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Arduino Notebook v1-1

This document describes code for an Arduino-based 3D wire bending machine. It uses several stepper motors controlled by an AccelStepper library to feed wire, bend the wire, and move the z-axis up and down. Functions are defined to create star, cube, and stand shapes by controlling the stepper motors in a specific sequence of movements and bends.

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dieselguy65
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86 views

Arduino Notebook v1-1

This document describes code for an Arduino-based 3D wire bending machine. It uses several stepper motors controlled by an AccelStepper library to feed wire, bend the wire, and move the z-axis up and down. Functions are defined to create star, cube, and stand shapes by controlling the stepper motors in a specific sequence of movements and bends.

Uploaded by

dieselguy65
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as TXT, PDF, TXT or read online on Scribd
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/*

Arduino 3D Wire Bending Machine


by Dejan Nedelkovski
www.HowToMechatronics.com
Library - AccelStepper by Mike McCauley:
http://www.airspayce.com/mikem/arduino/AccelStepper/index.html
*/

#include <AccelStepper.h>
#include <Servo.h>

#define limitSwitch 11

// Define the stepper motors and the pins the will use
AccelStepper feederStepper(1, 5, 6); // (Type:driver, STEP, DIR)
AccelStepper zAxisStepper(1, 7, 8);
AccelStepper benderStepper(1, 9, 10);

Servo servo01;
String dataIn = "";
String manualStatus = "";
int count = 0;
int dist;

void setup() {
Serial.begin(9600);
pinMode(limitSwitch, INPUT_PULLUP);
servo01.attach(2);
servo01.write(40); // Initial position, bending pin up
// Stepper motors max speed
feederStepper.setMaxSpeed(2000);
zAxisStepper.setMaxSpeed(2000);
benderStepper.setMaxSpeed(2000);
// Homing
while (digitalRead(limitSwitch) != 0) {
benderStepper.setSpeed(1200);
benderStepper.runSpeed();
benderStepper.setCurrentPosition(0); // When limit switch pressed set position
to 0 steps
}
delay(40);
// Move 1400 steps from the limit switch to starting position
while (benderStepper.currentPosition() != -1400) {
benderStepper.setSpeed(-1200); // if negative rotates anti-clockwise
benderStepper.run();
}
benderStepper.setCurrentPosition(0);
}

void loop() {
String mode = Serial.readString();
if (mode.startsWith("manual")) {
manual();
}
if (mode.startsWith("star")) {
star();
}
if (mode.startsWith("cube")) {
cube();
}
if (mode.startsWith("stand")) {
stand();
}
}
void star() {
while (count != 5) {
int feed = 38; // mm
int feedDistance = feed * 48; // 48- constats that map the mm value to number
of steps the stepper show move
while (feederStepper.currentPosition() != feedDistance) { // run until it
reaches the distance value
feederStepper.setSpeed(1200);
feederStepper.run();
}
feederStepper.setCurrentPosition(0); // reset the current position to 0
servo01.write(40); // Set the bender pin up
delay(200);
int angleConst = 18; // angle constant
// Bend the wire 52 degrees
while (benderStepper.currentPosition() != -52 * angleConst) {
benderStepper.setSpeed(-700);
benderStepper.run();
}
benderStepper.setCurrentPosition(0);
delay(100);
// Go back 52 degrees to initial position
while (benderStepper.currentPosition() != 52 * angleConst) {
benderStepper.setSpeed(1200);
benderStepper.run();
}
benderStepper.setCurrentPosition(0);
delay(100);
// Feed the same distance again
while (feederStepper.currentPosition() != feedDistance) {
feederStepper.setSpeed(1200);
feederStepper.run();
}
feederStepper.setCurrentPosition(0);
delay(100);
servo01.write(130); // Set the bender pin down
delay(200);
// Set bender to new initial position, for bending in the other direction
while (benderStepper.currentPosition() != -42 * angleConst) {
benderStepper.setSpeed(-1200);
benderStepper.run();
}
benderStepper.setCurrentPosition(0);
delay(200);
servo01.write(40); // Bender pin up
delay(200);
while (benderStepper.currentPosition() != 105 * angleConst) {
benderStepper.setSpeed(700);
benderStepper.run();
}
benderStepper.setCurrentPosition(0);
delay(50);
while (benderStepper.currentPosition() != -63 * angleConst) {
benderStepper.setSpeed(-1200);
benderStepper.run();
}
delay(100);
servo01.write(130);
benderStepper.setCurrentPosition(0);
count++;
}
}

void cube() {
int feed = 40; // mm
int feedDistance = feed * 48;
int angleConst = 16;
// Step 1
while (count != 3) {
while (feederStepper.currentPosition() != feedDistance) {
feederStepper.setSpeed(1200);
feederStepper.run();
}
feederStepper.setCurrentPosition(0);
delay(100);
while (benderStepper.currentPosition() != -90 * angleConst) {
benderStepper.setSpeed(-700);
benderStepper.run();
}
benderStepper.setCurrentPosition(0);
delay(100);
while (benderStepper.currentPosition() != 90 * angleConst) {
benderStepper.setSpeed(1200);
benderStepper.run();
}
benderStepper.setCurrentPosition(0);
delay(100);
count++;
}
count = 0;
// Step 2
while (zAxisStepper.currentPosition() != 88 * angleConst) {
zAxisStepper.setSpeed(500);
zAxisStepper.run();
}
zAxisStepper.setCurrentPosition(0);
delay(100);
//Step 3
while (count != 2) {
while (feederStepper.currentPosition() != feedDistance) {
feederStepper.setSpeed(1200);
feederStepper.run();
}
feederStepper.setCurrentPosition(0);
delay(100);
while (benderStepper.currentPosition() != -90 * angleConst) {
benderStepper.setSpeed(-700);
benderStepper.run();
}
benderStepper.setCurrentPosition(0);
delay(100);
while (benderStepper.currentPosition() != 90 * angleConst) {
benderStepper.setSpeed(1200);
benderStepper.run();
}
benderStepper.setCurrentPosition(0);
delay(100);
count++;
}
count = 0;
// Step 4
while (zAxisStepper.currentPosition() != 85 * angleConst) {
zAxisStepper.setSpeed(500);
zAxisStepper.run();
}
zAxisStepper.setCurrentPosition(0);
delay(100);
// Step 5
servo01.write(130);
delay(200);
while (benderStepper.currentPosition() != -42 * angleConst) {
benderStepper.setSpeed(-1200);
benderStepper.run();
}
benderStepper.setCurrentPosition(0);
while (count != 3) {
delay(100);
servo01.write(40);
delay(200);
// Step 6
while (feederStepper.currentPosition() != feedDistance) {
feederStepper.setSpeed(1200);
feederStepper.run();
}
feederStepper.setCurrentPosition(0);
delay(100);
while (benderStepper.currentPosition() != 90 * angleConst) {
benderStepper.setSpeed(700);
benderStepper.run();
}
benderStepper.setCurrentPosition(0);
delay(100);
while (benderStepper.currentPosition() != -90 * angleConst) {
benderStepper.setSpeed(-1200);
benderStepper.run();
}
benderStepper.setCurrentPosition(0);
delay(100);
count++;
}
count = 0;
}

void stand() {
int feed = 20; // mm
int feedDistance = feed * 48;
int angleConst = 16;
// Step 1
while (feederStepper.currentPosition() != feedDistance) {
feederStepper.setSpeed(1200);
feederStepper.run();
}
feederStepper.setCurrentPosition(0);
delay(100);
while (benderStepper.currentPosition() != -90 * angleConst) {
benderStepper.setSpeed(-700);
benderStepper.run();
}
benderStepper.setCurrentPosition(0);
delay(100);
while (benderStepper.currentPosition() != 90 * angleConst) {
benderStepper.setSpeed(1200);
benderStepper.run();
}
benderStepper.setCurrentPosition(0);
delay(100);

// Step 2
while (feederStepper.currentPosition() != feedDistance) {
feederStepper.setSpeed(1200);
feederStepper.run();
}
feederStepper.setCurrentPosition(0);
delay(100);
while (benderStepper.currentPosition() != -70 * angleConst) {
benderStepper.setSpeed(-700);
benderStepper.run();
}
benderStepper.setCurrentPosition(0);
delay(100);
while (benderStepper.currentPosition() != 70 * angleConst) {
benderStepper.setSpeed(1200);
benderStepper.run();
}
benderStepper.setCurrentPosition(0);
delay(100);

// Step 3
feed = 80; // mm
feedDistance = feed * 48;
while (feederStepper.currentPosition() != feedDistance) {
feederStepper.setSpeed(1200);
feederStepper.run();
}
feederStepper.setCurrentPosition(0);
delay(100);
// Step 4
servo01.write(130);
delay(200);
while (benderStepper.currentPosition() != -42 * angleConst) {
benderStepper.setSpeed(-1200);
benderStepper.run();
}
benderStepper.setCurrentPosition(0);
delay(100);
servo01.write(40);
delay(200);
while (benderStepper.currentPosition() != 108 * angleConst) {
benderStepper.setSpeed(700);
benderStepper.run();
}
benderStepper.setCurrentPosition(0);
delay(100);
while (benderStepper.currentPosition() != -66 * angleConst) {
benderStepper.setSpeed(-1200);
benderStepper.run();
}
benderStepper.setCurrentPosition(0);

//Step 5
servo01.write(130);
delay(200);
// Step 6
feed = 80; // mm
feedDistance = feed * 48;
while (feederStepper.currentPosition() != feedDistance) {
feederStepper.setSpeed(1200);
feederStepper.run();
}
feederStepper.setCurrentPosition(0);
servo01.write(40);
delay(200);
// Step 7
while (zAxisStepper.currentPosition() != -90 * angleConst) {
zAxisStepper.setSpeed(-500);
zAxisStepper.run();
}
zAxisStepper.setCurrentPosition(0);
delay(100);

// Step 8
while (benderStepper.currentPosition() != -90 * angleConst) {
benderStepper.setSpeed(-700);
benderStepper.run();
}
benderStepper.setCurrentPosition(0);
delay(100);
while (benderStepper.currentPosition() != 90 * angleConst) {
benderStepper.setSpeed(1200);
benderStepper.run();
}
benderStepper.setCurrentPosition(0);
delay(100);
// Step 6
feed = 45; // mm
feedDistance = feed * 48;
while (feederStepper.currentPosition() != feedDistance) {
feederStepper.setSpeed(1200);
feederStepper.run();
}
feederStepper.setCurrentPosition(0);
// Step 10
while (benderStepper.currentPosition() != -90 * angleConst) {
benderStepper.setSpeed(-700);
benderStepper.run();
}
benderStepper.setCurrentPosition(0);
delay(100);
while (benderStepper.currentPosition() != 48 * angleConst) {
benderStepper.setSpeed(1200);
benderStepper.run();
}
benderStepper.setCurrentPosition(0);
delay(100);

// Step 11
while (zAxisStepper.currentPosition() != 90 * angleConst) {
zAxisStepper.setSpeed(500);
zAxisStepper.run();
}
zAxisStepper.setCurrentPosition(0);
delay(100);
feed = 80; // mm
feedDistance = feed * 48;
while (feederStepper.currentPosition() != feedDistance) {
feederStepper.setSpeed(1200);
feederStepper.run();
}
feederStepper.setCurrentPosition(0);

// Step 12
while (benderStepper.currentPosition() != 110 * angleConst) {
benderStepper.setSpeed(700);
benderStepper.run();
}
benderStepper.setCurrentPosition(0);
delay(100);
while (benderStepper.currentPosition() != -68 * angleConst) {
benderStepper.setSpeed(-1200);
benderStepper.run();
}
benderStepper.setCurrentPosition(0);
//Step 13
servo01.write(130);
delay(200);
feed = 80; // mm
feedDistance = feed * 48;
while (feederStepper.currentPosition() != feedDistance) {
feederStepper.setSpeed(1200);
feederStepper.run();
}
feederStepper.setCurrentPosition(0);
servo01.write(40);
delay(200);

// Step 14
while (benderStepper.currentPosition() != -70 * angleConst) {
benderStepper.setSpeed(-700);
benderStepper.run();
}
benderStepper.setCurrentPosition(0);
delay(100);
while (benderStepper.currentPosition() != 70 * angleConst) {
benderStepper.setSpeed(1200);
benderStepper.run();
}
benderStepper.setCurrentPosition(0);
delay(100);
//Step 15
feed = 25; // mm
feedDistance = feed * 48;
while (feederStepper.currentPosition() != feedDistance) {
feederStepper.setSpeed(1200);
feederStepper.run();
}
feederStepper.setCurrentPosition(0);
delay(100);
// Step 16
while (benderStepper.currentPosition() != -90 * angleConst) {
benderStepper.setSpeed(-700);
benderStepper.run();
}
benderStepper.setCurrentPosition(0);
delay(100);
while (benderStepper.currentPosition() != 90 * angleConst) {
benderStepper.setSpeed(1200);
benderStepper.run();
}
benderStepper.setCurrentPosition(0);
delay(100);

// Step 17
while (feederStepper.currentPosition() != feedDistance) {
feederStepper.setSpeed(1200);
feederStepper.run();
}
feederStepper.setCurrentPosition(0);
}

void manual() {
int sign;
String dataInS;
int angle;
int angleConst;
Serial.println(" // MANUAL MODE //");
while (!dataIn.startsWith("end")) {
servo01.write(130);
delay(200);
dataIn = Serial.readString();
if (dataIn.startsWith("f")) {
dataInS = dataIn.substring(1, dataIn.length()); // reads the feed value
dist = dataInS.toInt();
Serial.print("Feed ");
Serial.print(dist);
Serial.println("mm wire.");
dist = dist * 48;
while (feederStepper.currentPosition() != dist) {
feederStepper.setSpeed(1200);
feederStepper.run();
}
feederStepper.setCurrentPosition(0);
delay(100);
}
if (dataIn.startsWith("b")) {
if (dataIn.charAt(1) == '-') {
dataInS = dataIn.substring(2, dataIn.length()); ///reads the angle value
angle = dataInS.toInt();
Serial.print("Bend -");
Serial.print(angle);
Serial.println(" degrees.");
angleConst = 16;
// Set "negative" bending initial position
while (benderStepper.currentPosition() != -43 * angleConst) {
benderStepper.setSpeed(-1200);
benderStepper.run();
}
benderStepper.setCurrentPosition(0);
delay(100);
servo01.write(40);
delay(200);
// Bend the wire
while (benderStepper.currentPosition() != angle * angleConst) {
benderStepper.setSpeed(700);
benderStepper.run();
}
benderStepper.setCurrentPosition(0);
delay(100);
while (benderStepper.currentPosition() != (-1) * angle * angleConst) {
benderStepper.setSpeed(-1200);
benderStepper.run();
}
benderStepper.setCurrentPosition(0);
delay(100);
servo01.write(130);
delay(200);
// Get back to original "positive" bending initial poistion
while (benderStepper.currentPosition() != 43 * angleConst) {
benderStepper.setSpeed(1200);
benderStepper.run();
}
benderStepper.setCurrentPosition(0);
delay(100);
}
else {
dataInS = dataIn.substring(1, dataIn.length());
angle = dataInS.toInt();
Serial.print("Bend ");
Serial.print(angle);
Serial.println(" degrees.");
angleConst = 16;
servo01.write(40);
delay(200);
while (benderStepper.currentPosition() != (-1) *angle * angleConst) {
benderStepper.setSpeed(-700);
benderStepper.run();
}
benderStepper.setCurrentPosition(0);
delay(100);
while (benderStepper.currentPosition() != angle * angleConst) {
benderStepper.setSpeed(1200);
benderStepper.run();
}
benderStepper.setCurrentPosition(0);
delay(100);
}
dataInS = dataIn.substring(2, dataIn.length());
angle = dataInS.toInt();
angleConst = 16;
while (benderStepper.currentPosition() != sign * angle * angleConst) {
benderStepper.setSpeed(-700);
benderStepper.run();
}
benderStepper.setCurrentPosition(0);
delay(100);
while (benderStepper.currentPosition() != sign * angle * angleConst) {
benderStepper.setSpeed(1200);
benderStepper.run();
}
benderStepper.setCurrentPosition(0);
delay(100);
}
// Z-Axis Control
if (dataIn.startsWith("z")) {
if (dataIn.charAt(1) == '-') {
dataInS = dataIn.substring(2, dataIn.length());
angle = dataInS.toInt();
Serial.print("Move Z-Axis -");
Serial.print(angle);
Serial.println(" degrees.");
angleConst = 16;
while (zAxisStepper.currentPosition() != angle * angleConst) {
zAxisStepper.setSpeed(500);
zAxisStepper.run();
}
zAxisStepper.setCurrentPosition(0);
delay(100);
}
else {
dataInS = dataIn.substring(1, dataIn.length());
angle = dataInS.toInt();
Serial.print("Move Z-Axis ");
Serial.print(angle);
Serial.println(" degrees.");
angleConst = 16;
while (zAxisStepper.currentPosition() != (-1) *angle * angleConst) {
zAxisStepper.setSpeed(-500);
zAxisStepper.run();
}
zAxisStepper.setCurrentPosition(0);
delay(100);
}
}
manualStatus = dataIn;
}
}

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