Multiple steppers including limit Switches does not work

Projects Programming
14

Hey,

so for now I got it working. I had to get rid of the delay, since it stopped all actions involved.

I am working now with this code:

enum { On = HIGH, Off = LOW };

#undef MyHW
#ifdef MyHW
# define limitSwitchA A1
# define limitSwitchB A2
# define solenoidA    13
# define solenoidB    12

class AccelStepper {
    byte pin;

  public:
    AccelStepper (int a, int b, int p)  {
      pin = p;
      pinMode (pin, OUTPUT);
      digitalWrite (pin, Off);
    };

    void setAcceleration (int x)   { };
    void setMaxSpeed     (int x)   { };
    void setSpeed        (int x)   { };
    void runSpeed        (void)    {
      digitalWrite (pin, On);
    };
    void stop            (void)    {
      digitalWrite (pin, Off);
    };
};

AccelStepper StepperA(1, 26, 10);
AccelStepper StepperB(1, 13, 11);

#else
# include <AccelStepper.h>
# define limitSwitchA 5
# define limitSwitchB 4
# define solenoidA 10
# define solenoidB 11

AccelStepper StepperA(1, 13, 12);
AccelStepper StepperB(1, 9, 8);
#endif


int state = 0;
// ---------------------interval ---------------------
unsigned long Interval = 15000;
// ---------------------millis ---------------------
unsigned long currentMillis = 0;    // stores the value of millis() in each iteration of loop()
unsigned long previousMillis = 0;   // will store last time the steppers were updated

//==============================================================================
void setup()
{
  // Set all default speeds and accelerations
  StepperA.setMaxSpeed(12000);
  StepperA.setAcceleration(10000);
  StepperA.setSpeed(12000);
  StepperB.setMaxSpeed(12000);
  StepperB.setAcceleration(10000);
  StepperB.setSpeed(12000);

  pinMode(limitSwitchA, INPUT_PULLUP);
  pinMode(limitSwitchB, INPUT_PULLUP);

  pinMode(solenoidA, OUTPUT);
  pinMode(solenoidB, OUTPUT);
  digitalWrite(solenoidA, Off);
  digitalWrite(solenoidB, Off);

  Serial.begin(115200);
}

// -----------------------------------------------------------------------------
void run (
  AccelStepper stepper,
  byte          pinLimitSwitch )
{

  if (digitalRead (pinLimitSwitch) == On) {
    stepper.runSpeed ();
  } else
    stepper.stop ();
}

//==============================================================================

void
drop (
  byte pinSolenoid,
  byte pinLimitSwitch
)
{

  Serial.println("drop");
  if (digitalRead (pinLimitSwitch) == Off) {
    digitalWrite (pinSolenoid, On);
  } else if (digitalRead(pinLimitSwitch) == On) {
    digitalWrite(pinSolenoid, Off);
  }
}


//==============================================================================
void loop()
{
  currentMillis = millis();    // capture the latest value of millis()

  if (currentMillis - previousMillis >= Interval) {
    drop (solenoidA, limitSwitchA);
    drop (solenoidB, limitSwitchB);

    dropStart (solenoidA, limitSwitchA);
    dropStart (solenoidB, limitSwitchB);


    previousMillis = currentMillis;
  }


  run (StepperA, limitSwitchA);
  run (StepperB, limitSwitchB);
}

But I am wondering now how to use different intervals, so the time the solenoid is on for the drop and the time it waits until it is on can be controlled better. I thought about using something like the blink without delay which is triggered through a boolean and tried something, but I guess the time interval in the void loop() stops it from being executed? Here is my tried code

void drop
(
  byte pinSolenoid,
  byte pinLimitSwitch
)
{

  Serial.println("drop");
  const unsigned long OnTime = 10000;           // milliseconds of on-time
  const unsigned long OffTime = 5000;          // milliseconds of off-time

  static int solenoidState = Off;
  static unsigned long duration = OnTime;
  static unsigned long lastTime;

  if ( millis() - lastTime < duration ) {
    return;
  }
  lastTime = millis();
  if (pinLimitSwitch == On && solenoidState == Off) {
    solenoidState = On;  // Turn it off
    duration = OffTime;
  }
  else {
    solenoidState = Off; //turn it on
    duration = OnTime;
  }
  digitalWrite(pinSolenoid, solenoidState);
}