Getting steppermotor to work with my present program.

Projects Programming
1

Hello, I am using an Arduino Uno with an Adafruit V1 motor shield. I added the shield to use the stepper motor. My program uses a temperature sensor and a servo to do a task, this part works very well. I also used a separate motor to do another task, but needed a much slower rotation to do it right, therefore the stepper motor. My problem is integrating the stepper programming into my existing sensor/servo programming. When I combined the stepper program with the sensor/servo program, the stepper will not run. Any help would be appreciated. Here is my code:

#include <i2cmaster.h>
#include <Servo.h>
#include <AccelStepper.h>
#include <AFMotor.h>

AF_Stepper motor2(200, 2);
// you can change these to DOUBLE or INTERLEAVE or MICROSTEP!
void forwardstep() {
motor2.onestep(BACKWARD, DOUBLE);
}
void backwardstep() {
motor2.onestep(FORWARD, DOUBLE);
}
AccelStepper stepper(forwardstep, backwardstep); // use functions to step

Servo myservo1;

void setup(){
Serial.begin(9600);
Serial.println("Setup...");
pinMode(13, OUTPUT);
i2c_init(); //Initialise the i2c bus
PORTC = (1 << PORTC4) | (1 << PORTC5);//enable pullups
myservo1.attach(9);
stepper.setSpeed(400);
}

void loop(){
stepper.runSpeed();
int dev = 0x5A<<1;
int data_low = 0;
int data_high = 0;
int pec = 0;
int pos = 0;
i2c_start_wait(dev+I2C_WRITE);
i2c_write(0x07);

// read
i2c_rep_start(dev+I2C_READ);
data_low = i2c_readAck(); //Read 1 byte and then send ack
data_high = i2c_readAck(); //Read 1 byte and then send ack
pec = i2c_readNak();
i2c_stop();

//This converts high and low bytes together and processes temperature, MSB is a error bit and is ignored for temps
double tempFactor = 0.02; // 0.02 degrees per LSB (measurement resolution of the MLX90614)
double tempData = 0x0000; // zero out the data
int frac; // data past the decimal point

// This masks off the error bit of the high byte, then moves it left 8 bits and adds the low byte.
tempData = (double)(((data_high & 0x007F) << 8) + data_low);
tempData = (tempData * tempFactor)-0.01;

float celcius = tempData - 273.15;
float fahrenheit = (celcius*1.8) + 32;

Serial.print("Fahrenheit: ");
Serial.println(fahrenheit);

delay(250); // wait a half second before printing again

//on start up, the servo position is at 0, then servo goes to 90 position loading a case
//in the annealing position against the motor wheel.

if ( fahrenheit > 120.00 ) //when temperature reads greater than 110 degrees

{ digitalWrite(13, HIGH); //set the LED on
delay(250); //wait 1/2s for next temp reading

for(pos = 0; pos<=90; pos += 1) // goes from 0 degrees to 90 degrees
// in steps of 1 degree
myservo1.write(pos); // tell servo to go to position in variable 'pos'
delay(1000);
}

else (fahrenheit < 120,00); //when temperature reads less than 110 degrees

{digitalWrite(13, LOW); } // set the LED off
for(pos=90; pos>=0; pos-=1) // goes from 90 degrees to 0 degrees
//in steps of 1 degree
myservo1.write(pos); // tell servo to go to position in variable 'pos'
delay(1000); // waits 2s for the servo to reach the position
} //this delay is to allow the time for the next
//case drop into position

2

Posting your code in quote tags rather than code tags has screwed it up, turned much of it into italics and put a couple of smileys in it along the way

Please repost it in code tags in order to make it readable.

3

The IDE quote for forum thing is no good. Above the forum edit window and row of smileys is the # button that makes code tags. Past your code inside of those, it will be readable.

Also Arduino float and double are the same thing, 32-bit floating point good to 6 places. You need better, look into fixed-point integer with 32-bit of 64-bit integers.

4

Have you figured out how to get the stepper motor to run they way you want in a short sketch that has nothing else in it?

...R

5 
AF_Stepper motor2(200, 2);

What do these arguments mean? How do you have the stepper connected to the shield?

6

@PaulS First arg is #step/rev, 2nd arg is motor one or two. (the pin configution is hardwired as it is a shield)

@66harley, original poster: I notice you have two stepper libraries - you use the AccelStepper library to implement the acceleration profile which uses the AF library to do the step. "Interesting".

The AccelLibrary works if you call runSpeed in the loop() - which you do - but it must be called "as frequently as possible" (quote from the AccelStepper .H file). In your loop() you have a delay(1000) which means the runSpeed() is only called once a second. Hence the fastest your stepper can move is one step per second.

Do not use delay(). Wrap the code that must only run once a second with a timer routine, like the example "blink without delay" and/or read Avoid delay and/or read Blink two leds without delay. Did I give the impression that using delay() is bad? Yes? Good.

7

@PaulS First arg is #step/rev, 2nd arg is motor one or two. (the pin configution is hardwired as it is a shield)

I knew that. The question was designed to make OP think about which pins the stepper should be connected to, and have him/her tell us about it.