Hi all! I am working on a small automation project where I use several stepper motors with DM556 driver at 800pulse/rev. The first step is to home the steppers until they trigger the limit switch. The homing process is extremely slow and it won't change even if I increase the speed value in the program. Can anyone tell me what am I doing wrong and how to increase the rpm on those steppers? Here is my code.
Appreciate any help.
#include "AccelStepper.h"
// Library created by Mike McCauley at http://www.airspayce.com/mikem/arduino/AccelStepper/
// AccelStepper Setup GRIPPER
AccelStepper stepper_GR(1, 5, 4); // 1 = Easy Driver interface
// MEGA Pin 5 connected to STEP pin of Easy Driver
// MEGA Pin 4 connected to DIR pin of Easy Driver
// AccelStepper Setup STATION2
AccelStepper stepper_ST2(1, 2, 3); // 1 = Easy Driver interface
// MEGA Pin 2 connected to STEP pin of Easy Driver
// MEGA Pin 3 connected to DIR pin of Easy Driver
// AccelStepper Setup STATION1
AccelStepper stepper_ST1(1, 7, 6); // 1 = Easy Driver interface
// MEGA Pin 7 connected to STEP pin of Easy Driver
// MEGA Pin 6 connected to DIR pin of Easy Driver
// AccelStepper Setup STATION3
AccelStepper stepper_ST3(1, 8, 9); // 1 = Easy Driver interface
// MEGA Pin 8 connected to STEP pin of Easy Driver
// MEGA Pin 9 connected to DIR pin of Easy Driver
// AccelStepper Setup TRANSPORT
AccelStepper stepper_TR(1, 10, 11); // 1 = Easy Driver interface
// MEGA Pin 10 connected to STEP pin of Easy Driver
// MEGA Pin 11 connected to DIR pin of Easy Driver
// Define the Pins used
#define GR_home_SW 22
#define GR_end_SW 23
#define ST1_home_SW 24
#define ST1_end_SW 25
#define ST3_home_SW 37
#define ST3_end_SW 38
#define ST2_home_SW 52 // Pin 52 connected to Home Switch (MicroSwitch)
#define TR_home_SW 39
#define TR_pos2_SW 40
#define TR_pos3_SW 41
#define StartButton 53 // Start the rotating
#define echoPin_St1 34 // attach pin D34 Arduino to pin Echo of HC-SR04. Station 1
#define trigPin_St1 36 //attach pin D36 Arduino to pin Trig of HC-SR04. Station 1
#define echoPin_St2 32 // attach pin D32 Arduino to pin Echo of HC-SR04. Station 2
#define trigPin_St2 33 //attach pin D33 Arduino to pin Trig of HC-SR04. Station 2
#define echoPin_St3 30 // attach pin D30 Arduino to pin Echo of HC-SR04. Station 3
#define trigPin_St3 29 //attach pin D29 Arduino to pin Trig of HC-SR04. Station 3
#define LED_St1 35 //Checking if Station1 is clear
#define LED_St2 31 //Checking if Station2 is clear
#define LED_St3 28 //Checking if Station3 is clear
#define LED 50
#define LED1 51
#define Gripper 12 // Gripper piston valve
// Stepper Travel Variables
long Travel_ST2; // Used to store the X value entered in the Serial Monitor
int move_finished=1; // Used to check if move is completed
long initial_homing_ST2=-1; // Used to Home Stepper at startup
long initial_homing_GR=-1; // Used to Home Stepper at startup
long initial_homing_ST1=-1; // Used to Home Stepper at startup
long initial_homing_ST3=-1; // Used to Home Stepper at startup
long initial_homing_TR=-1; // Used to Home Stepper at startup
long end_position_ST1=1; // Used to go towards end switch
long end_position_GR=1; // Used to go towards end switch
long second_position_TR=1; // Used to go towards the Second station switch
long third_position_TR=1; // Used to go towards the Third station switch
long end_position_ST3=1; // USed to go towards the end switch
int deg; // setting up the 40deg on Station 2
int deg_ST3; //Setting up to move down one tray
long duration_St1; // variable for the duration of sound wave travel
int distance_St1; // variable for the distance measurement
long duration_St2; // variable for the duration of sound wave travel
int distance_St2; // variable for the distance measurement
long duration_St3; // variable for the duration of sound wave travel
int distance_St3; // variable for the distance measurement
void setup() {
Serial.begin(9600); // Start the Serial monitor with speed of 9600 Bauds
pinMode (GR_home_SW, INPUT_PULLUP);
pinMode (GR_end_SW, INPUT_PULLUP);
pinMode(ST2_home_SW, INPUT_PULLUP);
pinMode(ST1_home_SW, INPUT_PULLUP);
pinMode(ST1_end_SW, INPUT_PULLUP);
pinMode(ST3_home_SW, INPUT_PULLUP);
pinMode(ST3_end_SW, INPUT_PULLUP);
pinMode(TR_home_SW, INPUT_PULLUP);
pinMode(TR_pos2_SW, INPUT_PULLUP);
pinMode(TR_pos3_SW, INPUT_PULLUP);
pinMode(StartButton, INPUT_PULLUP);
pinMode (LED, OUTPUT) ;
pinMode (LED1, OUTPUT);
pinMode(trigPin_St1, OUTPUT); // Sets the trigPin as an OUTPUT
pinMode(echoPin_St1, INPUT); // Sets the echoPin as an INPUT
pinMode (LED_St1, OUTPUT);
pinMode(trigPin_St2, OUTPUT); // Sets the trigPin as an OUTPUT
pinMode(echoPin_St2, INPUT); // Sets the echoPin as an INPUT
pinMode (LED_St2, OUTPUT);
pinMode(trigPin_St3, OUTPUT); // Sets the trigPin as an OUTPUT
pinMode(echoPin_St3, INPUT); // Sets the echoPin as an INPUT
pinMode (LED_St3, OUTPUT);
pinMode (Gripper, OUTPUT);
delay(5); // Wait for EasyDriver wake up
// Set Max Speed and Acceleration of each Steppers at startup for homing
stepper_GR.setSpeed(10000.0); // Set Max Speed of Stepper GRIPPER(Slower to get better accuracy)
stepper_GR.setAcceleration(1000.0); // Set Acceleration of Stepper GRIPPER
stepper_ST2.setSpeed(100.0); // Set Max Speed of Stepper STATION 2(Slower to get better accuracy)
stepper_ST2.setAcceleration(100.0); // Set Acceleration of Stepper STATION 2
stepper_ST1.setSpeed(10000.0); // Set Max Speed of Stepper STATION 1(Slower to get better accuracy)
stepper_ST1.setAcceleration(1000.0); // Set Acceleration of Stepper STATION 1
stepper_ST3.setSpeed(10000.0); // Set Max Speed of Stepper STATION 3(Slower to get better accuracy)
stepper_ST3.setAcceleration(1000.0); // Set Acceleration of Stepper STATION 3
stepper_TR.setSpeed(10000.0); // Set Max Speed of Stepper TRANSPORT(Slower to get better accuracy)
stepper_TR.setAcceleration(1000.0); // Set Acceleration of Stepper TRANSPORT
//-------------------------------------------------GRIPPER HOMING------------------------------------------------------
// Start Homing procedure of Stepper Motor at startup - GRIPPER
// Serial.print("Stepper Gripper is Homing . . . . . . . . . . . ");
//Serial.println(deg);
while (!digitalRead(GR_home_SW)) { // Make the Stepper move CW until the switch is activated. ! = revese direction
stepper_GR.moveTo(initial_homing_GR); // Set the position to move to
initial_homing_GR++; // Decrease by 1 for next move if needed
stepper_GR.run(); // Start moving the stepper
delay(5);
}
stepper_GR.setCurrentPosition(0); // Set the current position as zero for now
stepper_GR.setSpeed(10000.0); // Set Max Speed of Stepper (Slower to get better accuracy)
stepper_GR.setAcceleration(1000.0); // Set Acceleration of Stepper
initial_homing_GR=1;
while (digitalRead(GR_home_SW)) { // Make the Stepper move CCW until the switch is deactivated
stepper_GR.moveTo(initial_homing_GR);
stepper_GR.run();
initial_homing_GR--;
delay(5);
}
stepper_GR.setCurrentPosition(0);
// Serial.println("Homing Completed");
// Serial.println("");
stepper_GR.setSpeed(10000.0); // Set Max Speed of Stepper (Faster for regular movements)
stepper_GR.setAcceleration(1000.0); // Set Acceleration of Stepper
//}
//----------------------------------------------------STATION2 HOMING---------------------------------------------------
// Start Homing procedure of Stepper Motor at startup - STATION 2
// Serial.print("Stepper Station 2 is Homing . . . . . . . . . . . ");
//Serial.println(deg);
while (digitalRead(ST2_home_SW)) { // Make the Stepper move CCW until the switch is activated
stepper_ST2.moveTo(initial_homing_ST2); // Set the position to move to
initial_homing_ST2--; // Decrease by 1 for next move if needed
stepper_ST2.run(); // Start moving the stepper
delay(5);
}
stepper_ST2.setCurrentPosition(0); // Set the current position as zero for now
stepper_ST2.setMaxSpeed(100.0); // Set Max Speed of Stepper (Slower to get better accuracy)
stepper_ST2.setAcceleration(100.0); // Set Acceleration of Stepper
initial_homing_ST2=1;
while (!digitalRead(ST2_home_SW)) { // Make the Stepper move CW until the switch is deactivated
stepper_ST2.moveTo(initial_homing_ST2);
stepper_ST2.run();
initial_homing_ST2++;
delay(5);
}
stepper_ST2.setCurrentPosition(0);
// Serial.println("Homing Completed");
// Serial.println("");
stepper_ST2.setMaxSpeed(100.0); // Set Max Speed of Stepper (Faster for regular movements)
stepper_ST2.setAcceleration(100.0); // Set Acceleration of Stepper
//--------------------------------------------------STATION1 HOMING-----------------------------------------------------
// Start Homing procedure of Stepper Motor at startup - STATION 1
// Serial.print("Stepper Station 1 is Homing . . . . . . . . . . . ");
//Serial.println(deg);
while (!digitalRead(ST1_home_SW)) { // Make the Stepper move CW (!) until the switch is activated
stepper_ST1.moveTo(initial_homing_ST1); // Set the position to move to
initial_homing_ST1--; // Decrease by 1 for next move if needed
stepper_ST1.run(); // Start moving the stepper
delay(5);
}
stepper_ST1.setCurrentPosition(0); // Set the current position as zero for now
stepper_ST1.setSpeed(1000.0); // Set Max Speed of Stepper (Slower to get better accuracy)
stepper_ST1.setAcceleration(100.0); // Set Acceleration of Stepper
initial_homing_ST1=1;
while (digitalRead(ST1_home_SW)) { // Make the Stepper move CCW until the switch is deactivated
stepper_ST1.moveTo(initial_homing_ST1);
stepper_ST1.run();
initial_homing_ST1++;
delay(5);
}
stepper_ST1.setCurrentPosition(0);
// Serial.println("Homing Completed");
// Serial.println("");
stepper_ST1.setSpeed(1000.0); // Set Max Speed of Stepper (Faster for regular movements)
stepper_ST1.setAcceleration(1000.0); // Set Acceleration of Stepper
//------------------------------------------------------STATION3 HOMING-------------------------------------------------
// Start Homing procedure of Stepper Motor at startup - STATION 3
// Serial.print("Stepper Station 3 is Homing . . . . . . . . . . . ");
//Serial.println(deg);
while (digitalRead(ST3_home_SW)) { // Make the Stepper move CW (!) until the switch is activated
stepper_ST3.moveTo(initial_homing_ST3); // Set the position to move to
initial_homing_ST3--; // Decrease by 1 for next move if needed
stepper_ST3.run(); // Start moving the stepper
delay(5);
}
stepper_ST3.setCurrentPosition(0); // Set the current position as zero for now
stepper_ST3.setSpeed(10000.0); // Set Max Speed of Stepper (Slower to get better accuracy)
stepper_ST3.setAcceleration(1000.0); // Set Acceleration of Stepper
initial_homing_ST3=1;
while (!digitalRead(ST3_home_SW)) { // Make the Stepper move CCW until the switch is deactivated
stepper_ST3.moveTo(initial_homing_ST3);
stepper_ST3.run();
initial_homing_ST3++;
delay(5);
}
stepper_ST3.setCurrentPosition(0);
//Serial.println("Homing Completed");
//Serial.println("");
stepper_ST3.setSpeed(10000.0); // Set Max Speed of Stepper (Faster for regular movements)
stepper_ST3.setAcceleration(1000.0); // Set Acceleration of Stepper
//---------------------------------------------------TRANSPORT HOMING----------------------------------------------------
// Start Homing procedure of Stepper Motor at startup - TRANSPORT
//Serial.print("Stepper Transport is Homing . . . . . . . . . . . ");
//Serial.println(deg);
while (digitalRead(TR_home_SW)) { // Make the Stepper move CCW until the switch is activated
stepper_TR.moveTo(initial_homing_TR); // Set the position to move to
initial_homing_TR--; // Decrease by 1 for next move if needed
stepper_TR.run(); // Start moving the stepper
delay(5);
}
stepper_TR.setCurrentPosition(0); // Set the current position as zero for now
stepper_TR.setSpeed(10000.0); // Set Max Speed of Stepper (Slower to get better accuracy)
stepper_TR.setAcceleration(1000.0); // Set Acceleration of Stepper
initial_homing_TR=1;
while (!digitalRead(TR_home_SW)) { // Make the Stepper move CW until the switch is deactivated
stepper_TR.moveTo(initial_homing_TR);
stepper_TR.run();
initial_homing_TR++;
delay(5);
}
stepper_TR.setCurrentPosition(0);
//Serial.println("Homing Completed");
// Serial.println("");
stepper_TR.setSpeed(10000.0); // Set Max Speed of Stepper (Faster for regular movements)
stepper_TR.setAcceleration(1000.0); // Set Acceleration of Stepper
}
void loop(){
// Clears the trigPin condition. STATION1
digitalWrite(trigPin_St1, LOW);
delayMicroseconds(2);
// Sets the trigPin HIGH (ACTIVE) for 10 microseconds
digitalWrite(trigPin_St1, HIGH);
delayMicroseconds(10);
digitalWrite(trigPin_St1, LOW);
// Reads the echoPin, returns the sound wave travel time in microseconds
duration_St1 = pulseIn(echoPin_St1, HIGH);
// Clears the trigPin condition. STATION2
digitalWrite(trigPin_St2, LOW);
delayMicroseconds(2);
// Sets the trigPin HIGH (ACTIVE) for 10 microseconds
digitalWrite(trigPin_St2, HIGH);
delayMicroseconds(10);
digitalWrite(trigPin_St2, LOW);
// Reads the echoPin, returns the sound wave travel time in microseconds
duration_St2 = pulseIn(echoPin_St2, HIGH);
// Clears the trigPin condition. STATION3
digitalWrite(trigPin_St3, LOW);
delayMicroseconds(2);
// Sets the trigPin HIGH (ACTIVE) for 10 microseconds
digitalWrite(trigPin_St3, HIGH);
delayMicroseconds(10);
digitalWrite(trigPin_St3, LOW);
// Reads the echoPin, returns the sound wave travel time in microseconds
duration_St3 = pulseIn(echoPin_St3, HIGH);
// Calculating the distance
distance_St1 = duration_St1 * 0.034 / 2; // Speed of sound wave divided by 2 (go and back)
distance_St2 = duration_St2 * 0.034 / 2; // Speed of sound wave divided by 2 (go and back)
distance_St3 = duration_St3 * 0.034 / 2; // Speed of sound wave divided by 2 (go and back)
// Serial.println("Station1 occupied");
// Serial.println(distance_St1);
// Serial.println("");
// Serial.println("Station2 occupied");
// Serial.println(distance_St2);
// Serial.println("");
// Serial.println("Station3 occupied");
// Serial.println(distance_St3);
// Serial.println("");
//Check if all stations clear
if (distance_St1 < 10)
{digitalWrite(LED_St1, HIGH);
}
else {
digitalWrite(LED_St1, LOW);
if (distance_St2 < 10)
{digitalWrite(LED_St2, HIGH);
}
else {
digitalWrite(LED_St2, LOW);
if (distance_St3 < 10)
{digitalWrite(LED_St3, HIGH);
}
else {
digitalWrite(LED_St3, LOW);
if (digitalRead(StartButton) == LOW)
{
// ------------------------------------------- STATION1 FEED THE TRAY ---------------------------------------------
stepper_ST1.setSpeed(10000.0); // Set Max Speed of Stepper (Slower to get better accuracy)
stepper_ST1.setAcceleration(1000.0); // Set Acceleration of Stepper
while (digitalRead(ST1_end_SW)) { // Make the Stepper move CW until the switch is activated. ! = revese direction
stepper_ST1.moveTo(end_position_ST1); // Set the position to move to
end_position_ST1--; // Decrease by 1 for next move if needed
stepper_ST1.run(); // Start moving the stepper
delay(5);
}
//
// stepper_ST1.setCurrentPosition(0); // Set the current position as zero for now
// stepper_ST1.setMaxSpeed(1000.0); // Set Max Speed of Stepper (Slower to get better accuracy)
// stepper_ST1.setAcceleration(1000.0); // Set Acceleration of Stepper
// end_position_ST1=1;
//
// while (digitalRead(ST1_end_SW)) { // Make the Stepper move CCW until the switch is deactivated
// stepper_ST1.moveTo(end_position_ST1);
// stepper_ST1.run();
// end_position_ST1++;
// delay(5);
// }
//
// stepper_ST1.setCurrentPosition(0);
// ------------------------------------------ GRIPPER INTO POSITION ------------------------------------------
stepper_GR.setSpeed(10000.0); // Set Max Speed of Stepper (Slower to get better accuracy)
stepper_GR.setAcceleration(1000.0); // Set Acceleration of Stepper
while (digitalRead(GR_end_SW)) { // Make the Stepper move CW until the switch is activated. ! = revese direction
stepper_GR.moveTo(end_position_GR); // Set the position to move to
end_position_GR++; // Decrease by 1 for next move if needed
stepper_GR.run(); // Start moving the stepper
delay(5);
// Serial.print("end_position_GR . . . . . . . . . . . ");
// Serial.println(end_position_GR);
// Serial.print("");
}
stepper_GR.setCurrentPosition(0); // Set the current position as zero for now
// stepper_GR.setCurrentPosition(0); // Set the current position as zero for now
// stepper_GR.setMaxSpeed(1000.0); // Set Max Speed of Stepper (Slower to get better accuracy)
// stepper_GR.setAcceleration(1000.0); // Set Acceleration of Stepper
// end_position_GR=1;
// while (digitalRead(GR_end_SW)) { // Make the Stepper move CCW until the switch is deactivated
// stepper_GR.moveTo(end_position_GR);
// stepper_GR.run();
// end_position_GR++;
// delay(5);
// }
// stepper_GR.setCurrentPosition(0);
// ------------------------------------------ GRIPPING PROCESS -------------------------------------------------
delay(1000);
digitalWrite(Gripper, HIGH);
delay (1000);
// ------------------------------------------ GRIPPER LIFTING PROCESS ------------------------------------------
initial_homing_GR = -1;
while (digitalRead(GR_home_SW)) { // Make the Stepper move CW until the switch is activated. ! = revese direction
stepper_GR.moveTo(initial_homing_GR); // Set the position to move to
initial_homing_GR--; // Decrease by 1 for next move if needed
stepper_GR.run(); // Start moving the stepper
delay(5);
// Serial.print("initial_homing_GR . . . . . . . . . . . ");
// Serial.println(initial_homing_GR);
// Serial.print("");
}
stepper_GR.setCurrentPosition(0); // Set the current position as zero for now
// ------------------------------------------ TRANSPORT TO STATION2 ------------------------------------------
stepper_TR.setMaxSpeed(4000.0);
while (digitalRead(TR_pos2_SW)) { // Make the Stepper move CW until the switch is activated. ! = revese direction
//stepper_TR.runToNewPosition (second_position_TR);
stepper_TR.moveTo(second_position_TR); // Set the position to move to
second_position_TR++; // Decrease by 1 for next move if needed
stepper_TR.run(); // Start moving the stepper
delay(5);
}
stepper_TR.setCurrentPosition(0);
// ------------------------------------------ GRIPPER INTO POSITION ------------------------------------------
end_position_GR = 1;
delay(1000); //Dwell time
while (digitalRead(GR_end_SW)) { // Make the Stepper move CW until the switch is activated. ! = revese direction
stepper_GR.moveTo(end_position_GR); // Set the position to move to
end_position_GR++; // Decrease by 1 for next move if needed
stepper_GR.run(); // Start moving the stepper
delay(5);
// Serial.print("end_position_GR . . . . . . . . . . . ");
// Serial.println(end_position_GR);
// Serial.print("");
}
stepper_GR.setCurrentPosition(0); // Set the current position as zero for now
// ------------------------------------------ GRIPPER RELEASE PROCESS ------------------------------------------
delay(1000);
digitalWrite(Gripper, LOW);
delay (1000);
// ------------------------------------------ STATION2 FILLING PROCESS ------------------------------------------
deg = 355;
stepper_ST2.runToNewPosition(deg);
delay (1000);
digitalWrite(LED, HIGH);
delay (2000);
digitalWrite(LED, LOW);
delay (1000);
deg += 355;
stepper_ST2.runToNewPosition(deg);
for (int i = 0; i < 7; i++)
{
delay (1000);
digitalWrite(LED, HIGH);
delay (2000);
digitalWrite(LED, LOW);
delay (1000);
deg += 355;
// stepper_ST2.moveTo(deg); //rotate another 40 degree
stepper_ST2.runToNewPosition(deg);
}
delay (1000);
digitalWrite(LED1, HIGH);
delay (2000);
digitalWrite(LED1, LOW);
delay (1000);
// ------------------------------------------ GRIPPING PROCESS -------------------------------------------------
delay(1000);
digitalWrite(Gripper, HIGH);
delay (5);
// ------------------------------------------ GRIPPER LIFTING PROCESS ------------------------------------------
delay(1000); //Dwell time
initial_homing_GR = -1;
while (digitalRead(GR_home_SW)) { // Make the Stepper move CW until the switch is activated. ! = revese direction
stepper_GR.moveTo(initial_homing_GR); // Set the position to move to
initial_homing_GR--; // Decrease by 1 for next move if needed
stepper_GR.run(); // Start moving the stepper
delay(5);
// Serial.print("initial_homing_GR . . . . . . . . . . . ");
// Serial.println(initial_homing_GR);
// Serial.print("");
}
stepper_GR.setCurrentPosition(0); // Set the current position as zero for now
// ------------------------------------------ TRANSPORT TO STATION3 ------------------------------------------
stepper_GR.setSpeed(9000.0);
while (digitalRead(TR_pos3_SW)) { // Make the Stepper move CW until the switch is activated. ! = revese direction
stepper_TR.moveTo(third_position_TR); // Set the position to move to
third_position_TR++; // Decrease by 1 for next move if needed
stepper_TR.run(); // Start moving the stepper
delay(5);}
// ------------------------------------------ GRIPPER INTO POSITION ------------------------------------------
delay(1000); //Dwell time
while (digitalRead(GR_end_SW)) { // Make the Stepper move CW until the switch is activated. ! = revese direction
stepper_GR.moveTo(end_position_GR); // Set the position to move to
end_position_GR++; // Decrease by 1 for next move if needed
stepper_GR.run(); // Start moving the stepper
delay(5);
// Serial.print("end_position_GR . . . . . . . . . . . ");
// Serial.println(end_position_GR);
// Serial.print("");
}
stepper_GR.setCurrentPosition(0); // Set the current position as zero for now
// ------------------------------------------ GRIPPER RELEASE PROCESS ------------------------------------------
delay(1000);
digitalWrite(Gripper, LOW);
delay (1000);
// ------------------------------------------ STATION 3 MOVES ONE STATION DOWN ------------------------------------------
deg_ST3 = 700;
stepper_ST3.runToNewPosition(deg_ST3);
delay (1000);
deg_ST3 += 700;
// ------------------------------------------ GRIPPER LIFTING PROCESS PREPARING FOR HOME------------------------------------------
delay(1000); //Dwell time
initial_homing_GR = -1;
while (digitalRead(GR_home_SW)) { // Make the Stepper move CW until the switch is activated. ! = revese direction
stepper_GR.moveTo(initial_homing_GR); // Set the position to move to
initial_homing_GR--; // Decrease by 1 for next move if needed
stepper_GR.run(); // Start moving the stepper
delay(5);
// Serial.print("initial_homing_GR . . . . . . . . . . . ");
// Serial.println(initial_homing_GR);
// Serial.print("");
}
stepper_GR.setCurrentPosition(0); // Set the current position as zero for now
//---------------------------------------------------TRANSPORT HOMING----------------------------------------------------
stepper_TR.setMaxSpeed(1000000.0);
while (digitalRead(TR_home_SW)) { // Make the Stepper move CCW until the switch is activated
stepper_TR.moveTo(initial_homing_TR); // Set the position to move to
initial_homing_TR--; // Decrease by 1 for next move if needed
stepper_TR.run(); // Start moving the stepper
delay(5);
}
stepper_TR.setCurrentPosition(0); // Set the current position as zero for now
}
}}}
}
