Developing a digital control for a rotating table a simple, stupid problem is present.
The input should be s5, or S5 for the table make 5 turns per revolution.
Also a72 or A72 is used, for a stepping angle of 72 degrees.
The capital letter works but not the minor(?) letter. What do I miss. A shame to ask but.....
Look at setup() that's reading input from serial monitor.
The code:
#include<arduino.h>
//I2C for LCD
#include <AccelStepper.h>
//#include <Wire.h>
//#include <hd44780.h>
//#include <hd44780ioClass/hd44780_I2Cexp.h>
//hd44780_I2Cexp mylcd; // declare lcd object: auto locate & config exapander chip
AccelStepper myStepper (1, 6, 7);
// LCD geometry
#define LCD_COLS 16
#define LCD_ROWS 2
enum mode {Sides, Angle };
mode Mode; //Angle or Step mode
int nrOfFaces = 4;//Will be prompted in Setup
float stepAngle = 90.0;// will be set when angles selected
unsigned long nrOfStepsPerRev = 200L * 16L * 40L; // microstep 32
unsigned long currentStep;
unsigned long anglePos;
enum cmd {increase, decrease, Go, ChgMode, GoStep, nobutton};
void setup() {
char inChar;
Serial.begin(115200);
Serial.println("Rotation ");
pinMode(13, OUTPUT); digitalWrite(13, LOW);// Make board LED go off
myStepper.setMaxSpeed(4000);
myStepper.setAcceleration(30000);
#define digitalIncreaseButton 2
pinMode (digitalIncreaseButton, INPUT_PULLUP);
#define cuttingSpeed 100 // when cutting during rotation
#define movingSpeed 500 //when moving without cutting
/*
int status;
status = mylcd.begin(LCD_COLS, LCD_ROWS);
if (status) // non zero status means it was unsuccesful
{
status = -status; // convert negative status value to positive number
// begin() failed so blink error code using the onboard LED if possible
hd44780::fatalError(status); // does not return
}
mylcd.clear();
mylcd.print("230201a Rotating. S Steps ot A Angle ");
*/
Serial.println("230202a Rotating. S: Steps, A:Angle");
while (!Serial.available()) {}; //Wait for Serial input
inChar = Serial.read();//Read type of mode, Sides or Angle
if (inChar == 's')inChar == 'S';// DOESN*T work
if (inChar == 'S')//ORIGINAL S works
{
Serial.println("Step mode selected");
Mode = Sides;
while (!Serial.available()) {}; //Wait for Serial input
nrOfFaces = Serial.parseInt();
Serial.print("Sides/Faces = "); Serial.println(nrOfFaces);
}
if (inChar == 'a')inChar == 'A';
if (inChar == 'A')
{
Serial.println("Angle mode selected");
Mode = Angle;
while (!Serial.available()) {}; //Wait for Serial input
stepAngle = Serial.parseFloat();
Serial.print("Angle step = "); Serial.println(stepAngle);
}
myStepper.setCurrentPosition(0);//Accelstepper ready for a second turn around
anglePos = 0;
currentStep = 0;
Serial.println("S for stepping, both step/faces and angle");
// delay(5000);
}
enum cmd readButtons(void)
{
char cmd = 'q';
if ((digitalIncreaseButton) == 0)
{
Serial.println("Button step received");
return (GoStep);
}// increase);
if (Serial.available() > 0)
{
cmd = Serial.read();
}
if (cmd == 's' )
{
Serial.print("Recieved cmd "); Serial.println(cmd);
return (GoStep);
}
if (cmd == 'S' ) {
Serial.print("Recieved cmd "); Serial.println(cmd);
return (GoStep);
}
if (cmd == 'c' )
{
Serial.print("Recieved cmd "); Serial.println(cmd);
return (ChgMode);
}
if (cmd == 'C' ) {
Serial.print("Recieved cmd "); Serial.println(cmd);
return (ChgMode);
}
return (nobutton);
}
boolean guardCheck(void)
{
/* commented out until hardware is designed
if (!digitalRead(guard1) && !digitalRead(guard2))
return (true);//Unlocked, clear to go
else
return false;//Locked, don't go
*/
return (true);
}
void loop()
{
unsigned long lastMillis;
// unsigned long anglePos;
enum cmd lcmd;
// enum mode lmode;
float tmpfloat;
lcmd = readButtons();// Read button inputs/ Serial, if any + - Go Chg mode
if ( millis() - lastMillis > 200 )
{
lastMillis = millis();
if ( Mode == Sides ) //number of surnrOfFaces
{
switch (lcmd)
{
case increase:
{
nrOfFaces++;
break;
}
case decrease:
{
nrOfFaces--;
if (nrOfFaces < 2)
{
nrOfFaces = 1; //1 rotate one turn
// myStepper.setMaxSpeed(cuttingSpeed);
}
else
// myStepper.setMaxSpeed(movingSpeed);
break;
}
case ChgMode:
{
myStepper.setCurrentPosition(0);//Accelstepper ready for a second turn around
anglePos = 0;
currentStep = 0;
setup();// Ask for new mode
Mode = Angle;
/*
Serial.print("Mode, anglePos, currentStep = ");
if (Mode = Angle ) Serial.print("Angle");
if (Mode = Sides ) Serial.print("Sides");
Serial.print(anglePos);
Serial.println (currentStep);
*/
break;
}
case Go:
{
while (!guardCheck());;//DON*T GO IF LOCKS ARE ON
anglePos += nrOfStepsPerRev / nrOfFaces;
// myStepper.runToNewPosition();//Blocking until done
break;
}
case GoStep:
{
Serial.print("GoStep S received. ");
while (!guardCheck());;//DON*T GO IF LOCKS ARE ON
Serial.print("Stepping to step "); Serial.println(currentStep + 1);
anglePos = (nrOfStepsPerRev * ++currentStep) / nrOfFaces;
currentStep %= nrOfFaces;
Serial.print("anglePos = "); Serial.println( anglePos);
tmpfloat = 360 * float(currentStep) / float(nrOfFaces);
Serial.print("Angle = "); Serial.println( tmpfloat);
lastMillis = millis();
myStepper.runToNewPosition(anglePos);//Blocking until done
Serial.print("Runtime "); Serial.println( millis() - lastMillis);
Serial.println("Ready."); Serial.println();
if (currentStep == 0)// Back on zero position, update AccelStepper position!!!
myStepper.setCurrentPosition(0);//Accelstepper ready for a second turn around
break;
}
default:
break;
}//end of switch
}//end of "if (lmode == Sides)"
else if ( Mode == Angle ) // Angle per step
{
switch (lcmd)
{
case increase:
{
anglePos = nrOfStepsPerRev * ++currentStep / nrOfFaces;
break;
}
case decrease:
{
anglePos = nrOfStepsPerRev * ++currentStep / nrOfFaces;
if (nrOfFaces < 1) nrOfFaces = 1; //1 rotate one turn
break;
}
case ChgMode:
{
myStepper.setCurrentPosition(0);//Accelstepper ready for a second turn around
anglePos = 0;
currentStep = 0;
setup();// Ask for new mode
Mode = Sides;
/*
Serial.print("Mode, anglePos, currentStep = ");
if (Mode = Angle ) Serial.print("Angle");
if (Mode = Sides ) Serial.print("Sides");
Serial.print(anglePos);
Serial.println (currentStep);
*/
break;
}
case GoStep:
{
while (!guardCheck());;//DON*T GO IF LOCKS ARE ON
Serial.println("GoStep A eceived. ");
while (!guardCheck());;//DON*T GO IF LOCKS ARE ON
Serial.print("anglePos1 = "); Serial.println( anglePos);
anglePos += (nrOfStepsPerRev * stepAngle) / 360L;
Serial.print("anglePos2 = "); Serial.println( anglePos);
Serial.print ("Angle "); Serial.println((anglePos * 360 ) / nrOfStepsPerRev) + 0.5;
lastMillis = millis();
myStepper.runToNewPosition(anglePos);//Blocking until done
if (anglePos > nrOfStepsPerRev)
{
anglePos -= nrOfStepsPerRev;
myStepper.setCurrentPosition(anglePos);
}
Serial.print("Runtime "); Serial.println( millis() - lastMillis);
Serial.println("Ready."); Serial.println();
// if (currentStep == 0)// Back on zero position, update AccelStepper position!!!
//myStepper.setCurrentPosition(0);//Accelstepper ready for a second turn around
// break;
}
default:
break;
}
}
}
// if (guardCheck())
// {
// Serial.print("!");
//myStepper.run();
// }
}// End of loop
/*
moveTo KEYWORD2
move KEYWORD2
run KEYWORD2
runSpeed KEYWORD2
setMaxSpeed KEYWORD2
setAcceleration KEYWORD2
setSpeed KEYWORD2
speed KEYWORD2
distanceToGo KEYWORD2
targetPosition KEYWORD2z
currentPosition KEYWORD2
setCurrentPosition KEYWORD2
runToPosition KEYWORD2
runSpeedToPosition KEYWORD2
runToNewPosition KEYWORD2
stop KEYWORD2
disableOutputs KEYWORD2
enableOutputs KEYWORD2
setMinPulseWidth KEYWORD2
setEnablePin KEYWORD2
setPinsInverted KEYWORD2
maxSpeed KEYWORD2
enum flag {const1, const2, ..., constN};
By default, const1 is 0, const2 is 1 and so on. You can change default values of enum elements during declaration (if necessary).
// Changing default values of enum constants
enum suit {
club = 0,
diamonds = 10,
hearts = 20,
spades = 3,
};
*/
It went wrong because of the below