Controlling a stepper motor with 3 programs on 1 Arduino Uno

[jorge630722]

Hi I am new here and to Arduino too. I am just starting to program Arduino but still in beginning stage and need help.

I have a program where I control a stepper motor to slide a platform certain steps CW as long as the trigger is high and then CCW when trigger is high. Now i need to change the steps distance on the platform to move 2 steps CW and 1 step CCW with a use of an selector switch. Can this be done and how?

[horace]

when you get your trigger signal read the selector switch to determine how many steps to execute?
post your code?

[MicroBahner]

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[jorge630722]

Hi Horace thank you for the response here is my code as present. I will need to then add in the other two scenarios into this program.

// if ENA is LOW motor is locked at last position
// this can lead to overheating of motor
// program assumes common cathode connection

#define SW1 2
#define SW2 3
#define SW3 4
#define DIR 5
#define PUL 6
#define ENA 7 // HIGH disables motor power

#define CW 1
#define CCW 0






// indicates motor is on
// this is built in LED on DP13.
#define motorOn 13

// sets how many pulses for 360 degrees
#define rot360 200

// HIGH on PUL will keep motor locked in position
// note motor will get hot after some time.

int x, y;

// this sets the motor speed
int pulseDelay = 300; // in uSec.

void setup() {
  // DP13 LED
  pinMode(motorOn, OUTPUT);
  digitalWrite(motorOn, LOW);

  pinMode(SW1, INPUT_PULLUP);
  pinMode(SW2, INPUT_PULLUP);
  pinMode(SW3, INPUT_PULLUP);
  pinMode(DIR, OUTPUT);
  digitalWrite(DIR, LOW);
  pinMode(PUL, OUTPUT);
  digitalWrite(PUL, LOW);
  pinMode(ENA, OUTPUT);
  digitalWrite(ENA, HIGH); 

}

void loop() {

  
  // manual CW when pushed
    if (digitalRead(SW1) == 0) {
      motorRun(3,CW);
     
   
  } 
  
  // end while

  // manual CCW when pushed
  if (digitalRead(SW2) == 0) {
    motorRun(3,CCW);
   
   
  // end while

  }

  if (digitalRead(SW1) && digitalRead(SW2)) digitalWrite(motorOn, LOW);

  if (digitalRead(SW3) == 0) {
    lockMotor();
  }
  else {
    unlockMotor();
  }
  delay(100);

} // end loop

void motorRun(int count, byte dir_local )   {
  digitalWrite(motorOn, HIGH); // DP13 LED
  digitalWrite(ENA, LOW); // motor power ON
  digitalWrite(DIR, dir_local);
  count = count * rot360;
  for (int x = 0; x < count; x++)   {
    digitalWrite(PUL, 1);
    digitalWrite(PUL, 0);
    delayMicroseconds(pulseDelay);
  } // end for
  digitalWrite(ENA, HIGH); // motor power OFF
  digitalWrite(motorOn, LOW);
}

void lockMotor(void) {
  digitalWrite(motorOn, HIGH);
  digitalWrite(ENA, LOW);
}

void unlockMotor(void) {
  digitalWrite(ENA, HIGH);


}

[horace]

think we require a detailed specification, e.g.

1. your program has a condition when SW1 and SW2 are pressed???
2. what is SW3 doing?

[jorge630722]

Hi SW3 at the moment not doing anything suppose to enable motor on or off. I would like to to use a rotary switch to switch the motor steps to the different modes (steps) So i have three selections to choose what steps the motor must take.

[horace]

this is very vauge - need more deails of what happens when a switch is pressed, a combination of switches pressed, how effected by dial settings, etc.
I assume you would use a rotary encoder for dial settings?

[jorge630722]

Hi So SW1 will cause the motor to step CW when triggered, there is a cutting blade that is the trigger. The stepper motor moves the platform 20mm each time the blade is raised. The platform has a limiter once it reaches it end. SW2 does the same as SW1 just CCW. Now I need to vary the distance the platform moves to allow variable predetermined cutting sizes using SW1 and SW2. I will use a three pole rotary switch to select the different cutting sizes.

I hope this makes it clearer?

[horace]

how will you connect the three pole rotary switch? to three digital IO pins?
Edited: this will give 3 settings which you can use to select distance
so you have something like

if SW1 pressed
     read rotary switch 
     move CW - distance as specified by rotary switch
if SW2 pressed
    etc etc

[jorge630722]

Hi So i was thinking along the lines of adding another 3 digital pins and selecting different "loops" so basically creating another two loops with different steps for the different sizes of cuts. If that is possible?

So example: I add digital pin 8 to select a different loop while pin 8 is low this loop will run.

if that makes sense?

[horace]

sounds as though it could work!
try writing some code

[jorge630722]

Hi This is what i have done so far but have not tested yet.

// if ENA is LOW motor is locked at last position
// this can lead to overheating of motor
// program assumes common cathode connection

#define SW1 2
#define SW2 3
#define SW3 4
#define DIR 5
#define PUL 6
#define ENA 7 // HIGH disables motor power

#define CW 1
#define CCW 0

#define SW4 8
#define SW5 9
#define SW6 10




// indicates motor is on
// this is built in LED on DP13.
#define motorOn 13

// sets how many pulses for 360 degrees
#define rot360 200

// HIGH on PUL will keep motor locked in position
// note motor will get hot after some time.

int x, y;

// this sets the motor speed
int pulseDelay = 300; // in uSec.

void setup()  {
  // DP13 LED
  pinMode(motorOn, OUTPUT);
  digitalWrite(motorOn, LOW);
  pinMode(SW1, INPUT_PULLUP);
  pinMode(SW2, INPUT_PULLUP);
  pinMode(SW3, INPUT_PULLUP);
  pinMode(SW4, INPUT_PULLUP);
  pinMode(SW5, INPUT_PULLUP);
  pinMode(SW6, INPUT_PULLUP);
  pinMode(DIR, OUTPUT);
  digitalWrite(DIR, LOW);
  pinMode(PUL, OUTPUT);
  digitalWrite(PUL, LOW);
  pinMode(ENA, OUTPUT);
  digitalWrite(ENA, HIGH); 

}

void loop () {
  if (digitalRead (SW4) == 0);
  // execute loop_0   
  if (digitalRead (SW5) == 0);
  // ececute loop_1
  if (digitalRead (SW6) == 0);
  // execute loop_2

} // end loop

void loop_0() {

    
  // manual CW when pushed
    if (digitalRead(SW1) == 0) {
      motorRun(3,CW);
     
   
  } 
  
  // end while

  // manual CCW when pushed
  if (digitalRead(SW2) == 0) {
    motorRun(3,CCW);
   
   
  // end while

  }

  if (digitalRead(SW1) && digitalRead(SW2)) digitalWrite(motorOn, LOW);

  if (digitalRead(SW3) == 0) {
    lockMotor();
  }
  else {
    unlockMotor();
  }
  delay(100);

} // end loop

void loop_1() {
    
  // manual CW when pushed
    if (digitalRead(SW1) == 0) {
      motorRun(3,CW);
     
   
  } 
  
  // end while

  // manual CCW when pushed
  if (digitalRead(SW2) == 0) {
    motorRun(6,CCW);
   
   
  // end while

  }

  if (digitalRead(SW1) && digitalRead(SW2)) digitalWrite(motorOn, LOW);

  if (digitalRead(SW3) == 0) {
    lockMotor();
  }
  else {
    unlockMotor();
  }
  delay(100);

} // end loop

void loop_2() {

    
  // manual CW when pushed
    if (digitalRead(SW1) == 0) {
      motorRun(1.5,CW);
     
   
  } 
  
  // end while

  // manual CCW when pushed
  if (digitalRead(SW2) == 0) {
    motorRun(1.5,CCW);
   
   
  // end while

  }

  if (digitalRead(SW1) && digitalRead(SW2)) digitalWrite(motorOn, LOW);

  if (digitalRead(SW3) == 0) {
    lockMotor();
  }
  else {
    unlockMotor();
  }
  delay(100);

} // end loop

void motorRun(int count, byte dir_local )   {
  digitalWrite(motorOn, HIGH); // DP13 LED
  digitalWrite(ENA, LOW); // motor power ON
  digitalWrite(DIR, dir_local);
  count = count * rot360;
  for (int x = 0; x < count; x++)   {
    digitalWrite(PUL, 1);
    digitalWrite(PUL, 0);
    delayMicroseconds(pulseDelay);
  } // end for
  digitalWrite(ENA, HIGH); // motor power OFF
  digitalWrite(motorOn, LOW);
}

void lockMotor(void) {
  digitalWrite(motorOn, HIGH);
  digitalWrite(ENA, LOW);
}

void unlockMotor(void) {
  digitalWrite(ENA, HIGH);


}

[Paul_B]

@jorge630722

So i was thinking along the lines of adding another 3 digital pins and selecting different "loops"

Sorry, wrong terminology.

There is only ever one "loop()". In that loop, you may - and indeed should - choose between alternate tasks. This is called a "state machine".

Actually your code as shown (is wrong and ...) does not choose alternate tasks, but - quite appropriately in general - successively implements each of several tasks based on whether the corresponding "state variable" or "switch" is active.

To do that it should be

void loop () {
  if (digitalRead (SW4) == 0) {
  // execute task_0
    }
  if (digitalRead (SW5) == 0) {
  // execute task_1
    }
  if (digitalRead (SW6) == 0) {
  // execute task_2
    }
  } // end loop

Note that

if (something == whatever) ;

With the semicolon immediately after, means if that comparison is true, do nothing but just continue to the next statement.

[jorge630722]

Hi Paul_B thank you for your input I will correct my code and try it. I am not to clued up with the syntax but I am getting there .. thank you!

[jorge630722]

Hi Paul_B sorry to ask but in the code that I have submitted I have this section that I need to change when I use the rotary selector switch. So its just the amount of turns the motor needs to change.

  // manual CW when pushed
    if (digitalRead(SW1) == 0) {
      motorRun(3,CW);
     
   
  } 
  
  // end while

  // manual CCW when pushed
  if (digitalRead(SW2) == 0) {
    motorRun(3,CCW);
   
   
  // end while

[Paul_B]

Should be no "end while" in the code as there should be no "while()".

[jorge630722]

Thanks I am still struggling with creating tasks where I can change the steps of the motor and to select these tasks. I have tried various ways to do this and I am not winning

[jorge630722]

Hi guys here is the code I have written but not working I am not sure if FreeRTOS is the way to go but here is my attempt but no luck please let me know what I am doing wrong ??

[jorge630722]

// Include Arduino FreeRTOS library
#include <Arduino_FreeRTOS.h>

// if ENA is LOW motor is locked at last position
// this can lead to overheating of motor
// program assumes common cathode connection

#define SW1 2
#define SW2 3
#define SW3 4
#define DIR 5
#define PUL 6
#define ENA 7 // HIGH disables motor power

#define CW 1
#define CCW 0

#define SW4 8
#define SW5 9
#define SW6 10

// indicates motor is on
// this is built in LED on DP13.
#define motorOn 13

// sets how many pulses for 360 degrees
#define rot360 200

// HIGH on PUL will keep motor locked in position
// note motor will get hot after some time.

int x, y;

// this sets the motor speed
int pulseDelay = 300; // in uSec.

void TaskCut20x20( void *pvParameters ); 
void TaskCut20x40( void *pvParameters ); 
void TaskCut10x10( void *pvParameters );

void motorRun(int count, byte dir_local )   {
  digitalWrite(motorOn, HIGH); // DP13 LED
  digitalWrite(ENA, LOW); // motor power ON
  digitalWrite(DIR, dir_local);
  count = count * rot360;
  for (int x = 0; x < count; x++)   {
    digitalWrite(PUL, 1);
    digitalWrite(PUL, 0);
    delayMicroseconds(pulseDelay);
  } // end for
  digitalWrite(ENA, HIGH); // motor power OFF
  digitalWrite(motorOn, LOW);
}

void lockMotor(void) {
  digitalWrite(motorOn, HIGH);
  digitalWrite(ENA, LOW);
}

void unlockMotor(void) {
  digitalWrite(ENA, HIGH);


}


void setup() {
  xTaskCreate(TaskCut20x20,"TaskCut20x20",128,NULL,0,NULL);
  xTaskCreate(TaskCut20x40,"TaskCut20x40",128,NULL,0,NULL);
  xTaskCreate(TaskCut10x10,"TaskCut10x10",128,NULL,0,NULL);

}

void loop() {
  if (digitalRead (SW4) == 0);
  // execute Task1   
  if (digitalRead (SW5) == 0);
  // execute Task2
  if (digitalRead (SW6) == 0);
  // execute Task3
  
 }
void TaskCut20x20(void *pvParameters)
{
  // manual CW when pushed
    if (digitalRead(SW1) == 0) {
      motorRun(3,CW);

     
  // end while   
   
  } 
  
  
  // manual CCW when pushed
  if (digitalRead(SW2) == 0) {
    motorRun(3,CCW);
   
   
  // end while

  }

  if (digitalRead(SW1) && digitalRead(SW2)) digitalWrite(motorOn, LOW);

  if (digitalRead(SW3) == 0) {
    lockMotor();
  }
  else {
    unlockMotor();
  }
  delay(100);

} // end loop 


void TaskCut20x40(void *pvParameters){
   // manual CW when pushed
    if (digitalRead(SW1) == 0) {
      motorRun(3,CW);
      
      
  // end while   
   
  } 
  
  

  // manual CCW when pushed
  if (digitalRead(SW2) == 0) {
    motorRun(6,CCW);
   
   
  // end while

  }

  if (digitalRead(SW1) && digitalRead(SW2)) digitalWrite(motorOn, LOW);

  if (digitalRead(SW3) == 0) {
    lockMotor();
  }
  else {
    unlockMotor();
  }
  delay(100);

} // end loop

void TaskCut10x10(void *pvParameters){
   // manual CW when pushed
    if (digitalRead(SW1) == 0) {
      motorRun(1.5,CW);
      
      
  // end while   
   
  } 
  
 
  // manual CCW when pushed
  if (digitalRead(SW2) == 0) {
    motorRun(1.5,CCW);
   
   
  // end while

  }

  if (digitalRead(SW1) && digitalRead(SW2)) digitalWrite(motorOn, LOW);

  if (digitalRead(SW3) == 0) {
    lockMotor();
  }
  else {
    unlockMotor();
  }
  delay(100);

} // end loop

[jorge630722]

Hi Guys thank you for your assistance I have sorted out the combining of 3 sketches and manually select the sketch i need. here is how I achieved it. Thank you again for your help.

// if ENA is LOW motor is locked at last position
// this can lead to overheating of motor
// program assumes common cathode connection

#define SW1 2
#define SW2 3
#define SW3 4
#define DIR 5
#define PUL 6
#define ENA 7 // HIGH disables motor power

#define CW 1
#define CCW 0

#define SW4 8
#define SW5 9
#define SW6 10

// indicates motor is on
// this is built in LED on DP13.
#define motorOn 13

// sets how many pulses for 360 degrees
#define rot360 200

// HIGH on PUL will keep motor locked in position
// note motor will get hot after some time.

int x, y;

// this sets the motor speed
int pulseDelay = 300; // in uSec.


void motorRun(int count, byte dir_local )   {
  digitalWrite(motorOn, HIGH); // DP13 LED
  digitalWrite(ENA, LOW); // motor power ON
  digitalWrite(DIR, dir_local);
  count = count * rot360;
  for (int x = 0; x < count; x++)   {
    digitalWrite(PUL, 1);
    digitalWrite(PUL, 0);
    delayMicroseconds(pulseDelay);
  } // end for
  digitalWrite(ENA, HIGH); // motor power OFF
  digitalWrite(motorOn, LOW);
}

void lockMotor(void) {
  digitalWrite(motorOn, HIGH);
  digitalWrite(ENA, LOW);
}

void unlockMotor(void) {
  digitalWrite(ENA, HIGH);


}

void setup() {
  // DP13 LED
  pinMode(motorOn, OUTPUT);
  digitalWrite(motorOn, LOW);

  pinMode(SW1, INPUT_PULLUP);
  pinMode(SW2, INPUT_PULLUP);
  pinMode(SW3, INPUT_PULLUP);
  pinMode(DIR, OUTPUT);
  digitalWrite(DIR, LOW);
  pinMode(PUL, OUTPUT);
  digitalWrite(PUL, LOW);
  pinMode(ENA, OUTPUT);
  digitalWrite(ENA, HIGH); 

}


void loop() {
  if (digitalRead (SW4) == 0){
     // manual CW when pushed
    if (digitalRead(SW1) == 0) {
      motorRun(3,CW);

      
  // end while   
   
  } 
  
  
  // manual CCW when pushed
  if (digitalRead(SW2) == 0) {
    motorRun(3,CCW);
   
   
  // end while

  }

  if (digitalRead(SW1) && digitalRead(SW2)) digitalWrite(motorOn, LOW);

  if (digitalRead(SW3) == 0) {
    lockMotor();
  }
  else {
    unlockMotor();
  }
  delay(100);

} // end loop    
 
  if (digitalRead (SW5) == 0){ 
     // manual CW when pushed
    if (digitalRead(SW1) == 0) {
      motorRun(3,CW);

      
  // end while   
   
  } 
  
  
  // manual CCW when pushed
  if (digitalRead(SW2) == 0) {
    motorRun(6,CCW);
   
   
  // end while



  if (digitalRead(SW1) && digitalRead(SW2)) digitalWrite(motorOn, LOW);

  if (digitalRead(SW3) == 0) {
    lockMotor();
  }
  else {
    unlockMotor();
  }
  delay(100);

} // end loop 

  }

  if (digitalRead (SW6) == 0){
     // manual CW when pushed
    if (digitalRead(SW1) == 0) {
      motorRun(1.5,CW);

      
  // end while   
   
  } 
  
  
  // manual CCW when pushed
  if (digitalRead(SW2) == 0) {
    motorRun(1.5,CCW);
   
   
  // end while

  }

  if (digitalRead(SW1) && digitalRead(SW2)) digitalWrite(motorOn, LOW);

  if (digitalRead(SW3) == 0) {
    lockMotor();
  }
  else {
    unlockMotor();
  }
  delay(100);

} // end loop  

  }