Stepper firmware is working. Needed extra tape around coupling connector to add friction to connection and now it keeps.

This commit is contained in:
Matt McWilliams 2022-11-04 19:37:11 -04:00
parent fcb77232ec
commit ee1e9c9feb
2 changed files with 94 additions and 54 deletions

View File

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

View File

@ -227,7 +227,7 @@ module animationMotorCap () {
module driveCoupling () {
D = 15.5;
H = 41;
H = 41-3;
Divot = 2.75;
difference() {
union() {