[Risolto] Gestire velocità motori in modo indipendente.

International Italiano Software
5

Ancora grazie Uwe,
la soluzione è stata semplice con la tua dritta (millis)!!!

int step_a_ = 8, off_a_, round_a_, direction_a_, speed_a_;
int step_b_ = 4, off_b_, round_b_, direction_b_, speed_b_;

int a = 10000;
int b = 10000;
unsigned long time=0;
unsigned long stepper_1 =0;
unsigned long stepper_2 =0;

void setup(void)
{

  pinMode(step_a_, OUTPUT); 
  pinMode(step_a_ + 1, OUTPUT); 
  pinMode(step_a_ + 2, OUTPUT); 
  pinMode(step_a_ + 3, OUTPUT);
  pinMode(step_b_, OUTPUT); 
  pinMode(step_b_ + 1, OUTPUT); 
  pinMode(step_b_ + 2, OUTPUT); 
  pinMode(step_b_ + 3, OUTPUT);
  randomSeed(analogRead(0));

}
void loop(void){
  

  if (a > (round_a_ * 200)) { 
    a = 0, round_a_ = random (1,5), speed_a_ = random(1,5), direction_a_ = random (1,3);
    if (direction_a_ == 2) { 
      direction_a_ = -1;
    }
  }
  if (b > (round_b_ * 48)) { 
    b = 0, round_b_ = random (1,5), speed_b_ = random(5,8), direction_b_ = random (1,3);
    if (direction_b_ == 2) { 
      direction_b_ = -1;
    }
  }

  time = millis(); 
  stepper_1_treadh(); 
  stepper_2_treadh();
}



void stepper_1_treadh() {  
  if((stepper_1+speed_a_)<time){
    digitalWrite(off_a_,LOW);
    step_a_ = step_a_ + direction_a_; 
    if (step_a_ < 8) step_a_ = 11; 
    if (step_a_ > 11) step_a_ = 8; 
    off_a_ = step_a_;
    digitalWrite(step_a_,HIGH);
    a = a + 1;
    stepper_1 = millis();
  }
}

void stepper_2_treadh() {  
  if((stepper_2+speed_b_)<time){
    digitalWrite(off_b_,LOW);
    step_b_ = step_b_ + direction_b_; 
    if (step_b_ < 4) step_b_ = 7; 
    if (step_b_ > 7) step_b_ = 4; 
    off_b_ = step_b_;
    digitalWrite(step_b_,HIGH);
    b = b + 1;
    stepper_2 = millis();
  }
}

Bubz