I know that this probably is an easy solution but i cant seem to find it so here is my problem, I am using an arduino mega, three encoders to control three stepper motors. The encoders have a clock data switch neg and pos pin, the motor controllers are uln2003 and the motors are 28byj-48. i want to tune a motor on the fly so i have three encoders and three steppers that will be labeled tc for top carb, mc for mid carb, and bc for bottom carb. So far i cant get two to play nice together and i feel that i am close to figuring it out but i am reaching out for some support. I dont know much code but I am trying to learn, I apologize ahead if my notes in the code are not accurate or are not clear enough. what ends up happening is that encoder 1 turns all stepper motors but not equal amounts and encoder 2 is even worse only moving in one direction and kind of randomly as well, although both switches on the encoders return their correct stepper to the starting position without controlling the other stepper motor. Thank you all for your help.
// precise stepper motor control
#include "Stepper.h" //incude stepper library
#define STEPS 35 //number of steps
volatile boolean TurnDetectedTC; //volatile veriable needed for interupt
volatile boolean rotationdirectionTC; //volatile veriable for direction
volatile boolean TurnDetectedMC;
volatile boolean rotationdirectionMC;
const int PinCLKTC=2; //rotary enc clock pin used for interupt
const int PinDTTC=12; //rotary enc data pin used for direction
const int PinSWTC=13;
const int PinCLKMC=3;
const int PinDTMC=14;
const int PinSWMC=15;
int RotaryPositionTC=2; //int to store stepper position
int RotaryPositionMC=3;
int PrevPositionTC; //int for rot enc prev pos
int StepsToTakeTC; //int for num of steps to move
int PrevPositionMC;
int StepsToTakeMC;
Stepper top_carb(STEPS, 8, 10, 9, 11); //create instance of stepper called top_carb
Stepper mid_carb(STEPS, 16, 17, 18, 19);
void isr () { //interupt runs for clock goes low
delay(5) ;
if (digitalRead(PinCLKTC)) //read clock
rotationdirectionTC= digitalRead(PinDTTC); //read data and compare to clock
else
(rotationdirectionTC= !digitalRead(PinDTTC)) ; //read data and compare to clock
TurnDetectedTC = true; //set flag
if
(digitalRead(PinCLKMC))
rotationdirectionMC= digitalRead(PinDTMC);
else
rotationdirectionMC= !digitalRead(PinDTMC);
TurnDetectedMC = true;
}
void setup () {
pinMode(PinCLKTC,INPUT) ; //rot enc clk set as input
pinMode(PinDTTC,INPUT) ; // rot enc data set as input
pinMode(PinSWTC,INPUT); //rot enc switch set as input
digitalWrite(PinSWTC, HIGH); //switch set High
attachInterrupt (0,isr,FALLING); //rotinterupt 0 on pin 2, call isr, falling
pinMode(PinCLKMC,INPUT);
pinMode(PinDTMC,INPUT);
pinMode(PinSWMC,INPUT);
digitalWrite(PinSWMC, HIGH);
attachInterrupt (0,isr,FALLING);
}
void loop () {
top_carb.setSpeed(600); //set rotation speed
if (!(digitalRead(PinSWTC))) { //is buton pressed
if (RotaryPositionTC == 0) { //has buton been pressed
} else {
top_carb.step(-(RotaryPositionTC*50)); //if neither is true move
RotaryPositionTC=0; //reset position
}
}
if (TurnDetectedTC) { //if rot enc was moved
PrevPositionTC = RotaryPositionTC; //save the last position
if (rotationdirectionTC) { //check direction of turn
RotaryPositionTC=RotaryPositionTC-1;} //counterclockwise
else {
RotaryPositionTC=RotaryPositionTC+1;} //clockwise
TurnDetectedTC = false; //do not repeat
if ((PrevPositionTC + 1) == RotaryPositionTC) { //move clockwise
StepsToTakeTC=70; //num steps
top_carb.step(StepsToTakeTC); //do move
}
if ((RotaryPositionTC + 1) == PrevPositionTC) { //move clockwise
StepsToTakeTC=-70; //num steps
top_carb.step(StepsToTakeTC); //do move
}
}
mid_carb.setSpeed(600);
if (!(digitalRead(PinSWMC))) {
if (RotaryPositionMC == 0) {
}else{
mid_carb.step(-(RotaryPositionMC*50));
RotaryPositionMC=0;
}
}
if (TurnDetectedMC) {
PrevPositionMC = RotaryPositionMC;
if (rotationdirectionMC) {
RotaryPositionMC=RotaryPositionMC-1;}
else {
RotaryPositionMC=RotaryPositionMC+1;}
TurnDetectedMC = false;
if ((PrevPositionMC + 1) == RotaryPositionMC) {
StepsToTakeMC=70;
mid_carb.step(StepsToTakeMC);
}
if ((RotaryPositionMC + 1) == PrevPositionMC) {
StepsToTakeMC=-70;
mid_carb.step(StepsToTakeMC);
}
}
}
presise_control_1.ino (4.05 KB)
