AccelStepper - Arduino - TB6600 - Updates

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#include <AccelStepper.h>

//User-defined values
long receivedSteps = 0; //Number of steps
long receivedSpeed = 0; //Steps / second
long receivedMaxSpeed = 0; //Steps / second
long receivedAcceleration = 0; //Steps / second^2
long CurrentPosition = 0;
char receivedCommand; //a letter sent from the terminal
long StartTime = 0;
long PreviousTime = 0;
//-------------------------------------------------------------------------------
bool newData, runallowed = false; // booleans for new data from serial, and runallowed flag
bool lastStepPosition = false; //follows the steps to see if the last step was preformed
bool pingpong_CW = true;
bool pingpong_CCW = true;
bool pingpongAllowed = false;
//-------------------------------------------------------------------------------
AccelStepper stepper(1, 8, 9);// direction Digital 9 (CCW), pulses Digital 8 (CLK)

void setup()
{
    Serial.begin(115200); //define a baud rate
    Serial.println("Demonstration of AccelStepper Library"); //print a messages
    Serial.println("Send 'C' for printing the commands.");

    //setting up some default values for maximum speed and maximum acceleration
    Serial.println("Default speed: 400 steps/s, default acceleration: 800 steps/s^2.");
    stepper.setMaxSpeed(400); //SPEED = Steps / second
    stepper.setAcceleration(800); //ACCELERATION = Steps /(second)^2
    stepper.disableOutputs(); //disable outputs
    StartTime = millis(); //start the timer
}

void loop()
{
    //Constantly looping through these 4 functions.
    //We only use non-blocking commands, so something else (should also be non-blocking) can be done during the movement of the motor
    checkSerial(); //check serial port for new commands
    RunTheMotor(); //function to handle the motor
    SendPosition();
    PingPong();
}


void RunTheMotor() //function for the motor
{
    if (stepper.distanceToGo() != 0)
    {
        stepper.enableOutputs(); //enable pins
        stepper.run(); //step the motor (this will step the motor by 1 step at each loop)
        lastStepPosition = true;
    }
    else //program enters this part if the runallowed is FALSE, we do not do anything
    {
       stepper.disableOutputs(); //disable outputs
       if(lastStepPosition == true)
       {
          Serial.print("L");
          Serial.println(stepper.currentPosition());//Print the message
          //Serial.print("V"); //You can do the same with speed, but it slows down the arduino
          //Serial.println(stepper.speed());//Print the message
          lastStepPosition = false;
       }
        return;
    }
}

void SendPosition()
{
  if (stepper.distanceToGo() != 0)
  {
    //The larger this number (300) the better. Multiple serial.println interferes with the stepper motor
    if((millis()-StartTime) >= 400)
    {
      StartTime = millis();
      Serial.print("L");
      Serial.println(stepper.currentPosition());//Print the message
      //Serial.print("V"); //Alternatively, we can print speed too, but it can interfere with the motor at high speeds
      //Serial.println(stepper.speed());//Print the message
    }
  }
  else
  {
  // skip
  }
}


void checkSerial() //function for receiving the commands
{
    if (Serial.available() > 0) //if something comes from the computer
    {
        receivedCommand = Serial.read(); // pass the value to the receivedCommad variable
        newData = true; //indicate that there is a new data by setting this bool to true

        if (newData == true) //we only enter this long switch-case statement if there is a new command from the computer
        {
            switch (receivedCommand) //we check what is the command
            {

            case 'P': //P uses the move() function of the AccelStepper library, which means that it moves relatively to the current position.
                receivedSteps = Serial.parseFloat(); //value for the steps
                receivedSpeed = Serial.parseFloat(); //value for the speed
                Serial.println("Positive direction."); //print the action
                RotateRelative(); //Run the function
                //example: P2000 400 - 2000 steps (5 revolution with 400 step/rev microstepping) and 400 steps/s speed
                //In theory, this movement should take 5 seconds
                break;

                case 'R': //R uses the moveTo() function of the AccelStepper library, which means that it moves absolutely to the current position.
                receivedSteps = Serial.parseFloat(); //value for the steps
                receivedSpeed = Serial.parseFloat(); //value for the speed
                Serial.println("Absolute position (+)."); //print the action
                RotateAbsolute(); //Run the function
                //example: R800 400 - It moves to the position which is located at +800 steps away from 0.
                break;

                case 'S': // Stops the motor
                stepper.stop(); //stop motor
                stepper.disableOutputs(); //disable power
                Serial.println("Stopped."); //print action
                runallowed = false; //disable running
                pingpongAllowed = false; //disable pingpong
                break;

                case 'A': // Updates acceleration
                //runallowed = false; //we still keep running disabled, since we just update a variable
                //stepper.disableOutputs(); //disable power
                receivedAcceleration = Serial.parseFloat(); //receive the acceleration from serial
                stepper.setAcceleration(receivedAcceleration); //update the value of the variable
                //Serial.print("New acceleration value: "); //confirm update by message
                //Serial.println(receivedAcceleration); //confirm update by message
                break;

                case 'V': // Updates speed
                //runallowed = false; //we still keep running disabled, since we just update a variable
                //stepper.disableOutputs(); //disable power
                receivedSpeed = Serial.parseFloat(); //receive the acceleration from serial
                stepper.setSpeed(receivedSpeed); //update the value of the variable
                //Serial.print("New speed value: "); //confirm update by message
                //Serial.println(receivedSpeed); //confirm update by message
                break;

                case 'v': // Updates Max speed
                //runallowed = false; //we still keep running disabled, since we just update a variable
                //stepper.disableOutputs(); //disable power
                receivedMaxSpeed = Serial.parseFloat(); //receive the acceleration from serial
                stepper.setMaxSpeed(receivedMaxSpeed); //update the value of the variable
                //Serial.print("New Max speed value: "); //confirm update by message
                //Serial.println(receivedMaxSpeed); //confirm update by message
                break;

                case 'L': //L: Location
                runallowed = false; //we still keep running disabled
                stepper.disableOutputs(); //disable power
                Serial.print("L");//Print the message
                Serial.println(stepper.currentPosition()); //Printing the current position in steps.
                break;

                case 'U':
                runallowed = false; //we still keep running disabled
                stepper.disableOutputs(); //disable power
                stepper.setCurrentPosition(0); //Reset current position. "new home"
                stepper.setSpeed(receivedSpeed); //We have to reupdate this, because the above function resets it.
                Serial.print("L"); //Print message
                Serial.println(stepper.currentPosition()); //Check position after reset.
                break;

                case 'C':
                PrintCommands(); //Print the commands for controlling the motor
                break;

                case 'K':
                runallowed = true;
                stepper.enableOutputs(); //enable pins
                stepper.setMaxSpeed(1000);
                Serial.println("PingPong");
                pingpong_CW = false;
                pingpong_CCW = false;
                pingpongAllowed = true;
                break;

                default:
                //skip
                break;
            }
        }
        //after we went through the above tasks, newData is set to false again, so we are ready to receive new commands again.
        newData = false;
    }
}

void PingPong()
{
    if(pingpongAllowed == true) //If the pingpong function is allowed we enter
    {
      if(pingpong_CW == false) //CW rotation is not yet done
      {
        stepper.moveTo(5000); //set a target position, it should be an absolute. relative (move()) leads to "infinite loop"

        if(stepper.distanceToGo() == 0) //When the above number of steps are completed, we manipulate the variables
        {
            pingpong_CW = true; //CW rotation is now done
            pingpong_CCW = false; //CCW rotation is not yet done - this allows the code to enter the next ifs
        }
      }

      if(pingpong_CW == true && pingpong_CCW == false) //CW is completed and CCW is not yet done
      {
        stepper.moveTo(0); //Absolute position

        if(stepper.distanceToGo() == 0) //When the number of steps are completed
          {
            pingpong_CCW = true; //CCW is now done
            pingpong_CW = false; //CW is not yet done. This allows the code to enter the first if again!
          }
      }
    }
}

void RotateRelative()
{
    //We move X steps from the current position of the stepper motor in a given direction (+/-).
    runallowed = true; //allow running - this allows entering the RunTheMotor() function.
    stepper.setMaxSpeed(receivedSpeed); //set speed
    stepper.move(receivedSteps); //set relative distance and direction
}

void RotateAbsolute()
{
    //We move to an absolute position.
    //The AccelStepper library keeps track of the position.

    runallowed = true; //allow running - this allows entering the RunTheMotor() function.
    stepper.setMaxSpeed(receivedSpeed); //set speed
    stepper.moveTo(receivedSteps); //set relative distance
}

void PrintCommands()
{
    //Printing the commands
    Serial.println(" 'C' : Prints all the commands and their functions.");
    Serial.println(" 'P' : Rotates the motor - relative using move().");
    Serial.println(" 'R' : Rotates the motor - absolute using moveTo().");
    Serial.println(" 'S' : Stops the motor immediately.");
    Serial.println(" 'A' : Sets an acceleration value.");
    Serial.println(" 'V' : Sets a speed value using setSpeed().");
    Serial.println(" 'v' : Sets a speed value using setMaxSpeed().");
    Serial.println(" 'L' : Prints the current position/location of the motor using currentPosition().");
    Serial.println(" 'U' : Updates the current position and makes it as the new 0 position using setCurrentPosition().");
    Serial.println(" 'K' : Demonstrates an oscillating motion.");
}