Pan and Tilt

Other Hardware Motors, Mechanics, Power and CNC
1

Hi
I am making a pan and tilt gimble that will make sweeping scans left to right and moving down a notch after each left to right movement.
Accuracy is not important and all movement is stopped when a button is pressed hence the use of delay while motors are running
I have hall effect and incremental rotary encoders to hand but that would be over kill for this project .
I have come up with the following code which seems rather repetitive and looking at making it shorter and cutting it down to a couple of lines.
Can anyone please advise.

#include <AFMotor.h>
#include <Button.h>
Button button = Button(12,PULLUP);
AF_DCMotor motor(4);
AF_DCMotor motor2(2);
void setup() {

}

void loop() {
 if(button.isPressed()){
   motor.run(RELEASE);
 }else{
   motor.run(FORWARD);
   delay(5000);
   motor.run(BACKWARD);
   delay(5000);
   motor.run(RELEASE);
   motor2.run(FORWARD);
   delay(1000);
   motor2.run(RELEASE);
   motor.run(FORWARD);
   delay(5000);
   motor.run(BACKWARD);
   delay(5000);
   motor.run(RELEASE);
   motor2.run(FORWARD);
   delay(1000);
   motor2.run(RELEASE);
   motor.run(FORWARD);
   delay(5000);
   motor.run(BACKWARD);
   delay(5000);
   motor.run(RELEASE);
   motor2.run(FORWARD);
   delay(1000);
   motor2.run(RELEASE);
   motor.run(FORWARD);
   delay(5000);
   motor.run(BACKWARD);
   delay(5000);
   motor.run(RELEASE);
   motor2.run(FORWARD);
   delay(1000);
   motor2.run(RELEASE);
  
 }
}
2

get the code under hash "#" tags please!

3

First get rid of ALL the delay()s. See the Blink Without Delay example sketch for the proper way to do timing.

If you want to perform a preset series of movements you could define the series as an array of characters such as

char movements[] = {'f', 'b', 'r', 'f', 'r', 'f'}

etc - where f = fwd, b = bkwd and r = release

Then in loop() you would have something like this (assuming there are 6 steps in the series)

for (int n = 0; n < 6; n++) {
   motorRun(movements[n]);
}

The code I posted in Reply #15 of this Thread may be of interest Switching between LED sequences - #20 by Robin2 - Programming Questions - Arduino Forum may be of interest.

...R

4

Many thanks for that and reference to the other post.
How would the sketch look in total ( I am still learning Arduino) would you mind showing me a bit more

5

Very like the sketch in the other Thread except that you would control servos instead of leds.

You have two different motors and I don't understand how their movements are coordinated. Maybe you need to use (for example) 'f' to mean one motor and 'F' to mean the other.

...R

6

motor is for left to right axis and motor2 is for up and down
I have tried with simple servo and continuos servo but they can not supply the torque required hence adafruit motor shield and motors with gearbox.