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Stepper Single Channel 03

This document describes a program for controlling a single bi-polar stepper motor using an EasyDriver stepper motor controller with an Arduino. The program allows for smooth motor motion through user input from switches and potentiometers, enabling features like rotation and position saving. It includes various updates and bug fixes over time, ensuring functionality and performance improvements.

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Gonzalo Fernández Moya
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12 views5 pages

Stepper Single Channel 03

This document describes a program for controlling a single bi-polar stepper motor using an EasyDriver stepper motor controller with an Arduino. The program allows for smooth motor motion through user input from switches and potentiometers, enabling features like rotation and position saving. It includes various updates and bug fixes over time, ensuring functionality and performance improvements.

Uploaded by

Gonzalo Fernández Moya
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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/*

Stepper Motor Single Channel Manual Controller


language: Wiring/Arduino

This program drives a single bi-polar stepper motor using an EasyDriver


stepper motor controller from SparkFun.
It takes input from a set of switches and potentiometers.

The goal is to create smooth motion of the steppper motor without having a
PC attached to the Arduino.

The motor moves 1600 steps in one rotation. (8th step microstepping on a 200 s/r
motor)

Created 08/18/2010
by Brian Schmalz

Version 0.2 01/30/2011 Added accel/decl


Version 0.3 10/09/2011 Fixed two bugs found by Daniel Schweinert:
1) Speed Pot not working during Rotate Left or Rotate
Right moves
2) When Goto A or Goto B is pressed after using Rotate
Left or Right, motor moves in the
wrong directly for a little bit before moving in the
right direction.
*/

#include <AccelStepper.h>

// Define some steppers and the pins the will use


AccelStepper stepper1(1, 12, 11);

#define stepsPerRev 1600


#define stepPin 12
#define dirPin 11
#define ledPin 13
#define rotateLeftPin 7
#define rotateRightPin 6
#define savePositionAPin 5
#define savePositionBPin 4
#define gotoPositionAPin 3
#define gotoPositionBPin 2
#define maxSpeedPin 0
#define accelPin 1

// Set this to zero if you don't want debug messages printed


#define printDebug 0

// These are the constants that define the speed associated with the MaxSpeed pot
#define MAX_STEPS_PER_SECOND 1000 // At 200 s/r and 1/8th microstepping, this
will be 333 rev/minute
#define MIN_STEPS_PER_SECOND 27 // At 200 steps/rev and 1/8th microstepping,
this will be 1 rev/minute

// Change this value to scale the acceleration pot's scaling factor


#define ACCEL_RATIO 1

int buttonState = 0;
int stepNumber = 0;
int curSpeed = 100;
int dir = 0;
int maxSpeed = 0;
int accel = 0;
long savedPosA = 0;
long savedPosB = 0;

int loopCtr = 0;

float fMaxSpeed = 0.0;


float fStepsPerSecond = 0.0;

void setup()
{
pinMode(stepPin, OUTPUT);
pinMode(dirPin, OUTPUT);
pinMode(ledPin, OUTPUT);
pinMode(rotateLeftPin, INPUT);
pinMode(rotateRightPin, INPUT);
pinMode(savePositionAPin, INPUT);
pinMode(savePositionBPin, INPUT);
pinMode(gotoPositionAPin, INPUT);
pinMode(gotoPositionBPin, INPUT);

if (printDebug)
{
// Initialize the Serial port
Serial.begin(9600);
}

// blink the LED:


blink(2);

stepper1.setMaxSpeed(800.0);
stepper1.setAcceleration(600.0);

// Grab both speed and accel before we start


maxSpeed = analogRead(maxSpeedPin);
// Do the math to scale the 0-1023 value (maxSpeed) to
// a range of MIN_STEPS_PER_SECOND to MAX_STEPS_PER_SECOND
fMaxSpeed = maxSpeed / 1023.0;
fStepsPerSecond = MIN_STEPS_PER_SECOND + (fMaxSpeed * (MAX_STEPS_PER_SECOND -
MIN_STEPS_PER_SECOND));
if (fStepsPerSecond > 1000)
{
fStepsPerSecond = 1000;
}
accel = analogRead(accelPin)/ACCEL_RATIO;
}

void loop()
{
// First, we need to see if either rotate button is down. They always take
precidence.
if(digitalRead(rotateLeftPin))
{
stepper1.setSpeed(-fStepsPerSecond);
while(digitalRead(rotateLeftPin))
{
CheckPots();
stepper1.runSpeed();
stepper1.setSpeed(-fStepsPerSecond);
}
}
else if (digitalRead(rotateRightPin))
{
stepper1.setSpeed(fStepsPerSecond);
while(digitalRead(rotateRightPin))
{
CheckPots();
stepper1.runSpeed();
stepper1.setSpeed(fStepsPerSecond);
}
}

// Go see if we need to update our analog conversions


CheckPots();

// Check to see if user is trying to save position A or B


if(digitalRead(savePositionAPin))
{
savedPosA = stepper1.currentPosition();
if (printDebug)
{
Serial.print("Saved A at :");
Serial.println(savedPosA);
}
while(digitalRead(savePositionAPin));
}
if(digitalRead(savePositionBPin))
{
savedPosB = stepper1.currentPosition();
if (printDebug)
{
Serial.print("Saved B at :");
Serial.println(savedPosB);
}
while(digitalRead(savePositionBPin));
}

// Check to see if the user wants to go to position A or B


if (digitalRead(gotoPositionAPin))
{
if (printDebug)
{
// Yup, let's go to position A
Serial.print("cur pos = ");
Serial.println(stepper1.currentPosition());
Serial.print("Going to A = ");
Serial.println(savedPosA);
Serial.print("Speed = ");
Serial.println(fStepsPerSecond);
Serial.print("Accel = ");
Serial.println(accel);
}

stepper1.setAcceleration(0);
stepper1.runToNewPosition(stepper1.currentPosition());
stepper1.setMaxSpeed(fStepsPerSecond);
stepper1.setAcceleration(accel);
stepper1.runToNewPosition(savedPosA);

if (printDebug)
{
Serial.print("new pos = ");
Serial.println(stepper1.currentPosition());
}
while(digitalRead(gotoPositionAPin));
}
else if (digitalRead(gotoPositionBPin))
{
// Yup, let's go to position B
if (printDebug)
{
Serial.print("cur pos = ");
Serial.println(stepper1.currentPosition());
Serial.print("Going to B = ");
Serial.println(savedPosB);
Serial.print("Speed = ");
Serial.println(fStepsPerSecond);
Serial.print("Accel = ");
Serial.println(accel);
}

stepper1.setAcceleration(0);
stepper1.runToNewPosition(stepper1.currentPosition());

stepper1.setMaxSpeed(fStepsPerSecond);
stepper1.setAcceleration(accel);
stepper1.runToNewPosition(savedPosB);

if (printDebug)
{
Serial.print("new pos = ");
Serial.println(stepper1.currentPosition());
}
while(digitalRead(gotoPositionBPin));
}
}

// Blink the reset LED:


void blink(int howManyTimes)
{
int i;
for (i=0; i < howManyTimes; i++)
{
digitalWrite(ledPin, HIGH);
delay(200);
digitalWrite(ledPin, LOW);
delay(200);
}
}

void CheckPots(void)
{
loopCtr++;
// Only read these once in a while because they take a LONG time
if (loopCtr == 100)
{
maxSpeed = analogRead(maxSpeedPin);

// Do the math to scale the 0-1023 value (maxSpeed) to


// a range of MIN_STEPS_PER_SECOND to MAX_STEPS_PER_SECOND
fMaxSpeed = maxSpeed / 1023.0;
fStepsPerSecond = MIN_STEPS_PER_SECOND + (fMaxSpeed * (MAX_STEPS_PER_SECOND -
MIN_STEPS_PER_SECOND));
if (fStepsPerSecond > 1000)
{
fStepsPerSecond = 1000;
}
}

// Read in the acceleration analog value


// This needs to be scaled too, but to what?
if (loopCtr >= 200)
{
accel = analogRead(accelPin)/ACCEL_RATIO;
loopCtr = 0;
}
}

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