c_cpp cs_stepper_01.ino

Posted 2021-05-14

// bind stepper with schmalzhaus.com easydriver to poti
#define trigPin 13
#define echoPin 12

#define DIR_PIN_01 10
#define STEP_PIN_01 11

#define DIR_PIN_02 8
#define STEP_PIN_02 9


#define DIR_PIN_03 7
#define STEP_PIN_03 6

#define DIR_PIN_04 4
#define STEP_PIN_04 5

int servopin = 3;




long dist = 0;
int dir = LOW;
int steps = 0;
int sesormax = 0;
int sensormin = 10000;

//speed is any number from .01 -> 1 with 1 being fastest - Slower is stronger



void setup() {
  Serial.begin(9600);
  pinMode(DIR_PIN_01, OUTPUT);
  pinMode(STEP_PIN_01, OUTPUT);
  pinMode(DIR_PIN_02, OUTPUT);
  pinMode(STEP_PIN_02, OUTPUT);
  pinMode(DIR_PIN_03, OUTPUT);
  pinMode(STEP_PIN_03, OUTPUT);
  pinMode(DIR_PIN_04, OUTPUT);
  pinMode(STEP_PIN_04, OUTPUT);
  pinMode(trigPin, OUTPUT);
  pinMode(echoPin, INPUT);
  pinMode(servopin, OUTPUT);
}
void loop() {
  // read from the poti
  
  // map the value to the steps of the stepper

  soundsensor();
  
  if (dist > sensormax ){
      sensormax = dist;
      
    }

    if(dist < sensormin){
      sensormin = dist;
      
      }



   float max_rotation_speed = 0.5;
   float min_rotation_speed = 0.01;
  float speeed = map(dist, sensormin, sensormax, min_rotation_speed, max_rotation_speed);


  rotate_from_sensor(steps, speeed, LOW);


  
  rotate_continous(steps, 0.1, LOW);

  steps++;
}

void rotate_from_sensor(int steps, float speed, int dir) {
  //rotate a specific number of microsteps (8 microsteps per step) - (negitive for reverse movement)


  digitalWrite(DIR_PIN_01, dir);
  digitalWrite(DIR_PIN_02, dir);
  float usDelay = (1 / speed) * 70;

  for (int i = 0; i < steps; i++) {

    digitalWrite(STEP_PIN_01, HIGH);
    digitalWrite(STEP_PIN_02, HIGH);
    delayMicroseconds(usDelay);


    digitalWrite(STEP_PIN_01, LOW);
    digitalWrite(STEP_PIN_02, LOW);
    delayMicroseconds(usDelay);
  }
}


void rotate_continous(int steps, float speed, int dir) {
  //rotate a specific number of microsteps (8 microsteps per step) - (negitive for reverse movement)


  digitalWrite(DIR_PIN_03, dir);
  digitalWrite(DIR_PIN_04, dir);
  float usDelay = (1 / speed) * 70;

  for (int i = 0; i < steps; i++) {

    digitalWrite(STEP_PIN_03, HIGH);
    digitalWrite(STEP_PIN_04, HIGH);
    delayMicroseconds(usDelay);


    digitalWrite(STEP_PIN_03, LOW);
    digitalWrite(STEP_PIN_04, LOW);
    delayMicroseconds(usDelay);
  }
}



//void rotate(int steps, float speed, int dir, int dirpin, int steppin) {
//  //rotate a specific number of microsteps (8 microsteps per step) - (negitive for reverse movement)
//
//
//  digitalWrite(dirpin, dir);
//
//  float usDelay = (1 / speed) * 70;
//
//  for (int i = 0; i < steps; i++) {
//
//    digitalWrite(steppin, HIGH);
//    delayMicroseconds(usDelay);
//
//    digitalWrite(steppin, LOW);
//    delayMicroseconds(usDelay);
//  }
//}


void soundsensor() {
 long duration, cm;

  // The sensor is triggered by a HIGH pulse of 10 or more microseconds.
  // Give a short LOW pulse beforehand to ensure a clean HIGH pulse:
  pinMode(trigPin, OUTPUT);
  digitalWrite(trigPin, LOW);
  delayMicroseconds(2);
  digitalWrite(trigPin, HIGH);
  delayMicroseconds(10);
  digitalWrite(trigPin, LOW);

  // Read the signal from the sensor: a HIGH pulse whose
  // duration is the time (in microseconds) from the sending
  // of the ping to the reception of its echo off of an object.
  pinMode(echoPin, INPUT);
  duration = pulseIn(echoPin, HIGH);

  // convert the time into a distance
  cm = microsecondsToCentimeters(duration);
  
  Serial.print(cm);
  Serial.print("cm");
  Serial.println();

  dist = cm
}

long microsecondsToCentimeters(long microseconds)
{
  // The speed of sound is 340 m/s or 29 microseconds per centimeter.
  // The ping travels out and back, so to find the distance of the
  // object we take half of the distance travelled.
  return microseconds / 29 / 2;
}