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@26:caec5f51abe8, 2017-03-13 (annotated)

Committer:
Davidroid
Date:
Mon Mar 13 17:53:12 2017 +0000
Revision:
26:caec5f51abe8
Parent:
24:d1f487cb02ba 
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 26:caec5f51abe8 49 #include "XNucleoIHM02A1.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 26:caec5f51abe8 70 XNucleoIHM02A1 *x_nucleo_ihm02a1;
Davidroid 0:5148e9486cf2 71
Davidroid 9:f35fbeedb8f4 72 /* Initialization parameters of the motors connected to the expansion board. */
davide.aliprandi@st.com 24:d1f487cb02ba 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 23:073b26366d03 139 #ifdef TARGET_STM32F429
Davidroid 23:073b26366d03 140 DevSPI dev_spi(D11, D12, D13);
Davidroid 23:073b26366d03 141 #else
Davidroid 3:fd280b953f77 142 DevSPI dev_spi(D11, D12, D3);
Davidroid 23:073b26366d03 143 #endif
Davidroid 0:5148e9486cf2 144
Davidroid 5:3b8e19bbf386 145 /* Initializing Motor Control Expansion Board. */
Davidroid 26:caec5f51abe8 146 x_nucleo_ihm02a1 = new XNucleoIHM02A1(&init[0], &init[1], A4, A5, D4, A2, &dev_spi);
Davidroid 0:5148e9486cf2 147
Davidroid 1:9f1974b0960d 148 /* Building a list of motor control components. */
davide.aliprandi@st.com 24:d1f487cb02ba 149 L6470 **motors = x_nucleo_ihm02a1->get_components();
Davidroid 0:5148e9486cf2 150
Davidroid 0:5148e9486cf2 151 /* Printing to the console. */
Davidroid 0:5148e9486cf2 152 printf("Motor Control Application Example for 2 Motors\r\n\n");
Davidroid 0:5148e9486cf2 153
Davidroid 1:9f1974b0960d 154
Davidroid 1:9f1974b0960d 155 /*----- Setting home and marke positions, getting positions, and going to positions. -----*/
Davidroid 1:9f1974b0960d 156
Davidroid 1:9f1974b0960d 157 /* Printing to the console. */
Davidroid 1:9f1974b0960d 158 printf("--> Setting home position.\r\n");
Davidroid 1:9f1974b0960d 159
Davidroid 1:9f1974b0960d 160 /* Setting the home position. */
davide.aliprandi@st.com 24:d1f487cb02ba 161 motors[0]->set_home();
Davidroid 1:9f1974b0960d 162
Davidroid 1:9f1974b0960d 163 /* Waiting. */
Davidroid 1:9f1974b0960d 164 wait_ms(DELAY_1);
Davidroid 0:5148e9486cf2 165
Davidroid 1:9f1974b0960d 166 /* Getting the current position. */
davide.aliprandi@st.com 24:d1f487cb02ba 167 int position = motors[0]->get_position();
Davidroid 18:591a007effc2 168
Davidroid 1:9f1974b0960d 169 /* Printing to the console. */
Davidroid 1:9f1974b0960d 170 printf("--> Getting the current position: %d\r\n", position);
Davidroid 1:9f1974b0960d 171
Davidroid 1:9f1974b0960d 172 /* Waiting. */
Davidroid 1:9f1974b0960d 173 wait_ms(DELAY_1);
Davidroid 1:9f1974b0960d 174
Davidroid 1:9f1974b0960d 175 /* Printing to the console. */
Davidroid 1:9f1974b0960d 176 printf("--> Moving forward %d steps.\r\n", STEPS_1);
Davidroid 1:9f1974b0960d 177
Davidroid 1:9f1974b0960d 178 /* Moving. */
davide.aliprandi@st.com 24:d1f487cb02ba 179 motors[0]->move(StepperMotor::FWD, STEPS_1);
Davidroid 0:5148e9486cf2 180
Davidroid 1:9f1974b0960d 181 /* Waiting while active. */
davide.aliprandi@st.com 24:d1f487cb02ba 182 motors[0]->wait_while_active();
Davidroid 1:9f1974b0960d 183
Davidroid 1:9f1974b0960d 184 /* Getting the current position. */
davide.aliprandi@st.com 24:d1f487cb02ba 185 position = motors[0]->get_position();
Davidroid 1:9f1974b0960d 186
Davidroid 1:9f1974b0960d 187 /* Printing to the console. */
Davidroid 1:9f1974b0960d 188 printf("--> Getting the current position: %d\r\n", position);
Davidroid 1:9f1974b0960d 189
Davidroid 1:9f1974b0960d 190 /* Printing to the console. */
Davidroid 1:9f1974b0960d 191 printf("--> Marking the current position.\r\n");
Davidroid 0:5148e9486cf2 192
Davidroid 1:9f1974b0960d 193 /* Marking the current position. */
davide.aliprandi@st.com 24:d1f487cb02ba 194 motors[0]->set_mark();
Davidroid 1:9f1974b0960d 195
Davidroid 1:9f1974b0960d 196 /* Waiting. */
Davidroid 1:9f1974b0960d 197 wait_ms(DELAY_1);
Davidroid 1:9f1974b0960d 198
Davidroid 1:9f1974b0960d 199 /* Printing to the console. */
Davidroid 1:9f1974b0960d 200 printf("--> Moving backward %d steps.\r\n", STEPS_2);
Davidroid 1:9f1974b0960d 201
Davidroid 1:9f1974b0960d 202 /* Moving. */
davide.aliprandi@st.com 24:d1f487cb02ba 203 motors[0]->move(StepperMotor::BWD, STEPS_2);
Davidroid 1:9f1974b0960d 204
Davidroid 1:9f1974b0960d 205 /* Waiting while active. */
davide.aliprandi@st.com 24:d1f487cb02ba 206 motors[0]->wait_while_active();
Davidroid 0:5148e9486cf2 207
Davidroid 1:9f1974b0960d 208 /* Waiting. */
Davidroid 1:9f1974b0960d 209 wait_ms(DELAY_1);
Davidroid 1:9f1974b0960d 210
Davidroid 1:9f1974b0960d 211 /* Getting the current position. */
davide.aliprandi@st.com 24:d1f487cb02ba 212 position = motors[0]->get_position();
Davidroid 1:9f1974b0960d 213
Davidroid 1:9f1974b0960d 214 /* Printing to the console. */
Davidroid 1:9f1974b0960d 215 printf("--> Getting the current position: %d\r\n", position);
Davidroid 1:9f1974b0960d 216
Davidroid 1:9f1974b0960d 217 /* Waiting. */
Davidroid 1:9f1974b0960d 218 wait_ms(DELAY_1);
Davidroid 0:5148e9486cf2 219
Davidroid 1:9f1974b0960d 220 /* Printing to the console. */
Davidroid 1:9f1974b0960d 221 printf("--> Going to marked position.\r\n");
Davidroid 0:5148e9486cf2 222
Davidroid 1:9f1974b0960d 223 /* Going to marked position. */
davide.aliprandi@st.com 24:d1f487cb02ba 224 motors[0]->go_mark();
Davidroid 1:9f1974b0960d 225
Davidroid 1:9f1974b0960d 226 /* Waiting while active. */
davide.aliprandi@st.com 24:d1f487cb02ba 227 motors[0]->wait_while_active();
Davidroid 0:5148e9486cf2 228
Davidroid 1:9f1974b0960d 229 /* Waiting. */
Davidroid 1:9f1974b0960d 230 wait_ms(DELAY_1);
Davidroid 0:5148e9486cf2 231
Davidroid 1:9f1974b0960d 232 /* Getting the current position. */
davide.aliprandi@st.com 24:d1f487cb02ba 233 position = motors[0]->get_position();
Davidroid 1:9f1974b0960d 234
Davidroid 1:9f1974b0960d 235 /* Printing to the console. */
Davidroid 1:9f1974b0960d 236 printf("--> Getting the current position: %d\r\n", position);
Davidroid 0:5148e9486cf2 237
Davidroid 1:9f1974b0960d 238 /* Waiting. */
Davidroid 1:9f1974b0960d 239 wait_ms(DELAY_1);
Davidroid 1:9f1974b0960d 240
Davidroid 1:9f1974b0960d 241 /* Printing to the console. */
Davidroid 1:9f1974b0960d 242 printf("--> Going to home position.\r\n");
Davidroid 0:5148e9486cf2 243
Davidroid 1:9f1974b0960d 244 /* Going to home position. */
davide.aliprandi@st.com 24:d1f487cb02ba 245 motors[0]->go_home();
Davidroid 1:9f1974b0960d 246
Davidroid 1:9f1974b0960d 247 /* Waiting while active. */
davide.aliprandi@st.com 24:d1f487cb02ba 248 motors[0]->wait_while_active();
Davidroid 1:9f1974b0960d 249
Davidroid 1:9f1974b0960d 250 /* Waiting. */
Davidroid 1:9f1974b0960d 251 wait_ms(DELAY_1);
Davidroid 0:5148e9486cf2 252
Davidroid 1:9f1974b0960d 253 /* Getting the current position. */
davide.aliprandi@st.com 24:d1f487cb02ba 254 position = motors[0]->get_position();
Davidroid 1:9f1974b0960d 255
Davidroid 1:9f1974b0960d 256 /* Printing to the console. */
Davidroid 1:9f1974b0960d 257 printf("--> Getting the current position: %d\r\n", position);
Davidroid 1:9f1974b0960d 258
Davidroid 1:9f1974b0960d 259 /* Waiting. */
Davidroid 18:591a007effc2 260 wait_ms(DELAY_1);
Davidroid 18:591a007effc2 261
Davidroid 18:591a007effc2 262 /* Printing to the console. */
Davidroid 18:591a007effc2 263 printf("--> Halving the microsteps.\r\n");
Davidroid 18:591a007effc2 264
Davidroid 18:591a007effc2 265 /* Halving the microsteps. */
Davidroid 18:591a007effc2 266 init[0].step_sel = (init[0].step_sel > 0 ? init[0].step_sel - 1 : init[0].step_sel);
davide.aliprandi@st.com 24:d1f487cb02ba 267 if (!motors[0]->set_step_mode((StepperMotor::step_mode_t) init[0].step_sel)) {
Davidroid 18:591a007effc2 268 printf(" Step Mode not allowed.\r\n");
Davidroid 22:e81ccf73bc5d 269 }
Davidroid 18:591a007effc2 270
Davidroid 18:591a007effc2 271 /* Waiting. */
Davidroid 18:591a007effc2 272 wait_ms(DELAY_1);
Davidroid 18:591a007effc2 273
Davidroid 18:591a007effc2 274 /* Printing to the console. */
Davidroid 18:591a007effc2 275 printf("--> Setting home position.\r\n");
Davidroid 18:591a007effc2 276
Davidroid 18:591a007effc2 277 /* Setting the home position. */
davide.aliprandi@st.com 24:d1f487cb02ba 278 motors[0]->set_home();
Davidroid 18:591a007effc2 279
Davidroid 18:591a007effc2 280 /* Waiting. */
Davidroid 18:591a007effc2 281 wait_ms(DELAY_1);
Davidroid 18:591a007effc2 282
Davidroid 18:591a007effc2 283 /* Getting the current position. */
davide.aliprandi@st.com 24:d1f487cb02ba 284 position = motors[0]->get_position();
Davidroid 18:591a007effc2 285
Davidroid 18:591a007effc2 286 /* Printing to the console. */
Davidroid 18:591a007effc2 287 printf("--> Getting the current position: %d\r\n", position);
Davidroid 18:591a007effc2 288
Davidroid 18:591a007effc2 289 /* Waiting. */
Davidroid 18:591a007effc2 290 wait_ms(DELAY_1);
Davidroid 18:591a007effc2 291
Davidroid 18:591a007effc2 292 /* Printing to the console. */
Davidroid 18:591a007effc2 293 printf("--> Moving forward %d steps.\r\n", STEPS_1);
Davidroid 18:591a007effc2 294
Davidroid 18:591a007effc2 295 /* Moving. */
davide.aliprandi@st.com 24:d1f487cb02ba 296 motors[0]->move(StepperMotor::FWD, STEPS_1);
Davidroid 18:591a007effc2 297
Davidroid 18:591a007effc2 298 /* Waiting while active. */
davide.aliprandi@st.com 24:d1f487cb02ba 299 motors[0]->wait_while_active();
Davidroid 18:591a007effc2 300
Davidroid 18:591a007effc2 301 /* Getting the current position. */
davide.aliprandi@st.com 24:d1f487cb02ba 302 position = motors[0]->get_position();
Davidroid 18:591a007effc2 303
Davidroid 18:591a007effc2 304 /* Printing to the console. */
Davidroid 18:591a007effc2 305 printf("--> Getting the current position: %d\r\n", position);
Davidroid 18:591a007effc2 306
Davidroid 18:591a007effc2 307 /* Printing to the console. */
Davidroid 18:591a007effc2 308 printf("--> Marking the current position.\r\n");
Davidroid 18:591a007effc2 309
Davidroid 18:591a007effc2 310 /* Marking the current position. */
davide.aliprandi@st.com 24:d1f487cb02ba 311 motors[0]->set_mark();
Davidroid 18:591a007effc2 312
Davidroid 18:591a007effc2 313 /* Waiting. */
Davidroid 1:9f1974b0960d 314 wait_ms(DELAY_2);
Davidroid 0:5148e9486cf2 315
Davidroid 0:5148e9486cf2 316
Davidroid 1:9f1974b0960d 317 /*----- Running together for a certain amount of time. -----*/
Davidroid 1:9f1974b0960d 318
Davidroid 1:9f1974b0960d 319 /* Printing to the console. */
Davidroid 1:9f1974b0960d 320 printf("--> Running together for %d seconds.\r\n", DELAY_3 / 1000);
Davidroid 0:5148e9486cf2 321
Davidroid 1:9f1974b0960d 322 /* Preparing each motor to perform a run at a specified speed. */
Davidroid 22:e81ccf73bc5d 323 for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
davide.aliprandi@st.com 24:d1f487cb02ba 324 motors[m]->prepare_run(StepperMotor::BWD, 400);
Davidroid 22:e81ccf73bc5d 325 }
Davidroid 0:5148e9486cf2 326
Davidroid 1:9f1974b0960d 327 /* Performing the action on each motor at the same time. */
davide.aliprandi@st.com 24:d1f487cb02ba 328 x_nucleo_ihm02a1->perform_prepared_actions();
Davidroid 0:5148e9486cf2 329
Davidroid 1:9f1974b0960d 330 /* Waiting. */
Davidroid 1:9f1974b0960d 331 wait_ms(DELAY_3);
Davidroid 1:9f1974b0960d 332
Davidroid 1:9f1974b0960d 333
Davidroid 1:9f1974b0960d 334 /*----- Increasing the speed while running. -----*/
Davidroid 0:5148e9486cf2 335
Davidroid 1:9f1974b0960d 336 /* Preparing each motor to perform a run at a specified speed. */
Davidroid 22:e81ccf73bc5d 337 for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
davide.aliprandi@st.com 24:d1f487cb02ba 338 motors[m]->prepare_get_speed();
Davidroid 22:e81ccf73bc5d 339 }
Davidroid 0:5148e9486cf2 340
Davidroid 1:9f1974b0960d 341 /* Performing the action on each motor at the same time. */
davide.aliprandi@st.com 24:d1f487cb02ba 342 uint32_t* results = x_nucleo_ihm02a1->perform_prepared_actions();
Davidroid 0:5148e9486cf2 343
Davidroid 1:9f1974b0960d 344 /* Printing to the console. */
Davidroid 1:9f1974b0960d 345 printf(" Speed: M1 %d, M2 %d.\r\n", results[0], results[1]);
Davidroid 1:9f1974b0960d 346
Davidroid 1:9f1974b0960d 347 /* Printing to the console. */
Davidroid 18:591a007effc2 348 printf("--> Doublig the speed while running again for %d seconds.\r\n", DELAY_3 / 1000);
Davidroid 0:5148e9486cf2 349
Davidroid 1:9f1974b0960d 350 /* Preparing each motor to perform a run at a specified speed. */
Davidroid 22:e81ccf73bc5d 351 for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
davide.aliprandi@st.com 24:d1f487cb02ba 352 motors[m]->prepare_run(StepperMotor::BWD, results[m] << 1);
Davidroid 22:e81ccf73bc5d 353 }
Davidroid 1:9f1974b0960d 354
Davidroid 1:9f1974b0960d 355 /* Performing the action on each motor at the same time. */
davide.aliprandi@st.com 24:d1f487cb02ba 356 results = x_nucleo_ihm02a1->perform_prepared_actions();
Davidroid 0:5148e9486cf2 357
Davidroid 1:9f1974b0960d 358 /* Waiting. */
Davidroid 1:9f1974b0960d 359 wait_ms(DELAY_3);
Davidroid 0:5148e9486cf2 360
Davidroid 1:9f1974b0960d 361 /* Preparing each motor to perform a run at a specified speed. */
Davidroid 22:e81ccf73bc5d 362 for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
davide.aliprandi@st.com 24:d1f487cb02ba 363 motors[m]->prepare_get_speed();
Davidroid 22:e81ccf73bc5d 364 }
Davidroid 0:5148e9486cf2 365
Davidroid 1:9f1974b0960d 366 /* Performing the action on each motor at the same time. */
davide.aliprandi@st.com 24:d1f487cb02ba 367 results = x_nucleo_ihm02a1->perform_prepared_actions();
Davidroid 0:5148e9486cf2 368
Davidroid 1:9f1974b0960d 369 /* Printing to the console. */
Davidroid 1:9f1974b0960d 370 printf(" Speed: M1 %d, M2 %d.\r\n", results[0], results[1]);
Davidroid 1:9f1974b0960d 371
Davidroid 1:9f1974b0960d 372 /* Waiting. */
Davidroid 1:9f1974b0960d 373 wait_ms(DELAY_1);
Davidroid 0:5148e9486cf2 374
Davidroid 0:5148e9486cf2 375
Davidroid 1:9f1974b0960d 376 /*----- Hard Stop. -----*/
Davidroid 0:5148e9486cf2 377
Davidroid 1:9f1974b0960d 378 /* Printing to the console. */
Davidroid 1:9f1974b0960d 379 printf("--> Hard Stop.\r\n");
Davidroid 0:5148e9486cf2 380
Davidroid 1:9f1974b0960d 381 /* Preparing each motor to perform a hard stop. */
Davidroid 22:e81ccf73bc5d 382 for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
davide.aliprandi@st.com 24:d1f487cb02ba 383 motors[m]->prepare_hard_stop();
Davidroid 22:e81ccf73bc5d 384 }
Davidroid 0:5148e9486cf2 385
Davidroid 1:9f1974b0960d 386 /* Performing the action on each motor at the same time. */
davide.aliprandi@st.com 24:d1f487cb02ba 387 x_nucleo_ihm02a1->perform_prepared_actions();
Davidroid 0:5148e9486cf2 388
Davidroid 1:9f1974b0960d 389 /* Waiting. */
Davidroid 1:9f1974b0960d 390 wait_ms(DELAY_2);
Davidroid 0:5148e9486cf2 391
Davidroid 0:5148e9486cf2 392
Davidroid 1:9f1974b0960d 393 /*----- Doing a full revolution on each motor, one after the other. -----*/
Davidroid 1:9f1974b0960d 394
Davidroid 1:9f1974b0960d 395 /* Printing to the console. */
Davidroid 1:9f1974b0960d 396 printf("--> Doing a full revolution on each motor, one after the other.\r\n");
Davidroid 1:9f1974b0960d 397
Davidroid 1:9f1974b0960d 398 /* Doing a full revolution on each motor, one after the other. */
Davidroid 22:e81ccf73bc5d 399 for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
Davidroid 22:e81ccf73bc5d 400 for (int i = 0; i < MPR_1; i++) {
Davidroid 1:9f1974b0960d 401 /* Computing the number of steps. */
Davidroid 9:f35fbeedb8f4 402 int steps = (int) (((int) init[m].fullstepsperrevolution * pow(2.0f, init[m].step_sel)) / MPR_1);
Davidroid 1:9f1974b0960d 403
Davidroid 1:9f1974b0960d 404 /* Moving. */
davide.aliprandi@st.com 24:d1f487cb02ba 405 motors[m]->move(StepperMotor::FWD, steps);
Davidroid 1:9f1974b0960d 406
Davidroid 1:9f1974b0960d 407 /* Waiting while active. */
davide.aliprandi@st.com 24:d1f487cb02ba 408 motors[m]->wait_while_active();
Davidroid 1:9f1974b0960d 409
Davidroid 1:9f1974b0960d 410 /* Waiting. */
Davidroid 1:9f1974b0960d 411 wait_ms(DELAY_1);
Davidroid 1:9f1974b0960d 412 }
Davidroid 22:e81ccf73bc5d 413 }
Davidroid 1:9f1974b0960d 414
Davidroid 1:9f1974b0960d 415 /* Waiting. */
Davidroid 1:9f1974b0960d 416 wait_ms(DELAY_2);
Davidroid 1:9f1974b0960d 417
Davidroid 1:9f1974b0960d 418
Davidroid 1:9f1974b0960d 419 /*----- High Impedance State. -----*/
Davidroid 1:9f1974b0960d 420
Davidroid 1:9f1974b0960d 421 /* Printing to the console. */
Davidroid 1:9f1974b0960d 422 printf("--> High Impedance State.\r\n");
Davidroid 1:9f1974b0960d 423
Davidroid 1:9f1974b0960d 424 /* Preparing each motor to set High Impedance State. */
Davidroid 22:e81ccf73bc5d 425 for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
davide.aliprandi@st.com 24:d1f487cb02ba 426 motors[m]->prepare_hard_hiz();
Davidroid 22:e81ccf73bc5d 427 }
Davidroid 1:9f1974b0960d 428
Davidroid 1:9f1974b0960d 429 /* Performing the action on each motor at the same time. */
davide.aliprandi@st.com 24:d1f487cb02ba 430 x_nucleo_ihm02a1->perform_prepared_actions();
Davidroid 1:9f1974b0960d 431
Davidroid 1:9f1974b0960d 432 /* Waiting. */
Davidroid 1:9f1974b0960d 433 wait_ms(DELAY_2);
Davidroid 22:e81ccf73bc5d 434 }