I have just begun programming the Arduino and it's quite a blast. However, I have run into a problem somewhere in my code. I have created a little program which receives commands over a TCP/IP protocol, using the arduino ethernet shield, and then commands two stepper motor drivers.
The problem is that I cannot seem to get pin 11 (the direction on the linear stepper motor to change). It sits at 3.86V. Everything else works wonderfully.
I modified a basic blink program to check if the pin was working and I could get it to switch between high and low without any problems. So, that makes me think that it is somewhere in the code. Any suggestions?
/*
* Ethernet-Stepper Server
*
* This program functions as a server which receives commands from a client and sends pulses to
* a stepper motor based upon the received command. The program also sends back information reporting
* the actions it has taken. A EasyDriver v3 is attached to pins 2 & 3.
* The command set as received through the ethernet shield is as follows:
* "SXXXX" = S plus four digits produces a step of XXXX degrees. Ex. S0360 is one rotation
* "TXXXX" = T plus four digits sets the delay between each step in milliseconds. Default is 150. EX T0300 sets a 300 millisecond delay
* "DX" = D plus either R or L sets the direction of the stepper motor.
* "LXXXX" = L plus four digits produces a step of XXXX degrees in the linear motor.
* "KX" = K plus F or B sets the direction of the linear motor. Forward or backward.
* "JXXXX" = sets the linear motor delay in milliseconds
*/
#include <Ethernet.h>
// network configuration. gateway and subnet are optional.
byte mac[] = { 0xDE, 0xAD, 0xBE, 0xEF, 0xFE, 0xED };
byte ip[] = { 192, 168, 254, 39 };
// telnet defaults to port 23
Server server = Server(23);
int dirpin = 7; //The stepper direction is set by this pin
int steppin = 6; //The stepper motion is controlled by pulses on this pin.
int linsteppin = 9;
int lindirpin = 11;
int angle = 0;
int linangle = 0;
int numofsteps = 0;
int linnumofsteps = 0;
int TimeDelay = 150; //This is the stepper motor's delay parameter
int linTimeDelay = 1000; //This is the linear motor's delay parameter.
void setup()
{
// initialize the ethernet device
Ethernet.begin(mac, ip);
// start listening for clients
server.begin();
pinMode(dirpin, OUTPUT);
pinMode(steppin, OUTPUT);
pinMode(linsteppin, OUTPUT);
pinMode(lindirpin, OUTPUT);
digitalWrite(dirpin, HIGH); //Set default direction
digitalWrite(lindirpin, LOW);
}
void loop()
{
Client client = server.available();
if (client)
{
boolean messageComplete = false;
long timeOut = millis();
char lineBuffer[100]; // large buffer for storing data
int charCount;
while (!messageComplete || server.available())
{
if ((abs(millis() - timeOut)) > 2000)
{
server.println("Timeout On Response");
break;
}
if (server.available())
{
lineBuffer[charCount] = client.read();
if (lineBuffer[charCount] == 13) //Waits for a carriage return
{
messageComplete = true;
}
charCount++;
delay(50);
}
}
if (messageComplete)
{
switch (lineBuffer[0])
{
case 'D':
if (lineBuffer[1] == 'R')
{
digitalWrite(dirpin, HIGH);
server.println("Going CW");
}
else if (lineBuffer[1] == 'L')
{
digitalWrite(dirpin, LOW);
server.println("Going CCW");
}
break;
case 'K':
if (lineBuffer[1] == 'F')
{
digitalWrite(lindirpin, LOW);
server.println("Going Forward");
}
else if (lineBuffer[1] == 'B')
{
digitalWrite(lindirpin, HIGH);
server.println("Going Backward");
}
break;
case 'T':
char tempDelay[5];
for (int i = 1; i < 5; i++)
{
if (lineBuffer[i] >= '0' && lineBuffer[i] <= '9')
{
tempDelay[i - 1] = lineBuffer[i];
}
else
{
server.println("Invalid Time Delay");
break;
}
}
TimeDelay = atoi(tempDelay);
server.print("Valid Rotary Time Delay Received = ");
server.print(TimeDelay);
server.println(" Milliseconds.");
break;
case 'J':
char lintempDelay[5];
for (int i = 1; i < 5; i++)
{
if (lineBuffer[i] >= '0' && lineBuffer[i] <= '9')
{
lintempDelay[i - 1] = lineBuffer[i];
}
else
{
server.println("Invalid Time Delay");
break;
}
}
linTimeDelay = atoi(lintempDelay);
server.print("Valid Linear Time Delay Received = ");
server.print(linTimeDelay);
server.println(" Milliseconds.");
break;
case 'S':
char tempSteps[5];
for (int i = 1; i < 5; i++)
{
if (lineBuffer[i] >= '0' && lineBuffer[i] <= '9')
{
tempSteps[i - 1] = lineBuffer[i];
}
else
{
server.println("Invalid Angle");
break;
}
}
numofsteps = atoi(tempSteps);
server.print("Valid Angle Received = ");
server.print(numofsteps);
server.println(" Degrees.");
moveMotor();
break;
case 'L':
char lintempSteps[5];
for (int i = 1; i < 5; i++)
{
if (lineBuffer[i] >= '0' && lineBuffer[i] <= '9')
{
lintempSteps[i - 1] = lineBuffer[i];
}
else
{
server.println("Invalid Lin Angle");
break;
}
}
linnumofsteps = atoi(lintempSteps);
server.print("Valid Lin Angle Received = ");
server.print(linnumofsteps);
server.println(" Degrees.");
linmoveMotor();
break;
default:
server.println("Default");
break;
}
}
}
}
void moveMotor()
{
server.print("Taking ");
angle = (4.4444 * numofsteps);
server.print(angle);
server.println(" Lines.");
for (int i = 0; i<angle; i++)
{
digitalWrite(steppin, HIGH);
delayMicroseconds(TimeDelay); //The delay helps prevent this motor from skipping steps. This variable must be set for each motor via testing.
digitalWrite(steppin, LOW);
delayMicroseconds(TimeDelay); //The delay helps prevent this motor from skipping steps. This variable must be set for each motor via testing.
}
server.println("Move Complete.");
}
void linmoveMotor()
{
server.print("Taking ");
linangle = (4.4444 * linnumofsteps);
server.print(linangle);
server.println(" Lines.");
for (int i = 0; i<linangle; i++)
{
digitalWrite(linsteppin, HIGH);
delayMicroseconds(linTimeDelay); //The delay helps prevent this motor from skipping steps. This variable must be set for each motor via testing.
digitalWrite(linsteppin, LOW);
delayMicroseconds(linTimeDelay); //The delay helps prevent this motor from skipping steps. This variable must be set for each motor via testing.
}
server.println("Move Complete.");
}
