Buggy Stepper code

Projects General Guidance
1

I am running 2 stepper motors:
NEMA 17 with TB6600
NEMA 23 with TMC2160

The code below relates to the NEMA 23 and TMC2160

I need to run the stepper until the IR sensor on INT0 is fired (LOW), I then STOP (Disable) the stepper.
Code:

#define stepper23dirPin 10
#define stepper23clkPin 11
#define stepper23enPin 13

#define irPin 2
bool loadingLabels = false;
int irPinStatus;

void INT0_IR(void) {
  irPinStatus = digitalRead(irPin);
  if (irPinStatus == 1) {
    loadingLabels = true;
  } else if (irPinStatus == 0) {
    loadingLabels = false;
  }
}

void setup() {
  Serial.begin(115200);
  pinMode(stepper23clkPin, OUTPUT);
  pinMode(stepper23dirPin, OUTPUT);
  pinMode(stepper23enPin, OUTPUT);
  pinMode(irPin, INPUT);
  attachInterrupt(digitalPinToInterrupt(irPin), INT0_IR, CHANGE);

  loadingLabels = true;
}

void loop() {
  irPinStatus = digitalRead(irPin);
  if (loadingLabels) {
    digitalWrite(stepper23enPin, LOW);  // Enable Stepper23
    if (irPinStatus == 1) {
      Serial.println("Loading Labels");
      digitalWrite(stepper23clkPin, HIGH);
      digitalWrite(stepper23clkPin, LOW);
      delayMicroseconds(300);
    } else if (irPinStatus == 0) {
      Serial.println("Loading Labels Stop");
      digitalWrite(stepper23enPin, HIGH);  // Disable Stepper23
      loadingLabels = false;
    }
  }

  //This code runs faster
  // digitalWrite(stepper23enPin, LOW);  // Enable Stepper23
  // digitalWrite(stepper23clkPin, HIGH);
  // digitalWrite(stepper23clkPin, LOW);
  // delayMicroseconds(300);
}

This code runs ok(ish).
But, runs very slow.
If I run the commended-out code only, it runs much faster, yet the code controlling the stepper is the same.

Another question:
Can I remove the code from loop() and place in another function?

2

No experience with that driver, but
Which Arduino. Would that pulse be long enough for the driver to react?

Did you convert (calculate) that to steps per second, and can the motor do that from standstill? I calculate more than 3000 steps/second.
Leo..

3

Remove the "Serial.println()" statements.

4

Many

Many thanks

5

This is my current code that works well.

#define stepper23dirPin 10
#define stepper23clkPin 11
#define stepper23enPin 13

#define irPin 2
bool loadingLabels = false;
int irPinStatus;

void INT0_IR(void) {
  irPinStatus = digitalRead(irPin);
  if (irPinStatus == 1) {
    loadingLabels = true;
  } else if (irPinStatus == 0) {
    loadingLabels = false;
  }
}

void setup() {
  Serial.begin(115200);
  pinMode(stepper23clkPin, OUTPUT);
  pinMode(stepper23dirPin, OUTPUT);
  pinMode(stepper23enPin, OUTPUT);
  pinMode(irPin, INPUT);
  attachInterrupt(digitalPinToInterrupt(irPin), INT0_IR, CHANGE);

  loadingLabels = true;
}

void loop() {
  irPinStatus = digitalRead(irPin);
  if (loadingLabels) {
    digitalWrite(stepper23enPin, LOW);  // Enable Stepper23
    if (irPinStatus == 1) {
      digitalWrite(stepper23clkPin, HIGH);
      digitalWrite(stepper23clkPin, LOW);
      delayMicroseconds(300);
    } else if (irPinStatus == 0) {
      delay(500);
      for (int n = 0; n < 300; n++) {
        digitalWrite(stepper23clkPin, HIGH);
        digitalWrite(stepper23clkPin, LOW);
        delayMicroseconds(300);
      }
      digitalWrite(stepper23enPin, HIGH);  // Disable Stepper23
    }
  }
}

How do I remove this from loop() and call it from void INT0_IR(void) in a separate function "loadLabels()"

6 
bool flag = 0; // flag indicating ISR was called

void setup() {
  // setup code
}

void ISR() { // your ISR callback
  flag = 1; // indicate ISR was called
  // ISR code
}

void loop () {
  if (flag == 1) { // if ISR was called...
    flag = 0; // ... reset ISR flag and...
    loadLabels(); // ... call your function
  }
}

void loadLabels() {
  // your function
}
7

I have switched to the Accelstepper library