Easydriver (stepper) and accelerometer (MMA7260Q)

system · January 23, 2011, 4:11am

I finally got it to do what I had originally intended. The delays could use some work to speed up the process, and I could filter out some noise a little better, but here is the code I have:

//Arduino Uno, Easydriver, Stepper Motor, Accelerometer Control
//doublec4 2011
//Easydriver pins

int dirPin = 3;
int stepperPin = 2;
int SLEEP = 8;
int MS1 = 7;
int MS2 = 9;

//Accelerometer pins (analog)

const int pinx = 1 ;
const int piny = 2 ;
const int pinz = 3 ;
const int SLP = 10;

//variables to store accelerometer output and keep track of stepper position
int valx = 0;
int valy = 0;
int valz = 0;

int calib = 0;
int position = 0;

int count = 0;

//setup

void setup() {
Serial.begin(9600);

pinMode(SLP, OUTPUT);
pinMode(dirPin, OUTPUT);
pinMode(stepperPin, OUTPUT);
pinMode(MS1, OUTPUT);
pinMode(MS2, OUTPUT);
pinMode(SLEEP, OUTPUT);
}

void loop(){

digitalWrite(SLP, HIGH); //Make sure the accelerometer is "awake"
digitalWrite(SLEEP, HIGH);
digitalWrite(MS1, LOW);
digitalWrite(MS2, LOW);
valy = analogRead(piny);

if (count > 2) {

if (calib == 0) { //For the first time through the loop, set the "calibration" value to y input from the accelerometer
calib = 300;
position = calib;
}

//while(valy > (position + 5) || valy < (position - 5)) {
//digitalWrite(dirPin,HIGH);

//digitalWrite(stepperPin, LOW);
//digitalWrite(stepperPin, HIGH);
//delayMicroseconds(1500);
//}
Serial.print("Calibration: ");
Serial.print(calib);
Serial.print(" Position: ");
Serial.print(position);
Serial.print(" Valy: ");
Serial.println(valy);

if ((valy > (calib + 10)) || (valy < (calib - 10))) {

if ((valy - position) > 0) { //If the G reading (positive direction) is greater than the current position, move up towards that position

digitalWrite(dirPin,HIGH);