Hi all,
I am creating a code a code to move the stepper motor by 1mm get the sensor measurements adn then repeat the scanning process every 1 mm. I am having trouble with stepper movement as the counter clockwise movement doesn't work as intended. After the stepper motor is done homing it should rotate counter clockwise but the counter clockwise movement is very slow and inconsistent no matter what accelstepper library function I try.
//initialising libraries
#include "AS5600.h"
#include "Wire.h"
#include <AccelStepper.h>
#include <MultiStepper.h>
//setting up pins
AS5600 sensor; // use default Wire (direction pin is 4)
AccelStepper m1(1, 8, 7); // (m1 Driver mode, Pulse Pin, Direction Pin)
AccelStepper m2(1, 9, 6); // motor for coconut rotation
#define home_switch 2
#define limitDown 3
#define dirPin 4
#define m1Enable 12
#define m2Enable 13
//initializing variables
int moveFinish = 1;
long initial_homing = -1; // Used to Home m1 at startup
int mSpeed = 1000;
byte values[7] = { 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 };
const byte read[] = { 0x01, 0x04, 0x00, 0x00, 0x00, 0x02, 0x71, 0xCB };
const byte mode[] = { 0x01, 0x04, 0x00, 0x01, 0x00, 0x01, 0x60, 0x0A };
const byte baud[] = { 0x01, 0x04, 0x00, 0x0E, 0x00, 0x02, 0x10, 0x08 };
const byte set_type_continuous[] = { 0x01, 0x10, 0x00, 0x00, 0x00, 0x01, 0x02, 0x00, 0x01, 0x67, 0x90 };
const byte set_speed_high[] = { 0x01, 0x10, 0x00, 0x01, 0x00, 0x01, 0x02, 0x00, 0x02, 0x26, 0x40 };
// // Initializing arrays
const int arraySize = 5000; // Adjust the size according to your requirements
float angleArray[arraySize];
float fresultArray[arraySize];
int currentIndex = 0;
void setup() {
Serial.begin(115200);
Serial3.begin(115200);
//magnetic encoder
sensor.begin(dirPin); // set direction pin.
sensor.setDirection(AS5600_CLOCK_WISE); // default, just be explicit.
Serial.println(sensor.getAddress());
Serial.print("Connect: ");
Serial.println(sensor.isConnected());
delay(200);
//laser
delay(200);
Serial3.write(set_type_continuous, sizeof(set_type_continuous));
delay(200);
Serial3.write(set_speed_high, sizeof(set_speed_high));
delay(200);
//motor
pinMode(home_switch, INPUT_PULLUP);
pinMode(limitDown, INPUT_PULLUP);
pinMode(12,LOW);
pinMode(13,HIGH);
attachInterrupt(digitalPinToInterrupt(home_switch), home, CHANGE);
attachInterrupt(digitalPinToInterrupt(limitDown), terminate, LOW);
m1.setMaxSpeed(5000);
m1.setAcceleration(500);
Serial.println("Vertical Stepper Motor is Homing!");
while (digitalRead(home_switch)) {
m1.moveTo(initial_homing);
m1.setSpeed(5000);
m1.runSpeed();
initial_homing--;
}
m1.setCurrentPosition(0);
Serial.println("Homing Complete!");
delay(25);
Serial.println("Moving Motor!");
}
void loop() {
int inDist = 5;
long steps = 1600;
moveFinish = 0;
static uint32_t lastTime = 0;
float fresult = 0;
float angle = 0;
if (inDist < 0 || inDist > 400) {
Serial.println("Invalid Travel Distance!");
return;
}
if (inDist >= 0 && inDist <= 400) {
m1.moveTo(length(inDist, steps));
m1.setSpeed(1000);
m1.setAcceleration(500);
mRun();
moveFinish = 1;
}
if (moveFinish == 1 && Serial3.available() > 0 && sensor.isConnected() == 1) {
m2.setSpeed(mSpeed);
m2.setAcceleration(500);
m2.run();
fresult = laser();
angle = magEn();
Serial.print("Coordinate ");
Serial.print(currentIndex);
Serial.print(" : ");
Serial.print(fresult);
Serial.print("\t");
Serial.println(angle);
// Store values in arrays
angleArray[currentIndex] = angle;
fresultArray[currentIndex] = fresult;
currentIndex = (currentIndex + 1) % arraySize;
}
}
long length(long x, long y) {
return x * y*-1;
}
void home() {
}
void terminate() {
m1.disableOutputs();
m1.stop();
}
void mRun() {
if (m1.distanceToGo() != 0) {
m1.runToPosition();
} else {
m1.disableOutputs();
m1.stop();
}
}
float laser() {
float x = 0;
if (Serial3.write(read, sizeof(read))) {
for (byte i = 0; i < 7; i++) {
values[i] = Serial3.read();
}
Serial3.flush();
if (values[0] == 0x01 && values[1] == 0x04 && values[2] == 0x04) {
unsigned long int result = ((long)values[3] << 32) | ((long)values[4] << 16) | ((long)values[5] << 8) | (long)values[6];
x = result / 1000.0;
}
}
return x;
}
float magEn() {
float d = 0;
d = sensor.rawAngle() * AS5600_RAW_TO_DEGREES;
return d;
}
I want to make the stepper motor move as intended previously do the scanning for 3 seconds and then repeat the 1 mm movement. I will atach a picture of how the wiring is done with a rough sketch in a comment .
mods please keep this code seperate from the previous post I made as I made a lot of changes to the code.
any advice on how I can change the code to make this work?
