ST / Mbed 2 deprecated HelloWorld_IHM02A1

Simple test application for the STMicroelectronics X-NUCLEO-IHM02A1 Stepper Motor Control Expansion Board.

Dependencies:   X_NUCLEO_IHM02A1 mbed

Fork of HelloWorld_IHM02A1 by ST Expansion SW Team

Motor Control with the X-NUCLEO-IHM02A1 Expansion Board

This application provides a simple example of usage of the X-NUCLEO-IHM02A1 Stepper Motor Control Expansion Board.
It shows how to use two stepper motors connected in daisy chain configuration to the board, moving the rotors to specific positions, with given speed values, direction of rotations, etc.

main.cpp@18:591a007effc2, 2016-04-07 (annotated)

Committer:
Davidroid
Date:
Thu Apr 07 16:56:27 2016 +0000
Revision:
18:591a007effc2
Parent:
15:698fe51556c0
Child:
22:e81ccf73bc5d
+ Updated with the new version of the library.

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 15:698fe51556c0 73 L6470_Init_t init[L6470DAISYCHAINSIZE] =
Davidroid 9:f35fbeedb8f4 74 {
Davidroid 9:f35fbeedb8f4 75 /* First Motor. */
Davidroid 9:f35fbeedb8f4 76 {
Davidroid 18:591a007effc2 77 9.0, /* Motor supply voltage in V. */
Davidroid 18:591a007effc2 78 400, /* Min number of steps per revolution for the motor. */
Davidroid 18:591a007effc2 79 1.7, /* Max motor phase voltage in A. */
Davidroid 18:591a007effc2 80 3.06, /* Max motor phase voltage in V. */
Davidroid 18:591a007effc2 81 300.0, /* Motor initial speed [step/s]. */
Davidroid 18:591a007effc2 82 500.0, /* Motor acceleration [step/s^2] (comment for infinite acceleration mode). */
Davidroid 18:591a007effc2 83 500.0, /* Motor deceleration [step/s^2] (comment for infinite deceleration mode). */
Davidroid 18:591a007effc2 84 992.0, /* Motor maximum speed [step/s]. */
Davidroid 18:591a007effc2 85 0.0, /* Motor minimum speed [step/s]. */
Davidroid 18:591a007effc2 86 602.7, /* Motor full-step speed threshold [step/s]. */
Davidroid 18:591a007effc2 87 3.06, /* Holding kval [V]. */
Davidroid 18:591a007effc2 88 3.06, /* Constant speed kval [V]. */
Davidroid 18:591a007effc2 89 3.06, /* Acceleration starting kval [V]. */
Davidroid 18:591a007effc2 90 3.06, /* Deceleration starting kval [V]. */
Davidroid 18:591a007effc2 91 61.52, /* Intersect speed for bemf compensation curve slope changing [step/s]. */
Davidroid 18:591a007effc2 92 392.1569e-6, /* Start slope [s/step]. */
Davidroid 18:591a007effc2 93 643.1372e-6, /* Acceleration final slope [s/step]. */
Davidroid 18:591a007effc2 94 643.1372e-6, /* Deceleration final slope [s/step]. */
Davidroid 18:591a007effc2 95 0, /* Thermal compensation factor (range [0, 15]). */
Davidroid 18:591a007effc2 96 3.06 * 1000 * 1.10, /* Ocd threshold [ma] (range [375 ma, 6000 ma]). */
Davidroid 18:591a007effc2 97 3.06 * 1000 * 1.00, /* Stall threshold [ma] (range [31.25 ma, 4000 ma]). */
Davidroid 18:591a007effc2 98 StepperMotor::STEP_MODE_1_128, /* Step mode selection. */
Davidroid 18:591a007effc2 99 0xFF, /* Alarm conditions enable. */
Davidroid 18:591a007effc2 100 0x2E88 /* Ic configuration. */
Davidroid 9:f35fbeedb8f4 101 },
Davidroid 9:f35fbeedb8f4 102
Davidroid 9:f35fbeedb8f4 103 /* Second Motor. */
Davidroid 9:f35fbeedb8f4 104 {
Davidroid 18:591a007effc2 105 9.0, /* Motor supply voltage in V. */
Davidroid 18:591a007effc2 106 400, /* Min number of steps per revolution for the motor. */
Davidroid 18:591a007effc2 107 1.7, /* Max motor phase voltage in A. */
Davidroid 18:591a007effc2 108 3.06, /* Max motor phase voltage in V. */
Davidroid 18:591a007effc2 109 300.0, /* Motor initial speed [step/s]. */
Davidroid 18:591a007effc2 110 500.0, /* Motor acceleration [step/s^2] (comment for infinite acceleration mode). */
Davidroid 18:591a007effc2 111 500.0, /* Motor deceleration [step/s^2] (comment for infinite deceleration mode). */
Davidroid 18:591a007effc2 112 992.0, /* Motor maximum speed [step/s]. */
Davidroid 18:591a007effc2 113 0.0, /* Motor minimum speed [step/s]. */
Davidroid 18:591a007effc2 114 602.7, /* Motor full-step speed threshold [step/s]. */
Davidroid 18:591a007effc2 115 3.06, /* Holding kval [V]. */
Davidroid 18:591a007effc2 116 3.06, /* Constant speed kval [V]. */
Davidroid 18:591a007effc2 117 3.06, /* Acceleration starting kval [V]. */
Davidroid 18:591a007effc2 118 3.06, /* Deceleration starting kval [V]. */
Davidroid 18:591a007effc2 119 61.52, /* Intersect speed for bemf compensation curve slope changing [step/s]. */
Davidroid 18:591a007effc2 120 392.1569e-6, /* Start slope [s/step]. */
Davidroid 18:591a007effc2 121 643.1372e-6, /* Acceleration final slope [s/step]. */
Davidroid 18:591a007effc2 122 643.1372e-6, /* Deceleration final slope [s/step]. */
Davidroid 18:591a007effc2 123 0, /* Thermal compensation factor (range [0, 15]). */
Davidroid 18:591a007effc2 124 3.06 * 1000 * 1.10, /* Ocd threshold [ma] (range [375 ma, 6000 ma]). */
Davidroid 18:591a007effc2 125 3.06 * 1000 * 1.00, /* Stall threshold [ma] (range [31.25 ma, 4000 ma]). */
Davidroid 18:591a007effc2 126 StepperMotor::STEP_MODE_1_128, /* Step mode selection. */
Davidroid 18:591a007effc2 127 0xFF, /* Alarm conditions enable. */
Davidroid 18:591a007effc2 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 18:591a007effc2 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 18:591a007effc2 257 wait_ms(DELAY_1);
Davidroid 18:591a007effc2 258
Davidroid 18:591a007effc2 259 /* Printing to the console. */
Davidroid 18:591a007effc2 260 printf("--> Halving the microsteps.\r\n");
Davidroid 18:591a007effc2 261
Davidroid 18:591a007effc2 262 /* Halving the microsteps. */
Davidroid 18:591a007effc2 263 init[0].step_sel = (init[0].step_sel > 0 ? init[0].step_sel - 1 : init[0].step_sel);
Davidroid 18:591a007effc2 264 if (!motors[0]->SetStepMode((StepperMotor::step_mode_t) init[0].step_sel))
Davidroid 18:591a007effc2 265 printf(" Step Mode not allowed.\r\n");
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 1:9f1974b0960d 319 for (int m = 0; m < L6470DAISYCHAINSIZE; m++)
Davidroid 1:9f1974b0960d 320 motors[m]->PrepareRun(StepperMotor::BWD, 400);
Davidroid 0:5148e9486cf2 321
Davidroid 1:9f1974b0960d 322 /* Performing the action on each motor at the same time. */
Davidroid 1:9f1974b0960d 323 x_nucleo_ihm02a1->PerformPreparedActions();
Davidroid 0:5148e9486cf2 324
Davidroid 1:9f1974b0960d 325 /* Waiting. */
Davidroid 1:9f1974b0960d 326 wait_ms(DELAY_3);
Davidroid 1:9f1974b0960d 327
Davidroid 1:9f1974b0960d 328
Davidroid 1:9f1974b0960d 329 /*----- Increasing the speed while running. -----*/
Davidroid 0:5148e9486cf2 330
Davidroid 1:9f1974b0960d 331 /* Preparing each motor to perform a run at a specified speed. */
Davidroid 1:9f1974b0960d 332 for (int m = 0; m < L6470DAISYCHAINSIZE; m++)
Davidroid 1:9f1974b0960d 333 motors[m]->PrepareGetSpeed();
Davidroid 0:5148e9486cf2 334
Davidroid 1:9f1974b0960d 335 /* Performing the action on each motor at the same time. */
Davidroid 1:9f1974b0960d 336 uint32_t* results = x_nucleo_ihm02a1->PerformPreparedActions();
Davidroid 0:5148e9486cf2 337
Davidroid 1:9f1974b0960d 338 /* Printing to the console. */
Davidroid 1:9f1974b0960d 339 printf(" Speed: M1 %d, M2 %d.\r\n", results[0], results[1]);
Davidroid 1:9f1974b0960d 340
Davidroid 1:9f1974b0960d 341 /* Printing to the console. */
Davidroid 18:591a007effc2 342 printf("--> Doublig the speed while running again for %d seconds.\r\n", DELAY_3 / 1000);
Davidroid 0:5148e9486cf2 343
Davidroid 1:9f1974b0960d 344 /* Preparing each motor to perform a run at a specified speed. */
Davidroid 1:9f1974b0960d 345 for (int m = 0; m < L6470DAISYCHAINSIZE; m++)
Davidroid 1:9f1974b0960d 346 motors[m]->PrepareRun(StepperMotor::BWD, results[m] << 1);
Davidroid 1:9f1974b0960d 347
Davidroid 1:9f1974b0960d 348 /* Performing the action on each motor at the same time. */
Davidroid 1:9f1974b0960d 349 results = x_nucleo_ihm02a1->PerformPreparedActions();
Davidroid 0:5148e9486cf2 350
Davidroid 1:9f1974b0960d 351 /* Waiting. */
Davidroid 1:9f1974b0960d 352 wait_ms(DELAY_3);
Davidroid 0:5148e9486cf2 353
Davidroid 1:9f1974b0960d 354 /* Preparing each motor to perform a run at a specified speed. */
Davidroid 1:9f1974b0960d 355 for (int m = 0; m < L6470DAISYCHAINSIZE; m++)
Davidroid 1:9f1974b0960d 356 motors[m]->PrepareGetSpeed();
Davidroid 0:5148e9486cf2 357
Davidroid 1:9f1974b0960d 358 /* Performing the action on each motor at the same time. */
Davidroid 1:9f1974b0960d 359 results = x_nucleo_ihm02a1->PerformPreparedActions();
Davidroid 0:5148e9486cf2 360
Davidroid 1:9f1974b0960d 361 /* Printing to the console. */
Davidroid 1:9f1974b0960d 362 printf(" Speed: M1 %d, M2 %d.\r\n", results[0], results[1]);
Davidroid 1:9f1974b0960d 363
Davidroid 1:9f1974b0960d 364 /* Waiting. */
Davidroid 1:9f1974b0960d 365 wait_ms(DELAY_1);
Davidroid 0:5148e9486cf2 366
Davidroid 0:5148e9486cf2 367
Davidroid 1:9f1974b0960d 368 /*----- Hard Stop. -----*/
Davidroid 0:5148e9486cf2 369
Davidroid 1:9f1974b0960d 370 /* Printing to the console. */
Davidroid 1:9f1974b0960d 371 printf("--> Hard Stop.\r\n");
Davidroid 0:5148e9486cf2 372
Davidroid 1:9f1974b0960d 373 /* Preparing each motor to perform a hard stop. */
Davidroid 1:9f1974b0960d 374 for (int m = 0; m < L6470DAISYCHAINSIZE; m++)
Davidroid 1:9f1974b0960d 375 motors[m]->PrepareHardStop();
Davidroid 0:5148e9486cf2 376
Davidroid 1:9f1974b0960d 377 /* Performing the action on each motor at the same time. */
Davidroid 1:9f1974b0960d 378 x_nucleo_ihm02a1->PerformPreparedActions();
Davidroid 0:5148e9486cf2 379
Davidroid 1:9f1974b0960d 380 /* Waiting. */
Davidroid 1:9f1974b0960d 381 wait_ms(DELAY_2);
Davidroid 0:5148e9486cf2 382
Davidroid 0:5148e9486cf2 383
Davidroid 1:9f1974b0960d 384 /*----- Doing a full revolution on each motor, one after the other. -----*/
Davidroid 1:9f1974b0960d 385
Davidroid 1:9f1974b0960d 386 /* Printing to the console. */
Davidroid 1:9f1974b0960d 387 printf("--> Doing a full revolution on each motor, one after the other.\r\n");
Davidroid 1:9f1974b0960d 388
Davidroid 1:9f1974b0960d 389 /* Doing a full revolution on each motor, one after the other. */
Davidroid 1:9f1974b0960d 390 for (int m = 0; m < L6470DAISYCHAINSIZE; m++)
Davidroid 1:9f1974b0960d 391 for (int i = 0; i < MPR_1; i++)
Davidroid 1:9f1974b0960d 392 {
Davidroid 1:9f1974b0960d 393 /* Computing the number of steps. */
Davidroid 9:f35fbeedb8f4 394 int steps = (int) (((int) init[m].fullstepsperrevolution * pow(2.0f, init[m].step_sel)) / MPR_1);
Davidroid 1:9f1974b0960d 395
Davidroid 1:9f1974b0960d 396 /* Moving. */
Davidroid 1:9f1974b0960d 397 motors[m]->Move(StepperMotor::FWD, steps);
Davidroid 1:9f1974b0960d 398
Davidroid 1:9f1974b0960d 399 /* Waiting while active. */
Davidroid 1:9f1974b0960d 400 motors[m]->WaitWhileActive();
Davidroid 1:9f1974b0960d 401
Davidroid 1:9f1974b0960d 402 /* Waiting. */
Davidroid 1:9f1974b0960d 403 wait_ms(DELAY_1);
Davidroid 1:9f1974b0960d 404 }
Davidroid 1:9f1974b0960d 405
Davidroid 1:9f1974b0960d 406 /* Waiting. */
Davidroid 1:9f1974b0960d 407 wait_ms(DELAY_2);
Davidroid 1:9f1974b0960d 408
Davidroid 1:9f1974b0960d 409
Davidroid 1:9f1974b0960d 410 /*----- High Impedance State. -----*/
Davidroid 1:9f1974b0960d 411
Davidroid 1:9f1974b0960d 412 /* Printing to the console. */
Davidroid 1:9f1974b0960d 413 printf("--> High Impedance State.\r\n");
Davidroid 1:9f1974b0960d 414
Davidroid 1:9f1974b0960d 415 /* Preparing each motor to set High Impedance State. */
Davidroid 1:9f1974b0960d 416 for (int m = 0; m < L6470DAISYCHAINSIZE; m++)
Davidroid 1:9f1974b0960d 417 motors[m]->PrepareHardHiZ();
Davidroid 1:9f1974b0960d 418
Davidroid 1:9f1974b0960d 419 /* Performing the action on each motor at the same time. */
Davidroid 1:9f1974b0960d 420 x_nucleo_ihm02a1->PerformPreparedActions();
Davidroid 1:9f1974b0960d 421
Davidroid 1:9f1974b0960d 422 /* Waiting. */
Davidroid 1:9f1974b0960d 423 wait_ms(DELAY_2);
Davidroid 0:5148e9486cf2 424 }