Programming BTS7960 with 12v DC motor issues

noarno2 · March 6, 2022, 3:51pm

Hi everyone !

Last year, thanks to this forum's help, I achieved a project which was about controlling stepper motors, relays and mp3 shield at the same time, following a precise timetable. It was my first time working with stepper motors and i really enjoyed learning how to.

Here is the code i used :


#include "SerialMP3Player.h"
#define TX 15
#define RX 14
SerialMP3Player mp3(RX,TX);

#include <AccelStepper.h>
#define turn 3200
#define quar 400
AccelStepper stepper1(AccelStepper::DRIVER, 22, 23);
AccelStepper stepper2(AccelStepper::DRIVER, 28, 29);
AccelStepper stepper3(AccelStepper::DRIVER, 34, 35);
AccelStepper stepper4(AccelStepper::DRIVER, 40, 41);
AccelStepper stepper5(AccelStepper::DRIVER, 52, 53);

unsigned long startMillis;
unsigned long currentMillis;

struct Evenement
{
  uint32_t temps;
  
  float relay1;
  float mp3;
  
   float vitesseMoteur1;
  float accelerationMoteur1;
  uint8_t nbPasMoteur1;
  
   float vitesseMoteur2;
  float accelerationMoteur2;
  uint8_t nbPasMoteur2;
  
   float vitesseMoteur3;
  float accelerationMoteur3;
  uint8_t nbPasMoteur3;
  
   float vitesseMoteur4;
  float accelerationMoteur4;
  uint8_t nbPasMoteur4;

  float relay2;
  
   float vitesseMoteur5;
  float accelerationMoteur5;
  uint8_t nbPasMoteur5;
  
  float relay3;
};
int mouvement = 0;

Evenement evenements[] = {
 
//temps    rel1 mp3           stepper1                  stepper2                  stepper3                  stepper4               Rel2            stepper5             Rel3
     {0000,    0,   0,      0.0,    0.0,     0,       0.0,    0.0,     0,       0.0,    0.0,     0,       0.0,    0.0,     0,          0,        0.0,    0.0,     0,        0},
     {5000,    1,   0,      0.0,    0.0,     0,       0.0,    0.0,     0,       0.0,    0.0,     0,       0.0,    0.0,     0,          0,        0.0,    0.0,     0,        0},
     {10000,   0,   1,      0.0,    0.0,     0,       0.0,    0.0,     0,       0.0,    0.0,     0,       0.0,    0.0,     0,          0,        0.0,    0.0,     0,        0},
  
     {18000,   0,   0,      1500,   1000,    4,       1500,   1000,    4,       1500,   1000,    4,       1500,   1000,    4,          0,        0.0,    0.0,     0,        0},
  
     {30000,   0,   0,      1500,   1000,    2,       0.0,    0.0,     0,       1500,   1000,    2,       0.0,    0.0,     0,          0,        0.0,    0.0,     0,        0}, 
     {33000,   0,   0,      0.0,    0.0,     0,       1500,   1000,    2,       0.0,    0.0,     0,       1500,   1000,    2,          0,        0.0,    0.0,     0,        0},
     {36000,   0,   0,      1500,   1000,    4,       0.0,    0.0,     0,       1500,   1000,    4,       0.0,    0.0,     0,          0,        0.0,    0.0,     0,        0},
     {42000,   0,   0,      0.0,    0.0,     0,       1500,   1000,    4,       0.0,    0.0,     0,       1500,   1000,    4,          0,        0.0,    0.0,     0,        0},
//8
     {48000,   0,   0,      1500,   1000,    0,       0.0,    0.0,     0,       1500,   1500,    3,       1500,   1000,    0,          0,        0.0,    0.0,     0,        0},
     {51000,   0,   0,      0.0,    0.0,     0,       1500,   1500,    3,       1500,   1500,    4,       0.0,    0.0,     0,          0,        0.0,    0.0,     0,        0},
     {54000,   0,   0,      0.0,    0.0,     0,       1500,   1500,    4,       1500,   1500,    3,       0.0,    0.0,     0,          0,        0.0,    0.0,     0,        0},
     {57000,   0,   0,      0.0,    0.0,     0,       1500,   1500,    3,       1500,   1500,    4,       0.0,    0.0,     0,          0,        0.0,    0.0,     0,        0},
     {60000,   0,   0,      0.0,    0.0,     0,       1500,   1500,    4,       1500,   1500,    3,       0.0,    0.0,     0,          0,        0.0,    0.0,     0,        0},
     {63000,   0,   0,      0.0,    0.0,     0,       1500,   1500,    3,       1500,   1500,    4,       0.0,    0.0,     0,          0,        0.0,    0.0,     0,        0},
     {66000,   0,   0,      0.0,    0.0,     0,       1500,   1500,    4,       0.0,    0.0,     0,       0.0,    0.0,     0,          0,        0.0,    0.0,     0,        0},
//15 
     {69000,   0,   0,      1500,   1000,    4,       1500,   1000,    6,       1500,   1000,    6,       1500,   1000,    4,          0,        0.0,    0.0,     0,        0},
     {75000,   0,   0,      1500,   1000,    6,       1500,   1000,    4,       1500,   1000,    4,       1500,   1000,    6,          0,        0.0,    0.0,     0,        0},
     {83000,   0,   0,      1500,   1000,    3,       1500,   1000,    2,       1500,   1000,    1,       1500,   1000,    0,          0,        0.0,    0.0,     0,        0},
     {93000,   0,   0,      1500,   1000,    0,       1500,   1000,    1,       1500,   1000,    2,       1500,   1000,    3,          0,        0.0,    0.0,     0,        0},
//19   
     {96000,   0,   0,      1500,   1000,    3,       1500,   1000,    3,       1500,   1000,    3,       0.0,    0.0,     0,          0,        0.0,    0.0,     0,        0},
     {102000,  0,   0,      0.0,    0.0,     0,       0.0,    0.0,     0,       0.0,    0.0,     0,       1500,   1000,    1,          0,        0.0,    0.0,     0,        0},
     {104000,  0,   0,      0.0,    0.0,     0,       0.0,    0.0,     0,       1500,   1000,    1,       0.0,    0.0,     0,          0,        0.0,    0.0,     0,        0},
     {106000,  0,   0,      0.0,    0.0,     0,       1500,   1000,    1,       0.0,    0.0,     0,       0.0,    0.0,     0,          0,        0.0,    0.0,     0,        0},
     {108000,  0,   0,      1500,   1000,    1,       0.0,    0.0,     0,       0.0,    0.0,     0,       1500,   1000,    3,          0,        0.0,    0.0,     0,        0},
     {110000,  0,   0,      0.0,    0.0,     0,       0.0,    0.0,     0,       1500,   1000,    3,       0.0,    0.0,     0,          0,        0.0,    0.0,     0,        0},
     {112000,  0,   0,      0.0,    0.0,     0,       1500,   1000,    3,       0.0,    0.0,     0,       0.0,    0.0,     0,          0,        0.0,    0.0,     0,        0},
     {114000,  0,   0,      1500,   1000,    3,       0.0,    0.0,     0,       0.0,    0.0,     0,       1500,   1000,    1,          0,        0.0,    0.0,     0,        0},
     {116000,  0,   0,      0.0,    0.0,     0,       0.0,    0.0,     0,       1500,   1000,    1,       0.0,    0.0,     0,          0,        0.0,    0.0,     0,        0},
     {118000,  0,   0,      0.0,    0.0,     0,       1500,   1000,    1,       0.0,    0.0,     0,       0.0,    0.0,     0,          0,        0.0,    0.0,     0,        0},
     {120000,  0,   0,      1500,   1000,    1,       0.0,    0.0,     0,       0.0,    0.0,     0,       1500,   1000,    3,          0,        0.0,    0.0,     0,        0},
     {122000,  0,   0,      0.0,    0.0,     0,       0.0,    0.0,     0,       1500,   1000,    3,       0.0,    0.0,     0,          0,        0.0,    0.0,     0,        0},
     {124000,  0,   0,      0.0,    0.0,     0,       1500,   1000,    3,       0.0,    0.0,     0,       0.0,    0.0,     0,          0,        0.0,    0.0,     0,        0},
     {126000,  0,   0,      1500,   1000,    3,       0.0,    0.0,     0,       0.0,    0.0,     0,       0.0,    0.0,     0,          0,        0.0,    0.0,     0,        0},
     {129000,  0,   0,      0.0,    0.0,     0,       0.0,    0.0,     0,       0.0,    0.0,     0,       1500,   1000,    2,          0,        0.0,    0.0,     0,        0},
     {130000,  0,   0,      0.0,    0.0,     0,       0.0,    0.0,     0,       1500,   1000,    2,       0.0,    0.0,     0,          0,        0.0,    0.0,     0,        0},
     {131000,  0,   0,      0.0,    0.0,     0,       1500,   1000,    2,       0.0,    0.0,     0,       0.0,    0.0,     0,          0,        0.0,    0.0,     0,        0},
     {132000,  0,   0,      1500,   1000,    2,       0.0,    0.0,     0,       0.0,    0.0,     0,       1500,   1000,    3,          0,        0.0,    0.0,     0,        0},
     {133000,  0,   0,      0.0,    0.0,     0,       0.0,    0.0,     0,       1500,   1000,    3,       0.0,    0.0,     0,          0,        0.0,    0.0,     0,        0},
     {134000,  0,   0,      0.0,    0.0,     0,       1500,   1000,    3,       0.0,    0.0,     0,       0.0,    0.0,     0,          0,        0.0,    0.0,     0,        0},
     {135000,  0,   0,      1500,   1000,    3,       0.0,    0.0,     0,       0.0,    0.0,     0,       0.0,    0.0,     0,          0,        0.0,    0.0,     0,        0},
//40   
     {140000,  0,   0,      1200,   1000,    0,       1200,   1000,    6,       1200,   1000,    6,       1200,   1000,    0,          0,        0.0,    0.0,     0,        0},
     {151000,  0,   0,      1200,   1000,    4,       1200,   1000,   10,       1200,   1000,   10,       1200,   1000,    4,          0,        0.0,    0.0,     0,        0},
    
     {163000,  0,   0,      0.0,    0.0,     0,       1500,   1000,    9,       0.0,    0.0,     0,       1500,   1000,    3,          0,        0.0,    0.0,     0,        0},     
     {166000,  0,   0,      1500,   1000,    3,       1500,   1000,   10,       1500,   1000,    9,       1500,   1000,    4,          0,        0.0,    0.0,     0,        0}, 
     {169000,  0,   0,      1500,   1000,    4,       1500,   1000,    9,       1500,   1000,   10,       1500,   1000,    3,          0,        0.0,    0.0,     0,        0}, 
     {172000,  0,   0,      1500,   1000,    3,       1500,   1000,   10,       1500,   1000,    9,       1500,   1000,    4,          0,        0.0,    0.0,     0,        0}, 
     
// 46   
     {175000,  0,   0,      1500,   1000,    4,       1500,   1000,   9,        1500,   1000,    8,       1500,   1000,    5,          0,        0.0,    0.0,     0,        0},
     {181000,  0,   0,      1500,   1000,    5,       1500,   1000,   8,        1500,   1000,    9,       1500,   1000,    4,          0,        0.0,    0.0,     0,        0},
     {184000,  0,   0,      1500,   1000,    4,       1500,   1000,   9,        1500,   1000,    8,       1500,   1000,    5,          0,        0.0,    0.0,     0,        0},
     {187000,  0,   0,      1500,   1000,    5,       1500,   1000,   8,        1500,   1000,    9,       1500,   1000,    4,          0,        0.0,    0.0,     0,        0},
     {190000,  0,   0,      1500,   1000,    4,       1500,   1000,   9,        1500,   1000,    8,       1500,   1000,    5,          0,        0.0,    0.0,     0,        0},
     
     
     
//51

     {195000,  0,   0,      1500,   1000,    0,       1500,   1000,    0,       1500,   1000,    0,       1500,   1000,    0,          0,        0.0,    0.0,     0,        0},
     {222000,  0,   0,      0.0,    0.0,     0,       0.0,    0.0,     0,       0.0,    0.0,     0,       0.0,    0.0,     0,          0,        0.0,    0.0,     0,        0},
     {224300,  1,   2,      0.0,    0.0,     0,       0.0,    0.0,     0,       0.0,    0.0,     0,       0.0,    0.0,     0,          0,        0.0,    0.0,     0,        0},

//part 2
//54
    
     {240000,  0,   0,      0.0,    0.0,     0,       0.0,    0.0,     0,       0.0,    0.0,     0,       0.0,    0.0,     0,          1,        0.0,    0.0,     0,        0},
     {241000,  0,   0,      0.0,    0.0,     0,       0.0,    0.0,     0,       0.0,    0.0,     0,       0.0,    0.0,     0,          0,        0.0,    0.0,     0,        0},     
     {320000,  0,   0,      0.0,    0.0,     0,       0.0,    0.0,     0,       0.0,    0.0,     0,       0.0,    0.0,     0,          0,        0.0,    0.0,     0,        1},
     {330000,  0,   0,      0.0,    0.0,     0,       0.0,    0.0,     0,       0.0,    0.0,     0,       0.0,    0.0,     0,          1,        0.0,    0.0,     0,        1},
     
     {331000,  0,   0,      0.0,    0.0,     0,       0.0,    0.0,     0,       0.0,    0.0,     0,       0.0,    0.0,     0,          0,        0.0,    0.0,     0,        1},
     {355000,  0,   0,      0.0,    0.0,     0,       0.0,    0.0,     0,       0.0,    0.0,     0,       0.0,    0.0,     0,          0,        400,    300,     1,        1},
     {375000,  0,   0,      0.0,    0.0,     0,       0.0,    0.0,     0,       0.0,    0.0,     0,       0.0,    0.0,     0,          0,        400,    300,     2,        1},
     {395000,  0,   0,      0.0,    0.0,     0,       0.0,    0.0,     0,       0.0,    0.0,     0,       0.0,    0.0,     0,          0,        400,    300,     4,        1},
     {415000,  0,   0,      0.0,    0.0,     0,       0.0,    0.0,     0,       0.0,    0.0,     0,       0.0,    0.0,     0,          0,        400,    300,     2,        1},
     {435000,  0,   0,      0.0,    0.0,     0,       0.0,    0.0,     0,       0.0,    0.0,     0,       0.0,    0.0,     0,          0,        400,    300,     3,        1},
     {455000,  0,   0,      0.0,    0.0,     0,       0.0,    0.0,     0,       0.0,    0.0,     0,       0.0,    0.0,     0,          0,        400,    300,     0,        1},
     {475000,  0,   0,      0.0,    0.0,     0,       0.0,    0.0,     0,       0.0,    0.0,     0,       0.0,    0.0,     0,          1,        0.0,    0.0,     0,        0},
     {476000,  0,   0,      0.0,    0.0,     0,       0.0,    0.0,     0,       0.0,    0.0,     0,       0.0,    0.0,     0,          0,        0.0,    0.0,     0,        0},
     {625000,  0,   0,      0.0,    0.0,     0,       0.0,    0.0,     0,       0.0,    0.0,     0,       0.0,    0.0,     0,          1,        0.0,    0.0,     0,        0},
     {626000,  0,   0,      0.0,    0.0,     0,       0.0,    0.0,     0,       0.0,    0.0,     0,       0.0,    0.0,     0,          0,        0.0,    0.0,     0,        0},
     {640000,  0,   0,      0.0,    0.0,     0,       0.0,    0.0,     0,       0.0,    0.0,     0,       0.0,    0.0,     0,          0,        0.0,    0.0,     0,        0}  
}; 


void setup()
{
  Serial.begin(115200);  //start Serial in case we need to print debugging info
  startMillis = millis();
  Serial.print ("millis() = ");
  Serial.println (millis());

  mp3.begin(9600);        // start mp3-communication
  delay(500);             // wait for init

  mp3.sendCommand(CMD_SEL_DEV, 0, 2);   //select sd-card
  delay(500);             // wait for init
  

  pinMode(9,OUTPUT);
  pinMode(10,OUTPUT);
  pinMode(11,OUTPUT);

}

void loop()
{
  if ((millis() - startMillis >= evenements[mouvement].temps) && (mouvement < 70))
  {
    {
      if (evenements[mouvement].vitesseMoteur1 > 0) 
        {
          stepper1.setMaxSpeed(evenements[mouvement].vitesseMoteur1);
          stepper1.setAcceleration(evenements[mouvement].accelerationMoteur1);
          stepper1.moveTo(evenements[mouvement].nbPasMoteur1 * turn);
        }
      if (evenements[mouvement].vitesseMoteur2 > 0) 
        {
          stepper2.setMaxSpeed(evenements[mouvement].vitesseMoteur2);
          stepper2.setAcceleration(evenements[mouvement].accelerationMoteur2);
          stepper2.moveTo(evenements[mouvement].nbPasMoteur2 * turn);
        }
      if (evenements[mouvement].vitesseMoteur3 > 0) 
        {
          stepper3.setMaxSpeed(evenements[mouvement].vitesseMoteur3);
          stepper3.setAcceleration(evenements[mouvement].accelerationMoteur3);
          stepper3.moveTo(evenements[mouvement].nbPasMoteur3 * turn);
        }
      if (evenements[mouvement].vitesseMoteur4 > 0) 
          stepper4.setMaxSpeed(evenements[mouvement].vitesseMoteur4);
          stepper4.setAcceleration(evenements[mouvement].accelerationMoteur4);
          stepper4.moveTo(evenements[mouvement].nbPasMoteur4 * turn);
        }
      if (evenements[mouvement].vitesseMoteur5 > 0) 
        {
          stepper5.setMaxSpeed(evenements[mouvement].vitesseMoteur5);
          stepper5.setAcceleration(evenements[mouvement].accelerationMoteur5);
          stepper5.moveTo(evenements[mouvement].nbPasMoteur5 * quar);
        }

      
      if (evenements[mouvement].relay1 == 1) 
        {
         digitalWrite(9,LOW);
        }
      if (evenements[mouvement].relay1 == 0 ) 
        {
          digitalWrite(9,HIGH);
        }
      if (evenements[mouvement].relay2 == 1) 
        {
          digitalWrite(10,LOW);
        }
      if (evenements[mouvement].relay2 == 0 ) 
        {
          digitalWrite(10,HIGH);
        }
      if (evenements[mouvement].relay3 == 1) 
        {
          digitalWrite(11,LOW);
        }
      if (evenements[mouvement].relay3 == 0 ) 
        {
          digitalWrite(11,HIGH);
        }

      
      if (evenements[mouvement].mp3 == 1 ) 
        {
        mp3.setVol(25);      
        mp3.play(1);
        }

      if (evenements[mouvement].mp3 == 2 ) 
        {
      
        mp3.stop();
        }

      if (evenements[mouvement].temps == 640000)
      {
        mouvement = 0; // On  repart au début des mouvements
        startMillis=millis();  // Remet le chornomètre à 0
      }
      
      mouvement++; // on a traité ce mouvement, on passe au suivant
     
    }
  }
  stepper1.run(); 
  stepper2.run();
  stepper3.run(); 
  stepper4.run();
  stepper5.run(); 

}

I'm here today because i would like to adapt this code for a new project, using relays and a windshield wipper motor controlled by a double BTS7960 shield (like this one).

I started to rework the code using the exemple made by Robojax for the BTS7960 :

#define RPWM 2 // define pin 3 for RPWM pin (output)
#define R_EN 23 // define pin 2 for R_EN pin (input)
#define R_IS 25 // define pin 5 for R_IS pin (output)

#define LPWM 3 // define pin 6 for LPWM pin (output)
#define L_EN 24 // define pin 7 for L_EN pin (input)
#define L_IS 26 // define pin 8 for L_IS pin (output)

#define CW 1 //do not change
#define CCW 0 //do not change
#define debug 1 //change to 0 to hide serial monitor debugging infornmation or set to 1 to view

#include <RobojaxBTS7960.h>
RobojaxBTS7960 motor(R_EN,RPWM,R_IS, L_EN,LPWM,L_IS,debug);

void setup() {
  // BTS7960 Motor Control Code by Robojax.com 20190622
  Serial.begin(9600);// setup Serial Monitor to display information

   motor.begin();
   
    // BTS7960 Motor Control Code by Robojax.com 20190622 
}

void loop() {
   // BTS7960 Motor Control Code by Robojax.com 20190622 
    motor.rotate(100,CW);// run motor with 100% speed in CW direction
    delay(5000);//run for 5 seconds
    motor.stop();// stop the motor
    delay(3000);// stop for 3 seconds
    motor.rotate(100,CCW);// run motor at 100% speed in CCW direction
    delay(5000);// run for 5 seconds
    motor.stop();// stop the motor
    delay(3000);  // stop for 3 seconds
  // slowly speed up the motor from 0 to 100% speed
    for(int i=0; i<=100; i++){ 
        motor.rotate(i,CCW);
        delay(50);
    } 
  
   // slow down the motor from 100% to 0 with 
    for(int i=100; i>0; i--){ 
        motor.rotate(i,CCW);
        delay(50);
    } 
    motor.stop();// stop motor
    delay(3000); // stop for 3 seconds        
 // BTS7960 Motor Control Code by Robojax.com 20190622  
}// loop ends

For this project, i want the motor to rotates and stops, following the timetable. Each rotation should begin and end with accelaration and decelaration, with a constant speed in between that varies from one rotation to another.
I was thinking a good way to do that would be to have 5 "commands" for the motor :

1 Motor stop
2 Motor starts rotating CCW with an accelaration
3 Motor stops rotating CCW with a deceleration
4 Motor starts rotating CW with an accelaration
5 Motor stops rotating CW with a deceleration

So far i've got this, which obviously doesn't work as i expected (I focused on the motors, the relays are meant to be added after i sort this out) :

#define RPWM 2 // define pin 3 for RPWM pin (output)
#define R_EN 23 // define pin 2 for R_EN pin (input)
#define R_IS 25 // define pin 5 for R_IS pin (output)

#define LPWM 3 // define pin 6 for LPWM pin (output)
#define L_EN 24 // define pin 7 for L_EN pin (input)
#define L_IS 26 // define pin 8 for L_IS pin (output)

#define CW 1 //do not change
#define CCW 0 //do not change
#define debug 1 //change to 0 to hide serial monitor debugging infornmation or set to 1 to view

#include <RobojaxBTS7960.h>
RobojaxBTS7960 motor(R_EN,RPWM,R_IS, L_EN,LPWM,L_IS,debug);

unsigned long startMillis;
unsigned long currentMillis;

struct Evenement
{
  uint32_t temps;

  float sensMoteur;
  float vitesseMoteur;
  float accelerationMoteur;

};


int mouvement = 0;

Evenement evenements[] = {

//temps    sensM  vitm  accM 
  {0000,    0,     0,    0},
  {5000,    1,     10,   0},
  {10000,   2,     20,   0},
  {15000,   0,     0,    0},
  {20000,   4,     40,   0},
  {25000,   2,     20,   0},
  {30000,   0,     0,    0},
  {35000,   0,     0,    0}
}; 


void setup()
{
  Serial.begin(115200);  //start Serial in case we need to print debugging info
  startMillis = millis();
  Serial.print ("millis() = ");
  Serial.println (millis());

  motor.begin();


}

void loop()
{
  if ((millis() - startMillis >= evenements[mouvement].temps) && (mouvement < 8))
  {
    {
    
     if (evenements[mouvement].sensMoteur = 0) 
        {
        motor.stop();
        }
        
     if (evenements[mouvement].sensMoteur = 1) 
        {
          for(int vitesseMoteur=0; vitesseMoteur<=100; vitesseMoteur++){ 
              motor.rotate(vitesseMoteur,CCW);
          } 
        } 

     if (evenements[mouvement].sensMoteur = 2) 
        {
          for(int vitesseMoteur=vitesseMoteur; vitesseMoteur>0; vitesseMoteur--){ 
              motor.rotate(vitesseMoteur,CCW);
          } 
        motor.stop();
        }

     if (evenements[mouvement].sensMoteur = 3) 
        {
          for(int vitesseMoteur=0; vitesseMoteur<=100; vitesseMoteur++){ 
              motor.rotate(vitesseMoteur,CW);
          } 
        } 

     if (evenements[mouvement].sensMoteur = 4) 
        {
          for(int vitesseMoteur=vitesseMoteur; vitesseMoteur>0; vitesseMoteur--){ 
              motor.rotate(vitesseMoteur,CW);
          } 
        motor.stop();
        }
     

      if (evenements[mouvement].temps == 35000)
      {
        mouvement = 0; // On  repart au début des mouvements
        startMillis=millis();  // Remet le chornomètre à 0
      }
      
      mouvement++; // on a traité ce mouvement, on passe au suivant
     
  }
 }
}

When the code is uploaded, the motor rotate and then get like shaky, with little CW and CCW rotations

If anyone has had the opportunity to work on similar projects and have some advice to help me,
that'd be great !

noarno2 · March 7, 2022, 12:13pm

Ok, so i understood what one of my problem was. I was missing equal signs.
Now the motor respect the time schedule, cw and ccw rotations, and a little acceleration and deceleration at each movement. But i seem not to be able to control the speed. It appears to be running at full speed everytime and not respect the speed I put in the timetable.

Here 's the corrected code:

#define RPWM 2 // define pin 3 for RPWM pin (output)
#define R_EN 23 // define pin 2 for R_EN pin (input)
#define R_IS 25 // define pin 5 for R_IS pin (output)

#define LPWM 3 // define pin 6 for LPWM pin (output)
#define L_EN 24 // define pin 7 for L_EN pin (input)
#define L_IS 26 // define pin 8 for L_IS pin (output)

#define CW 1 //do not change
#define CCW 0 //do not change
#define debug 1 //change to 0 to hide serial monitor debugging infornmation or set to 1 to view

#include <RobojaxBTS7960.h>
RobojaxBTS7960 motor(R_EN,RPWM,R_IS, L_EN,LPWM,L_IS,debug);

unsigned long startMillis;
unsigned long currentMillis;

struct Evenement
{
  uint32_t temps;

  float sensMoteur;
  float vitesseMoteur;

};


int mouvement = 0;

Evenement evenements[] = {

//temps    sensM  vitm  accM 
  {0000,    0,     0},
  {10000,   1,     5},
  {20000,   2,     5},
  {30000,   3,     50},
  {40000,   4,     50},
  {50000,   0,     0}
}; 


void setup()
{
  Serial.begin(115200);  //start Serial in case we need to print debugging info
  startMillis = millis();
  Serial.print ("millis() = ");
  Serial.println (millis());

  motor.begin();

}

void loop()
{
  if ((millis() - startMillis >= evenements[mouvement].temps) && (mouvement < 6))
  {
    {
    
     if (evenements[mouvement].sensMoteur == 0) 
        {
        motor.stop();
        }
        
     if (evenements[mouvement].sensMoteur == 1) 
        {
          for(int vitesseMoteur=0; vitesseMoteur<=100; vitesseMoteur++){ 
              motor.rotate(vitesseMoteur,CCW);
          } 
        } 

     if (evenements[mouvement].sensMoteur == 2) 
        {
          for(int vitesseMoteur=vitesseMoteur; vitesseMoteur>0; vitesseMoteur--){ 
              motor.rotate(vitesseMoteur,CCW);
          } 
        motor.stop();
        }

     if (evenements[mouvement].sensMoteur == 3) 
        {
          for(int vitesseMoteur=0; vitesseMoteur<=100; vitesseMoteur++){ 
              motor.rotate(vitesseMoteur,CW);
          }
        } 

     if (evenements[mouvement].sensMoteur == 4) 
        {
          for(int vitesseMoteur=vitesseMoteur; vitesseMoteur>0; vitesseMoteur--){ 
              motor.rotate(vitesseMoteur,CW);
          } 
        motor.stop();
        }
     

      if (evenements[mouvement].temps == 50000)
      {
        mouvement = 0; // On  repart au début des mouvements
        startMillis=millis();  // Remet le chornomètre à 0
      }
      
      mouvement++; // on a traité ce mouvement, on passe au suivant
     
  }
 }
}

blh64 · March 7, 2022, 6:06pm

your for() loops are executing at maximum speed so you are almost instantly changing the motor to 100% PWM. If you want to slowing increase/decrease the speed, you will have to put a delay() between calls and that delay should get shorter and shorter for acceleration and longer for deceleration.

noarno2 · March 7, 2022, 6:25pm

Hi!
Thanks for your reply!
Right but I don't want to use delay as it will block other simultaneous actions, for exemple the relays I wish to add later... Yeah, it's tricky...

noarno2 · March 7, 2022, 6:27pm

Out of curiosity : I can't picture what you mean by "shorter and shorter"

blh64 · March 7, 2022, 6:28pm

You have to get rid of your for() loops then. Look at the AccelStepper library to see how they do it. Basically, you run through loop() repeatedly, and if it is time to adjust the PWM value, then do so and reset your timer.

As for "shorter and shorter", I am referring to the amount of time spent in delay() as acceleration happens.

noarno2 · March 7, 2022, 6:31pm

For the first the first project I was using accelstepper. Now I work with a DC motor, does it adapt to other things that stepper motors?

blh64 · March 7, 2022, 6:55pm

Something like this should get you close (sorry, made variables english)

#define RPWM 2 // define pin 3 for RPWM pin (output)
#define R_EN 23 // define pin 2 for R_EN pin (input)
#define R_IS 25 // define pin 5 for R_IS pin (output)

#define LPWM 3 // define pin 6 for LPWM pin (output)
#define L_EN 24 // define pin 7 for L_EN pin (input)
#define L_IS 26 // define pin 8 for L_IS pin (output)

#define CW 1 //do not change
#define CCW 0 //do not change
#define STOP 2

const int UP = 1;
const int DOWN = -1;

#define debug 1 //change to 0 to hide serial monitor debugging infornmation or set to 1 to view

#include <RobojaxBTS7960.h>
RobojaxBTS7960 motor(R_EN, RPWM, R_IS, L_EN, LPWM, L_IS, debug);

unsigned long startMillis;
unsigned long currentMillis;
unsigned long stepTime;

struct Step
{
  uint32_t duration;
  int rotation;   // CW, CCW, STOP
  int delay;
  int dir;        // UP, DOWN
};


int current = 0;
uint32_t temps;
int sensMoteur;
int vitesseMoteur;

Step steps[] = {
  {10000,   CCW, 5, UP},
  {10000,   CCW, 5, DOWN},
  {10000,   CW, 50, UP},
  {10000,   CW, 50, DOWN},
  {10000,   STOP, 0, 0},
};

const nSteps = sizeof(steps) / sizeof(steps[0]);

void setup()
{
  Serial.begin(115200);  //start Serial in case we need to print debugging info
  startMillis = millis();
  Serial.print ("millis() = ");
  Serial.println (millis());

  motor.begin();
}

void loop()
{
  currentMillis = millis();

  if (currentMllis - startMillis >= steps[current].duration) {
    // time for next step
    current = ( current + 1 ) % nSteps;
    startMillis = millis();
    rotation = steps[current].rotation;
    delay = steps[current].delay;
    dir = steps[current].dir;
    if ( dir == UP ) {
      currentPWM = 0;
    }
    else {
      currentPWM = 100;
    }
    stepTime = currentMillis;
  }

  // check for next step
  if ( currentMillis - stepTime >= delay ) {
    stepTime = currentMillis;
    switch (dir) {
      case STOP:
        motor.stop();
        break;

      case UP:
        currentPWM++;
        if ( currentPWM >= 100 ) {
          currentPWM = 100;
        }
        motor.rotate(currentPWM, rotation);
        break;

      case DOWN:
        currentPWM--;
        if ( currentPWM < 0 ) {
          currentPWM = 0;
        }
        motor.rotate(currentPWM, rotation);
        break;

    }
  }
}

noarno2 · March 7, 2022, 7:37pm

Ok, thanks for this. I left my workshop so i'll take a look at this tomorrow.

It's ok for the english, pardon my french

abdullah_001 · April 27, 2022, 3:19pm

Hey! I am also using BTS 7960 motor driver to control a dc motor. I am using the same Robojax Library. But the problem I am facing is that it won't let me lower the speed of the motor in CW direction no matter what PWM value I use in the function. It runs at max speed for all values of PWM signal in the CW direction however, in the CCW direction it does change motor speed when I change the PWM value. Did you happen to face the same problem as well?

blh64 · April 27, 2022, 4:27pm

Without seeing your code, who knows?

abdullah_001 · April 28, 2022, 6:12am

There's my code. The motor goes from no speed to max speed in the CCW direction but only runs at full speed in the CW Direction

int R_IS = 4;
int R_EN = A1;
int R_PWM = A0;
int L_IS = 7;
int L_EN = 6;
int L_PWM = 5;

void setup() {
  // put your setup code here, to run once:
 pinMode(R_IS, OUTPUT);
 pinMode(R_EN, OUTPUT);
 pinMode(R_PWM, OUTPUT);
 pinMode(L_IS, OUTPUT);
 pinMode(L_EN, OUTPUT);
 pinMode(L_PWM, OUTPUT);
 digitalWrite(R_IS, LOW);
 digitalWrite(L_IS, LOW);
 digitalWrite(R_EN, HIGH);
 digitalWrite(L_EN, HIGH);
}

void loop() {
  // put your main code here, to run repeatedly:
  int i;
  for(i = 0; i <= 255; i= i+10){ //clockwise rotation
   analogWrite(R_PWM, i);
   analogWrite(L_PWM, 0);
   delay(500);
  }
  delay(500);
  for(i = 0; i <= 255; i= i+10){ //counter clockwise rotation
   analogWrite(R_PWM, 0);
   analogWrite(L_PWM, i);
   delay(500);
  }
  delay(500);
}

> Blockquote

blh64 · April 28, 2022, 1:32pm

Pin A0 does not support PWM. It only support digital HIGH/LOW.
Pin 5 does support PWM so that one works.

Change your wiring.

system · October 25, 2022, 1:32pm

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