Stepper_Motor_Home_Position

Hello,

I am on a project that involves stepper motors. I send commands to the serial port through LabVIEW. My commands are :

-Go to position (moteur X1)
-Go to position (moteur Y1)
-Home (moteur X1)
-Home (moteur Y1)

All the controls work correctly except for the Y1 engine home. The problematic part of the code is:

//Moteur Y1 : 
//Case 1 : Go To Position
//Case 2 : Home
  switch (State_Y1)
  {
    case 1 : // Go To Position
    stepper_Y1.run();
    if (is_run_Y1==0)
    {
      State_Y1 = 0;
    }
    break;
    
case 2 : // Home
    stepper_Y1.run();
    Val_FinDeCourseY1 = digitalRead(FinDeCourseY1);
    if (Val_FinDeCourseY1==0)
    {
  stepper_Y1.stop();
  stepper_Y1.setCurrentPosition(0);
  State_Y1 = 0;  
    }
    break;
  }

In fact, the motor Y1 goes directly into the condition (Val_FinDeCourseY1 == 0), it turns one step (approximately), stops and takes this new position as position 0.

I have done unit tests on the sensors and they are working fine.
The code worked fine on an arduino board but I changed to a tensy which has more computing power.

Thing noted, when I set a delay of 1ms after reading the limit switch Y1, the command works but it slowed down with the 1ms delay ...

I have been on the problem for several hours and cannot see my error.

The code in its entirety:

Thank you

/****************************************************************************************	
**  This is example LINX firmware for use with the PJRC Teensy 4.0 with the serial 
**  interface enabled.
**
**  For more information see:           www.labviewmakerhub.com/linx
**  For support visit the forums at:    www.labviewmakerhub.com/forums/linx
**  
**  Written By Sam Kristoff
**
**  BSD2 License.
****************************************************************************************/

//Include All Peripheral Libraries Used By LINX
#include <SPI.h>
#include <Wire.h>
#include <EEPROM.h>
#include <Servo.h>
#include <stdlib.h>
#include <AccelStepper.h>

#include <LinxPjrcTeensy40.h> //Include Device Specific Header From Sketch>>Import Library (In This Case LinxChipkitMax32.h)
#include <LinxSerialListener.h> //Also Include Desired LINX Listener From Sketch>>Import Library (In This Case LinxSerialListener.h)

AccelStepper stepper_Y1 = AccelStepper( 1, 11, 12); // Déclaration de la fonction "AccelStepper" pour le moteur Y1
AccelStepper stepper_X1 = AccelStepper( 1, 8, 9); // Déclaration de la fonction "AccelStepper" pour le moteur X1
int Motor_Y1(); //Initialisation de la fonction qui permet de bouger le moteur Y1 d'une position à une autre
int Motor_X1(); //Initialisation de la fonction qui permet de bouger le moteur X1 d'une position à une autre
int Motor_Y1_Home(); //Initialisation de la fonction qui permet de faire le home du moteur Y1
int Motor_X1_Home(); //Initialisation de la fonction qui permet de faire le home du moteur X1

byte State_Y1 = 0; //Etat du moteur Y1 (0=idle, 1=GoToPosition, 2=Home)
byte State_X1 = 0; //Etat du moteur X1 (0=idle, 1=GoToPosition, 2=Home)

int FinDeCourseY1 = 7; //Assignation de la broche 79 (fin de course Y1 à la constante "FinDeCourseY1")
int FinDeCourseX1 = 3; //Assignation de la broche 78 (fin de course X1 à la constante "FinDeCourseX1")
bool Val_FinDeCourseY1; //Déclaration du booleen Val_FinDeCourseY1
bool Val_FinDeCourseX1; //Déclaration du booleen Val_FinDeCourseX1

LinxPjrcTeensy40* LinxDevice; //Create A Pointer To The LINX Device Object We Instantiate In Setup()

//Initialize LINX Device And Listener
void setup()
{
  //Instantiate The LINX Device
  LinxDevice = new LinxPjrcTeensy40();
  
  //The LINXT Listener Is Pre Instantiated, Call Start And Pass A Pointer To The LINX Device And The UART Channel To Listen On
  LinxSerialConnection.Start(LinxDevice, 0);

  //LINX custom command
  LinxSerialConnection.AttachCustomCommand(0, Motor_Y1); //Custom command numero 0 (Fonction GotoPosition for Y1 motor)
  LinxSerialConnection.AttachCustomCommand(1, Motor_X1); //Custom command numero 1 (Fonction GotoPosition for X1 motor)
  LinxSerialConnection.AttachCustomCommand(2, Motor_Y1_Home); //Custom command numero 2 (Fonction Home for Y1 motor)
  LinxSerialConnection.AttachCustomCommand(3, Motor_X1_Home); //Custom command numero 3 (Fonction Home for X1 motor)
  pinMode(FinDeCourseY1, INPUT); // Assignation de FinDeCourseY1 comme étant une entrée
  pinMode(FinDeCourseX1, INPUT); // Assignation de FinDeCourseX1 comme étant une entrée

  stepper_Y1.setMinPulseWidth(15);
  stepper_X1.setMinPulseWidth(15);
  
}

void loop()
{
  //Listen For New Packets From LabVIEW
  LinxSerialConnection.CheckForCommands();
  
  bool is_run_X1 = stepper_X1.isRunning(); //Permet de savoir si le moteur X1 est en mouvement
  bool is_run_Y1 = stepper_Y1.isRunning(); //Permet de savoir si le moteur Y1 est en mouvemen   

//Moteur X1 : 
//Case 1 : Go To Position
//Case 2 : Home
   switch (State_X1)
  {
    case 1 : // Go To Position
    stepper_X1.run();
    if (is_run_X1==0)
    {
      State_X1 = 0;
    }
    break;

    case 2 : // Home
    stepper_X1.run();
    Val_FinDeCourseX1 = digitalRead(FinDeCourseX1);
    if (Val_FinDeCourseX1==0)
    {
  stepper_X1.stop();
  stepper_X1.setCurrentPosition(0);
  State_X1 = 0;  
    }
    break;
  }

//Moteur Y1 : 
//Case 1 : Go To Position
//Case 2 : Home
  switch (State_Y1)
  {
    case 1 : // Go To Position
    stepper_Y1.run();
    if (is_run_Y1==0)
    {
      State_Y1 = 0;
    }
    break;
    
case 2 : // Home
    stepper_Y1.run();
    Val_FinDeCourseY1 = digitalRead(FinDeCourseY1);
    if (Val_FinDeCourseY1==0)
    {
  stepper_Y1.stop();
  stepper_Y1.setCurrentPosition(0);
  State_Y1 = 0;  
    }
    break;
  }
}

int Motor_Y1(unsigned char numInputBytes, unsigned char* input, unsigned char* numResponseBytes, unsigned char* response) // Moteur Y1 Commande Go To Position
{
    //Convertion of the char Array input to unsigned interger (Step to move)
    unsigned int Step_To_Move_Y1 = atoi((char*)input);
    

    // Set the maximum speed and acceleration:
    stepper_Y1.setMaxSpeed(18000);
    stepper_Y1.setAcceleration(3500);

    // Set the target position:
    stepper_Y1.moveTo(-Step_To_Move_Y1);

    //Change l'etat du moteur Y1 à 1 (GoToPosition)
    State_Y1 = 1;
  
    return 0; 
}

int Motor_X1(unsigned char numInputBytes, unsigned char* input, unsigned char* numResponseBytes, unsigned char* response) // Moteur X1 Commande Go To Position
{
    //Convertion of the char Array input to unsigned interger (Step to move)
    unsigned int Step_To_Move_X1 = atoi((char*)input);
    

    // Set the maximum speed and acceleration:
    stepper_X1.setMaxSpeed(3500);
    stepper_X1.setAcceleration(1500);

    // Set the target position:
    stepper_X1.moveTo(Step_To_Move_X1);

    //Change l'etat du moteur X1 à 1 (GoToPosition)
    State_X1 = 1;
    
    return 0; 
}

int Motor_Y1_Home(unsigned char numInputBytes, unsigned char* input, unsigned char* numResponseBytes, unsigned char* response) // Moteur Y1 Commande Home
{
    
    // Set the maximum speed and acceleration:
    stepper_Y1.setMaxSpeed(1000);
    stepper_Y1.setAcceleration(500);

    // Set the target position:
    stepper_Y1.moveTo(50000);

    //Change l'etat du moteur Y1 à 2 (Home)
    State_Y1 = 2;

    return 0; 
}

int Motor_X1_Home(unsigned char numInputBytes, unsigned char* input, unsigned char* numResponseBytes, unsigned char* response) // Moteur X1 Commande Home
{
    
    // Set the maximum speed and acceleration:
    stepper_X1.setMaxSpeed(1000);
    stepper_X1.setAcceleration(500);

    // Set the target position:
    stepper_X1.moveTo(-25000);

    //Change l'etat du moteur X1 à 2 (Home)
    State_X1 = 2;

    return 0; 
}

Your post was MOVED to it's current location as it is more suitable.

Could you also take a few moments to Learn How To Use The Forum.

Other general help and troubleshooting advice can be found here.
It will help you get the best out of the forum in the future.

Something interesting, when I read to fast the sensor that make my issue. It return 1 instead of 0. When I slow down the read to 1ms no issue.

I found a solution that "suits" me.

Instead of reading a digital value, I read the analog value. From this digital value I even make the distinction between the low and high level of the digital sensor.

/****************************************************************************************	
**  This is example LINX firmware for use with the PJRC Teensy 4.0 with the serial 
**  interface enabled.
**
**  For more information see:           www.labviewmakerhub.com/linx
**  For support visit the forums at:    www.labviewmakerhub.com/forums/linx
**  
**  Written By Sam Kristoff
**
**  BSD2 License.
****************************************************************************************/

//Include All Peripheral Libraries Used By LINX
#include <SPI.h>
#include <Wire.h>
#include <EEPROM.h>
#include <Servo.h>
#include <stdlib.h>
#include <AccelStepper.h>

#include <LinxPjrcTeensy40.h> //Include Device Specific Header From Sketch>>Import Library (In This Case LinxChipkitMax32.h)
#include <LinxSerialListener.h> //Also Include Desired LINX Listener From Sketch>>Import Library (In This Case LinxSerialListener.h)

AccelStepper stepper_Y1 = AccelStepper( 1, 11, 12); // Déclaration de la fonction "AccelStepper" pour le moteur Y1
AccelStepper stepper_X1 = AccelStepper( 1, 8, 9); // Déclaration de la fonction "AccelStepper" pour le moteur X1
int Motor_Y1(); //Initialisation de la fonction qui permet de bouger le moteur Y1 d'une position à une autre
int Motor_X1(); //Initialisation de la fonction qui permet de bouger le moteur X1 d'une position à une autre
int Motor_Y1_Home(); //Initialisation de la fonction qui permet de faire le home du moteur Y1
int Motor_X1_Home(); //Initialisation de la fonction qui permet de faire le home du moteur X1

byte State_Y1 = 0; //Etat du moteur Y1 (0=idle, 1=GoToPosition, 2=Home)
byte State_X1 = 0; //Etat du moteur X1 (0=idle, 1=GoToPosition, 2=Home)

int FinDeCourseY1 = 14; //Assignation de la broche 14 (fin de course Y1 à la constante "FinDeCourseY1")
int FinDeCourseX1 = 7; //Assignation de la broche 7 (fin de course X1 à la constante "FinDeCourseX1")
int Val_FinDeCourseY1; //Déclaration du booleen Val_FinDeCourseY1
bool Val_FinDeCourseX1; //Déclaration du booleen Val_FinDeCourseX1

LinxPjrcTeensy40* LinxDevice; //Create A Pointer To The LINX Device Object We Instantiate In Setup()

//Initialize LINX Device And Listener
void setup()
{
  //Instantiate The LINX Device
  LinxDevice = new LinxPjrcTeensy40();
  
  //The LINXT Listener Is Pre Instantiated, Call Start And Pass A Pointer To The LINX Device And The UART Channel To Listen On
  LinxSerialConnection.Start(LinxDevice, 0);

  //LINX custom command
  LinxSerialConnection.AttachCustomCommand(0, Motor_Y1); //Custom command numero 0 (Fonction GotoPosition for Y1 motor)
  LinxSerialConnection.AttachCustomCommand(1, Motor_X1); //Custom command numero 1 (Fonction GotoPosition for X1 motor)
  LinxSerialConnection.AttachCustomCommand(2, Motor_Y1_Home); //Custom command numero 2 (Fonction Home for Y1 motor)
  LinxSerialConnection.AttachCustomCommand(3, Motor_X1_Home); //Custom command numero 3 (Fonction Home for X1 motor)
  pinMode(FinDeCourseY1, INPUT); // Assignation de FinDeCourseY1 comme étant une entrée
  pinMode(FinDeCourseX1, INPUT); // Assignation de FinDeCourseX1 comme étant une entrée

  stepper_Y1.setMinPulseWidth(15);
  stepper_X1.setMinPulseWidth(15);
  
}

void loop()
{
  //Listen For New Packets From LabVIEW
  LinxSerialConnection.CheckForCommands();
  
  bool is_run_X1 = stepper_X1.isRunning(); //Permet de savoir si le moteur X1 est en mouvement
  bool is_run_Y1 = stepper_Y1.isRunning(); //Permet de savoir si le moteur Y1 est en mouvemen   

//Moteur X1 : 
//Case 1 : Go To Position
//Case 2 : Home
   switch (State_X1)   
  {
   {case 0 :
   break;}
    
    {case 1 : // Go To Position
    stepper_X1.run();
    if (is_run_X1==0)
    {
      State_X1 = 0;
    }
    break;}

    {case 2 : // Home
    stepper_X1.run();
    Val_FinDeCourseX1 = digitalRead(FinDeCourseX1);
    if (Val_FinDeCourseX1==LOW)
    {
      stepper_X1.stop();
      stepper_X1.setCurrentPosition(0);
      State_X1 = 0;  
    }
    break;}
  }

//Moteur Y1 : 
//Case 1 : Go To Position
//Case 2 : Home
  switch (State_Y1)
  {
    {case 0 :
     break;}
    
    {case 1 : // Go To Position
    stepper_Y1.run();
    if (is_run_Y1==0)
    {
      State_Y1 = 0;
    }
    break;}
    
{case 2 : // Home
    stepper_Y1.run();
    Val_FinDeCourseY1 = analogRead(FinDeCourseY1);
    if (Val_FinDeCourseY1<200)
    {
      stepper_Y1.stop();
      stepper_Y1.setCurrentPosition(0);
      State_Y1 = 0;  
    }
    break;}
  }
}

int Motor_Y1(unsigned char numInputBytes, unsigned char* input, unsigned char* numResponseBytes, unsigned char* response) // Moteur Y1 Commande Go To Position
{
    //Convertion of the char Array input to unsigned interger (Step to move)
    unsigned int Step_To_Move_Y1 = atoi((char*)input);
    

    // Set the maximum speed and acceleration:
    stepper_Y1.setMaxSpeed(18000);
    stepper_Y1.setAcceleration(3500);

    // Set the target position:
    stepper_Y1.moveTo(-Step_To_Move_Y1);

    //Change l'etat du moteur Y1 à 1 (GoToPosition)
    State_Y1 = 1;
  
    return 0; 
}

int Motor_X1(unsigned char numInputBytes, unsigned char* input, unsigned char* numResponseBytes, unsigned char* response) // Moteur X1 Commande Go To Position
{
    //Convertion of the char Array input to unsigned interger (Step to move)
    unsigned int Step_To_Move_X1 = atoi((char*)input);
    

    // Set the maximum speed and acceleration:
    stepper_X1.setMaxSpeed(3500);
    stepper_X1.setAcceleration(1500);

    // Set the target position:
    stepper_X1.moveTo(Step_To_Move_X1);

    //Change l'etat du moteur X1 à 1 (GoToPosition)
    State_X1 = 1;
    
    return 0; 
}

int Motor_Y1_Home(unsigned char numInputBytes, unsigned char* input, unsigned char* numResponseBytes, unsigned char* response) // Moteur Y1 Commande Home
{
    
    // Set the maximum speed and acceleration:
    stepper_Y1.setMaxSpeed(2000);
    stepper_Y1.setAcceleration(500);

    // Set the target position:
    stepper_Y1.moveTo(50000);

    //Change l'etat du moteur Y1 à 2 (Home)
    State_Y1 = 2;

    return 0; 
}

int Motor_X1_Home(unsigned char numInputBytes, unsigned char* input, unsigned char* numResponseBytes, unsigned char* response) // Moteur X1 Commande Home
{
    
    // Set the maximum speed and acceleration:
    stepper_X1.setMaxSpeed(1000);
    stepper_X1.setAcceleration(500);

    // Set the target position:
    stepper_X1.moveTo(-25000);

    //Change l'etat du moteur X1 à 2 (Home)
    State_X1 = 2;

    return 0; 
}