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- #include <Arduino.h>
- #include "DRV8825.h"
- #define MOTOR_STEPS 400
- #define RPM_X 240
- #define RPM_Y 240
- #define DIR_Y 7
- #define STEP_Y 4
- #define DIR_X 5
- #define STEP_X 2
- #define ENABLE 8
- #define MOTOR_ACCEL 2000
- #define MOTOR_DECEL 2000
- #define MODE0 11
- #define MODE01 9
- #define MODE1 12
- #define MODE2 13
- DRV8825 stepperX(MOTOR_STEPS, DIR_X, STEP_X, ENABLE, MODE01, MODE1, MODE2);
- DRV8825 stepperY(MOTOR_STEPS, DIR_Y, STEP_Y, ENABLE, MODE0, MODE1, MODE2);
- char s=0;
- float x;
- float y;
- String X;
- String Y;
- void setup() {
- Serial.begin(9600);
- Serial.println("Ready");
- stepperX.begin(RPM_X, 1);
- stepperX.enable();
- stepperY.begin(RPM_Y, 1);
- stepperY.enable();
- stepperX.setSpeedProfile(stepperX.LINEAR_SPEED, MOTOR_ACCEL, MOTOR_DECEL);
- stepperY.setSpeedProfile(stepperY.LINEAR_SPEED, MOTOR_ACCEL, MOTOR_DECEL);
- stepperX.setMicrostep(1);
- stepperY.setMicrostep(1);
- }
- void loop()
- {
- if (s==0)
- {
- Serial.print("Enter X value: " );
- s++;
- }
- if (Serial.available()>0 && s == 1)
- {
- X = Serial.readString();
- x = X.toFloat();
- Serial.println(x);
- s++;
- }
- if (s==2)
- {
- Serial.print("Enter Y value: ");
- s++;
- }
- if (Serial.available()>0 && s == 3)
- {
- Y = Serial.readString();
- y = Y.toFloat();
- Serial.println(y);
- s++;
- }
- if (s==4)
- {
- //stepperX.rotate(x);
- stepperX.move((double)x);
- delay(10);
- // stepperY.rotate(y);
- stepperY.move((double)y);
- delay(10);
- s=0;
- x = 0;
- y = 0;
- X = "";
- Y = "";
- }
- }
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