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- //If you found my video helpful, please SUBSCRIBE: https://www.youtube.com/channel/UCKp1MzuAceJnDqAvsZl_46g
- //The code belongs to the following tutorial video: https://youtu.be/AR0un3kg-iM
- /*
- Please consider buying the parts using the following links in order to support my work:
- Arduino UNO: https://www.banggood.com/custlink/33KKF85c3i
- TB6600 Stepper Driver: https://www.banggood.com/custlink/KvvvZr1Pmj
- Variable Power Supply: https://www.banggood.com/custlink/DGKvSpwFvQ
- NEMA17: https://www.banggood.com/custlink/vGK3ic1tm2
- */
- #include <AccelStepper.h>
- long receivedMMdistance = 0; //distance in mm from the computer
- long receivedDelay = 0; //delay between two steps, received from the computer
- long receivedAcceleration = 0; //acceleration value from computer
- char receivedCommand; //character for commands
- /* s = Start (CCW) // needs steps and speed values
- * o = open (CCW) // needs steps and speed values
- * c = close (CW) //needs steps and speed values
- * a = set acceleration // needs acceleration value
- * n = stop right now! // just the 'n' is needed
- */
- bool newData, runallowed = false; // booleans for new data from serial, and runallowed flag
- // direction Digital 9 (CCW), pulses Digital 8 (CLK)
- AccelStepper stepper(1, 8, 9);
- void setup()
- {
- Serial.begin(9600); //define baud rate
- Serial.println("Testing Accelstepper"); //print a message
- //setting up some default values for maximum speed and maximum acceleration
- stepper.setMaxSpeed(2000); //SPEED = Steps / second
- stepper.setAcceleration(1000); //ACCELERATION = Steps /(second)^2
- stepper.disableOutputs(); //disable outputs, so the motor is not getting warm (no current)
- }
- void loop()
- {
- checkSerial(); //check serial port for new commands
- continuousRun2(); //method to handle the motor
- }
- void continuousRun2() //method for the motor
- {
- if (runallowed == true)
- {
- if (abs(stepper.currentPosition()) < receivedMMdistance) //abs() is needed because of the '<'
- {
- stepper.enableOutputs(); //enable pins
- stepper.run(); //step the motor (this will step the motor by 1 step at each loop)
- }
- else //program enters this part if the required distance is completed
- {
- runallowed = false; //disable running -> the program will not try to enter this if-else anymore
- stepper.disableOutputs(); // disable power
- Serial.print("POS: ");
- Serial.println(stepper.currentPosition()); // print pos -> this will show you the latest relative number of steps
- stepper.setCurrentPosition(0); //reset the position to zero
- Serial.print("POS: ");
- Serial.println(stepper.currentPosition()); // print pos -> this will show you the latest relative number of steps; we check here if it is zero for real
- }
- }
- else //program enters this part if the runallowed is FALSE, we do not do anything
- {
- return;
- }
- }
- void checkSerial() //method for receiving the commands
- {
- //switch-case would also work, and maybe more elegant
- if (Serial.available() > 0) //if something comes
- {
- receivedCommand = Serial.read(); // this will read the command character
- newData = true; //this creates a flag
- }
- if (newData == true) //if we received something (see above)
- {
- //START - MEASURE
- if (receivedCommand == 's') //this is the measure part
- {
- //example s 2000 500 - 2000 steps (5 revolution with 400 step/rev microstepping) and 500 steps/s speed
- runallowed = true; //allow running
- receivedMMdistance = Serial.parseFloat(); //value for the steps
- receivedDelay = Serial.parseFloat(); //value for the speed
- Serial.print(receivedMMdistance); //print the values for checking
- Serial.print(receivedDelay);
- Serial.println("Measure "); //print the action
- stepper.setMaxSpeed(receivedDelay); //set speed
- stepper.move(receivedMMdistance); //set distance
- }
- //START - OPEN
- if (receivedCommand == 'o') //OPENING
- {
- //example o 2000 500 - 2000 steps (5 revolution with 400 step/rev microstepping) and 500 steps/s speed
- runallowed = true; //allow running
- receivedMMdistance = Serial.parseFloat(); //value for the steps
- receivedDelay = Serial.parseFloat(); //value for the speed
- Serial.print(receivedMMdistance); //print the values for checking
- Serial.print(receivedDelay);
- Serial.println("OPEN "); //print the action
- stepper.setMaxSpeed(receivedDelay); //set speed
- stepper.move(receivedMMdistance); //set distance
- }
- //START - CLOSE
- if (receivedCommand == 'c') //CLOSING - Rotates the motor in the opposite direction as opening
- {
- //example c 2000 500 - 2000 steps (5 revolution with 400 step/rev microstepping) and 500 steps/s speed; will rotate in the other direction
- runallowed = true; //allow running
- receivedMMdistance = Serial.parseFloat(); //value for the steps
- receivedDelay = Serial.parseFloat(); //value for the speed
- Serial.print(receivedMMdistance); //print the values for checking
- Serial.print(receivedDelay);
- Serial.println("CLOSE "); //print action
- stepper.setMaxSpeed(receivedDelay); //set speed
- stepper.move(-1 * receivedMMdistance); ////set distance - negative value flips the direction
- }
- //STOP - STOP
- if (receivedCommand == 'n') //immediately stops the motor
- {
- runallowed = false; //disable running
- stepper.setCurrentPosition(0); // reset position
- Serial.println("STOP "); //print action
- stepper.stop(); //stop motor
- stepper.disableOutputs(); //disable power
- }
- //SET ACCELERATION
- if (receivedCommand == 'a') //Setting up a new acceleration value
- {
- runallowed = false; //we still keep running disabled, since we just update a variable
- receivedAcceleration = Serial.parseFloat(); //receive the acceleration from serial
- stepper.setAcceleration(receivedAcceleration); //update the value of the variable
- Serial.println("ACC Updated "); //confirm update by message
- }
- }
- //after we went through the above tasks, newData becomes false again, so we are ready to receive new commands again.
- newData = false;
- }
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