Stepper counter off by 10

john1973 · July 19, 2024, 11:48am

This is a telescope focuser that controls a stepper via IR. The script moves in increments of 10 up or down (forward or backwards). A counter starts from zero (it must be homed before use). It works fine up until I use the entry() function. Then if I enter a digit higher than the current position (pos), it ends 10 short (or at least that's what the position reads). if the entry is lower, then it's 10 higher than it's supposed to be. The issue appears to be in the 0x0 case that handles repeats (so I can hold the button down). If I comment the case out or simply don't use it by not holding down the buttons during a session, it counts just fine. I'd feel a little better if it's reporting the actual position, instead of the pos being thrown off by 10 each time(this can add up throughout a session if the reported pos doesn't match the actual position). If it's actually moving it to that position, I can live with it by just pressing the button once up or down...other than it being annoying. I eventually want this to be Ascom compliant, but I'll cross that bridge when I get there.

Here's my code. I'm including some comments for troubleshooting purposes.

#include <Wire.h>
#include <LiquidCrystal_I2C.h>
#include <IRremote.hpp>
#include "Stepper.h"
#define IR_RECEIVE_PIN 12
#define STEPS  32   // Number of steps per revolution of Internal shaft
int  fwd;  // 2048 = 1 Revolution
int rev;
int mspeed = 500;
int stepCount = 0; 
int long lastcmd=0;
int light;
int pos=0;
int pspeed;
int MaxPos = 4600;
int limitReached;
int Nav;
int correct;
Stepper small_stepper(STEPS, 8, 10, 9, 11);


LiquidCrystal_I2C lcd(0x27,16,2); // set the LCD address to 0x27 for a 16 chars and 2 line display

void setup() {
  // put your setup code here, to run once:
IrReceiver.begin(IR_RECEIVE_PIN, ENABLE_LED_FEEDBACK); // Start the receiver
  Serial.begin (9600);

  lcd.init(); // initialize the lcd
  lcd.backlight();
}

void loop() {
      lcd.setCursor(0,0);
      //delay(50);
lcd.print("POSITION: ");
lcd.print(pos);
lcd.print("     ");
lcd.setCursor(0,1);
lcd.print("SPEED: ");
if(mspeed==500){
        lcd.print("HIGH    "); 
      }else{
        lcd.print("LOW    ");
      }

   if (IrReceiver.decode()) {
    small_stepper.setSpeed(mspeed);
      Serial.println(IrReceiver.decodedIRData.decodedRawData, HEX); // Print "old" raw data
      IrReceiver.printIRResultShort(&Serial); // Print complete received data in one line
      IrReceiver.printIRSendUsage(&Serial);   // Print the statement required to send this data
    
      IrReceiver.resume(); // Enable receiving of the next value
  
      switch (IrReceiver.decodedIRData.decodedRawData){
   
     
        case 0x0:

        //problem with off by 10 could be here, probably is
          if(lastcmd==0xB946FF00){
        //   correct = 1; //temp correction
              focusIn(10);
           //   correct = 0;
              }
          

          if(lastcmd==0xEA15FF00){
          //  correct = correct + 10;
          // correct = 1;
                   focusOut(10);   
          }
        break;

      case 0xB946FF00: //up
                      lastcmd=IrReceiver.decodedIRData.decodedRawData;
                 focusIn(10);
                      break;
                      
      case 0xEA15FF00:  //down
                     lastcmd=IrReceiver.decodedIRData.decodedRawData;
                    focusOut(10);
      break;

      case 0xBB44FF00: //left
        Serial.print("Speed: Low");
        mspeed=100;
      break;

      case 0xBC43FF00: //right
      Serial.print("Speed: High");
      mspeed=500;
      break;

      case 0xBD42FF00: //star (display on/off)
      Serial.print("Display on/off");
      if(light==1)
      {
        lcd.noBacklight();
        light=0;
      }else{
        lcd.backlight();
        light = 1;
      }
      break;

      case 0xAD52FF00: // Number Sign (Home Position)
      goHome();
      break;

      case 0xB54AFF00:
entry();
      break;
     
      default:
    // statements
    break;
      
      }
      // Update readings
      Serial.print("POS: ");
      Serial.println(pos); 
      pspeed = mspeed / 10;
      Serial.print("Speed: ");
      if(mspeed==500){
        Serial.println("High"); 
      }else{
        Serial.println("Low");
      }

      
      }

}

void entry()
{
  String MyCode;
  int cCode;
  int cCheck;
  lcd.setCursor(0,0);
  lcd.print("ENTER POSITION:");
   lcd.setCursor(0,1);
lcd.print("            ");
    while (MyCode.length() < 4){
      
    if (IrReceiver.decode()) {
     cCheck=IrReceiver.decodedIRData.decodedRawData;
      IrReceiver.resume();
     switch (IrReceiver.decodedIRData.decodedRawData){

      case 0xE916FF00: //1
      MyCode=MyCode + "1";
      lcd.setCursor(0,1);
      lcd.print(MyCode);
      break;

      case 0xE619FF00: //2
      MyCode=MyCode + "2";
      lcd.setCursor(0,1);
      lcd.print(MyCode);
      Serial.println("2 pressed");
      break;

      case 0xF20DFF00: //3
      MyCode=MyCode + "3";
      lcd.setCursor(0,1);
      lcd.print(MyCode);
      break;
      case 0xF30CFF00: //
      MyCode=MyCode + "4";
      lcd.setCursor(0,1);
      lcd.print(MyCode);
      break;
      case 0xE718FF00: //
      MyCode=MyCode + "5";
      lcd.setCursor(0,1);
      lcd.print(MyCode);
      break;
      case 0xA15EFF00: //
      MyCode=MyCode + "6";
      lcd.setCursor(0,1);
      lcd.print(MyCode);
      break;
      case 0xF708FF00: //
      MyCode=MyCode + "7";
      lcd.setCursor(0,1);
      lcd.print(MyCode);
      break;
      case 0xE31CFF00: //
      MyCode=MyCode + "8";
      lcd.setCursor(0,1);
      lcd.print(MyCode);
      break;
      case 0xA55AFF00: //
      MyCode=MyCode + "9";
      lcd.setCursor(0,1);
      lcd.print(MyCode);
      break;
      case 0xAD52FF00: //
      MyCode=MyCode + "0";
      lcd.setCursor(0,1);
      lcd.print(MyCode);
      break;
      case 0xBD42FF00: // exit function
           return;
      break;

      default:
      // return;
      break;
     } 
}

  
}
int test = pos;
cCode=MyCode.toInt();
Serial.println("Code is ");
Serial.println(cCode);
lcd.setCursor(0,0);
lcd.print("FOCUSING TO     ");
lcd.setCursor(0,1);
lcd.print("POSITION ");
lcd.print(cCode);
//begin math
if (cCode < pos){
Nav = pos-cCode;
focusIn(Nav);
//pos=cCode; // WARNING this may only fix the readout
//This is code to correct (possibly)
//  if (correct=1){
//    focusOut(10);
//  }
  }

if (cCode > pos){
Nav = cCode-pos;
focusOut(Nav);
//pos=cCode; // WARNING this may only fix the readout  UPDATE oddly, this didn't fix
//if (correct=1){
//    focusIn(10);
//  }
}
Serial.print("NAV: ");
Serial.println(Nav);
Serial.print("Test: ");
Serial.println(test);
}  


void limit ()
{
  lcd.setCursor(0,0);
  lcd.print("LIMIT REACHED!");
  lcd.setCursor(0,1);
  lcd.print("            ");
delay(1000);
}


void focusIn(int distance) {
  limitReached=pos-distance;
  if(pos <= 0){
    limit();
  }else{
                   small_stepper.step(-distance);
                   Serial.print("Moved -");
                      Serial.println(distance);
                   //   delay(10);
                      pos=pos-distance;}
}

void focusOut(int distance){
   limitReached=pos+distance;
                   if(limitReached > MaxPos){
                    limit();
                   }else{
                      small_stepper.step(distance);
                      Serial.print("Moved +");
                      Serial.println(distance);
                   //   delay(10);
                      pos=pos+distance;}
}

void goHome(){
 int x=0;
  lcd.setCursor(0,0);
  lcd.print("MOVE HOME AND     ");
   lcd.setCursor(0,1);
lcd.print("THEN PRESS OK");
while (x=!0){
 if (IrReceiver.decode()) {
    small_stepper.setSpeed(mspeed);
      IrReceiver.printIRResultShort(&Serial); // Print complete received data in one line
      IrReceiver.printIRSendUsage(&Serial);   // Print the statement required to send this data
    
      IrReceiver.resume(); // Enable receiving of the next value
  
      switch (IrReceiver.decodedIRData.decodedRawData){
   
     
        case 0x0:
          if(lastcmd==0xB946FF00){
              small_stepper.step(-10);
                      delay(10);
                      
              }
          

          if(lastcmd==0xEA15FF00){
                   small_stepper.step(10);
                      delay(10);
                       
          }
        break;

      case 0xB946FF00: //up
                      lastcmd=IrReceiver.decodedIRData.decodedRawData;
                      small_stepper.step(-10);
                      delay(10);
                     
                      break;
                      
      case 0xEA15FF00:  //down
                     lastcmd=IrReceiver.decodedIRData.decodedRawData;
                      small_stepper.step(10);
                      delay(10);
                     
      break;

      case 0xBF40FF00:
pos=0;
return;
      break;

}}}
}

kolaha · July 19, 2024, 12:54pm

while (x = !0)

what should this do?

PaulRB · July 19, 2024, 1:02pm

Please auto-format your code and re-post it. Right now, it's an unreadable mess.

kolaha · July 19, 2024, 1:35pm

#include <Wire.h>
#include <LiquidCrystal_I2C.h>
#include <IRremote.hpp>
#include "Stepper.h"
#define IR_RECEIVE_PIN 12
#define STEPS  32   // Number of steps per revolution of Internal shaft
int mspeed = 500;
unsigned long lastcmd = 0;
bool light;
int pos = 0;
const int MaxPos = 4600;
Stepper small_stepper(STEPS, 8, 10, 9, 11);
LiquidCrystal_I2C lcd(0x27, 16, 2); // set the LCD address to 0x27 for a 16 chars and 2 line display

void setup() {
  IrReceiver.begin(IR_RECEIVE_PIN, ENABLE_LED_FEEDBACK); // Start the receiver
  Serial.begin (9600);
  lcd.init(); // initialize the lcd
  lcd.backlight();
}

void loop() {
  lcd.clear();
  //delay(50);
  lcd.print("POSITION: ");
  lcd.print(pos);
  lcd.setCursor(0, 1);
  lcd.print("SPEED: ");
  if (mspeed == 500)     lcd.print("HIGH");
  else     lcd.print("LOW");

  if (IrReceiver.decode()) {
    small_stepper.setSpeed(mspeed);
    Serial.println(IrReceiver.decodedIRData.decodedRawData, HEX); // Print "old" raw data
    IrReceiver.printIRResultShort(&Serial); // Print complete received data in one line
    IrReceiver.printIRSendUsage(&Serial);   // Print the statement required to send this data

    switch (IrReceiver.decodedIRData.decodedRawData) {
      case 0x0:
        if (lastcmd == 0xB946FF00)focusIn(10);
        if (lastcmd == 0xEA15FF00) focusOut(10);
        break;

      case 0xB946FF00: lastcmd = 0xB946FF00; break; //up

      case 0xEA15FF00: lastcmd = 0xEA15FF00; break; //down

      case 0xBB44FF00: //left
        Serial.print("Speed: Low");
        mspeed = 100;
        break;

      case 0xBC43FF00: //right
        Serial.print("Speed: High");
        mspeed = 500;
        break;

      case 0xBD42FF00: //star (display on/off)
        Serial.print("Display on/off");
        if (light)
        {
          lcd.noBacklight();
          light = 0;
        } else {
          lcd.backlight();
          light = 1;
        }
        break;

      case 0xAD52FF00: // Number Sign (Home Position)
        goHome();
        break;

      case 0xB54AFF00:
        entry();
        break;
    }
    // Update readings
    Serial.print("POS: ");
    Serial.println(pos);
        Serial.print("Speed: ");
    if (mspeed == 500)       Serial.println("High");
    else       Serial.println("Low");
  }
  IrReceiver.resume(); // Enable receiving of the next value
}

void entry() {

  int cCode;
  int cCheck;
  lcd.clear();
  lcd.print("ENTER POSITION:");
  while (cCode   < 1000) {

    if (IrReceiver.decode()) {
      cCheck = IrReceiver.decodedIRData.decodedRawData;
      switch (cCheck) {

        case 0xE916FF00: //1
          cCode *= 10 + 1;
          break;

        case 0xE619FF00: //2
          cCode *= 10 + 2;
          Serial.println("2 pressed");          break;

        case 0xF20DFF00:           cCode *= 10 + 3;          break;
        case 0xF30CFF00:           cCode *= 10 + 4;          break;
        case 0xE718FF00:           cCode *= 10 + 5;          break;
        case 0xA15EFF00:           cCode *= 10 + 6;          break;
        case 0xF708FF00:           cCode *= 10 + 7;          break;
        case 0xE31CFF00:           cCode *= 10 + 8;          break;
        case 0xA55AFF00:           cCode *= 10 + 9;          break;
        case 0xAD52FF00:           cCode *= 10 + 0;          break;
        case 0xBD42FF00:          return;          break; // exit function

      }
      lcd.setCursor(0, 1);
      lcd.print(MyCode);
    }
    IrReceiver.resume();
  }
  Serial.print("Code is ");
  Serial.println(cCode);
  lcd.clear();
  lcd.print("FOCUSING TO     ");
  lcd.setCursor(0, 1);
  lcd.print("POSITION ");
  lcd.print(cCode);

  //begin math
  int Nav;
  int test = pos;
  if (cCode < pos) {
    Nav = pos - cCode;
    focusIn(Nav);
    pos = cCode;
  }

  if (cCode > pos) {
    Nav = cCode - pos;
    focusOut(Nav);
    pos = cCode;
  }
  Serial.print("NAV: ");
  Serial.println(Nav);
  Serial.print("Test: ");
  Serial.println(test);
}

void limit () {
  lcd.clear();
  lcd.print("LIMIT REACHED!");
  delay(1000);
}

void focusIn(int distance) {
  int limitReached = pos - distance;
  if (limitReached < 0)     limit();
  else {
    small_stepper.step(-distance);
    Serial.print("Moved -");
    Serial.println(distance);
    pos = pos - distance;
  }
}

void focusOut(int distance) {
  int limitReached = pos + distance;
  if (limitReached > MaxPos)     limit();
  else {
    small_stepper.step(distance);
    Serial.print("Moved +");
    Serial.println(distance);
    pos = pos + distance;
  }
}

void goHome() {
  lcd.clear();
  lcd.print("MOVE HOME AND     ");
  lcd.setCursor(0, 1);
  lcd.print("THEN PRESS OK");
  while (1) {
    if (IrReceiver.decode()) {
      small_stepper.setSpeed(mspeed);
      IrReceiver.printIRResultShort(&Serial); // Print complete received data in one line
      IrReceiver.printIRSendUsage(&Serial);   // Print the statement required to send this data

      switch (IrReceiver.decodedIRData.decodedRawData) {
        case 0x0:
          if (lastcmd == 0xB946FF00)small_stepper.step(-10);
          if (lastcmd == 0xEA15FF00)small_stepper.step(10);
          delay(10);
          break;

        case 0xB946FF00: //up
          lastcmd = IrReceiver.decodedIRData.decodedRawData;
          small_stepper.step(-10);
          delay(10);
          break;

        case 0xEA15FF00:  //down
          lastcmd = IrReceiver.decodedIRData.decodedRawData;
          small_stepper.step(10);
          delay(10);
          break;

        case 0xBF40FF00:
          pos = 0;
          return;
          break;
      }
    }
    IrReceiver.resume(); // Enable receiving of the next value
  }
}

john1973 · July 19, 2024, 11:41pm

#include <Wire.h>
#include <LiquidCrystal_I2C.h>
#include <IRremote.hpp>
#include "Stepper.h"
#define IR_RECEIVE_PIN 12
#define STEPS  32   // Number of steps per revolution of Internal shaft
int  fwd;  // 2048 = 1 Revolution
int rev;
int mspeed = 500;
int stepCount = 0;
int long lastcmd = 0;
int light;
int pos = 0;
int pspeed;
int MaxPos = 4600;
int limitReached;
int Nav;
int correct;
Stepper small_stepper(STEPS, 8, 10, 9, 11);


LiquidCrystal_I2C lcd(0x27, 16, 2); // set the LCD address to 0x27 for a 16 chars and 2 line display

void setup() {
  // put your setup code here, to run once:
  IrReceiver.begin(IR_RECEIVE_PIN, ENABLE_LED_FEEDBACK); // Start the receiver
  Serial.begin (9600);

  lcd.init(); // initialize the lcd
  lcd.backlight();
}

void loop() {
  lcd.setCursor(0, 0);
  //delay(50);
  lcd.print("POSITION: ");
  lcd.print(pos);
  lcd.print("     ");
  lcd.setCursor(0, 1);
  lcd.print("SPEED: ");
  if (mspeed == 500) {
    lcd.print("HIGH    ");
  } else {
    lcd.print("LOW    ");
  }

  if (IrReceiver.decode()) {
    small_stepper.setSpeed(mspeed);
    Serial.println(IrReceiver.decodedIRData.decodedRawData, HEX); // Print "old" raw data
    IrReceiver.printIRResultShort(&Serial); // Print complete received data in one line
    IrReceiver.printIRSendUsage(&Serial);   // Print the statement required to send this data

    IrReceiver.resume(); // Enable receiving of the next value

    switch (IrReceiver.decodedIRData.decodedRawData) {


      case 0x0:

        //problem with off by 10 could be here, probably is
        if (lastcmd == 0xB946FF00) {
          //   correct = 1; //temp correction
          focusIn(10);
          //   correct = 0;
        }


        if (lastcmd == 0xEA15FF00) {
          //  correct = correct + 10;
          // correct = 1;
          focusOut(10);
        }
        break;

      case 0xB946FF00: //up
        lastcmd = IrReceiver.decodedIRData.decodedRawData;
        focusIn(10);
        break;

      case 0xEA15FF00:  //down
        lastcmd = IrReceiver.decodedIRData.decodedRawData;
        focusOut(10);
        break;

      case 0xBB44FF00: //left
        Serial.print("Speed: Low");
        mspeed = 100;
        break;

      case 0xBC43FF00: //right
        Serial.print("Speed: High");
        mspeed = 500;
        break;

      case 0xBD42FF00: //star (display on/off)
        Serial.print("Display on/off");
        if (light == 1)
        {
          lcd.noBacklight();
          light = 0;
        } else {
          lcd.backlight();
          light = 1;
        }
        break;

      case 0xAD52FF00: // Number Sign (Home Position)
        goHome();
        break;

      case 0xB54AFF00:
        entry();
        break;

      default:
        // statements
        break;

    }
    // Update readings
    Serial.print("POS: ");
    Serial.println(pos);
    pspeed = mspeed / 10;
    Serial.print("Speed: ");
    if (mspeed == 500) {
      Serial.println("High");
    } else {
      Serial.println("Low");
    }


  }

}

void entry()
{
  String MyCode;
  int cCode;
  int cCheck;
  lcd.setCursor(0, 0);
  lcd.print("ENTER POSITION:");
  lcd.setCursor(0, 1);
  lcd.print("            ");
  while (MyCode.length() < 4) {

    if (IrReceiver.decode()) {
      cCheck = IrReceiver.decodedIRData.decodedRawData;
      IrReceiver.resume();
      switch (IrReceiver.decodedIRData.decodedRawData) {

        case 0xE916FF00: //1
          MyCode = MyCode + "1";
          lcd.setCursor(0, 1);
          lcd.print(MyCode);
          break;

        case 0xE619FF00: //2
          MyCode = MyCode + "2";
          lcd.setCursor(0, 1);
          lcd.print(MyCode);
          Serial.println("2 pressed");
          break;

        case 0xF20DFF00: //3
          MyCode = MyCode + "3";
          lcd.setCursor(0, 1);
          lcd.print(MyCode);
          break;
        case 0xF30CFF00: //
          MyCode = MyCode + "4";
          lcd.setCursor(0, 1);
          lcd.print(MyCode);
          break;
        case 0xE718FF00: //
          MyCode = MyCode + "5";
          lcd.setCursor(0, 1);
          lcd.print(MyCode);
          break;
        case 0xA15EFF00: //
          MyCode = MyCode + "6";
          lcd.setCursor(0, 1);
          lcd.print(MyCode);
          break;
        case 0xF708FF00: //
          MyCode = MyCode + "7";
          lcd.setCursor(0, 1);
          lcd.print(MyCode);
          break;
        case 0xE31CFF00: //
          MyCode = MyCode + "8";
          lcd.setCursor(0, 1);
          lcd.print(MyCode);
          break;
        case 0xA55AFF00: //
          MyCode = MyCode + "9";
          lcd.setCursor(0, 1);
          lcd.print(MyCode);
          break;
        case 0xAD52FF00: //
          MyCode = MyCode + "0";
          lcd.setCursor(0, 1);
          lcd.print(MyCode);
          break;
        case 0xBD42FF00: // exit function
          return;
          break;

        default:
          // return;
          break;
      }
    }


  }
  int test = pos;
  cCode = MyCode.toInt();
  Serial.println("Code is ");
  Serial.println(cCode);
  lcd.setCursor(0, 0);
  lcd.print("MOVING...          ");
  lcd.setCursor(0, 1);
  lcd.print("TARGET:  ");
  lcd.print(cCode);

  //begin math
  if (cCode < pos) {
    Nav = pos - cCode;
    focusIn(Nav);
    //pos=cCode; // WARNING this may only fix the readout
    //This is code to correct (possibly)
    //  if (correct=1){
    //    focusOut(10);
    //  }
  }

  if (cCode > pos) {
    Nav = cCode - pos;
    focusOut(Nav);
    //pos=cCode; // WARNING this may only fix the readout  UPDATE oddly, this didn't fix
    //if (correct=1){
    //    focusIn(10);
    //  }
  }
  Serial.print("NAV: ");
  Serial.println(Nav);
  Serial.print("Test: ");
  Serial.println(test);
}


void limit ()
{
  lcd.setCursor(0, 0);
  lcd.print("LIMIT REACHED!");
  lcd.setCursor(0, 1);
  lcd.print("            ");
  delay(1000);
}


void focusIn(int distance) {
  limitReached = pos - distance;
  if (pos <= 0) {
    limit();
  } else {
    small_stepper.step(-distance);
    Serial.print("Moved -");
    Serial.println(distance);
    //   delay(10);
    pos = pos - distance;
  }
}

void focusOut(int distance) {
  limitReached = pos + distance;
  if (limitReached > MaxPos) {
    limit();
  } else {
    small_stepper.step(distance);
    Serial.print("Moved +");
    Serial.println(distance);
    //   delay(10);
    pos = pos + distance;
  }
}

void goHome() {
  int x = 0;
  lcd.setCursor(0, 0);
  lcd.print("MOVE HOME AND     ");
  lcd.setCursor(0, 1);
  lcd.print("THEN PRESS OK");
  while (x = !0) {
    if (IrReceiver.decode()) {
      small_stepper.setSpeed(mspeed);
      IrReceiver.printIRResultShort(&Serial); // Print complete received data in one line
      IrReceiver.printIRSendUsage(&Serial);   // Print the statement required to send this data

      IrReceiver.resume(); // Enable receiving of the next value

      switch (IrReceiver.decodedIRData.decodedRawData) {


        case 0x0:
          if (lastcmd == 0xB946FF00) {
            small_stepper.step(-20);
            delay(10);

          }


          if (lastcmd == 0xEA15FF00) {
            small_stepper.step(10);
            delay(20);

          }
          break;

        case 0xB946FF00: //up
          lastcmd = IrReceiver.decodedIRData.decodedRawData;
          small_stepper.step(-10);
          delay(10);

          break;

        case 0xEA15FF00:  //down
          lastcmd = IrReceiver.decodedIRData.decodedRawData;
          small_stepper.step(10);
          delay(10);

          break;

        case 0xBF40FF00:
          pos = 0;
          return;
          break;

      }
    }
  }
}

john1973 · July 19, 2024, 11:42pm

Just create a classic DO loop.

kolaha · July 19, 2024, 11:48pm

while (x == !0) ?
while (x != 0) ?

do loop:

do{
.....
} while (x);

john1973 · July 20, 2024, 12:25am

Thanks. I'm migrating from another language so at the moment, I chose the quickest option I knew from memory. Upon testing the interface in the daylight, I did notice something. whenever I press any key, it nudges the motor by one step (or 10, rather). Whether it be for speed (mspeed) or navigation. Something in the repeat part of the case statement is causing it I think.

kolaha · July 20, 2024, 12:30am

in my sketch?

john1973 · July 20, 2024, 1:10am

Easiest way that I knew from my primary language.

I think I may have fixed it. Issue was for some reason with the lastcmd = IrReceiver.decodedIRData.decodedRawData line in each case. I started by removing it and placing one right after the main IF. It worked, but it lagged due to the constant reading. So I placed it in an IF of it's own and that seems to have done it. I don't know why it was an issue, but most importantly, it appears to be working as it should now. Here's the code with alterations.

#include <Wire.h>
#include <LiquidCrystal_I2C.h>
#include <IRremote.hpp>
#include "Stepper.h"
#define IR_RECEIVE_PIN 12
#define STEPS  32   // Number of steps per revolution of Internal shaft
int  fwd;  // 2048 = 1 Revolution
int rev;
int mspeed = 500;
int stepCount = 0;
int long lastcmd = 0;
int light;
int pos = 0;
int pspeed;
int MaxPos = 4600;
int limitReached;
int Nav;
int correct;
Stepper small_stepper(STEPS, 8, 10, 9, 11);


LiquidCrystal_I2C lcd(0x27, 16, 2); // set the LCD address to 0x27 for a 16 chars and 2 line display

void setup() {
  // put your setup code here, to run once:
  IrReceiver.begin(IR_RECEIVE_PIN, ENABLE_LED_FEEDBACK); // Start the receiver
  Serial.begin (9600);

  lcd.init(); // initialize the lcd
  lcd.backlight();
}

void loop() {
  lcd.setCursor(0, 0);
  //delay(50);
  lcd.print("POSITION: ");
  lcd.print(pos);
  lcd.print("     ");
  lcd.setCursor(0, 1);
  lcd.print("SPEED: ");
  if (mspeed == 500) {
    lcd.print("HIGH    ");
  } else {
    lcd.print("LOW    ");
  }

  if (IrReceiver.decode()) {
    small_stepper.setSpeed(mspeed);
    Serial.println(IrReceiver.decodedIRData.decodedRawData, HEX); // Print "old" raw data
    IrReceiver.printIRResultShort(&Serial); // Print complete received data in one line
    IrReceiver.printIRSendUsage(&Serial);   // Print the statement required to send this data
    if (IrReceiver.decodedIRData.decodedRawData) {
      lastcmd = IrReceiver.decodedIRData.decodedRawData;
    }
    IrReceiver.resume(); // Enable receiving of the next value

    switch (IrReceiver.decodedIRData.decodedRawData) {

      case 0x0:


        if (lastcmd == 0xB946FF00) {
          focusIn(10);
        }

        if (lastcmd == 0xEA15FF00) {
          focusOut(10);
        }
        break;

      case 0xB946FF00: //up
        focusIn(10);
        break;

      case 0xEA15FF00:  //down
        focusOut(10);
        break;

      case 0xBB44FF00: //left
        Serial.print("Speed: Low");
        mspeed = 100;
        break;

      case 0xBC43FF00: //right
        Serial.print("Speed: High");
        mspeed = 500;
        break;

      case 0xBD42FF00: //star (display on/off)
        Serial.print("Display on/off");
        if (light == 1)
        {
          lcd.noBacklight();
          light = 0;
        } else {
          lcd.backlight();
          light = 1;
        }
        break;

      case 0xAD52FF00: // Number Sign (Home Position)
        goHome();
        break;

      case 0xB54AFF00:
        entry();
        break;

      default:

        break;

    }
    // Update readings
    Serial.print("POS: ");
    Serial.println(pos);
    pspeed = mspeed / 10;
    Serial.print("Speed: ");
    if (mspeed == 500) {
      Serial.println("High");
    } else {
      Serial.println("Low");
    }


  }

}

void entry()
{
  String MyCode;
  int cCode;
  int cCheck;
  lcd.setCursor(0, 0);
  lcd.print("ENTER POSITION:");
  lcd.setCursor(0, 1);
  lcd.print("            ");
  while (MyCode.length() < 4) {

    if (IrReceiver.decode()) {
      cCheck = IrReceiver.decodedIRData.decodedRawData;
      IrReceiver.resume();
      switch (IrReceiver.decodedIRData.decodedRawData) {

        case 0xE916FF00: //1
          MyCode = MyCode + "1";
          lcd.setCursor(0, 1);
          lcd.print(MyCode);
          break;

        case 0xE619FF00: //2
          MyCode = MyCode + "2";
          lcd.setCursor(0, 1);
          lcd.print(MyCode);
          Serial.println("2 pressed");
          break;

        case 0xF20DFF00: //3
          MyCode = MyCode + "3";
          lcd.setCursor(0, 1);
          lcd.print(MyCode);
          break;
        case 0xF30CFF00: //
          MyCode = MyCode + "4";
          lcd.setCursor(0, 1);
          lcd.print(MyCode);
          break;
        case 0xE718FF00: //
          MyCode = MyCode + "5";
          lcd.setCursor(0, 1);
          lcd.print(MyCode);
          break;
        case 0xA15EFF00: //
          MyCode = MyCode + "6";
          lcd.setCursor(0, 1);
          lcd.print(MyCode);
          break;
        case 0xF708FF00: //
          MyCode = MyCode + "7";
          lcd.setCursor(0, 1);
          lcd.print(MyCode);
          break;
        case 0xE31CFF00: //
          MyCode = MyCode + "8";
          lcd.setCursor(0, 1);
          lcd.print(MyCode);
          break;
        case 0xA55AFF00: //
          MyCode = MyCode + "9";
          lcd.setCursor(0, 1);
          lcd.print(MyCode);
          break;
        case 0xAD52FF00: //
          MyCode = MyCode + "0";
          lcd.setCursor(0, 1);
          lcd.print(MyCode);
          break;
        case 0xBD42FF00: // exit function
          return;
          break;

        default:
          // return;
          break;
      }
    }


  }
  int test = pos;
  cCode = MyCode.toInt();
  Serial.println("Code is ");
  Serial.println(cCode);
  lcd.setCursor(0, 0);
  lcd.print("MOVING...          ");
  lcd.setCursor(0, 1);
  lcd.print("TARGET:  ");
  lcd.print(cCode);

  //begin math
  if (cCode < pos) {
    Nav = pos - cCode;
    focusIn(Nav);
  }
}

if (cCode > pos) {
  Nav = cCode - pos;
  focusOut(Nav);
}
}
Serial.print("NAV: ");
Serial.println(Nav);
Serial.print("Test: ");
Serial.println(test);
}


void limit ()
{
  lcd.setCursor(0, 0);
  lcd.print("LIMIT REACHED!");
  lcd.setCursor(0, 1);
  lcd.print("            ");
  delay(1000);
}


void focusIn(int distance) {
  limitReached = pos - distance;
  if (pos <= 0) {
    limit();
  } else {
    small_stepper.step(-distance);
    Serial.print("Moved -");
    Serial.println(distance);
    //   delay(10);
    pos = pos - distance;
  }
}

void focusOut(int distance) {
  limitReached = pos + distance;
  if (limitReached > MaxPos) {
    limit();
  } else {
    small_stepper.step(distance);
    Serial.print("Moved +");
    Serial.println(distance);
    //   delay(10);
    pos = pos + distance;
  }
}

void goHome() {
  int x = 0;
  lcd.setCursor(0, 0);
  lcd.print("MOVE HOME AND     ");
  lcd.setCursor(0, 1);
  lcd.print("THEN PRESS OK");
  while (x = !0) {
    if (IrReceiver.decode()) {
      small_stepper.setSpeed(mspeed);
      IrReceiver.printIRResultShort(&Serial); // Print complete received data in one line
      IrReceiver.printIRSendUsage(&Serial);   // Print the statement required to send this data

      IrReceiver.resume(); // Enable receiving of the next value

      switch (IrReceiver.decodedIRData.decodedRawData) {


        case 0x0:
          if (lastcmd == 0xB946FF00) {
            small_stepper.step(-20);
            delay(10);

          }


          if (lastcmd == 0xEA15FF00) {
            small_stepper.step(10);
            delay(20);

          }
          break;

        case 0xB946FF00: //up
          lastcmd = IrReceiver.decodedIRData.decodedRawData;
          small_stepper.step(-10);
          delay(10);

          break;

        case 0xEA15FF00:  //down
          lastcmd = IrReceiver.decodedIRData.decodedRawData;
          small_stepper.step(10);
          delay(10);

          break;

        case 0xBF40FF00:
          pos = 0;
          return;
          break;

      }
    }
  }
}

kolaha · July 20, 2024, 1:15am

is it work now correctly?

john1973 · July 20, 2024, 1:28am

Seems to be. I don't why moving lastcmd did it. Thanks.

jremington · July 20, 2024, 3:35am

is logically equivalent to

  while (1) {

except that x is not set to 1.

kolaha · July 20, 2024, 11:09am

except? why?
do you mean:

int x = 1;
while (x = !0) {

is equivalent to

while (0)

?

DaveX · July 20, 2024, 12:59pm

No. Using the assignment operator ‘=‘ means that x becomes !0 and then the !0 result is used for the while condition.

The except part is that while(1) does not set x=1.

Without the ‘except’ it is equivalent to:

x=1;
while(1){…

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