Hallo zusammen
Versuche mich mit dem Bau eines Sputnikkastens (Kugelfangmaschine). Dazu möchte ich einen Motorslider verwenden, mit dem die Kugelaufgefangen werden soll. Den Code dafür habe ich bereits im Internet gefunden (ich bin absoluter Arduino Neuling, habe aber mal vor vielen Jahren Elektroniker gelernt).
Programmieren ist leider nicht meine Stärke.
Der Slider macht alles einwandfrei (Steuerung mit Joystick), nur eine Sache macht mir Probleme: wie stoppe ich den Motor Links und Rechts automatisch am Ende der Stange. Ich verwende einen Arduino Uno, Einen TB6600 und verwende diesen Code.
Für euch Profis sicher ein kleines mir einen Tipp zu geben wie ich das am einfachsten mit zwei Endschaltern bewerkstelligen kann.
Vielen Dank für Eure Hilfe
Der verwendete Code:
#include <AccelStepper.h> //accelstepper library
AccelStepper stepper(1, 8, 9); // direction Digital 9 (CCW), pulses Digital 8 (CLK)
AccelStepper stepper2(1, 10, 11); // direction Digital 11 (CCW), pulses Digital 10 (CLK)
//Pins
const byte Analog_X_pin = A0; //x-axis readings
const byte Analog_Y_pin = A1; //y-axis readings
const byte Analog_R_pin = A2; //r-axis readings
const byte LED_pin = 3; //PWM output for LED
//Variables
int Analog_X = 0; //x-axis value
int Analog_Y = 0; //y-axis value
int Analog_R = 0; //r-axis value
int Analog_X_AVG = 0; //x-axis value average
int Analog_Y_AVG = 0; //y-axis value average
int Analog_R_AVG = 0; //r-axis value average
int Analog_R_Value = 0; //this is used for the PWM value
void setup()
{
//SERIAL
Serial.begin(9600);
//----------------------------------------------------------------------------
//PINS
pinMode(Analog_X_pin, INPUT);
pinMode(Analog_Y_pin, INPUT);
pinMode(Analog_R_pin, INPUT);
pinMode(LED_pin, OUTPUT);
//----------------------------------------------------------------------------
InitialValues(); //averaging the values of the 3 analog pins (values from potmeters)
//----------------------------------------------------------------------------
//Stepper parameters
//setting up some default values for maximum speed and maximum acceleration
stepper.setMaxSpeed(5000); //SPEED = Steps / second
stepper.setAcceleration(1000); //ACCELERATION = Steps /(second)^2
stepper.setSpeed(500);
delay(500);
//----------------------------------------------------------------------------
stepper2.setMaxSpeed(5000); //SPEED = Steps / second
stepper2.setAcceleration(1000); //ACCELERATION = Steps /(second)^2
stepper2.setSpeed(500);
delay(500);
}
void loop()
{
ReadAnalog();
stepper.runSpeed(); //step the motor (this will step the motor by 1 step at each loop indefinitely)
stepper2.runSpeed();
}
void ReadAnalog()
{
//Reading the 3 potentiometers in the joystick: x, y and r.
Analog_X = analogRead(Analog_X_pin);
Analog_Y = analogRead(Analog_Y_pin);
Analog_R = analogRead(Analog_R_pin);
//if the value is 25 "value away" from the average (midpoint), we allow the update of the speed
//This is a sort of a filter for the inaccuracy of the reading
if(abs(Analog_X-Analog_X_AVG)>25)
{
stepper.setSpeed(5*(Analog_X-Analog_X_AVG));
}
else
{
stepper.setSpeed(0);
}
//----------------------------------------------------------------------------
if(abs(Analog_Y-Analog_Y_AVG)>25)
{
stepper2.setSpeed(5*(Analog_Y-Analog_Y_AVG));
}
else
{
stepper2.setSpeed(0);
}
//----------------------------------------------------------------------------
if(abs(Analog_R-Analog_R_AVG)>25)
{
Analog_R_Value = map(Analog_R, 0, 1023, 0, 255); //10 bit ADC (0-1023) and 8 bit PWM (0-255)
analogWrite(LED_pin, Analog_R_Value); //modify the PWM value
}
}
void InitialValues()
{
//Set the values to zero before averaging
float tempX = 0;
float tempY = 0;
float tempR = 0;
//----------------------------------------------------------------------------
//read the analog 50x, then calculate an average.
//they will be the reference values
for(int i = 0; i<50; i++)
{
tempX += analogRead(Analog_X_pin);
delay(10); //allowing a little time between two readings
tempY += analogRead(Analog_Y_pin);
delay(10);
tempR += analogRead(Analog_R_pin);
delay(10);
}
//----------------------------------------------------------------------------
Analog_X_AVG = tempX/50;
Analog_Y_AVG = tempY/50;
Analog_R_AVG = tempR/50;
//----------------------------------------------------------------------------
Serial.print("AVG_X: ");
Serial.println(Analog_X_AVG);
Serial.print("AVG_Y: ");
Serial.println(Analog_Y_AVG);
Serial.print("AVG_R: ");
Serial.println(Analog_R_AVG);
Serial.println("Calibration finished");
}
