define STEPS_1 (200 * 2)   /* 1 revolution given a 400 steps motor configured at 1/2 microstep mode. */
 
 /* Speed in pps (Pulses Per Second).
    In Full Step mode: 1 pps = 1 step/s).
    In 1/N Step Mode:  N pps = 1 step/s). */
-#define SPEED_1 2400
-#define SPEED_2 1200
-
+#define SPEED_1 500 //pps
 
 /* Variables -----------------------------------------------------------------*/
+DigitalIn botao(USER_BUTTON); //Declarando o botão de usuário
+int speed;
 
 /* Initialization parameters. */
 L6474_init_t init = {
-    160,                              /* Acceleration rate in pps^2. Range: (0..+inf). */
-    160,                              /* Deceleration rate in pps^2. Range: (0..+inf). */
-    1600,                             /* Maximum speed in pps. Range: (30..10000]. */
-    800,                              /* Minimum speed in pps. Range: [30..10000). */
+    1000,                              /* Acceleration rate in pps^2. Range: (0..+inf). */
+    1000,                              /* Deceleration rate in pps^2. Range: (0..+inf). */
+    1200,                             /* Maximum speed in pps. Range: (30..10000]. */
+    30,                              /* Minimum speed in pps. Range: [30..10000). */
     250,                              /* Torque regulation current in mA. Range: 31.25mA to 4000mA. */
     L6474_OCD_TH_750mA,               /* Overcurrent threshold (OCD_TH register). */
     L6474_CONFIG_OC_SD_ENABLE,        /* Overcurrent shutwdown (OC_SD field of CONFIG register). */
     L6474_CONFIG_EN_TQREG_TVAL_USED,  /* Torque regulation method (EN_TQREG field of CONFIG register). */
-    L6474_STEP_SEL_1_8,               /* Step selection (STEP_SEL field of STEP_MODE register). */
+    L6474_STEP_SEL_1_2,               /* Step selection (STEP_SEL field of STEP_MODE register). */
     L6474_SYNC_SEL_1_2,               /* Sync selection (SYNC_SEL field of STEP_MODE register). */
     L6474_FAST_STEP_12us,             /* Fall time value (T_FAST field of T_FAST register). Range: 2us to 32us. */
     L6474_TOFF_FAST_8us,              /* Maximum fast decay time (T_OFF field of T_FAST register). Range: 2us to 32us. */
@@ -99,19 +53,8 @@
 /* Motor Control Component. */
 L6474 *motor;
 
-
 /* Functions -----------------------------------------------------------------*/
 
-/**
- * @brief  This is an example of user handler for the flag interrupt.
- * @param  None
- * @retval None
- * @note   If needed, implement it, and then attach and enable it:
- *           + motor->attach_flag_irq(&flag_irq_handler);
- *           + motor->enable_flag_irq();
- *         To disable it:
- *           + motor->disble_flag_irq();
- */
 void flag_irq_handler(void)
 {
     /* Set ISR flag. */
@@ -125,14 +68,12 @@
     if ((status & L6474_STATUS_NOTPERF_CMD) == L6474_STATUS_NOTPERF_CMD) {
         printf("    WARNING: \"FLAG\" interrupt triggered. Non-performable command detected when updating L6474's registers while not in HiZ state.\r\n");
     }
-    
+
     /* Reset ISR flag. */
     motor->isr_flag = FALSE;
 }
 
-
 /* Main ----------------------------------------------------------------------*/
-
 int main()
 {
     /*----- Initialization. -----*/
@@ -150,217 +91,33 @@
     motor->attach_flag_irq(&flag_irq_handler);
     motor->enable_flag_irq();
 
-    /* Printing to the console. */
-    printf("Motor Control Application Example for 1 Motor\r\n\n");
-
-
-    /*----- Moving. -----*/
-
-    /* Printing to the console. */
-    printf("--> Moving forward %d steps.\r\n", STEPS_1);
-
-    /* Moving N steps in the forward direction. */
-    motor->move(StepperMotor::FWD, STEPS_1);
-
-    /* Waiting while the motor is active. */
-    motor->wait_while_active();
-
-    /* Getting current position. */
-    int position = motor->get_position();
-    
-    /* Printing to the console. */
-    printf("    Position: %d.\r\n", position);
-
-    /* Waiting. */
-    wait_ms(DELAY_1);
-
-
-    /*----- Changing the motor setting. -----*/
-
-    /* Printing to the console. */
-    printf("--> Setting Torque Regulation Current to 500[mA].\r\n");
-
-    /* Increasing the torque regulation current to 500[mA]. */
-    motor->set_parameter(L6474_TVAL, 500);
-
-    /* Printing to the console. */
-    printf("--> Doubling the microsteps.\r\n");
-
-    /* Doubling the microsteps. */
-    if (!motor->set_step_mode((StepperMotor::step_mode_t) STEP_MODE_1_16)) {
-        printf("    Step Mode not allowed.\r\n");
-    }
-
-    /* Waiting. */
-    wait_ms(DELAY_1);
-
-    /* Printing to the console. */
-    printf("--> Setting Home.\r\n");
-
-    /* Setting the current position to be the home position. */
-    motor->set_home();
-
-    /* Getting current position. */
-    position = motor->get_position();
-    
-    /* Printing to the console. */
-    printf("    Position: %d.\r\n", position);
-    
-    /* Waiting. */
-    wait_ms(DELAY_2);
-
-
-    /*----- Moving. -----*/
-    
-    /* Printing to the console. */
-    printf("--> Moving backward %d steps.\r\n", STEPS_1);
-
-    /* Moving N steps in the backward direction. */
-    motor->move(StepperMotor::BWD, STEPS_1);
-    
-    /* Waiting while the motor is active. */
-    motor->wait_while_active();
-
-    /* Getting current position. */
-    position = motor->get_position();
-    
-    /* Printing to the console. */
-    printf("    Position: %d.\r\n", position);
-
-    /* Waiting. */
-    wait_ms(DELAY_1);
 
 
-    /*----- Going to a specified position. -----*/
-
-    /* Printing to the console. */
-    printf("--> Going to position %d.\r\n", STEPS_1);
-    
-    /* Requesting to go to a specified position. */
-    motor->go_to(STEPS_1);
-    
-    /* Waiting while the motor is active. */
-    motor->wait_while_active();
-
-    /* Getting current position. */
-    position = motor->get_position();
-    
-    /* Printing to the console. */
-    printf("    Position: %d.\r\n", position);
-    
-    /* Waiting. */
-    wait_ms(DELAY_2);
-
-    
-    /*----- Going Home. -----*/
-
-    /* Printing to the console. */
-    printf("--> Going Home.\r\n");
-    
-    /* Requesting to go to home. */
-    motor->go_home();
-    
-    /* Waiting while the motor is active. */
-    motor->wait_while_active();
+    while (1) {
+        
+        /* Getting motor speed */
+        speed = motor->get_speed();
 
-    /* Getting current position. */
-    position = motor->get_position();
-
-    /* Printing to the console. */
-    printf("    Position: %d.\r\n", position);
-
-    /* Waiting. */
-    wait_ms(DELAY_2);
-
-
-    /*----- Running. -----*/
-
-    /* Printing to the console. */
-    printf("--> Running backward for %d seconds.\r\n", DELAY_3 / 1000);
+        /* Printing speed to the console. */
+        printf("%d\r\n", speed);
 
-    /* Requesting to run backward. */
-    motor->run(StepperMotor::BWD);
-
-    /* Waiting. */
-    wait_ms(DELAY_3);
-
-    /* Getting current speed. */
-    int speed = motor->get_speed();
-
-    /* Printing to the console. */
-    printf("    Speed: %d.\r\n", speed);
-
-    /*----- Increasing the speed while running. -----*/
-
-    /* Printing to the console. */
-    printf("--> Increasing the speed while running again for %d seconds.\r\n", DELAY_3 / 1000);
+        if (botao == 0) {
+            /* Increasing the speed. */
+            motor->set_max_speed(SPEED_1);
 
-    /* Increasing the speed. */
-    motor->set_max_speed(SPEED_1);
-
-    /* Waiting. */
-    wait_ms(DELAY_3);
-
-    /* Getting current speed. */
-    speed = motor->get_speed();
-
-    /* Printing to the console. */
-    printf("    Speed: %d.\r\n", speed);
-
-
-    /*----- Decreasing the speed while running. -----*/
+            /* Moving 400 half steps in the forward direction. */
+            motor->move(StepperMotor::FWD, STEPS_1);
 
-    /* Printing to the console. */
-    printf("--> Decreasing the speed while running again for %d seconds.\r\n", DELAY_4 / 1000);
-
-    /* Decreasing the speed. */
-    motor->set_max_speed(SPEED_2);
-
-    /* Waiting. */
-    wait_ms(DELAY_4);
-
-    /* Getting current speed. */
-    speed = motor->get_speed();
-
-    /* Printing to the console. */
-    printf("    Speed: %d.\r\n", speed);
-
-
-    /*----- Hard Stop. -----*/
+            /* Waiting while the motor is active. */
+            motor->wait_while_active();
 
-    /* Printing to the console. */
-    printf("--> Hard Stop.\r\n");
-
-    /* Requesting to immediatly stop. */
-    motor->hard_stop();
-
-    /* Waiting while the motor is active. */
-    motor->wait_while_active();
-
-    /* Waiting. */
-    wait_ms(DELAY_2);
-
-
-    /*----- Infinite Loop. -----*/
+            wait(1); //Espera 1s antes de mudar de direç˜åo
 
-    /* Printing to the console. */
-    printf("--> Infinite Loop...\r\n");
-
-    /* Setting the current position to be the home position. */
-    motor->set_home();
+            /* Increasing the speed. */
+            motor->set_max_speed(SPEED_1);
 
-    /* Infinite Loop. */
-    while (true) {
-        /* Requesting to go to a specified position. */
-        motor->go_to(STEPS_1 >> 1);
-
-        /* Waiting while the motor is active. */
-        motor->wait_while_active();
-
-        /* Requesting to go to a specified position. */
-        motor->go_to(- (STEPS_1 >> 1));
-
-        /* Waiting while the motor is active. */
-        motor->wait_while_active();
+            /* Moving 400 half steps in the backward direction. */
+            motor->move(StepperMotor::BWD, STEPS_1);
+        }
     }
 }