stepper bak
parent
b44bc5bd08
commit
462a69b68d
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// Include the AccelStepper library:
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#include <AccelStepper.h>
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// Define stepper motor connections and motor interface type. Motor interface type must be set to 1 when using a driver:
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// Set stepper 1 pins
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#define m1LimitNegPin 2
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#define m1LimitPosPin 3
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#define m1DirPin 4
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#define m1StepPin 5
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#define m1PowerPin 6
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// Set stepper 2 pins
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#define m2LimitNegPin 9
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#define m2LimitPosPin 10
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#define m2DirPin 11
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#define m2StepPin 12
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#define m2PowerPin 13
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#define motorInterfaceType 1
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// Create a new instance of the AccelStepper class:
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AccelStepper m1Stepper = AccelStepper(motorInterfaceType, m1StepPin, m1DirPin);
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AccelStepper m2Stepper = AccelStepper(motorInterfaceType, m2StepPin, m2DirPin);
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unsigned long previousMillis = 0;
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unsigned long currentMillis = 0;
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void setup() {
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pinMode(m1PowerPin, OUTPUT);
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pinMode(m1LimitNegPin, INPUT);
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pinMode(m1LimitPosPin, INPUT);
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pinMode(m2PowerPin, OUTPUT);
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pinMode(m2LimitNegPin, INPUT);
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pinMode(m2LimitPosPin, INPUT);
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Serial.begin(115200);
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// Set the maximum speed in steps per second:
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m1Stepper.setMaxSpeed(200);
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m1Stepper.setAcceleration(100);
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m1Stepper.setCurrentPosition(0);
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m2Stepper.setMaxSpeed(200);
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m2Stepper.setAcceleration(100);
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m2Stepper.setCurrentPosition(0);
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}
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int integerValue=0;
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bool negativeNumber = false; // track if number is negative
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char incomingByte;
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void loop() {
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currentMillis = millis();
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int m1EorNeg = digitalRead(m1LimitNegPin);
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int m1EorPos = digitalRead(m1LimitPosPin);
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int m2EorNeg = digitalRead(m2LimitNegPin);
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int m2EorPos = digitalRead(m2LimitPosPin);
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if (currentMillis - previousMillis >= 1000 == true ) {
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Serial.println("------Stepper 1------");
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Serial.print("m1EorPos:");
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Serial.println(m1EorNeg);
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Serial.print("m1EorNeg: ");
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Serial.println(m1EorPos);
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Serial.print("m1CurPos: ");
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Serial.println(m1Stepper.currentPosition() * -1);
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Serial.print("m1TarPos: ");
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Serial.println(m1Stepper.targetPosition() * -1);
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Serial.println("");
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Serial.println("------Stepper 2------");
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Serial.print("m2EorPos: ");
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Serial.println(m2EorNeg);
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Serial.print("m2EorNeg: ");
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Serial.println(m2EorPos);
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Serial.print("m2CurPos: ");
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Serial.println(m2Stepper.currentPosition() * -1);
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Serial.print("m2TarPos: ");
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Serial.println(m2Stepper.targetPosition() * -1);
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Serial.println("");
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previousMillis = currentMillis;
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}
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// limit switch logic for stepper 1
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if ((m1EorNeg < m1EorPos) && (m1Stepper.targetPosition() > m1Stepper.currentPosition())) {
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m1Stepper.setSpeed(0);
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m1Stepper.moveTo(m1Stepper.currentPosition());
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digitalWrite(m1PowerPin, HIGH);
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} else if ((m1EorNeg > m1EorPos) && (m1Stepper.targetPosition() < m1Stepper.currentPosition())) {
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m1Stepper.setSpeed(0);
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m1Stepper.moveTo(m1Stepper.currentPosition());
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digitalWrite(m1PowerPin, HIGH);
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} else if (m1Stepper.targetPosition() == m1Stepper.currentPosition()) {
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digitalWrite(m1PowerPin, HIGH);
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} else {
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digitalWrite(m1PowerPin, LOW);
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m1Stepper.run();
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}
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// limit switch logic for stepper 2
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if ((m2EorNeg < m2EorPos) && (m2Stepper.targetPosition() > m2Stepper.currentPosition())) {
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m2Stepper.setSpeed(0);
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m2Stepper.moveTo(m2Stepper.currentPosition());
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digitalWrite(m2PowerPin, HIGH);
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} else if ((m2EorNeg > m2EorPos) && (m2Stepper.targetPosition() < m2Stepper.currentPosition())) {
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m2Stepper.setSpeed(0);
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m2Stepper.moveTo(m1Stepper.currentPosition());
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digitalWrite(m2PowerPin, HIGH);
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} else if (m2Stepper.targetPosition() == m2Stepper.currentPosition()) {
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digitalWrite(m2PowerPin, HIGH);
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} else {
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digitalWrite(m2PowerPin, LOW);
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m2Stepper.run();
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}
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if (Serial.available() > 0) { // something came across serial
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integerValue = 0; // throw away previous integerValue
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negativeNumber = false; // reset for negative
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while(1) { // force into a loop until 'n' is received
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incomingByte = Serial.read();
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if (incomingByte == ' ') break; // exit the while(1), we're done receiving
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if (incomingByte == -1) continue; // if no characters are in the buffer read() returns -1
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if (incomingByte == '-') {
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negativeNumber = true;
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continue;
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}
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integerValue *= 10; // shift left 1 decimal place
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integerValue = ((incomingByte - 48) + integerValue); // convert ASCII to integer, add, and shift left 1 decimal place
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}
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if (negativeNumber)
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integerValue = -integerValue;
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integerValue = -integerValue; // this makes up for the fact that things are backwards
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m1Stepper.moveTo(integerValue);
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integerValue = 0; // throw away previous integerValue
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negativeNumber = false; // reset for negative
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while(1) { // force into a loop until 'n' is received
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incomingByte = Serial.read();
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if (incomingByte == '\n') break; // exit the while(1), we're done receiving
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if (incomingByte == -1) continue; // if no characters are in the buffer read() returns -1
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if (incomingByte == '-') {
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negativeNumber = true;
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continue;
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}
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integerValue *= 10; // shift left 1 decimal place
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integerValue = ((incomingByte - 48) + integerValue); // convert ASCII to integer, add, and shift left 1 decimal place
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}
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if (negativeNumber)
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integerValue = -integerValue;
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integerValue = -integerValue; // this makes up for the fact that things are backwards
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m2Stepper.moveTo(integerValue);
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}
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//delay(100);
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}
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