Hi,
i have a problem and it drives me nuts.
I want so control 5 stepmotors via a arduino mega and 5 motordrivers.
so far so good.
If i want to change the speed of the motors via the serial monitor and type in 'v' it automatically sets the New speed for motor 1 to 0. i can only adjust the speeds for motor 2, 3, 4 and 5.
If i then give the speeds as an input like: 1 2 3 4 5
it sets motor 2 to 1, motor 3 to 2, motor 4 to 3 and motor 5 to 4.
If i give the speeds as an input one by one i can adjust motor 2, then motor 3 is set to 0 automatically. if i then give an input for motor 4, it sets the input correctly as the new speed. after that motor 5 is set to 0 automatically again.
any ideas?
sorry for my rusty english.
This is the code i have:
#include <AccelStepper.h>
#include <MultiStepper.h>
#define PI 3.1415926535897932384626433832795
// Feed unit parameters
float v_ve[5] = {1.00, 1.00, 1.00, 1.00, 1.00}; // Feed speeds in m/min
float d_ve[5] = {0.05, 0.05, 0.05, 0.05, 0.05}; // Roller diameters in m
int uev_ve[5] = {1, 1, 1, 1, 1}; // Gear ratios
int stpu_ve[5] = {200, 200, 200, 200, 200}; // Steps per revolution
// Calculated parameters
float U_ve[5], um_ve[5], sm_ve[5], spm_ve[5], sps_ve[5];
int spsr_ve[5];
// Pin assignments
const int ve_ena[5] = {41, 44, 47, 50, 53};
const int ve_dir[5] = {40, 43, 46, 49, 52};
const int ve_pul[5] = {39, 42, 45, 48, 51};
// Switch pins
const int startStopSwitchPin = 2;
const int directionSwitchPin = 3;
// Motor objects
AccelStepper ve[5] = {
AccelStepper(1, ve_dir[0], ve_pul[0]),
AccelStepper(1, ve_dir[1], ve_pul[1]),
AccelStepper(1, ve_dir[2], ve_pul[2]),
AccelStepper(1, ve_dir[3], ve_pul[3]),
AccelStepper(1, ve_dir[4], ve_pul[4])
};
bool motorsRunning = false;
bool direction = true; // true = forward; false = backward
void calculateParameters() {
for (int i = 0; i < 5; i++) {
U_ve[i] = 2 * PI * (d_ve[i] / 2); // Roller circumference
um_ve[i] = 1 / U_ve[i]; // Revolutions per meter
sm_ve[i] = um_ve[i] * stpu_ve[i] * uev_ve[i]; // Steps per meter
spm_ve[i] = v_ve[i] * sm_ve[i]; // Steps per minute
sps_ve[i] = spm_ve[i] / 60; // Steps per second
spsr_ve[i] = int(sps_ve[i]); // Convert to int
}
}
void updateParameters() {
for (int i = 0; i < 5; i++) {
ve[i].setMaxSpeed(spsr_ve[i]);
}
}
void setup() {
Serial.begin(9600); // Initialize serial communication
delay(10000); // Allow time for initialization
// Switch setup
pinMode(startStopSwitchPin, INPUT_PULLUP);
pinMode(directionSwitchPin, INPUT_PULLUP);
// Calculate initial parameters
calculateParameters();
updateParameters();
// Motor setup
for (int i = 0; i < 5; i++) {
ve[i].setAcceleration(500);
Serial.print("Motor ");
Serial.print(i + 1);
Serial.print(": Steps per second = ");
Serial.println(spsr_ve[i]);
}
}
void handleSerialInput() {
if (Serial.available() > 0) {
char input = Serial.read();
// Adjust feed speeds via serial input
if (input == 'v') {
Serial.println("Enter new feed speeds (m/min) for motors 1 to 5:");
for (int i = 0; i < 5; i++) {
while (Serial.available() == 0); // Wait for input
float newSpeed = Serial.parseFloat();
v_ve[i] = newSpeed;
Serial.print("New speed for Motor ");
Serial.print(i + 1);
Serial.print(": ");
Serial.println(v_ve[i]);
}
calculateParameters();
updateParameters();
}
// Adjust roller diameters via serial input
else if (input == 'd') {
Serial.println("Enter new roller diameters (m) for motors 1 to 5:");
for (int i = 0; i < 5; i++) {
while (Serial.available() == 0); // Wait for input
float newDiameter = Serial.parseFloat();
d_ve[i] = newDiameter;
Serial.print("New diameter for Motor ");
Serial.print(i + 1);
Serial.print(": ");
Serial.println(d_ve[i]);
}
calculateParameters();
updateParameters();
}
// Adjust gear ratios via serial input
else if (input == 'u') {
Serial.println("Enter new gear ratios for motors 1 to 5:");
for (int i = 0; i < 5; i++) {
while (Serial.available() == 0); // Wait for input
int newRatio = Serial.parseInt();
uev_ve[i] = newRatio;
Serial.print("New gear ratio for Motor ");
Serial.print(i + 1);
Serial.print(": ");
Serial.println(uev_ve[i]);
}
calculateParameters();
updateParameters();
}
// Adjust steps per revolution via serial input
else if (input == 's') {
Serial.println("Enter new steps per revolution for motors 1 to 5:");
for (int i = 0; i < 5; i++) {
while (Serial.available() == 0); // Wait for input
int newSteps = Serial.parseInt();
stpu_ve[i] = newSteps;
Serial.print("New steps per revolution for Motor ");
Serial.print(i + 1);
Serial.print(": ");
Serial.println(stpu_ve[i]);
}
calculateParameters();
updateParameters();
}
}
}
void loop() {
handleSerialInput();
// Read switch states
bool startStopSwitchState = digitalRead(startStopSwitchPin) == LOW;
bool directionSwitchState = digitalRead(directionSwitchPin) == LOW;
// Check if the Start/Stop Switch is pressed
if (startStopSwitchState) {
motorsRunning = !motorsRunning; // Toggle the running state
delay(200); // Debounce delay
}
// Check the direction switch
direction = directionSwitchState;
// Set the speed and direction for each motor
for (int i = 0; i < 5; i++) {
if (motorsRunning) {
int speed = direction ? spsr_ve[i] : -spsr_ve[i];
ve[i].setSpeed(speed);
ve[i].runSpeed();
} else {
ve[i].stop();
}
}
delay(50); // Small delay for debouncing and smooth operation
}
