We have a project in which we want a stepper to mimick the turning events of a rotary encoder.
When the encoder turns X degrees, the stepper has to turn the same X degrees.
We now have wired an additional power supply (6v), like this:
We used this code (lent from somebody else...):
#include <Bounce2.h>
#include <Stepper.h>
/*
DESCRIPTION
====================
Reads the 2 switches in an encoder,
determines direction,
updates counter.
No interrupts.
Switches debounced, didn't test first, just did it anyway.
*/
const byte ENCODER_PINA= 2;
//const byte LED_PINA= 12;
const byte ENCODER_PINB= 3;
//const byte LED_PINB= 11;
const int stepsPerRevolution = 2048;
Stepper myStepper(stepsPerRevolution, 1, 4, 5, 6);
int valueA; //debounced encoder switch reads
int valueB;
bool motionDetected = false;
int grossCounter = 0; // total steps
int nettCounter = 0; // cw-ccw
int fullRevolutions = 0;
int surplusSteps = 0; //part revs
bool CW;
byte cyclesPerRev =20; //check encoder datasheet
// Instantiate 2 Bounce object
Bounce debouncerA = Bounce();
Bounce debouncerB = Bounce();
// setup ********************************************
void setup() {
Serial.begin(115200);
Serial.println("Setup");
// Setup the buttons
pinMode(ENCODER_PINA,INPUT_PULLUP);
pinMode(ENCODER_PINB,INPUT_PULLUP);
// After setting up the button, setup debouncer
debouncerA.attach(ENCODER_PINA);
debouncerA.interval(5);
debouncerB.attach(ENCODER_PINB);
debouncerB.interval(5);
//Setup the LED
// pinMode(LED_PINA,OUTPUT);
// pinMode(LED_PINB,OUTPUT);
Serial.println("Setup done");
}
// loop *****************************************
void loop() {
// Update the debouncers
doDebounce();
// Read the encoder switches
doEncoderRead();
// Update LEDs and serial print A, a, B, b
// updateLEDs();
//determine direction and update counter
updateCounter();
} //loop
// my functions **************************************************
void doDebounce()
{
debouncerA.update();
debouncerB.update();
} //doDebounce
void doEncoderRead()
{
valueA = debouncerA.read();
valueB = debouncerB.read();
} //doEncoderRead
/*
void updateLEDs()
{
if ( valueA == HIGH) {
digitalWrite(LED_PINA, HIGH );
//Serial.print("A");
}
else {
digitalWrite(LED_PINA, LOW );
//Serial.print("a");
}
if ( valueB == HIGH) {
digitalWrite(LED_PINB, HIGH );
//Serial.println("B");
}
else {
digitalWrite(LED_PINB, LOW );
//Serial.println("b");
}
} //updateLEDs
*/
void updateCounter()
{
/*
the possibilites are:
AB: in a detent
if just arrived, update counter, clear motiondetected
otherwise do nothing
Ab: start of CW or end of CCW
if start, set CW bool and set motionDetected
if at end (know becasue motionDetected already set), do nothing
aB: start of CCW or end of CW
if start, clear CW bool and set motionDetected
if at end (know becasue motionDetected already set), do nothing
ab: in middle of either CW or CCW, do nothing
*/
if (valueA && valueB && motionDetected ) //in a detent and just arrived
{
if (CW)
{
grossCounter= grossCounter + 1;
nettCounter= nettCounter + 1;
myStepper.step(1);
}
else //CCW
{
grossCounter= grossCounter + 1;
nettCounter= nettCounter - 1;
myStepper.step(-1);
}
motionDetected = false;
Serial.print("grossCounter: ");
Serial.println(grossCounter);
Serial.print("nettCounter: ");
Serial.println(nettCounter);
fullRevolutions = nettCounter / cyclesPerRev;
surplusSteps = nettCounter % cyclesPerRev;
Serial.print("Nett position: ");
Serial.print(fullRevolutions);
Serial.print(" + ");
Serial.println(surplusSteps);
Serial.println(" ");
}
if (valueA && !valueB && !motionDetected ) // just started CW
{
CW= true;
motionDetected=true;
Serial.println("CW");
}
if (!valueA && valueB && !motionDetected ) //just started CCW
{
CW= false;
motionDetected=true;
Serial.println("CCW");
}
} //updateCounter
This is the datasheet of the stepper we use:
This is the encoder we use.
When we run above code, we can feel the stepper reacts (little vibrations) but the stepper doesn't turn.
What could be going wrong there?
Previously we could let the stepper make full turns step by step, using the arduino 5v pin and an example code, so the stepper should work.
PS we're not completely sure the power wire from the stepper driver is wired correctly to the arduino 5V pin. Maybe it also has to be connected to the battery?
This was the output in the serial monitor:
Code 24 output:
àªW5
Setup done
CW
grossCounter: 1
nettCounter: 1
Nett position: 0 + 1
CW
grossCounter: 2
nettCounter: 2
Nett position: 0 + 2
CW
grossCounter: 3
nettCounter: 3
Nett position: 0 + 3
CW
grossCounter: 4
nettCounter: 4
Nett position: 0 + 4
CW
grossCounter: 5
nettCounter: 5
Nett position: 0 + 5
CW
grossCounter: 6
nettCounter: 6
Nett position: 0 + 6
CW
grossCounter: 7
nettCounter: 7
Nett position: 0 + 7
CCW
grossCounter: 8
nettCounter: 6
Nett position: 0 + 6
CCW
grossCounter: 9
nettCounter: 5
Nett position: 0 + 5
CCW
grossCounter: 10
nettCounter: 4
Nett position: 0 + 4
CCW
grossCounter: 11
nettCounter: 3
Nett position: 0 + 3
CCW
grossCounter: 12
nettCounter: 2
Nett position: 0 + 2
CCW
grossCounter: 13
nettCounter: 1
Nett position: 0 + 1
CCW
grossCounter: 14
nettCounter: 0
Nett position: 0 + 0
CCW
grossCounter: 15
nettCounter: -1
Nett position: 0 + -1
