Diff: main.cpp

Revision:

6:d5d776281222

Parent:

5:4c1e581bbb8b

--- a/main.cpp	Wed Jun 15 12:51:03 2016 +0000
+++ b/main.cpp	Sat Feb 10 18:25:08 2018 +0000
@@ -81,7 +81,7 @@
 L6206 *motor;
 
 /* User button on Nucleo board */
-InterruptIn mybutton_irq(USER_BUTTON);
+//InterruptIn mybutton_irq(USER_BUTTON);
 
 
 
@@ -149,7 +149,7 @@
   * @retval None
   */
 
-void button_pressed(void)
+/*void button_pressed(void)
 {
     mybutton_irq.disable_irq();
     gStep++;
@@ -161,7 +161,7 @@
     mybutton_irq.enable_irq();
 
 }
-
+*/
 
 /**
   * @brief  Main program
@@ -170,6 +170,40 @@
   */
 int main(void)
 {
+     
+            printf("ESTRONCIO\n");
+/*Con il codice
+
+motor->run(0, BDCMotor::FWD); // Forward
+
+fai andare avanti.
+
+ 
+
+Se vuoi cambiare il verso devi usare questo codice
+
+motor->run(0, BDCMotor::BWD); // Backword
+
+ 
+
+Lo 0 indica il motore 0, per il secondo motore puoi usare 1 collegandolo opportunamente.
+
+ 
+
+Quindi ad esempio se devi fare andare tutti e due avanti, usi questo codice
+
+motor->run(0, BDCMotor::FWD); // Forward
+
+motor->run(1, BDCMotor::FWD); // Forward
+
+ 
+
+Per farli andare indietro
+
+motor->run(0, BDCMotor::BWD); // Forward
+
+motor->run(1, BDCMotor::BWD); // Forward
+*/
     /*----- Initialization. -----*/
 
     /* Initializing Motor Control Component. */
@@ -178,14 +212,14 @@
     /* When Init method is called with NULL pointer, the L6206 parameters are set   */
     /* with the predefined values from file l6206_target_config.h, otherwise the    */
     /* parameters are set using the initDeviceParameters structure values.          */
-    if (motor->Init(&init) != COMPONENT_OK)
-        exit(EXIT_FAILURE);
+ //   if (motor->Init(&init) != COMPONENT_OK)
+ //       exit(EXIT_FAILURE);
 
     /* Attach the function MyFlagInterruptHandler (defined below) to the flag interrupt */
-    motor->AttachFlagInterrupt(MyFlagInterruptHandler);
+ //   motor->AttachFlagInterrupt(MyFlagInterruptHandler);
 
     /* Attach the function Error_Handler (defined below) to the error Handler*/
-    motor->AttachErrorHandler(Error_Handler);
+ //   motor->AttachErrorHandler(Error_Handler);
 
     /* Printing to the console. */
     printf("Motor Control Application Example for 4 Motor\r\n\n");
@@ -193,68 +227,88 @@
 
     /* Select the configuration with no bridge paralleling, two unidirectionnal motors on bridge A 
        and two unidirectionnal motors on bridge B */
-    motor->SetDualFullBridgeConfig(PARALLELING_NONE___2_UNDIR_MOTOR_BRIDGE_A__2_UNDIR_MOTOR_BRIDGE_B);
+
+  //  motor->SetDualFullBridgeConfig(PARALLELING_NONE___2_UNDIR_MOTOR_BRIDGE_A__2_UNDIR_MOTOR_BRIDGE_B);
+    motor->SetDualFullBridgeConfig(PARALLELING_NONE___1_BIDIR_MOTOR_BRIDGE_A__1_BIDIR_MOTOR_BRIDGE_B);
  
     /* Set PWM Frequency of bridge A inputs to 1000 Hz */ 
-    motor->SetBridgeInputPwmFreq(0,1000);
+    motor->SetBridgeInputPwmFreq(0,2000);
   
     /* Set PWM Frequency of bridge B inputs to 2000 Hz */ 
     motor->SetBridgeInputPwmFreq(1,2000);
   
-    // Attach button_pressed function to Irq
-    mybutton_irq.fall(&button_pressed);
+ //   // Attach button_pressed function to Irq
+ //   mybutton_irq.fall(&button_pressed);
 
     /* Infinite loop */
     while(1)
     {
 
-        if (gStep > 0)
-        {
-            printf("Run motor 0 at 20%% of the maximum speed\n");
-            /* Set speed of motor 0 to 20% */
-            motor->SetSpeed(0,20);
+ //       if (gStep > 0)
+ //       {
+            printf("ESTRONCIOLETTO\n");
+ //           printf("Run motor 0 at 20%% of the maximum speed\n");
+  //          /* Set speed of motor 0 to 20% */
+  //          motor->SetSpeed(0,40);
             /* start motor 0 */
-            motor->Run(0, BDCMotor::FWD);
-        }
+ //           motor->Run(0, BDCMotor::FWD);
+  //      }
 
-        if (gStep > 1)
-        {
-            printf("Run motor 1 at 30%% of the maximum speed\n");
+  //      if (gStep > 1)
+  //      {
+            printf("Run motor 1 e 2 at 50% avanti\n");
             /* Set speed of motor 1 to 30 % */
-            motor->SetSpeed(1,30);
+            motor->SetSpeed(0,100);
+            motor->SetSpeed(1,100);
             /* start motor 1 */
             motor->Run(1, BDCMotor::FWD);
-        }
-
-        if (gStep > 2)
-        {
-            printf("Run motor 2 at 40%% of the maximum speed\n");
-            /* Set speed of motor 2 to 40 % */
-            motor->SetSpeed(2,40);
-            /* start motor 2 */
-            motor->Run(2, BDCMotor::FWD);
-        }
+            motor->Run(0, BDCMotor::FWD); // Avanti
+            printf("Motori 1 e 2 FERMI\n");
+            wait_ms(5000);
+            motor->HardHiZ(0);   
+            motor->HardHiZ(1);
+ //           printf("Motori 1 e 2 FERMI\n");
+            wait_ms(1000);           
+            printf("Run motor 1 e 2 at 50% indietro\n");
+            motor->Run(1, BDCMotor::BWD);
+            motor->Run(0, BDCMotor::BWD); // Indietro
+            wait_ms(5000);
+            motor->HardHiZ(0);   
+            motor->HardHiZ(1);
+            printf("Motori 1 e 2 FERMI\n");
+            wait_ms(1000);
+ //       }
 
-        if (gStep > 3)
-        {
-            printf("Run motor 3 at 50%% of the maximum speed\n");
-            /* Set speed of motor 3 to 50 % */
-            motor->SetSpeed(3,50);
-            /* start motor 3 */
-            motor->Run(3, BDCMotor::FWD);      
-        }
+ //       if (gStep > 2)
+ //       {
+ //           printf("Run motor 2 at 40%% of the maximum speed\n");
+ //           /* Set speed of motor 2 to 40 % */
+ //           motor->SetSpeed(2,100);
+ //           /* start motor 2 */
+ //           motor->Run(2, BDCMotor::FWD);
+ //       }
 
-        if (gStep > 0)
-        {
-            wait_ms(1000);
+ //       if (gStep > 3)
+ //       {
+ //           printf("Run motor 3 at 50%% of the maximum speed\n");
+ //           /* Set speed of motor 3 to 50 % */
+ //           motor->SetSpeed(3,100);
+ //           /* start motor 3 */
+ //           motor->Run(3, BDCMotor::FWD);      
+ //       }
+
+ //       if (gStep > 0)
+  //      {
+  //          wait_ms(1000);
         
-            motor->HardHiZ(0);   
-            motor->HardHiZ(1);   
-            motor->HardHiZ(2);   
-            motor->HardHiZ(3);
+   //         motor->HardHiZ(0);   
+   //         motor->HardHiZ(1);   
+  //          motor->HardHiZ(2);   
+  //          motor->HardHiZ(3);
             
-            wait_ms(1000);
-        }
+  //          wait_ms(1000);
+  //      }
+
     }
 }