Hello everyone,
I am making a program in python using inverse kinematics to send values to my arduino mega, but I have a problem. When I send my string of characters in my arduino serial monitor, my motor does not move, in the program is detailed lines of code for now I'm just testing a motor for later use with python.
when I send my string on my monitor it would be, for example A+30B+30C+30D+30E+30F+30.
A is my first motor with positive angle of 30 degrees, the motor does not move, the other values are given to fill my string, then it will be programmed, for now I am testing with only one motor.
//nema 14 motor = 400 pasos * 13.73 = 5492/360 = 15.255556
// ratio = 13.73:1
// driver dm542t
int PUL1 = 10;
int DIR1 = 11;
int SET1 = 14;
int number_of_steps=0; // We declare the variable number of steps and start it at 0
int num1,num2,num3,num4,num5,num6;
int teta1,teta2,teta3,teta4,teta5,teta6;
/////////// note: I am working with a motor for now for testing, its specifications are above.
float j1stepPerGrade = 15.255556; //engine compensation value
float j2stepPerGrade = 15.255556;
float j3stepPerGrade = 15.255556;
float j4stepPerGrade = 15.255556;
float j5stepPerGrade = 15.255556;
float j6stepPerGrade = 15.255556;
void setup()
{
Serial.begin(9600);
pinMode(PUL1,OUTPUT);
pinMode(DIR1,OUTPUT);
pinMode(SET1,OUTPUT);
//pinMode(SET1, HIGH);
}
String data;
void loop()
{
////////// //scheduled routines///////////////
while(Serial.available())
{
char character = Serial.read(); //read the character variable in the serial port
if(character != '\n') //verify if there is a character in the serial port if there is not it will do a line break
{
data.concat(character); //we concatenate the variable character
}
else
{
Serial.println(data); //we print the variable te type string in the serial port
char a[30]; //We declare a variable a with a vector of dimension 30
data.toCharArray(a,30); // matrix
data = ""; //we initialize the variable string
/////////////////////// Here starts the decoding algorithm///////////////////////////////
//we order the values of the variable "a" for a dimension of 30
if((a[0]=='A')&&(a[4]=='B')&&(a[8]=='C')&&(a[12]=='D')&&(a[16]=='E')&&(a[20]=='F'))
{
Serial.println("OK");
char ang1[5] = {a[1],a[2],a[3]}; //We declare character type ang1 and the positions for each character
int num1 = atoi(ang1); //convert each character of ang1 to integer
num1 = (num1*j1stepPerGrade); //we perform a value adjustment for the stepper motors
char ang2[5] = {a[5],a[6],a[7]};
int num2 = atoi(ang2);
num2 = (num2*j2stepPerGrade);
char ang3[5] = {a[9],a[10],a[11]};
int num3 = atoi(ang3);
num3 = (num3*j3stepPerGrade);
char ang4[5] = {a[13],a[14],a[15]};
int num4 = atoi(ang4);
num4 = (num4*j4stepPerGrade);
char ang5[5] = {a[17],a[18],a[19]};
int num5 = atoi(ang5);
num5 = (num5*j5stepPerGrade);
char ang6[5] = {a[21],a[22],a[23]};
int num6 = atoi(ang6);
num6 = (num6*j6stepPerGrade);
/////////end coding and start assigning values to engines////////////////////
teta1 = num1;
teta2 = num2;
teta3 = num3;
teta4 = num4;
teta5 = num5;
teta6 = num6;
}
}
}
while(teta1>number_of_steps) // Turn to the left in degrees
{
s_l();
number_of_steps=number_of_steps+1;
}
while(teta1<number_of_steps) // Right turn in degrees
{
s_r();
number_of_steps=number_of_steps-1;
}
data = ""; // We initialize the string of received characters
delay(2000);
return_1(); //we return to an initial point in this case it is 0
shutdown_1(); // Engine shutdown so it doesn't overheat
}
void s_r() //steps to the right
{
digitalWrite(DIR1,HIGH);
digitalWrite(PUL1,HIGH);
delayMicroseconds(500);
digitalWrite(PUL1,LOW);
delayMicroseconds(500);
}
void s_l() //steps to the left
{
digitalWrite(DIR1,LOW);
digitalWrite(PUL1,LOW);
delayMicroseconds(500);
digitalWrite(PUL1,HIGH);
delayMicroseconds(500);
}
void shutdown_1() // Engine Shutdown
{
digitalWrite(DIR1,LOW);
digitalWrite(PUL1,LOW);
delayMicroseconds(500);
digitalWrite(PUL1,LOW);
delayMicroseconds(500);
}
void return_1() //loopback
{
teta1=0;
}