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Homing Sequence Code

This document defines functions to control the stepping of a motor to home its position. It sets pin assignments for controlling the coils of the stepper motor. The setup function defines the pins and ensures the motor is shut off initially. The loop function then carries out 4 parts - moving the motor quickly away from the switch, slowly away, slowly back, and then slowly a fixed distance away, before shutting off. Additional functions are defined for full step and half step control in both directions, and to shut the motor down.

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api-526001342
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157 views

Homing Sequence Code

This document defines functions to control the stepping of a motor to home its position. It sets pin assignments for controlling the coils of the stepper motor. The setup function defines the pins and ensures the motor is shut off initially. The loop function then carries out 4 parts - moving the motor quickly away from the switch, slowly away, slowly back, and then slowly a fixed distance away, before shutting off. Additional functions are defined for full step and half step control in both directions, and to shut the motor down.

Uploaded by

api-526001342
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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//ME 460 Design Project 1 - Stepper Motor Homing

//Create variables for the pins and switch


#define A 3
#define Am 12
#define B 11
#define Bm 13
#define OFF 0
#define N 1
#define S 2
#define BUTTON 7

void setup() {
//Defining what pins are being used
pinMode(Am,OUTPUT); //Coil A
pinMode(A,OUTPUT);

pinMode(Bm,OUTPUT); //COIL B
pinMode(B,OUTPUT);

pinMode(BUTTON, INPUT_PULLUP); //Makes pin 7 corrsepond to terminal

shutdown(); //Turn off the coils

while(digitalread(7)){} //Begins pushbutton monitoring if button is pushed or not


delay(1500);

//Variable Definition
int smax=1; //Defines fastest motor can run
int slow=3; //Defines slowest motor can run
int ct=1;
int T0=0; //zero time variable

void loop() {

//Part 1: Plate moves back towards button at max speed full-stepping


while(digitalRead(BUTTON)){
fullCCW(smax);
}
delay(1000);

//Part 2: Plate moves away from button at slow speed full-stepping


for(int ct=1; ct<=31; ct++){
fullCW(slow);
}
delay(1000);

//Part 3: Plate moves back toward button at slow speed half-stepping


while(digitalRead(BUTTON)){
halfCCW(slow);
}
delay(1000);

//Part 4: Plate moves 30 mm away from button at slow speed and half-stepping
for (int ct=1; ct<=187; ct++){
fullCW(slow);
}

shutdown(); //make sure it turns off when program finishes


while(1);

}
//Full, Half-Step, Shutdown Functions (Both directions)

//Creates a function to shutdown the motor, low voltages to all pins


void shutdown(){
digitalWrite(12,LOW);
digitalWrite(3,LOW);
digitalWrite(13,LOW);
digitalWrite(11,LOW);
}

//Terminal B polarity function


void tb(int polarity){
if (polarity==N){
digitalWrite(Bm, HIGH);
digitalWrite(B, HIGH);
}
if (polarity==S){
digitalWrite(Bm, LOW);
digitalWrite(B, HIGH);
}
else{
digitalWrite(Bm, LOW);
digitalWrite(B, LOW);
}
}
//Term A
void ta(int polarity){
if (polarity==N){
digitalWrite(Am, HIGH);
digitalWrite(A, HIGH);
}
if (polarity==S){
digitalWrite(Am, LOW);
digitalWrite(A, HIGH);
}
else{
digitalWrite(Am, LOW);
digitalWrite(A, LOW);
}
}

//Full step functions


void fullCW(int d){
ta(S);
tb(OFF);
delay(d);
ta(OFF);
tb(N);
delay(d);
ta(N);
tb(OFF);
delay(d);
ta(OFF);
tb(S);
delay(d);
}
void fullCCW(int d){
ta(S);
tb(OFF);
delay(d);
ta(OFF);
tb(S);
delay(d);
ta(N);
tb(OFF);
delay(d);
ta(OFF);
tb(N);
delay(d);
}

//Half-Step Functions
void halfCW(int d){
ta(S);
tb(OFF);
delay(d);
ta(S);
tb(N);
delay(d);
ta(OFF);
tb(N);
delay(d);
ta(N);
tb(N);
delay(d);
ta(N);
tb(OFF);
delay(d);
ta(S);
tb(S);
delay(d);
ta(OFF);
tb(S);
delay(d);
ta(N);
tb(S);
delay(d);
}
void halfCCW(int d){
ta(S);
tb(OFF);
delay(d);
ta(S);
tb(S);
delay(d);
ta(OFF);
tb(S);
delay(d);
ta(N);
tb(S);
delay(d);
ta(N);
tb(OFF);
delay(d);
ta(S);
tb(N);
delay(d);
ta(OFF);
tb(N);
delay(d);
ta(N);
tb(N);
delay(d);
}

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