Problem with Arduino Uno, Nema 23, TB6600 and ultrasonic sensor HC-SR04

Other Hardware Motors, Mechanics, Power and CNC
1

Hi! I'm making an art installation and this code will be a crucial part of my project!
I would like to have ultrasonic sensor input to detect human, and make the motor run.
I hope the motor stops, when no one is approaching.
Closer human interation = motor runs faster.
(*Hopefully I would like to put two ultrasonic sensors.)
I've tried to alter the existing codes.

Please help me :slight_smile:

Here is my code:

int smDirectionPin = 8; //Direction pin
int smStepPin = 9; //Stepper pin
int smEnablePin = 13; //Motor enable pin
int trigPin = 11; //sensor
int echoPin = 10; //sensor
 
void setup(){
  /*Sets all pin to output; the microcontroller will send them(the pins) bits, it will not expect to receive any bits from thiese pins.*/
  Serial.begin(9600);
  pinMode(smDirectionPin, OUTPUT);
  pinMode(smStepPin, OUTPUT);
  pinMode(smEnablePin, OUTPUT);
  pinMode(trigPin, OUTPUT);
  pinMode(echoPin, INPUT);
 
  digitalWrite(smEnablePin, HIGH); //Disbales the motor, so it can rest untill it is called uppond
}

/*The rotate function turns the stepper motor. Tt accepts two arguments: 'steps' and 'speed'*/
void rotate(int steps, float speed){
  digitalWrite(smEnablePin, LOW); //Enabling the motor, so it will move when asked to
 
  /*This section looks at the 'steps' argument and stores 'HIGH' in the 'direction' variable if */
  /*'steps' contains a positive number and 'LOW' if it contains a negative.*/
  int direction;
 
  if (steps > 0){
    direction = HIGH;
  }else{
    direction = LOW;
  }
 
  speed = 1/speed * 70; //Calculating speed
  steps = abs(steps); //Stores the absolute value of the content in 'steps' back into the 'steps' variable
 
  digitalWrite(smDirectionPin, direction); //Writes the direction (from our if statement above), to the EasyDriver DIR pin
 
  /*Steppin'*/
  for (int i = 0; i < steps; i++){
    digitalWrite(smStepPin, HIGH);
    delayMicroseconds(speed);
    digitalWrite(smStepPin, LOW);
    delayMicroseconds(speed);
  }
 
  digitalWrite(smEnablePin, HIGH); //Disbales the motor, so it can rest untill the next time it is called uppond
}
 
void loop(){
  int duration, distance;
  digitalWrite(trigPin, HIGH);
  delayMicroseconds(1000);
  digitalWrite(trigPin, LOW);
  duration = pulseIn(echoPin, HIGH); 
  distance = (duration/2) /29.1; 
  if (distance < 20)
  {
  rotate(800, 0.1); //The motor rotates 800 steps clockwise with a speed of 0.1 (slow)
  }
  else if(20 <= distance < 30)
  {
  rotate(-1600, 0.5); //The motor rotates 1600 steps clockwise with a speed of 0.5 (medium)  
  }
    else if(30 <= distance < 50)
  {
  digitalWrite(smStepPin, LOW);
  } 
  else;
  {
  digitalWrite(smStepPin, LOW);
  }
  Serial.print (distance);
  Serial.println (" cm");
  delay(500);
}
2

What does the posted code do? How is what it actually does different from what you want?

3

groundFungus:
What does the posted code do? How is what it actually does different from what you want?

The posted code, does move and reacts to ultrasonic sensor, but it doesn't stop.
I want the motor to stop once nobody is in front of the machine. :confused:

4

So if the distance is greater than 50 don't call the rotate() function?

5

groundFungus:
So if the distance is greater than 50 don't call the rotate() function?

Should I rewrite this part or change the other part of this code?

else if(30 <= distance < 50)
  {
  digitalWrite(smStepPin, LOW);
  }
  else;
  {
  digitalWrite(smStepPin, LOW);
  }