Frequency of loop, actualTime - storedTime

Using Arduino Programming Questions
1

Hello
I'm using arduino for driving stepper motor with L298N shield. I managed to code some functions like fullstep, halfstep etc. I used switch to move between functions but after couple changes of case it brakes. i can still pick desired case but if statement with (actualTime - storedTime >= predkosc) doesnt seem to work anymore. Any suggestions ?

#include <LiquidCrystal.h>
#include <Bounce2.h>

#include <Stepper.h>

const int stepsPerRevolution = 200;  // change this to fit the number of steps per revolution
// for your motor

// initialize the stepper library on pins 8 through 11:
Stepper myStepper(stepsPerRevolution, 6, 7, 8, 9);

int stepCount = 0;         // number of steps the motor has taken

// initialize the library by associating any needed LCD interface pin
// with the arduino pin number it is connected to
const int rs = 12, en = 11, d4 = 5, d5 = 4, d6 = 3, d7 = 2;
int buttonPin=10;
int buttonNew;
int buttonOld=0;
int LCDState=0;
int dt=500;
int buttonPin2=13;
int controloption;
int count=0;
unsigned int predkosc;
int pot=A1;
const int Step1Pin=6;
const int Step2Pin=7;
const int Step3Pin=8;
const int Step4Pin=9;
int actualTime = 0;
int storedTime=0;
int stepNo=0;
int czujnik=0;
LiquidCrystal lcd(rs, en, d4, d5, d6, d7);
Bounce debouncer = Bounce();
void setup() {
  Serial.begin(9600);
  pinMode(buttonPin, INPUT);
  pinMode(buttonPin2, INPUT);
  // Po konfiguracji przycisku, ustawienie działania funkcji Bounce :
  debouncer.attach(buttonPin);
  debouncer.interval(25); // interwał w ms
  // set up the LCD's number of columns and rows:
  lcd.begin(16, 2);
  // Print a message to the LCD.  
}
void loop()
{ 
  
  czujnik=analogRead(pot);
  predkosc = map(czujnik, 1, 1000, -10, 1000);
  Serial.println(predkosc);
  int button1_last = 0;
  int button1_state = digitalRead(buttonPin);
  int button2state=digitalRead(buttonPin2);
  if (button1_state != button1_last){//debouncer2
    delay(50);
    button1_state = digitalRead(buttonPin);
  }
  while (button1_state != button1_last)
  { 
    count++;
    storedTime=actualTime;
    button1_last = button1_state;
    delay(50);
    if (count >= 5) {
       count = 1;
    }
  }
 switch (count) {
     case 1: 
     
      lcd.print("sterowanie");
      lcd.println("pelnokrokowe");
   actualTime=millis();
   if (actualTime - storedTime >= predkosc) {
      if (stepNo == 1) {
        digitalWrite(Step1Pin, HIGH);
        digitalWrite(Step2Pin, LOW);
        digitalWrite(Step3Pin, LOW);
        digitalWrite(Step4Pin, HIGH);
      } if (stepNo == 2) {
        digitalWrite(Step1Pin, HIGH);
        digitalWrite(Step2Pin, LOW);
        digitalWrite(Step3Pin, HIGH);
        digitalWrite(Step4Pin, LOW);       
      } if (stepNo == 3) {
        digitalWrite(Step1Pin, LOW);
        digitalWrite(Step2Pin, HIGH);  
        digitalWrite(Step3Pin, HIGH);
        digitalWrite(Step4Pin, LOW);        
      } if (stepNo == 4) {
        digitalWrite(Step1Pin, LOW);
        digitalWrite(Step2Pin, HIGH);
        digitalWrite(Step3Pin, LOW);
        digitalWrite(Step4Pin, HIGH);
        stepNo = 0;
      }
       stepNo++;
      storedTime = actualTime;
    }
   
  if (button2state==0){
  lcd.clear();
  lcd.print("zalaczono funkcje");
   delay(1000);}
        break;
     case 2:       
  lcd.clear();
    lcd.print("sterowanie");
     lcd.println("falowe");
    actualTime=millis();
    if (actualTime - storedTime >= predkosc) {
      if (stepNo == 1) {
        digitalWrite(Step1Pin, LOW); //B+
        digitalWrite(Step2Pin, LOW);//B-
        digitalWrite(Step3Pin, HIGH);//A+
        digitalWrite(Step4Pin, LOW);//A-
      } if (stepNo == 2) {
        digitalWrite(Step1Pin, HIGH);
        digitalWrite(Step2Pin, LOW);
        digitalWrite(Step3Pin, LOW);
        digitalWrite(Step4Pin, LOW);
        
      } if (stepNo == 3) {
        digitalWrite(Step1Pin, LOW);
        digitalWrite(Step2Pin, LOW);  
        digitalWrite(Step3Pin, LOW);
        digitalWrite(Step4Pin, HIGH);
          
      } if (stepNo == 4) {
        digitalWrite(Step1Pin, LOW);
        digitalWrite(Step2Pin, HIGH);
        digitalWrite(Step3Pin, LOW);
        digitalWrite(Step4Pin, LOW);
        stepNo = 0;
      }
       stepNo++;
      storedTime = actualTime;
    }
           break;
     case 3:
        lcd.clear();
      lcd.print("silnik prawo"); 
        if (button2state==0){
  lcd.clear();
  lcd.print("zalaczono funkcje");
   //delay(1);
    myStepper.step(1);
  stepCount++;
  }
        break;
        case 4:
        lcd.clear();
  lcd.print("sterowanie"); 
  lcd.println("polkrokowe");
   actualTime=millis();
         if (actualTime - storedTime >= predkosc) 
     { 
      
      if (stepNo == 1) {              // A+B+  A-B+  A-B-  A+B-
        digitalWrite(Step1Pin, LOW); //B+           A+0  A+B+  0B+  A-B+  A-0  A-B- 0B- A+B- 
        digitalWrite(Step2Pin, LOW); //B-
        digitalWrite(Step3Pin, LOW);// A-
        digitalWrite(Step4Pin, HIGH); //A+
     
      } if (stepNo == 2) {
        digitalWrite(Step1Pin, HIGH);
        digitalWrite(Step2Pin, LOW);
        digitalWrite(Step3Pin, LOW);
        digitalWrite(Step4Pin, HIGH);
        
      } if (stepNo == 3) { 
        digitalWrite(Step1Pin, HIGH);
        digitalWrite(Step2Pin, LOW);  
        digitalWrite(Step3Pin, LOW);
        digitalWrite(Step4Pin, LOW);
          
      } if (stepNo == 4) { 
        digitalWrite(Step1Pin, HIGH);
        digitalWrite(Step2Pin, LOW);
        digitalWrite(Step3Pin, HIGH);
        digitalWrite(Step4Pin, LOW);
    
      }
      if (stepNo == 5) { 
        digitalWrite(Step1Pin, LOW);
        digitalWrite(Step2Pin, LOW);
        digitalWrite(Step3Pin, HIGH);
        digitalWrite(Step4Pin, LOW);
        
      }
       if (stepNo == 6) { 
        digitalWrite(Step1Pin, LOW);
        digitalWrite(Step2Pin, HIGH);
        digitalWrite(Step3Pin, HIGH);
        digitalWrite(Step4Pin, LOW);
    
      }
       if (stepNo == 7) { 
        digitalWrite(Step1Pin, LOW);
        digitalWrite(Step2Pin, HIGH);
        digitalWrite(Step3Pin, LOW);
        digitalWrite(Step4Pin, LOW);
    
      }
       if (stepNo == 8) { 
        digitalWrite(Step1Pin, LOW);
        digitalWrite(Step2Pin, HIGH);
        digitalWrite(Step3Pin, LOW);
        digitalWrite(Step4Pin, HIGH);
        
        stepNo = 0;
      }
       stepNo++;
      storedTime = actualTime;
    }
   
    break;
    
  }
}
2

Please edit your opening post, select all code and click the </> button to apply code tags and next save your post. It makes it easier to read, easier to copy and prevents the forum software from incorrect interpretation of the code.

3

Great you posted you code, not so great that you did not use code tags. Why not edit your code and put your code in code tags.

4

Sorry, It's my first topic. Thank you for advice. All done.

1 Like
5

not really sure what the specific problem is. i simulated your code and cleaned up some things.

the button processing: made INPUT_PULLUP, moved button1_last outside of loop() and simplified the logic (no need for "Bounce").

i moved reading millis() to the top of loop()

you include Stepper, but don't use it's functions. those sequences seem redundant

consider

#define MyHW
#ifdef MyHW
class Stepper {
  public:
    Stepper (int z, int a, int b, int c, int d)  {
        pinMode (a, OUTPUT);
        pinMode (b, OUTPUT);
        pinMode (c, OUTPUT);
        pinMode (d, OUTPUT);
    };

    void step (int a)   { };
};

const int Step1Pin=10;
const int Step2Pin=11;
const int Step3Pin=12;
const int Step4Pin=13;

class LiquidCrystal {
  public:
    LiquidCrystal (int rs, int en, int d4, int d5, int d6, int d7)  { };

    void begin   (int a, int b)   { };
    void clear   (void)           { };
#if 0
    void print   (const char *s)  { Serial.print (s); };
    void println (const char *s)  { Serial.println (s); };
#else
    void print   (const char *s)  { };
    void println (const char *s)  { };
#endif
};

class Bounce {
  public:
    Bounce ()   { };
    void attach   (int a)  { };
    void interval (int a)  { };
};

byte pot        = A0;
byte buttonPin  = A1;
byte buttonPin2 = A2;

// ---------------------------------------------------------
#else
#include <LiquidCrystal.h>
#include <Bounce2.h>
#include <Stepper.h>

const int Step1Pin=6;
const int Step2Pin=7;
const int Step3Pin=8;
const int Step4Pin=9;

int pot=A1;
int buttonPin=10;
int buttonPin2=13;
#endif

char s [80];

// -----------------------------------------------------------------------------
const int stepsPerRevolution = 200; // change this to fit the number of steps per revolution
// for your motor
// initialize the stepper library on pins 8 through 11:
Stepper myStepper(stepsPerRevolution, Step1Pin, Step2Pin, Step3Pin, Step4Pin);
int stepCount = 0; // number of steps the motor has taken

// initialize the library by associating any needed LCD interface pin
// with the arduino pin number it is connected to
const int rs = 12, en = 11, d4 = 5, d5 = 4, d6 = 3, d7 = 2;
int buttonNew;
int buttonOld=0;
int LCDState=0;
int dt=500;
int controloption;
int count=0;
unsigned long predkosc;

unsigned long actualTime = 0;
unsigned long storedTime=0;
int stepNo=0;
int czujnik=0;
LiquidCrystal lcd(rs, en, d4, d5, d6, d7);
Bounce debouncer = Bounce();

void setup() {
    Serial.begin(9600);

    pinMode(buttonPin,  INPUT_PULLUP);
    pinMode(buttonPin2, INPUT_PULLUP);
    // Po konfiguracji przycisku, ustawienie dziaania funkcji Bounce :
    debouncer.attach(buttonPin);
    debouncer.interval(25); // interwa w ms
    // set up the LCD's number of columns and rows:
    lcd.begin(16, 2);
    // Print a message to the LCD.
}

int but1_last = HIGH;

void loop()
{
    actualTime = millis();
    czujnik  = analogRead(pot);
    predkosc = map(czujnik, 1, 1000, -10, 1000);
 // Serial.println(predkosc);

    int but1          = digitalRead(buttonPin);
    int button2state  = digitalRead(buttonPin2);

#if 0
    if (button1_state != button1_last){//debouncer2
        delay(50);
        button1_state = digitalRead(buttonPin);
    }

    while (button1_state != button1_last)
    {
        count++;
        storedTime=actualTime;
        button1_last = button1_state;
        delay(50);
        if (count >= 5) {
            count = 1;
        }
    }
#else
    if (but1_last != but1)  {
        but1_last = but1;
        delay (10);         // debounce

        if (LOW == but1)  {
            storedTime = actualTime;
            count = (count+1) % 6;
        }
    }
#endif

    sprintf (s, "cnt %3d, stepNo %3d, %8ld, %8ld, %8ld",
        count, stepNo, actualTime, storedTime, predkosc);
    Serial.println (s);

    switch (count) {
    case 1:
        lcd.print("sterowanie");
        lcd.println("pelnokrokowe");
        if ( (actualTime - storedTime) >= predkosc) {
            if (stepNo == 1) {
                digitalWrite(Step1Pin, HIGH);
                digitalWrite(Step2Pin, LOW);
                digitalWrite(Step3Pin, LOW);
                digitalWrite(Step4Pin, HIGH);
            }
            if (stepNo == 2) {
                digitalWrite(Step1Pin, HIGH);
                digitalWrite(Step2Pin, LOW);
                digitalWrite(Step3Pin, HIGH);
                digitalWrite(Step4Pin, LOW);
            }
            if (stepNo == 3) {
                digitalWrite(Step1Pin, LOW);
                digitalWrite(Step2Pin, HIGH);
                digitalWrite(Step3Pin, HIGH);
                digitalWrite(Step4Pin, LOW);
            }
            if (stepNo == 4) {
                digitalWrite(Step1Pin, LOW);
                digitalWrite(Step2Pin, HIGH);
                digitalWrite(Step3Pin, LOW);
                digitalWrite(Step4Pin, HIGH);
                stepNo = 0;
            }
            stepNo++;
            storedTime = actualTime;
        }
        if (button2state==0){
            lcd.clear();
            lcd.print("zalaczono funkcje");
            delay(1000);
        }
        break;

    case 2:
        lcd.clear();
        lcd.print("sterowanie");
        lcd.println("falowe");
        if (actualTime - storedTime >= predkosc) {
            if (stepNo == 1) {
                digitalWrite(Step1Pin, LOW); //B+
                digitalWrite(Step2Pin, LOW);//B-
                digitalWrite(Step3Pin, HIGH);//A+
                digitalWrite(Step4Pin, LOW);//A-
            }
            if (stepNo == 2) {
                digitalWrite(Step1Pin, HIGH);
                digitalWrite(Step2Pin, LOW);
                digitalWrite(Step3Pin, LOW);
                digitalWrite(Step4Pin, LOW);
            }
            if (stepNo == 3) {
                digitalWrite(Step1Pin, LOW);
                digitalWrite(Step2Pin, LOW);
                digitalWrite(Step3Pin, LOW);
                digitalWrite(Step4Pin, HIGH);
            }
            if (stepNo == 4) {
                digitalWrite(Step1Pin, LOW);
                digitalWrite(Step2Pin, HIGH);
                digitalWrite(Step3Pin, LOW);
                digitalWrite(Step4Pin, LOW);
                stepNo = 0;
            }
            stepNo++;
            storedTime = actualTime;
        }
        break;

    case 3:
        lcd.clear();
        lcd.print("silnik prawo");
        if (button2state==0){
            lcd.clear();
            lcd.print("zalaczono funkcje");
            //delay(1);
            myStepper.step(1);
            stepCount++;
        }
        break;

    case 4:
        lcd.clear();
        lcd.print("sterowanie");
        lcd.println("polkrokowe");
        if (actualTime - storedTime >= predkosc)
        {
            if (stepNo == 1) {              // A+B+  A-B+  A-B-  A+B-
                digitalWrite(Step1Pin, LOW); //B+           A+0  A+B+  0B+  A-B+  A-0  A-B- 0B- A+B-
                digitalWrite(Step2Pin, LOW); //B-
                digitalWrite(Step3Pin, LOW);// A-
                digitalWrite(Step4Pin, HIGH); //A+
            }
            if (stepNo == 2) {
                digitalWrite(Step1Pin, HIGH);
                digitalWrite(Step2Pin, LOW);
                digitalWrite(Step3Pin, LOW);
                digitalWrite(Step4Pin, HIGH);
            }
            if (stepNo == 3) {
                digitalWrite(Step1Pin, HIGH);
                digitalWrite(Step2Pin, LOW);
                digitalWrite(Step3Pin, LOW);
                digitalWrite(Step4Pin, LOW);
            }
            if (stepNo == 4) {
                digitalWrite(Step1Pin, HIGH);
                digitalWrite(Step2Pin, LOW);
                digitalWrite(Step3Pin, HIGH);
                digitalWrite(Step4Pin, LOW);
            }
            if (stepNo == 5) {
                digitalWrite(Step1Pin, LOW);
                digitalWrite(Step2Pin, LOW);
                digitalWrite(Step3Pin, HIGH);
                digitalWrite(Step4Pin, LOW);
            }
            if (stepNo == 6) {
                digitalWrite(Step1Pin, LOW);
                digitalWrite(Step2Pin, HIGH);
                digitalWrite(Step3Pin, HIGH);
                digitalWrite(Step4Pin, LOW);
            }
            if (stepNo == 7) {
                digitalWrite(Step1Pin, LOW);
                digitalWrite(Step2Pin, HIGH);
                digitalWrite(Step3Pin, LOW);
                digitalWrite(Step4Pin, LOW);
            }
            if (stepNo == 8) {
                digitalWrite(Step1Pin, LOW);
                digitalWrite(Step2Pin, HIGH);
                digitalWrite(Step3Pin, LOW);
                digitalWrite(Step4Pin, HIGH);
                stepNo = 0;
            }
            stepNo++;
            storedTime = actualTime;
        }
        break;
    }
}
6

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