Accelstepper function

Projects Programming
18

Ok tried the State machine version generally it works great. Just 1 small issue which i cant seem to get to work to perfection. The majority of the functions the stepper has to take will be handled with steps, and set acceleration. this part works just fine. The part cant seem to get working 100% is the BLEED function. When I set the speed to a higher speed it continues to turn at the lower set speed.

#include <Wire.h>
#include <AccelStepper.h>

#define DIR 12       //TCM2208 DRIVER PIN
#define STP 11       //TCM2208 DRIVER PIN
#define MS2 10       //TCM2208 DRIVER PIN
#define MS1 9        //TCM2208 DRIVER PIN
#define EN 8         //TCM2208 DRIVER PIN
#define P1 7         //PUMP 1 PIN
#define P3 6         //PUMP 3 PIN
#define STIR 5       //STIRRER PIN
#define REDLED 4
#define BLUELED 3
#define TMC2208 1


int DropStep;
int CalibrateSteps = 6400;
int AB = 10000;   //Standby pull back
int PB = 150;
int DropInput;
int FunctionState = 0;
int ReceivedState;
int Speed1 = 3000;
int Speed2 = 500;
int StirValue;


enum {CHECK, RUN, PULLBACK}
StepperState;

boolean ChangeState = false;

int STIRRER = 23;


//-------------------------------------------------------------------------------
AccelStepper stepper = AccelStepper(TMC2208, STP, DIR);

void setup()
{
  Serial.begin(9600); //define a baud rate
  Wire.begin(8);
  Wire.onReceive(ReceiveData);

  stepper.setCurrentPosition(0);
  stepper.setMaxSpeed(3000); 
  stepper.setAcceleration(800);
  StepperState = CHECK; 
  pinMode(EN, OUTPUT);
  digitalWrite(EN, HIGH);
}

void loop() 
{
  StirrerFunction();
  CheckState();

  if (ReceivedState == 1) //BLEED FUNCTION SHOULD BE FASTER CONTINUOS SPEED INSTEAD IT WORKS AT THE LOWER SPEED
  {
    digitalWrite(EN, LOW);
    stepper.setSpeed(-Speed1);
    stepper.runSpeed();
  }
  else
  {
    switch(StepperState)
    {
      case CHECK:
      {
        digitalWrite(EN, HIGH);
        ChangeState = true;
        break;
      }
  
      case RUN:
      {
        stepper.run();
        if (stepper.distanceToGo() == 0)
        {
          stepper.move(PB);
          StepperState = PULLBACK;
        }
        break;
      }
  
      case PULLBACK:
      {
        stepper.run();
        if (stepper.distanceToGo() == 0)
        {
          ChangeState = true;
          StepperState = CHECK;
        }
        break;
      }
    }
  }
}
     
void CheckState()
{
  DropStep = round(CalibrateSteps/DropInput);
  if (ReceivedState == 0)      //OFF
  {
    if (ChangeState)
    {
      stepper.stop();
      stepper.setCurrentPosition(0);
      FunctionState = ReceivedState;
      ChangeState = false;
    }  
  }
  else if (ReceivedState == 2)   //CALIBRATE
  {
    if (ChangeState)
    {
      digitalWrite(EN, LOW);
      stepper.setMaxSpeed(Speed2);
      stepper.setAcceleration(800);
      stepper.move(-CalibrateSteps);
      FunctionState = ReceivedState;
      ChangeState = false;
      StepperState = RUN;
    }
  }
  else if (ReceivedState == 3)   //20 DROP FUNCTION
  {
    if (ChangeState)
    {
      digitalWrite(EN, LOW);
      stepper.setMaxSpeed(Speed2);
      stepper.setAcceleration(800);
      stepper.move(-DropStep*20);
      FunctionState = ReceivedState;
      ChangeState = false;
      StepperState = RUN;
    }
  }
  else if (ReceivedState == 4)   //1 DROP FUNCTION
  {
    if (ChangeState)
    {
      digitalWrite(EN, LOW);
      stepper.setMaxSpeed(Speed2);
      stepper.setAcceleration(800);
      stepper.move(-DropStep);
      FunctionState = ReceivedState;
      ChangeState = false;
      StepperState = RUN;
    }
  }
  else if (ReceivedState == 5)   //STANDBY
  {
    if (ChangeState)
    {
      digitalWrite(EN, LOW);
      stepper.setMaxSpeed(Speed2);
      stepper.setAcceleration(800);
      stepper.move(AB);
      FunctionState = ReceivedState;
      ChangeState = false;
      StepperState = RUN;
    }
  }
  else if (ReceivedState == 6)   //PRIME
  {
    if (ChangeState)
    {
      digitalWrite(EN, LOW);
      int x = AB + (3*DropStep);
      stepper.setMaxSpeed(Speed2);
      stepper.setAcceleration(800);
      stepper.move(-x);
      FunctionState = ReceivedState;
      ChangeState = false;
      StepperState = RUN;
    }
  }
  else
  {
    //DO NOTHING
  }
}

void StirrerFunction()
{
  int PotValue = analogRead(A0);              
  StirValue = map(PotValue, 0, 1023, 0, 255); 
  if (digitalRead(STIRRER) == HIGH)
  {
    analogWrite(STIR, StirValue);
  }
  else
  {
    digitalWrite(STIR, LOW);
  }
}

void ReceiveData(int howMany)
{
  DropInput = Wire.read();
  ReceivedState = Wire.read();
}