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First release of STM32duino library for X-NUCLEO-IHM12A1
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‎LICENSE.md‎

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COPYRIGHT(c) 2019 STMicroelectronics
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Redistribution and use in source and binary forms, with or without modification,
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are permitted provided that the following conditions are met:
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1. Redistributions of source code must retain the above copyright notice,
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this list of conditions and the following disclaimer.
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2. Redistributions in binary form must reproduce the above copyright notice,
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this list of conditions and the following disclaimer in the documentation
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and/or other materials provided with the distribution.
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3. Neither the name of STMicroelectronics nor the names of its contributors
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may be used to endorse or promote products derived from this software
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without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
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FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

‎README.md‎

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# X-NUCLEO-IHM12A1
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Arduino library to support dual brush DC motor driver based on STSPIN240 component
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The X-NUCLEO-IHM12A1 is a low voltage dual brush DC motor driver expansion board based on the
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STSPIN240 for STM32 Nucleo. It provides an affordable and easy-to-use solution for the implementation
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of portable motor driving applications such as thermal printers, robotics and toys.
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Thanks to its programmable current limiter and complete set of protection features,
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it offers high levels of performance and robustness. The X-NUCLEO-IHM12A1 is compatible with the
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Arduino UNO R3 connector and most STM32 Nucleo boards.
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## Examples
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There is 1 example with the X-NUCLEO-IHM12A1 library.
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* X_NUCLEO_IHM12A1_HelloWorld: This application provides a simple example of usage of the X-NUCLEO-IHM12A1
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Dual Brush DC Motor Driver Expansion Board. It shows how to use two brush DC motors connected to the board,
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moving the rotors with several speed values, direction of rotations, etc.
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## Documentation
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You can find the source files at
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https://github.com/stm32duino/X-NUCLEO-IHM12A1
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The STSPIN240 datasheet is available at
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https://www.st.com/content/st_com/en/products/motor-drivers/brushed-dc-motor-drivers/stspin240.html

‎examples/X_NUCLEO_IHM12A1_HelloWorld/X_NUCLEO_IHM12A1_HelloWorld.ino‎

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/**
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******************************************************************************
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* @file X_NUCLEO_IHM12A1_HelloWorld.ino
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* @author STMicroelectronics
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* @version V1.0.0
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* @date 29 July 2019
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* @brief Arduino test application for the STMicroelectronics X-NUCLEO-IHM12A1
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* Motor Control Expansion Board: control of 2 DC Brush motors.
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******************************************************************************
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* @attention
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*
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* <h2><center>&copy; COPYRIGHT(c) 2019 STMicroelectronics</center></h2>
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*
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* Redistribution and use in source and binary forms, with or without modification,
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* are permitted provided that the following conditions are met:
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* 1. Redistributions of source code must retain the above copyright notice,
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* this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright notice,
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* this list of conditions and the following disclaimer in the documentation
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* and/or other materials provided with the distribution.
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* 3. Neither the name of STMicroelectronics nor the names of its contributors
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* may be used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
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* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*
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******************************************************************************
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*/
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/* Includes ------------------------------------------------------------------*/
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/* Arduino specific header files. */
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#include "Arduino.h"
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/* Component specific header files. */
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#include "STSpin240_250.h"
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/* Definitions ---------------------------------------------------------------*/
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#define SerialPort Serial
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/* Variables -----------------------------------------------------------------*/
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/* Initialization parameters of the motor connected to the expansion board. */
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STSpin240_250_init_t init_s =
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{
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20000, /* Frequency of PWM of Input Bridge A in Hz up to 100000Hz */
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20000, /* Frequency of PWM of Input Bridge B in Hz up to 100000Hz */
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20000, /* Frequency of PWM used for Ref pin in Hz up to 100000Hz */
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50, /* Duty cycle of PWM used for Ref pin (from 0 to 100) */
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TRUE /* Dual Bridge configuration (FALSE for mono, TRUE for dual brush dc) */
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};
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/* Motor Control Component. */
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STSpin240_250 *motor;
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/* Functions -----------------------------------------------------------------*/
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/**
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* @brief This is an example of error handler.
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* @param[in] error Number of the error
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* @retval None
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* @note If needed, implement it, and then attach it:
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* + motor->attach_error_handler(&my_error_handler);
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*/
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void my_error_handler(uint16_t error)
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{
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/* Printing to the console. */
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char report[256];
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sprintf(report, "Error 0x%x detected\r\n\n", error);
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SerialPort.print(report);
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/* Infinite loop */
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while (true)
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{
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}
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}
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/**
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* @brief This is an example of user handler for the flag interrupt.
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* @param None
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* @retval None
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* @note If needed, implement it, and then attach and enable it:
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* + motor->attach_flag_irq(&my_flag_irq_handler);
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* + motor->enable_flag_irq();
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* To disable it:
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* + motor->DisbleFlagIRQ();
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*/
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void my_flag_irq_handler(void)
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{
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/* Code to be customised */
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/************************/
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SerialPort.print(" WARNING: \"FLAG\" interrupt triggered.\r\n");
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/* Get the state of bridge A */
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uint16_t bridgeState = motor->get_bridge_status(0);
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if (bridgeState == 0)
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{
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if (motor->get_device_state(0) != INACTIVE || motor->get_device_state(1) != INACTIVE)
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{
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/* Bridges were disabled due to overcurrent or over temperature */
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/* When motor was running */
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my_error_handler(0xBAD0);
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}
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}
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}
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/* setup ----------------------------------------------------------------------*/
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void setup()
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{
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/* Initialize Serial Port */
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SerialPort.begin(115200);
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/* Printing to the console. */
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SerialPort.println("STARTING DEMO PROGRAM");
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/* Initialization of the motor driver*/
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/* Please, be careful that pins can change if you change the Nucleo board */
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/* Give a look at the DataSheet of the Nucleo to find a correct configuration */
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motor = new STSpin240_250(D2, D9, D6, D7, D5, D4, A0);
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if (motor->init(&init_s) != COMPONENT_OK) exit(EXIT_FAILURE);
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/* Set dual bridge enabled as two motors are used*/
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motor->set_dual_full_bridge_config(1);
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/* Attaching and enabling an interrupt handler. */
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motor->attach_flag_irq(&my_flag_irq_handler);
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/* Attaching an error handler */
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motor->attach_error_handler(&my_error_handler);
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/* Printing to the console. */
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SerialPort.print("Motor Control Application Example for 2 brush DC motors\r\n");
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/* Set PWM Frequency of Ref to 15000 Hz */
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motor->set_ref_pwm_freq(0, 15000);
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/* Set PWM duty cycle of Ref to 60% */
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motor->set_ref_pwm_dc(0, 60);
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/* Set PWM Frequency of bridge A inputs to 10000 Hz */
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motor->set_bridge_input_pwm_freq(0,10000);
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/* Set PWM Frequency of bridge B inputs to 10000 Hz */
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motor->set_bridge_input_pwm_freq(1,10000);
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}
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/* loop ----------------------------------------------------------------------*/
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void loop()
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{
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uint8_t demoStep = 0;
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while (demoStep <= 12)
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{
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switch (demoStep)
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{
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case 0:
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{
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SerialPort.print("STEP 0: Motor(0) FWD Speed=100%% - Motor(1) Inactive\r\n");
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/* Set speed of motor 0 to 100 % */
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motor->set_speed(0,100);
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/* start motor 0 to run forward*/
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/* if chip is in standby mode */
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/* it is automatically awakened */
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motor->run(0, BDCMotor::FWD);
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break;
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}
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case 1:
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{
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SerialPort.print("STEP 1: Motor(0) FWD Speed=75%% - Motor(1) BWD Speed=100%%\r\n");
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/* Set speed of motor 0 to 75 % */
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motor->set_speed(0,75);
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/* Set speed of motor 1 to 100 % */
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motor->set_speed(1,100);
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/* start motor 1 to run backward */
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motor->run(1, BDCMotor::BWD);
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break;
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}
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case 2:
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{
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SerialPort.print("STEP 2: Motor(0) FWD Speed=50%% - Motor(1) BWD Speed=75%%\r\n");
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/* Set speed of motor 0 to 50 % */
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motor->set_speed(0,50);
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/* Set speed of motor 1 to 75% */
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motor->set_speed(1,75);
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break;
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}
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case 3:
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{
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SerialPort.print("STEP 3: Motor(0) FWD Speed=25%% - Motor(1) BWD Speed=50%%\r\n");
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/* Set speed of motor 0 to 25 % */
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motor->set_speed(0,25);
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/* Set speed of motor 1 to 50% */
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motor->set_speed(1,50);
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break;
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}
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case 4:
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{
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SerialPort.print("STEP 4: Motor(0) Stopped - Motor(1) BWD Speed=25%%\r\n");
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/* Stop Motor 0 */
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motor->hard_stop(0);
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/* Set speed of motor 1 to 25% */
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motor->set_speed(1,25);
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break;
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}
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case 5:
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{
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SerialPort.print("STEP 5: Motor(0) BWD Speed=25%% - Motor(1) Stopped\r\n");
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/* Set speed of motor 0 to 25 % */
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motor->set_speed(0,25);
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/* start motor 0 to run backward */
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motor->run(0, BDCMotor::BWD);
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/* Stop Motor 1 */
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motor->hard_stop(1);
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break;
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}
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case 6:
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{
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SerialPort.print("STEP 6: Motor(0) BWD Speed=50%% - Motor(1) FWD Speed=25%%\r\n");
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/* Set speed of motor 0 to 50 % */
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motor->set_speed(0,50);
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/* Set speed of motor 1 to 25 % */
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motor->set_speed(1,25);
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/* start motor 1 to run backward */
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motor->run(1, BDCMotor::FWD);
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break;
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}
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case 7:
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{
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SerialPort.print("STEP 7: Motor(0) BWD Speed=75%% - Motor(1) FWD Speed=50%%\r\n");
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/* Set speed of motor 0 to 75 % */
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motor->set_speed(0,75);
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/* Set speed of motor 1 to 50 % */
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motor->set_speed(1,50);
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break;
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}
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case 8:
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{
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SerialPort.print("STEP 8: Motor(0) BWD Speed=100%% - Motor(1) FWD Speed=75%%\r\n");
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/* Set speed of motor 0 to 100 % */
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motor->set_speed(0,100);
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/* Set speed of motor 1 to 75 % */
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motor->set_speed(1,75);
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break;
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}
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case 9:
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{
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SerialPort.print("STEP 9: Motor(0) BWD Speed=100%% - Motor(1) FWD Speed=100%%\r\n");
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/* Set speed of motor 1 to 100 % */
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motor->set_speed(1,100);
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break;
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}
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case 10:
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{
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SerialPort.print("STEP 10: Stop both motors and disable bridges\r\n");
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/* Stop both motors and disable bridge */
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motor->hard_hiz(0);
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motor->hard_hiz(1);
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break;
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}
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case 11:
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{
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SerialPort.print("STEP 11: Motor(0) FWD Speed=100%% - Motor(1) FWD Speed=100%%\r\n");
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/* Start both motors to go forward*/
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motor->run(0,BDCMotor::FWD);
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motor->run(1,BDCMotor::FWD);
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break;
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}
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case 12:
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default:
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{
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SerialPort.print("STEP 12: Stop both motors and enter standby mode\r\n");
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/* Stop both motors and put chip in standby mode */
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motor->reset();
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break;
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}
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}
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/* Wait for 2 seconds */
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delay(2000);
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/* Increment demostep*/
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demoStep++;
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}
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}

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