Step Motor-Ultrasonic Sensor Speed

Other Hardware Motors, Mechanics, Power and CNC
1

Hi

I am using Nema-17 Step Motor and HC-SR04 ultrasonic module for my project. Between my codes below, I only add the sensor but my motor loses its speed and it gets slower. What is my mistake?

Thank you so much.


#include <AccelStepper.h>

#define motorInterfaceType 1

#define stepPin 2
#define dirPin 5


AccelStepper stepper_x(motorInterfaceType, stepPin, dirPin);

void setup(){
   stepper_x.setMaxSpeed(1000); 
     stepper_x.setSpeed(250);
   
}

void loop() {
 
       stepper_x.runSpeed();
   
}

My code with sensor:


#include <AccelStepper.h>

#define motorInterfaceType 1

#define stepPin 2
#define dirPin 5
const int trigPin = 8; 
const int echoPin = 10; 

AccelStepper stepper_x(motorInterfaceType, stepPin, dirPin);

void setup() {
  Serial.begin(9600);
   stepper_x.setMaxSpeed(1000); 
   pinMode(trigPin, OUTPUT); 
   pinMode(echoPin, INPUT);
}

void loop() {
  long duration, distance;
  digitalWrite(trigPin, LOW);
  delayMicroseconds(2);
  digitalWrite(trigPin, HIGH);
  delayMicroseconds(10);
  digitalWrite(trigPin, LOW);
  duration = pulseIn(echoPin, HIGH);
  distance = duration * 0.034 / 2; 

  Serial.print("Dist: ");
  Serial.print(distance);
  Serial.println(" cm");
  
  if (distance < 10) {
    stepper_x.setSpeed(200); 
  } else {
    stepper_x.setSpeed(250); 
    stepper_x.runSpeed();
  }
  
}
2

Well, there are two problems:
1 pulseIn is a blocking function and stops the sketch until the pulse is measured.
2 You have stepper_x.runSpeed inside an if statement. It should be at the end of loop()

You can use interrupts to measure pulse width.
This tutorial explains how

3

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