Stepper firmware is working. Needed extra tape around coupling connector to add friction to connection and now it keeps.
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@ -1,75 +1,115 @@
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#include <AccelStepper.h>
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#include <Adafruit_MotorShield.h>
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volatile boolean DEBUG = true;
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volatile boolean debug_state = true;
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volatile boolean cam_dir = true;
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const int fullRotation = 600;
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const int openRotationForward = 300;
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const int openRotationBackward = 300;
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//CAMERA COMMANDS
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const char cmd_camera = 'c';
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const char cmd_cam_forward = 'e';
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const char cmd_cam_backward = 'f';
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const char cmd_debug = 'd';
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const char cmd_connect = 'i';
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volatile char cmd_char = 'z';
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const char cmd_mcopy_identifier = 'm';
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const char cmd_cam_identifier = 'k';
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const int serialDelay = 5;
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Adafruit_MotorShield AFMStop(0x60);
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// Create the motor shield object with the default I2C address
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Adafruit_MotorShield AFMS = Adafruit_MotorShield();
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//Set up for a 200step motor (NEMA 17)
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Adafruit_StepperMotor *myMotor = AFMS.getStepper(200, 1);
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void forwardstep() {
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myMotor->onestep(FORWARD, DOUBLE);
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}
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void backwardstep() {
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myMotor->onestep(BACKWARD, DOUBLE);
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}
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//Set up AccelStepper
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AccelStepper stepper(forwardstep, backwardstep);
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Adafruit_StepperMotor *stepper = AFMS.getStepper(200, 1);
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void setupMotor () {
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TWBR = ((F_CPU /400000l) - 16) / 2; // Change the i2c clock to 400KHz
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//TWBR = ((F_CPU /400000l) - 16) / 2; // Change the i2c clock to 400KHz
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if (!AFMS.begin()) { // default frequency 1.6KHz
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Serial.println("Could not find Motor Shield. Check wiring.");
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log("Could not find Motor Shield. Check wiring.");
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while (1);
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}
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Serial.println("Motor Shield found.");
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//myMotor->setSpeed(600);
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//stepper.setMaxSpeed(600.0);
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//stepper.setSpeed(600.0);
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//stepper.setAcceleration(500.0);
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log("Motor Shield found.");
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stepper->setSpeed(600);
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}
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void setup() {
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Serial.begin(57600);
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setupMotor();
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//stepper.setMaxSpeed(600.0);
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//stepper.move(600);
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}
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void loop() {
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// put your main code here, to run repeatedly:
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//Serial.println("Microstep steps");
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//myMotor->step(200, FORWARD, MICROSTEP);
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//myMotor->step(round(200 / 8), FORWARD, SINGLE); //109ms @ speed 600
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//myMotor->step(round(200 / 8), FORWARD, SINGLE); //172ms @ speed 100
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if (Serial.available()) {
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// read the most recent byte
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cmd_char = (char)Serial.read();
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}
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if (cmd_char != 'z') {
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cmd(cmd_char);
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cmd_char = 'z';
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}
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}
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//myMotor->step(round(200 / 8), FORWARD, MICROSTEP); //1557ms @ speed 600
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//myMotor->step(round(200 / 8), FORWARD, MICROSTEP); //1621ms @ speed 100
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void cmd (char val) {
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if (val == cmd_debug) {
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debug();
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} else if (val == cmd_connect) {
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connect();
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} else if (val == cmd_mcopy_identifier) {
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identify();
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} else if (val == cmd_cam_forward) {
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setDir(true); //explicit
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} else if (val == cmd_cam_backward) {
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setDir(false);
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} else if (val == cmd_camera) {
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cam();
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}
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}
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//myMotor->step(200, FORWARD, SINGLE); //873ms @ speed 600
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//myMotor->step(200, FORWARD, SINGLE); //1377ms @ speed 100
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void debug () {
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debug_state = true;
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Serial.println(cmd_debug);
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log("debugging enabled");
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}
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//myMotor->step(200, FORWARD, MICROSTEP); //12466ms @ speed 600
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//myMotor->step(200, FORWARD, MICROSTEP); //12967ms @ speed 100
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//if (stepper.distanceToGo() != 0) {
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long startTime = millis();
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//stepper.runToNewPosition(0);
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//stepper.runToNewPosition(600);
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myMotor->step(600, FORWARD, DOUBLE);
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//myMotor->step(600, FORWARD, SINGLE);
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stepper.run();
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long stopTime = millis();
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Serial.print(stopTime - startTime);
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Serial.println("ms");
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delay(1000);
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//}
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void connect () {
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Serial.println(cmd_connect);
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log("connect()");
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}
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void identify () {
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Serial.println(cmd_cam_identifier);
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log("identify()");
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}
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void setDir (boolean dir) {
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cam_dir = dir;
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if (cam_dir) {
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Serial.println(cmd_cam_forward);
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log("setDir = true");
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} else {
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Serial.println(cmd_cam_backward);
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log("setDir -> false");
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}
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}
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void cam () {
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long startTime = millis();
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if (cam_dir) {
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stepper->step(fullRotation, FORWARD, DOUBLE);
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Serial.println(cmd_cam_forward);
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log("cam -> forward");
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} else {
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stepper->step(fullRotation, BACKWARD, DOUBLE);
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Serial.println(cmd_cam_backward);
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log("cam -> backward");
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}
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log(String(millis() - startTime));
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}
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void log (String msg) {
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if (debug_state) {
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Serial.println(msg);
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}
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}
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@ -227,7 +227,7 @@ module animationMotorCap () {
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module driveCoupling () {
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D = 15.5;
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H = 41;
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H = 41-3;
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Divot = 2.75;
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difference() {
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union() {
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