239 lines
9.5 KiB
C++
239 lines
9.5 KiB
C++
#include <SoftwareSerial.h>
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const int analogPin = A0; // Analog input pin on Arduino
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#define RX_PIN 13 // Connected to HC-05 TX pin
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#define TX_PIN 12 // Connected to HC-05 RX pin
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#define LED_PIN 2 // Connected to LED pin
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#include <AccelStepper.h>
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long receivedSteps = 0; //Number of steps
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long receivedSpeed = 0; //Steps / second
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long receivedAcceleration = 0; //Steps / second^2
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char receivedCommand;
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//-------------------------------------------------------------------------------
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int directionMultiplier = 1;
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int directionMultiplier2 = -1;// = 1: positive direction, = -1: negative direction
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bool newData, runallowed = false; // booleans for new data from serial, and runallowed flag
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AccelStepper stepper(1, 9, 10);// pulses Digital 8 (CLK) direction Digital 9 (CCW),
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AccelStepper stepper2(1, 5, 6);
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SoftwareSerial bluetooth(RX_PIN, TX_PIN); // Create a software serial object
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void setup() {
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Serial.begin(38400); // Initialize the serial monitor
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bluetooth.begin(38400); // Initialize the Bluetooth communication
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pinMode(LED_PIN, OUTPUT); // Set LED pin as output
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stepper.setMaxSpeed(10000); //SPEED = Steps / second
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stepper.setAcceleration(800); //ACCELERATION = Steps /(second)^2
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stepper.disableOutputs(); //disable outputs
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stepper2.setMaxSpeed(10000); //SPEED = Steps / second
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stepper2.setAcceleration(800); //ACCELERATION = Steps /(second)^2
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stepper2.disableOutputs(); //disable outputs
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}
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void loop() {
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readinfo();
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RunTheMotor();
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}
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void RunTheMotor() //function for the motor
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{
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if (runallowed == true)
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{
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stepper.enableOutputs(); //enable pins
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stepper.run(); //step the motor (this will step the motor by 1 step at each loop)
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stepper2.enableOutputs(); //enable pins
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stepper2.run(); //step the motor (this will step the motor by 1 step at each loop)
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}
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else //program enters this part if the runallowed is FALSE, we do not do anything
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{
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stepper.disableOutputs(); //disable outputs
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stepper2.disableOutputs(); //disable outputs
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return;
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}
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}
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void GoHome()
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{
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if (stepper.currentPosition() == 0)
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{
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bluetooth.println("We are at the home position.");
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stepper.disableOutputs(); //disable power
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}
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else
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{
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stepper.setMaxSpeed(800); //set speed manually to 400. In this project 400 is 400 step/sec = 1 rev/sec.
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stepper.moveTo(0); //set abolute distance to move
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}
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}
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void RotateRelative()
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{
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//We move X steps from the current position of the stepper motor in a given direction.
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//The direction is determined by the multiplier (+1 or -1)
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runallowed = true; //allow running - this allows entering the RunTheMotor() function.
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stepper.setMaxSpeed(receivedSpeed); //set speed
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stepper.move(directionMultiplier * receivedSteps); //set relative distance and direction
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}
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void RotateAbsolute()
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{
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//We move to an absolute position.
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//The AccelStepper library keeps track of the position.
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//The direction is determined by the multiplier (+1 or -1)
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//Why do we need negative numbers? - If you drive a threaded rod and the zero position is in the middle of the rod...
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runallowed = true; //allow running - this allows entering the RunTheMotor() function.
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stepper.setMaxSpeed(receivedSpeed); //set speed
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stepper.moveTo(directionMultiplier * receivedSteps); //set relative distance
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}
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void GoHome2()
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{
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if (stepper2.currentPosition() == 0)
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{
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bluetooth.println("We are at the home position.");
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stepper2.disableOutputs(); //disable power
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}
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else
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{
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stepper2.setMaxSpeed(800); //set speed manually to 400. In this project 400 is 400 step/sec = 1 rev/sec.
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stepper2.moveTo(0); //set abolute distance to move
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}
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}
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void RotateRelative2()
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{
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//We move X steps from the current position of the stepper motor in a given direction.
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//The direction is determined by the multiplier (+1 or -1)
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runallowed = true; //allow running - this allows entering the RunTheMotor() function.
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stepper2.setMaxSpeed(receivedSpeed); //set speed
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stepper2.move(directionMultiplier2 * receivedSteps); //set relative distance and direction
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}
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void RotateAbsolute2()
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{
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//We move to an absolute position.
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//The AccelStepper library keeps track of the position.
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//The direction is determined by the multiplier (+1 or -1)
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//Why do we need negative numbers? - If you drive a threaded rod and the zero position is in the middle of the rod...
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runallowed = true; //allow running - this allows entering the RunTheMotor() function.
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stepper2.setMaxSpeed(receivedSpeed); //set speed
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stepper2.moveTo(directionMultiplier2 * receivedSteps); //set relative distance
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}
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void readinfo()
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{
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if (bluetooth.available() > 0) //if something comes from the computer
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{
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receivedCommand = bluetooth.read(); // pass the value to the receivedCommad variable
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newData = true; //indicate that there is a new data by setting this bool to true
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if (newData == true) //we only enter this long switch-case statement if there is a new command from the computer
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{
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switch (receivedCommand) //we check what is the command
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{
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case 'L':
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digitalWrite(LED_PIN, HIGH);
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break;
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case 'O':
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digitalWrite(LED_PIN, LOW);
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break;
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case 'P': //P uses the move() function of the AccelStepper library, which means that it moves relatively to the current position.
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receivedSteps = bluetooth.parseFloat(); //value for the steps
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receivedSpeed = bluetooth.parseFloat(); //value for the speed
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directionMultiplier = 1; //We define the direction
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bluetooth.println("Positive direction."); //print the action
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RotateRelative(); //Run the function
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//example: P2000 400 - 2000 steps (5 revolution with 400 step/rev microstepping) and 400 steps/s speed
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//In theory, this movement should take 5 seconds
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break;
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case 'N': //N uses the move() function of the AccelStepper library, which means that it moves relatively to the current position.
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receivedSteps = bluetooth.parseFloat(); //value for the steps
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receivedSpeed = bluetooth.parseFloat(); //value for the speed
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directionMultiplier = -1; //We define the direction
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bluetooth.println("Negative direction."); //print action
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RotateRelative(); //Run the function
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//example: N2000 400 - 2000 steps (5 revolution with 400 step/rev microstepping) and 500 steps/s speed; will rotate in the other direction
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//In theory, this movement should take 5 seconds
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break;
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case '1': //avancer
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receivedSteps = bluetooth.parseFloat(); //value for the steps
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receivedSpeed = bluetooth.parseFloat(); //value for the speed
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directionMultiplier = -1; //We define the direction
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directionMultiplier2 = 1;
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bluetooth.println("CA AVANCE."); //print the action
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RotateRelative();
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RotateRelative2(); //Run the function
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//example: P2000 400 - 2000 steps (5 revolution with 400 step/rev microstepping) and 400 steps/s speed
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//In theory, this movement should take 5 seconds
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break;
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case '2': //reculer
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receivedSteps = bluetooth.parseFloat(); //value for the steps
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receivedSpeed = bluetooth.parseFloat(); //value for the speed
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directionMultiplier = 1; //We define the direction
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directionMultiplier2 = -1;
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bluetooth.println("CA RECULE"); //print the action
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RotateRelative();
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RotateRelative2(); //Run the function
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//example: P2000 400 - 2000 steps (5 revolution with 400 step/rev microstepping) and 400 steps/s speed
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//In theory, this movement should take 5 seconds
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break;
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case '3': //a gauche
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receivedSteps = bluetooth.parseFloat(); //value for the steps
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receivedSpeed = bluetooth.parseFloat(); //value for the speed
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directionMultiplier = 1; //We define the direction
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directionMultiplier2 = 1;
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bluetooth.println("CA TOURNE A GAUCHE"); //print the action
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RotateRelative();
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RotateRelative2(); //Run the function
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//example: P2000 400 - 2000 steps (5 revolution with 400 step/rev microstepping) and 400 steps/s speed
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//In theory, this movement should take 5 seconds
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break;
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case '4': //a droite.
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receivedSteps = bluetooth.parseFloat(); //value for the steps
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receivedSpeed = bluetooth.parseFloat(); //value for the speed
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directionMultiplier = -1; //We define the direction
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directionMultiplier2 = -1;
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bluetooth.println("CA TOURNE A DROITE"); //print the action
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RotateRelative();
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RotateRelative2(); //Run the function
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//example: P2000 400 - 2000 steps (5 revolution with 400 step/rev microstepping) and 400 steps/s speed
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//In theory, this movement should take 5 seconds
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break;
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default:
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break;
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}
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}
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}
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}
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