Stepper pulse's

Other Hardware Motors, Mechanics, Power and CNC
1

Hi all

Hardware
Arduino UNO
CNC Shield
2 X NEMA 17 Steppers
2 X drv8825 Stepper Drivers
4 X End Stops
4 X LDR
2 X Worm Gear Drives

The problem I am having is the Steppers pulse each time the code does a loop like the steppers are tuning on and off.

Code

#include <arduino.h>

#include "BasicStepperDriver.h"

// Motor steps per revolution. Most steppers are 200 steps or 1.8 deg_mrees/step
#define MOTOR_STEPS 200
#define RPM 100


// Since microstepping is set externally, make sure this matches the selected mode
// If it doesn't, the motor will move at a different RPM than chosen
// 1=full step, 2=half step etc.
#define MICROSTEPS 32

//Set max rotation for angle and deg_mrees
//#define turn 360
#define ang_max 90
#define deg_max 180
#define ang_min 0
#define deg_min 0



// All the wires needed for full functionality
#define DIR_X 5
#define STEP_X 2
#define DIR_Y 6
#define STEP_Y 3
#define ENABLE 8

// LDR pin connections
//  name  = analogpin;
int ldrt = A3; //ldR top          coolen Pin - Gray on Sencor
int ldrb = A0; //ldR Bottom       Abort pin - Blue on Sencor
int ldrl = A1; //ldR left         Hold pin - White on Sensor
int ldrr = A2; //ldR Right        Resume pin - Broun on Sencor
int est = 9; // end stop top      X+
int esb = 10; // end stop botom   Y+
int esl = 11; // end stop left    Z+
int esr = 12; // end stop right   SpnEn
int ang;
int deg;
int incomingByte = 0;   // for incoming serial data
int degr;
int ag;
BasicStepperDriver stepper_X(MOTOR_STEPS, DIR_X, STEP_X, ENABLE);
BasicStepperDriver stepper_Y(MOTOR_STEPS, DIR_Y, STEP_Y, ENABLE);

void setup() {
   Serial.begin(115200);
   stepper_X.begin(RPM, MICROSTEPS);
   stepper_Y.begin(RPM, MICROSTEPS);
   
}

void loop() {

 
   int tp = analogRead(ldrt);      // Read top LDR
   int btm = analogRead(ldrb);     // Read Bottom LDR
   int estp = digitalRead(est);    // Read Top End Stop
   int esbt = digitalRead(esb);    // Read Bottom End Stop
   int eslf = digitalRead(esl);    // Read Left End Stop
   int esrt = digitalRead(esr);    // Read Right End Stop
   int dtime = 50;                 // Delay 
   int avtb = (tp - btm) / 2;      // average value top Bottom
 
    
 if ((avtb >= 3) && (ang <= ang_max))
 
{    
   if (ang <= ang_max) ang = ang + 1;
   if ((ang <= ang_max) && (ang >= ang_min))
    {
     stepper_X.enable();
     stepper_X.rotate(32);
     
    }
   
 }  
   
  if ((avtb <= -3) && (ang >= ang_min))
 {    
   if (ang >= ang_min) ang = ang - 1; 
   if ((ang >= ang_min) && (ang <= ang_max))
   {
     stepper_X.enable();
     stepper_X.rotate(-32);
     
   }
   
 }
 
 int lt = analogRead(ldrl); // Read left LDR
 int rt = analogRead(ldrr); // Read Right LDR
 int avlr = (lt - rt) / 2;  // average value Left Right
 
  if ((avlr > 3) && (deg <= deg_max))
 
{    
   if (deg <= deg_max) deg = deg + 1;  
   if ((deg <= deg_max) && (deg >= deg_min))
    {
     stepper_Y.enable();
     stepper_Y.rotate(32);
     stepper_Y.disable();
     }
 }  
   
  if ((avlr < -3) && (deg >= deg_min))
 {    
   if (deg >= deg_min) deg = deg - 1; 
   if ((deg >= deg_min) && (deg <= deg_max))
   {      
     stepper_Y.enable();
     stepper_Y.rotate(-32);
     stepper_Y.disable();
   }
 }
    
// Check End Stops    
  if (estp == 0)
     {
      stepper_X.enable();
      stepper_X.rotate(32*6); 
      stepper_X.disable();
      ang = 0;
     } 
  if (esbt == 0)
     {
      stepper_X.enable();
      stepper_X.rotate(-32*6); 
      stepper_X.disable();
      ang = 90;
     }    
   if (eslf == 0)
     {
      stepper_Y.enable();
      stepper_Y.rotate(32*6);
      stepper_Y.disable();
      deg = 0;
     } 
  if (esrt == 0)
     {
      stepper_Y.enable();
      stepper_Y.rotate(-32*6);
      stepper_Y.disable();
      deg = 180;
     } 
     
     Serial.print(ang);
     Serial.print("   ");
     Serial.print(estp);
     Serial.print("   ");
     Serial.print(esbt);
     Serial.print("   ");
     Serial.print(avtb);   
     Serial.println(" "); 
     
   if ((avtb < 3) && ( avtb > -3)) stepper_X.disable();
   
   
  delay(dtime);
}

At this point I am only working with the X Stepper (ang).
When avtb is between -3 and 3 the stepper_X should be disabled but still pulses.
Any sugestions

2

Seems to be working now had to put

if ((avtb > 3) or ( avtb < -3)) stepper_X.ensable();

At the beginning of the Void loop after avtb averaging and

if ((avtb < 3) or ( avtb > -3)) stepper_X.disable();

At the end of the Void loop

3

To make it easier for people to help you please modify your post and use the code button </> so your code looks like this and is easy to copy to a text editor. See How to use the Forum

Your code is too long for me to study quickly without copying to a text editor.

...R

4

Disabling a stepper allows it to lose registration / spin freely. This is usually not what you want as the
position control will drift out of algnment.

5

I am using this for solar tracker so I need to disable the steppers to minimize the power usage.
That is why I am using worm drives so there's no tension on the steppers when they are not needed.
I think I have it figured out.
Thank you for the replies.

6

oldtimmer:
I am using this for solar tracker so I need to disable the steppers to minimize the power usage.
That is why I am using worm drives so there's no tension on the steppers when they are not needed.

It would make a lot more sense to use simple DC motors for that project.

...R