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First auto dialer version

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This commit is contained in:
Nis Wechselberg 2022-10-20 18:15:39 +02:00
parent 3959ada880
commit 7f196abe44
1 changed files with 87 additions and 17 deletions
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104
StepperTest/StepperTest.ino
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@ -1,36 +1,106 @@
/*Example sketch to control a stepper motor with DRV8825 stepper motor driver, AccelStepper library and Arduino: number of steps or revolutions. More info: https://www.makerguides.com */
// Include the AccelStepper library:
#include <AccelStepper.h> #include <AccelStepper.h>
// Define stepper motor connections and motor interface type. Motor interface type must be set to 1 when using a driver: // Define stepper motor connections and motor interface type. Motor interface type must be set to 1 when using a driver
#define motorInterfaceType 1
#define dirPin 2 #define dirPin 2
#define stepPin 3 #define stepPin 3
#define motorInterfaceType 1
// Stepper motor speed configuration
#define microStepsFactor 4 #define microStepsFactor 4
#define maxStepperSpeed 1000 * microStepsFactor
#define inversionPause 20
// Create a new instance of the AccelStepper class: // Create a new instance of the AccelStepper class:
AccelStepper stepper = AccelStepper(motorInterfaceType, stepPin, dirPin); AccelStepper stepper = AccelStepper(motorInterfaceType, stepPin, dirPin);
int dir = 1; // Runtime data
int currentPosition[] = {-1, -1, -1};
int nextPosition[] = {0, 0, 0};
void setup() { void setup() {
// Set the maximum speed in steps per second: Serial.begin(115200);
stepper.setMaxSpeed(1000*microStepsFactor);
// Wait for zeroing
Serial.println("Please rotate to zero position and press Enter");
while (Serial.available() == 0) {}
Serial.flush();
// Set the current position to 0:
stepper.setCurrentPosition(0);
// Set the maximum speed in steps per second:
stepper.setMaxSpeed(maxStepperSpeed);
// Rotate to 0,0,0
setPosition();
} }
void loop() { void loop() {
// Set the current position to 0:
stepper.setCurrentPosition(0);
int revs = random(1,5); incrementCombination();
dir = -dir; setPosition();
// Run the motor forward at 200 steps/second until the motor reaches 400 steps (2 revolutions):
while(stepper.currentPosition() != 200 * microStepsFactor * revs * dir) { delay(inversionPause);
stepper.setSpeed(1000 * microStepsFactor * dir);
stepper.runSpeed();
} }
delay(200); void incrementCombination() {
if (currentPosition[0] < 99) {
nextPosition[0] = currentPosition[0] + 1;
nextPosition[1] = currentPosition[1];
nextPosition[2] = currentPosition[2];
} else {
nextPosition[0] = 0;
if (currentPosition[1] < 99) {
nextPosition[1] = currentPosition[1] + 1;
nextPosition[2] = currentPosition[2];
} else {
nextPosition[1] = 0;
if (currentPosition[2] < 99) {
nextPosition[2] = currentPosition[2] + 1;
} else {
nextPosition[2] = 0;
}
}
}
}
void setPosition() {
Serial.print("Testing ");
Serial.print(currentPosition[0]);
Serial.print(",");
Serial.print(currentPosition[1]);
Serial.print(",");
Serial.println(currentPosition[2]);
if (nextPosition[2] != nextPosition[2]) {
rotateCcwTo(nextPosition[2]);
rotateCcwTo(nextPosition[2]);
rotateCcwTo(nextPosition[2]);
}
if (nextPosition[1] != nextPosition[1]) {
rotateCwTo(nextPosition[1]);
rotateCwTo(nextPosition[1]);
}
if (nextPosition[0] != nextPosition[0]) {
rotateCcwTo(nextPosition[0]);
}
rotateCwTo(0);
rotateCwTo(10);
currentPosition[0] = nextPosition[0];
currentPosition[1] = nextPosition[1];
currentPosition[2] = nextPosition[2];
}
void rotateCwTo(int pos) {
stepper.move(1);
stepper.runToNewPosition(2 * pos * microStepsFactor);
}
void rotateCcwTo(int pos) {
stepper.move(-1);
stepper.runToNewPosition(-2 * pos * microStepsFactor);
} }