Problem in using Stepper library with limit switch using bounce

[iamanullahmahmood]

I am making a CD like a tray that open and close. I am using a stepper motor, L289 motor drive. and here is my code. When I press the push button, the motor takes only one revolution. Please suggest changes, I want to make it in such a way that it stops when I hit the limit switch.

#include <Bounce2.h>
#include <Stepper.h>
const int stepsPerRevolution = 200;
Stepper myStepper(stepsPerRevolution, 8, 9, 10, 11);

const byte limitSwitchLeftPin = 6; 
const byte limitSwitchRightPin = 7;
const byte triggerPin = 5;



Bounce limitSwitchLeft = Bounce();
Bounce limitSwitchRight = Bounce();
Bounce triggerButton = Bounce();  //trigger for motor

void setup() {
  // put your setup code here, to run once

  myStepper.setSpeed(60);
  limitSwitchLeft.attach(limitSwitchLeftPin, INPUT_PULLUP);
  limitSwitchLeft.interval(25);

  limitSwitchRight.attach(limitSwitchRightPin, INPUT_PULLUP);
  limitSwitchRight.interval(25);

  triggerButton.attach(triggerPin, INPUT_PULLUP);
  triggerButton.interval(25);

  Serial.begin(9600);
  //assuming motor is already one one junction
  Serial.println("Incubator starting. motor is now at rest");

  delay(2000);
}

enum states { STATE_IDLE, STATE_MOVING_RIGHT, STATE_MOVING_LEFT };

int currentState = STATE_IDLE;

void loop() {
  // put your main code here, to run repeatedly:

  limitSwitchLeft.update();
  limitSwitchRight.update();
  triggerButton.update();

  bool limitSwitchLeftState = limitSwitchLeft.read();   //switch are input pullup. high state is zero
  bool limitSwitchRightState = limitSwitchRight.read();

  switch (currentState) {
    case STATE_IDLE:
      // motor is off, waiting for trigger button to be pressed
      if (triggerButton.fell())
      {
        Serial.println("button to trigger start motor has been presssed");
        // figure out which way to move
        if (limitSwitchLeftState == HIGH && limitSwitchRightState == LOW)
        {
          Serial.println("Moving right now");
          myStepper.step(-stepsPerRevolution);
          currentState = STATE_MOVING_RIGHT;
        }
        else if (limitSwitchLeftState == LOW && limitSwitchRightState == HIGH)
        {
          Serial.println("Moving left now");
          myStepper.step(stepsPerRevolution);
          currentState = STATE_MOVING_LEFT;
        }
        else if (limitSwitchLeftState == HIGH && limitSwitchRightState == HIGH)
        {
          // neither limit switch is tripped, arbitrarily move left
          Serial.println("No limit switches detected, moving left now");
          myStepper.step(stepsPerRevolution);
          currentState = STATE_MOVING_LEFT;
        }
        else
        {
          Serial.println("Both limit switches detected, program halted");
          myStepper.step(0);
          while (1); // loop forever
        }
      }
      break;

    case STATE_MOVING_RIGHT:
      // moving right so only check right limit switch
      if (limitSwitchRightState == LOW)
      {
        Serial.println("Motor reached right. motor stopping");
        myStepper.step(0);
        currentState = STATE_IDLE;
      }
      break;

    case STATE_MOVING_LEFT:
      // moving left so only check left limit switch

      if (limitSwitchLeftState == LOW)
      {
        Serial.println("Motor has reached left. Motor stopping");
        myStepper.step(stepsPerRevolution);;
        currentState = STATE_IDLE;
      }
      break;
  }
}

[gcjr]

i'm often confused when looking at some state in terms of HIGH/LOW. what does HIGH mean? i often define Off/On

enum { Off = HIGH, On = LOW };

not sure what "switch are input pullup. high state is zero" implies, what does zero mean?

under your IDLE case, there are 4 conditions, but aren't there only 2 actions: move right if the left limit switch is active, otherwise move right?

should there be an else case that falls into an infinite loop?

in the MOVING_RIGHT/LEFT cases does there need to be code to stop the stepper -- won't it stop after the specified # of steps? should there be code to continue stepping (1 step at a time) as long as the limit switch is not active?

is there a need to specifically check one limit switch or the other; wouldn't the same action occur, go to the IDLE state if either (OR) limit switch becomes active?