Hello everyone.
I am currently working on a project where I want to control a stepper motor with my Arduino Uno R4 Minima board using TCP/IP commands.
I use an ethernet shield (W5500) and my H bridge is a L298. Everything is correctly wired. By that I mean I ran a test program the motor and everything worked well. As well, I ran a test program to test my TCP/IP commands and everything was working : command was received by the arduino and the computer correctly received the answer.
However when I try to do one program with everybody (Ethernet + Motor) then nothing works. I have that error when I try to send a command :
[WinError 10061] No connection could be made because the target machine actively refused it
Here is the program :
#include <SPI.h>
#include <Ethernet2.h>
#include <Stepper.h>
// Bobinage 1
int BOB1_A = 3;
int BOB1_C = 4;
// Bobinage 2
int BOB2_B = 6;
int BOB2_D = 7;
// Moteur pas a pas
int deg = 7200; // 7200 steps/rev
int vitesse = 8;
/*If we want to change the speed the thing is that the delay
between pulses for the two coil should not be shorter than 0.83ms (ie corresponding to a frequency of 1200Hz)
If you need to check that take an oscilloscope and scope for example A & B (yellow and black wires).
The speed is given to the program in rev/min. To compute the delay between the pulses the formula is :
delay_pulses = 60 000 000/steps/speed (in ms)
*/
Stepper MOTEUR(7200, BOB1_A, BOB1_C, BOB2_B, BOB2_D);
byte mac[] = { 0xA8, 0x61, 0x0A, 0xAE, 0x11, 0x7F }; // Could be found at the bottom of the ethernet shield
IPAddress ip(192, 168, 0, 27); //Arbitrary just make sure the adress is not already taken
EthernetServer server(23);
void setup() {
pinMode(LED_BUILTIN, OUTPUT);
digitalWrite(LED_BUILTIN, HIGH);
delay(2000);
digitalWrite(LED_BUILTIN, LOW);
Serial.println("Starting server...");
delay(1500);
Ethernet.begin(mac, ip);
delay(1500);
server.begin();
Serial.println("Server started.");
}
void loop() {
EthernetClient client = server.available();
String cmd_parts[2];
deg = 0;
if (client) {
while (client.connected()) {
if (client.available()) {
String command = client.readStringUntil('\n');
command.trim();
split_command(cmd_parts, command);
if (cmd_parts[0] == "MOT") {
if (cmd_parts[1] != "") {
//MOTEUR.step(20*cmd_parts[1].toFloat()); // 20 is because of 7200/360=20
client.println("Motor moved of : " + String(deg) + "°");
//digitalWrite(LED_BUILTIN,HIGH);
}
}
if (cmd_parts[0] == "TEST") {
float val = cmd_parts[1].toFloat();
client.println("Value received : " + String(val));
}
client.println("Commande reçue : " + command);
}
}
client.stop();
}
}
void split_command(String res[], String cmd) {
char buff[128];
char *p;
int i = 0;
cmd.toCharArray(buff, sizeof(buff));
p = strtok(buff, " ");
while (p && i < 2) {
res[i] = p;
p = strtok(NULL, " ");
i++;
}
}
float deg_to_step(float deg) {
return 7200 * deg / 360;
}
What is strange is that when I remove (comment) the line of the definition of the motor
( Stepper MOTEUR(7200, BOB1_A, BOB1_C, BOB2_B, BOB2_D);, and removed everything that could make the motor to move) then TCP/IP commands work well again.
It seems that there are conflicts between the two libraries. I know that I should not use D10-D13 when SPI is loaded but my motor setup uses D3;D4;D6;D7.
I send the command in a simple way with a Python script :
import socket
def send_command(command):
try:
with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as s:
s.settimeout(5)
s.connect(("192.168.0.27", 23))
command += "\n"
s.sendall(command.encode())
response = s.recv(1024).decode().strip()
return response
except socket.timeout:
return "Erreur : Timeout de connexion"
except socket.error as e:
return f"Erreur de connexion : {e}"
The board is powered by jack (12V). The bridge needs 8 wires :
- 1 to D3
- 1 to D4
- 1 to D6
- 1 to D7
- 3 to 5V (parallel)
- 1 to GND
The bridge has an external 12V source. I tried to use AccelStepper instead of Stepper but the result was the same...
It is a bit strange if anyone has already faced such problem I would be happy to be helped 