how do i reverse the direction of the nema 17 motor; theboard being used is ESP32 and A4988 to power motors.
the following link is to the project; GitHub - ProjectsWithRed/auto-wire-stripper-cutter: An automatic wire stripper and cutter, you simply choose some measurements on a screen and it will do it all for you.
the following is the code but in the codeI don't see how to change the direction of the motor;
#define ENCODER_DO_NOT_USE_INTERRUPTS
#include <Encoder.h>
#include <Stepper.h>
#include <SPI.h>
#include <Wire.h>
#include <Adafruit_GFX.h>
#include <Adafruit_SH110X.h>
#define motorInterfaceType 1
#define i2c_Address 0x3c
const int LINMOT_STEPPERS_STEP_PIN = 19; // LINMOT: Linear motion
const int LINMOT_STEPPERS_DIR_PIN = 18;
const int EXTRUDER_STEPPER_STEP_PIN = 16; // The stepper that moves the wire in the extruder.
const int EXTRUDER_STEPPER_DIR_PIN = 17;
const int ENCODER_DT_PIN = 0;
const int ENCODER_CLK_PIN = 23;
const int ENCODER_BTN_PIN = 4;
// For calibration only. The two buttons are used to move the top blade up and down manually.
// Once calibrated, you can remove the buttons from the circuit.
const int BTN1_PIN = 27;
const int BTN2_PIN = 26;
const int LINMOT_STEPPERS_STEPS = 1; // Steppers step(s) movement at a time.
const int EXTRUDER_STEPPER_STEPS = 1;
const int LINMOT_STEPPERS_SPEED = 2000;
const int EXTRUDER_STEPPER_SPEED = 2000;
const int SCREEN_WIDTH = 128; // OLED display width, in pixels
const int SCREEN_HEIGHT = 64; // OLED display height, in pixels
const int TEXT_SIZE = 2;
const int TEXT_OFFSET = 3;
// Values for drawing the wire at the top of the OLED screen.
const int WIRE_STRAND_LENGTH = 30;
const int WIRE_STRAND_Y_POS = 7;
const int WIRE_INSULATION_WIDTH = SCREEN_WIDTH - (WIRE_STRAND_LENGTH * 2);
const int WIRE_INSULATION_HEIGHT = 14;
// These are just references to the corresponding component index in the comps array;
const int STRIPPING_LENGTH1_INDEX = 0;
const int WIRE_LENGTH_INDEX = 1;
const int STRIPPING_LENGTH2_INDEX = 2;
const int QUANTITY_INDEX = 3;
const int STRIPPING_DEPTH_INDEX = 4;
const int START_BTN_INDEX = 5;
const int CUTTING_STEPS = 17750; // Steps to move blade to fully cut the wire.
const int STRIPPING_MULTIPLIER = 300; // The chosen stripping depth value on the screen is multiplied by this value.
const int WIRE_MOVEMENT_MULTI = 408; // How much to move wire per unit on OLED, turn on CALIBRATION_MODE to find this value.
const int DELAY_BETWEEN_CUTS = 100; // Delay in ms between each cut in the quantity.
// To calibrate the wire movement distance. Use the first cell to enter the distance in mm to move the wire.
// Then adjust WIRE_MOVEMENT_MULTI to get the correct wire length.
const boolean CALIBRATION_MODE = false;
Stepper linMotSteppers(200, LINMOT_STEPPERS_DIR_PIN, LINMOT_STEPPERS_STEP_PIN);
Stepper extruderStepper(200, EXTRUDER_STEPPER_DIR_PIN, EXTRUDER_STEPPER_STEP_PIN);
Encoder encoder(ENCODER_DT_PIN, ENCODER_CLK_PIN);
Adafruit_SH1106G display = Adafruit_SH1106G(SCREEN_WIDTH, SCREEN_HEIGHT, &Wire, -1);
int linMotSteppersCurrStep = 0; // Current position/step of the stepper motor.
// A component is a cell with a value on the OLED display.
struct Component {
int x, y; // Position
int w, h; // Size
int value; // Current value of the cell.
boolean highlighted; // Whether the cell is the currently highlighted cell.
boolean selected; // Whether the cell is currently the selected one, where its value will be controlled by the encoder.
boolean btn; // If it is a button or not.
};
Component comps[] = { {0, 20, 40, 20, 0, 0, 0, 0},
{44, 20, 40, 20, 0, 0, 0, 0},
{88, 20, 40, 20, 0, 0, 0, 0},
{0, 44, 40, 20, 0, 0, 0, 0},
{44, 44, 40, 20, 0, 0, 0, 0},
{88, 44, 40, 20, 0, 0, 0, 1} };
int numOfComps = sizeof(comps) / sizeof(comps[0]);
int encoderPos; // Current position/value of the encoder.
int encoderLastPos; // For OLED drawing.
int encoderLastPosMain; // For main loop.
boolean encBtnState = false;
boolean encBtnPrevState = false; // For OLED drawing.
boolean encBtnPrevStateMain = false; // For main loop.
void setup() {
linMotSteppers.setSpeed(LINMOT_STEPPERS_SPEED);
extruderStepper.setSpeed(EXTRUDER_STEPPER_SPEED);
pinMode(ENCODER_BTN_PIN, INPUT_PULLUP);
pinMode(BTN1_PIN, INPUT_PULLUP);
pinMode(BTN2_PIN, INPUT_PULLUP);
display.begin(i2c_Address, true);
}
void loop() {
int encPos = getEncoderPos();
boolean encBtnState = digitalRead(ENCODER_BTN_PIN);
// Only update OLED screen if encoder is moved or pressed.
if ((encPos != encoderLastPosMain) || (encBtnState != encBtnPrevStateMain)) {
handleOLEDDisplay();
}
if (comps[START_BTN_INDEX].selected) {
runAutoCuttingStripping();
}
encoderLastPosMain = encPos;
encBtnPrevStateMain = encBtnState;
if (!digitalRead(BTN1_PIN)) {
moveBlade(1);
}
if (!digitalRead(BTN2_PIN)) {
moveBlade(-1);
}
}
void handleOLEDDisplay() {
display.clearDisplay();
drawWire();
boolean btnState = digitalRead(ENCODER_BTN_PIN);
// Handling whether encoder is changing cell or value of the cell.
if (!btnState && (btnState != encBtnPrevState)) {
encBtnState = !encBtnState;
if (encBtnState) {
encoderLastPos = encoderPos;
}
else {
encoder.write(encoderLastPos * 4);
}
}
encBtnPrevState = btnState;
if (!encBtnState) {
encoderPos = getEncoderPos();
}
handleAllComponents();
display.display();
}
void drawWire() {
display.drawLine(0, WIRE_STRAND_Y_POS, WIRE_STRAND_LENGTH, WIRE_STRAND_Y_POS, SH110X_WHITE);
display.fillRect(WIRE_STRAND_LENGTH, 0, WIRE_INSULATION_WIDTH, WIRE_INSULATION_HEIGHT, SH110X_WHITE);
display.drawLine(WIRE_STRAND_LENGTH + WIRE_INSULATION_WIDTH, WIRE_STRAND_Y_POS, SCREEN_WIDTH, WIRE_STRAND_Y_POS, SH110X_WHITE);
}
void handleAllComponents() {
for (int i = 0; i < numOfComps; i++) {
Component& comp = comps[i];
if (encoderPos == i) {
comp.highlighted = true;
if (encBtnState) {
if (!comp.selected && !comp.btn) {
encoder.write(comp.value * 4);
}
comp.selected = true;
int newEncPos = getEncoderPos();
comp.value = newEncPos;
}
else {
comp.selected = false;
}
}
else {
comp.highlighted = false;
comp.selected = false;
}
drawComponent(comp);
}
}
void drawComponent(Component comp) {
if (comp.highlighted) {
display.setTextColor(SH110X_BLACK, SH110X_WHITE);
display.fillRect(comp.x, comp.y, comp.w, comp.h, SH110X_WHITE);
if (comp.selected) {
display.drawRect(comp.x - 1, comp.y - 1, comp.w + 2, comp.h + 2, SH110X_WHITE);
}
}
else {
display.setTextColor(SH110X_WHITE, SH110X_BLACK);
display.drawRect(comp.x, comp.y, comp.w, comp.h, SH110X_WHITE);
}
if (comp.btn) {
display.setTextSize(1);
drawText("Start", comp.x + TEXT_OFFSET, comp.y + TEXT_OFFSET);
}
else {
display.setTextSize(TEXT_SIZE);
drawText(String(comp.value), comp.x + TEXT_OFFSET, comp.y + TEXT_OFFSET);
}
}
void drawText(String text, int x, int y) {
display.setCursor(x, y);
display.println(text);
}
void runAutoCuttingStripping() {
if (CALIBRATION_MODE) {
moveWire(comps[STRIPPING_LENGTH1_INDEX].value);
cut();
}
else {
cut();
delay(DELAY_BETWEEN_CUTS);
for (int i = 0; i < comps[QUANTITY_INDEX].value; i++) {
moveWire(comps[STRIPPING_LENGTH1_INDEX].value);
strip();
moveWire(comps[WIRE_LENGTH_INDEX].value);
strip();
moveWire(comps[STRIPPING_LENGTH2_INDEX].value);
cut();
delay(DELAY_BETWEEN_CUTS);
}
}
comps[START_BTN_INDEX].selected = false;
encBtnState = false;
}
void cut() {
moveBlade(-CUTTING_STEPS);
moveBlade(CUTTING_STEPS);
}
void strip() {
moveBlade(-(comps[STRIPPING_DEPTH_INDEX].value * STRIPPING_MULTIPLIER));
moveBlade(comps[STRIPPING_DEPTH_INDEX].value * STRIPPING_MULTIPLIER);
}
void moveBlade(int steps) {
linMotSteppers.step(steps);
linMotSteppersCurrStep += steps;
}
void moveWire(int steps) {
extruderStepper.step(steps * WIRE_MOVEMENT_MULTI);
}
int getEncoderPos() {
int encPos = encoder.read() / 4;
return encPos;
}