update 13/05

Deplacement-robot/bluetooth_control/bluetooth_control.ino

@@ -0,0 +1,238 @@
+#include <SoftwareSerial.h>
+
+#define RX_PIN 13  // Connected to HC-05 TX pin
+#define TX_PIN 12  // Connected to HC-05 RX pin
+#define LED_PIN 2  // Connected to LED pin
+#include <AccelStepper.h>
+long receivedSteps = 0; //Number of steps
+long receivedSpeed = 0; //Steps / second
+long receivedAcceleration = 0; //Steps / second^2
+char receivedCommand;
+//-------------------------------------------------------------------------------
+int directionMultiplier = 1; 
+int directionMultiplier2 = -1;// = 1: positive direction, = -1: negative direction
+bool newData, runallowed = false; // booleans for new data from serial, and runallowed flag
+AccelStepper stepper(1, 8, 9);//  pulses Digital 8 (CLK) direction Digital 9 (CCW),
+AccelStepper stepper2(1, 5, 6);
+SoftwareSerial bluetooth(RX_PIN, TX_PIN);  // Create a software serial object
+
+
+void setup() {
+  Serial.begin(38400);  // Initialize the serial monitor
+  bluetooth.begin(38400);  // Initialize the Bluetooth communication
+  pinMode(LED_PIN, OUTPUT);  // Set LED pin as output
+  stepper.setMaxSpeed(1000000); //SPEED = Steps / second
+  stepper.setAcceleration(80000); //ACCELERATION = Steps /(second)^2
+  stepper.disableOutputs(); //disable outputs
+  stepper2.setMaxSpeed(1000000); //SPEED = Steps / second
+  stepper2.setAcceleration(80000); //ACCELERATION = Steps /(second)^2
+  stepper2.disableOutputs(); //disable outputs
+}
+
+void loop() {
+
+  readinfo();
+  RunTheMotor();
+}
+
+void RunTheMotor() //function for the motor
+{
+    if (runallowed == true)
+    {
+        stepper.enableOutputs(); //enable pins
+        stepper.run(); //step the motor (this will step the motor by 1 step at each loop)  
+        stepper2.enableOutputs(); //enable pins
+        stepper2.run(); //step the motor (this will step the motor by 1 step at each loop)  
+    }
+    else //program enters this part if the runallowed is FALSE, we do not do anything
+    {
+        stepper.disableOutputs(); //disable outputs
+        stepper2.disableOutputs(); //disable outputs
+        return;
+    }
+}
+
+ 
+void GoHome()
+{  
+    if (stepper.currentPosition() == 0)
+    {
+        bluetooth.println("We are at the home position.");
+        stepper.disableOutputs(); //disable power
+    } 
+    else
+    {
+        stepper.setMaxSpeed(800); //set speed manually to 400. In this project 400 is 400 step/sec = 1 rev/sec.
+        stepper.moveTo(0); //set abolute distance to move
+    }
+}
+
+ 
+void RotateRelative()
+{
+    //We move X steps from the current position of the stepper motor in a given direction.
+    //The direction is determined by the multiplier (+1 or -1)
+   
+    runallowed = true; //allow running - this allows entering the RunTheMotor() function.
+    stepper.setMaxSpeed(receivedSpeed); //set speed
+    stepper.move(directionMultiplier * receivedSteps); //set relative distance and direction
+}
+ 
+ 
+ 
+void RotateAbsolute()
+{
+    //We move to an absolute position.
+    //The AccelStepper library keeps track of the position.
+    //The direction is determined by the multiplier (+1 or -1)
+    //Why do we need negative numbers? - If you drive a threaded rod and the zero position is in the middle of the rod...
+ 
+    runallowed = true; //allow running - this allows entering the RunTheMotor() function.
+    stepper.setMaxSpeed(receivedSpeed); //set speed
+    stepper.moveTo(directionMultiplier * receivedSteps); //set relative distance   
+}
+void GoHome2()
+{  
+    if (stepper2.currentPosition() == 0)
+    {
+        bluetooth.println("We are at the home position.");
+        stepper2.disableOutputs(); //disable power
+    }
+    else
+    {
+        stepper2.setMaxSpeed(800); //set speed manually to 400. In this project 400 is 400 step/sec = 1 rev/sec.
+        stepper2.moveTo(0); //set abolute distance to move
+    }
+}
+
+ 
+void RotateRelative2()
+{
+    //We move X steps from the current position of the stepper motor in a given direction.
+    //The direction is determined by the multiplier (+1 or -1)
+   
+    runallowed = true; //allow running - this allows entering the RunTheMotor() function.
+    stepper2.setMaxSpeed(receivedSpeed); //set speed
+    stepper2.move(directionMultiplier2 * receivedSteps); //set relative distance and direction
+}
+ 
+ 
+ 
+void RotateAbsolute2()
+{
+    //We move to an absolute position.
+    //The AccelStepper library keeps track of the position.
+    //The direction is determined by the multiplier (+1 or -1)
+    //Why do we need negative numbers? - If you drive a threaded rod and the zero position is in the middle of the rod...
+ 
+    runallowed = true; //allow running - this allows entering the RunTheMotor() function.
+    stepper2.setMaxSpeed(receivedSpeed); //set speed
+    stepper2.moveTo(directionMultiplier2 * receivedSteps); //set relative distance   
+}
+
+void readinfo()
+{
+       if (bluetooth.available() > 0) //if something comes from the computer
+    {
+        receivedCommand = bluetooth.read(); // pass the value to the receivedCommad variable
+        newData = true; //indicate that there is a new data by setting this bool to true
+ 
+        if (newData == true) //we only enter this long switch-case statement if there is a new command from the computer
+        {
+            switch (receivedCommand) //we check what is the command
+            {
+            case 'L':
+                digitalWrite(LED_PIN, HIGH);
+                break;
+            case 'O':
+                digitalWrite(LED_PIN, LOW);
+                break; 
+            case 'P': //P uses the move() function of the AccelStepper library, which means that it moves relatively to the current position.              
+               
+                receivedSteps = bluetooth.parseFloat(); //value for the steps
+                receivedSpeed = bluetooth.parseFloat(); //value for the speed
+                directionMultiplier = 1; //We define the direction
+                bluetooth.println("Positive direction."); //print the action
+                RotateRelative(); //Run the function
+                
+ 
+                //example: P2000 400 - 2000 steps (5 revolution with 400 step/rev microstepping) and 400 steps/s speed
+                //In theory, this movement should take 5 seconds
+                break;
+
+                case 'N': //N uses the move() function of the AccelStepper library, which means that it moves relatively to the current position.      
+               
+                receivedSteps = bluetooth.parseFloat(); //value for the steps
+                receivedSpeed = bluetooth.parseFloat(); //value for the speed 
+                directionMultiplier = -1; //We define the direction
+                bluetooth.println("Negative direction."); //print action
+                RotateRelative(); //Run the function
+ 
+                //example: N2000 400 - 2000 steps (5 revolution with 400 step/rev microstepping) and 500 steps/s speed; will rotate in the other direction
+                //In theory, this movement should take 5 seconds
+                break;
+               case '1': //avancer              
+            
+            receivedSteps = bluetooth.parseFloat(); //value for the steps
+            receivedSpeed = bluetooth.parseFloat(); //value for the speed
+            directionMultiplier = -1; //We define the direction
+            directionMultiplier2 = 1;
+            bluetooth.println("CA AVANCE."); //print the action
+            RotateRelative();
+            RotateRelative2(); //Run the function
+            
+
+            //example: P2000 400 - 2000 steps (5 revolution with 400 step/rev microstepping) and 400 steps/s speed
+            //In theory, this movement should take 5 seconds
+            break; 
+            case '2': //reculer             
+            
+            receivedSteps = bluetooth.parseFloat(); //value for the steps
+            receivedSpeed = bluetooth.parseFloat(); //value for the speed
+            directionMultiplier = 1; //We define the direction
+            directionMultiplier2 = -1;
+            bluetooth.println("CA RECULE"); //print the action
+            RotateRelative();
+            RotateRelative2(); //Run the function
+            
+
+            //example: P2000 400 - 2000 steps (5 revolution with 400 step/rev microstepping) and 400 steps/s speed
+            //In theory, this movement should take 5 seconds
+            break; 
+            case '3': //a gauche              
+            
+            receivedSteps = bluetooth.parseFloat(); //value for the steps
+            receivedSpeed = bluetooth.parseFloat(); //value for the speed
+            directionMultiplier = 1; //We define the direction
+            directionMultiplier2 = 1;
+            bluetooth.println("CA TOURNE A GAUCHE"); //print the action
+            RotateRelative();
+            RotateRelative2(); //Run the function
+            
+
+            //example: P2000 400 - 2000 steps (5 revolution with 400 step/rev microstepping) and 400 steps/s speed
+            //In theory, this movement should take 5 seconds
+            break;
+
+            case '4': //a droite.              
+            
+            receivedSteps = bluetooth.parseFloat(); //value for the steps
+            receivedSpeed = bluetooth.parseFloat(); //value for the speed
+            directionMultiplier = -1; //We define the direction
+            directionMultiplier2 = -1;
+            bluetooth.println("CA TOURNE A DROITE"); //print the action
+            RotateRelative();
+            RotateRelative2(); //Run the function
+            
+
+            //example: P2000 400 - 2000 steps (5 revolution with 400 step/rev microstepping) and 400 steps/s speed
+            //In theory, this movement should take 5 seconds
+            break;
+ 
+              default:
+              break;      
+            }
+        }
+    }   
+
+}

Deplacement-robot/stepperspeed/stepperspeed.ino

@@ -20,7 +20,12 @@
  */
  
 #include <AccelStepper.h>
- 
+#include <SoftwareSerial.h>
+
+#define RX_PIN 13  // Connected to HC-05 TX pin
+#define TX_PIN 12  // Connected to HC-05 RX pin
+
+SoftwareSerial bluetooth(RX_PIN, TX_PIN);  // Create a software serial object
 //User-defined values
 long receivedSteps = 0; //Number of steps
 long receivedSpeed = 0; //Steps / second
@@ -31,11 +36,12 @@ int directionMultiplier = 1;
 int directionMultiplier2 = -1;// = 1: positive direction, = -1: negative direction
 bool newData, runallowed = false; // booleans for new data from serial, and runallowed flag
 AccelStepper stepper(1, 8, 9);//  pulses Digital 8 (CLK) direction Digital 9 (CCW),
-AccelStepper stepper2(1, 4, 5);
+AccelStepper stepper2(1, 5, 6);
  
 void setup()
 {
-    Serial.begin(9600); //define baud rate
+    Serial.begin(38400);  // Initialize the serial monitor
+    bluetooth.begin(38400);  // Initialize the Bluetooth communication
     Serial.println("Demonstration of AccelStepper Library"); //print a messages
     Serial.println("Send 'C' for printing the commands.");
  
@@ -53,9 +59,8 @@ void loop()
 {
     //Constantly looping through these 2 functions.
     //We only use non-blocking commands, so something else (should also be non-blocking) can be done during the movement of the motor
- 
+    checkSerial();
-    checkSerial(); //check serial port for new commands
+    checkbluetooth();
-
     RunTheMotor(); //function to handle the motor  
  
 }
@@ -273,11 +278,6 @@ void checkSerial() //function for receiving the commands
                 Serial.print("The current position is updated to: "); //Print message
                 Serial.println(stepper2.currentPosition()); //Check position after reset.
                 break; 
- 
-            case 'T':
- 
-                PrintCommands2(); //Print the commands for controlling the motor
-                break;
             case '1': //avancer              
             
             receivedSteps = Serial.parseFloat(); //value for the steps
@@ -438,18 +438,4 @@ void RotateAbsolute2()
     stepper2.setMaxSpeed(receivedSpeed); //set speed
     stepper2.moveTo(directionMultiplier2 * receivedSteps); //set relative distance   
 }
- 
+ 
-void PrintCommands2()
-{  
-    //Printing the commands
-    Serial.println(" 'T' : Prints all the commands and their functions.");
-    Serial.println(" 'Y' : Rotates the motor in positive (CW) direction, relative.");
-    Serial.println(" 'y' : Rotates the motor in negative (CCW) direction, relative.");
-    Serial.println(" 'O' : Rotates the motor to an absolute positive position (+).");
-    Serial.println(" 'o' : Rotates the motor to an absolute negative position (-).");
-    Serial.println(" 'M' : Stops the motor immediately."); 
-    Serial.println(" 'K' : Sets an acceleration value.");
-    Serial.println(" 'G' : Prints the current position/location of the motor.");
-    Serial.println(" 'V' : Goes back to 0 position from the current position (homing).");
-    Serial.println(" 'E' : Updates the position current position and makes it as the new 0 position. ");
-}