Two-dimension stepper control with potentiometers

Projects Programming
6

copy&paste is often plagued with problems

consider

struct Axis {
    const char     *desc;

    int             zero;
    int             dead;
    int             potMax;

    byte            potPin;
    byte            dirPin;
    byte            stepPin;

    unsigned long   usecMin;
    unsigned long   usecMax;

    unsigned long   usecLst;
    int             period;
};

#define MyHW
#ifdef MyHW
Axis axis [] = {
    { "x", 512,  10,  20, A0, 13, 12,  100000, 1000000L },
    { "y", 200, 100, 800, A2, 10, 11, 100000, 1000000L },
};

#else
# define DRIVER_STEP_PIN   2
# define DRIVER_DIR_PIN    3
Axis axis [] = {
    { "x", 512,  10, A0,  3,  2,  50, 3000 },
    { "y", 512, 500, A1,  5,  4,  50, 3000 },
};
#endif

#define N_AXIS  2

unsigned long  usec      = millis ();
char           s[80];

// -----------------------------------------------------------------------------
void
operate (
    Axis *p )
{
    int pot = analogRead (p->potPin) - p->zero;

    digitalWrite (p->dirPin, 0 < pot);

    int   delta;
    delta = abs (pot) - p->dead;
    delta = 0 > delta ? 0 : delta;

    unsigned long period = map (delta, 0, p->potMax, p->usecMax, p->usecMin);

    sprintf (s, " axis %s, pot %5d, del %3d, per %6ld",
            p->desc, pot, delta, period );
    Serial.print (s);

    if (delta && (usec - p->usecLst) > period)  {
        p->usecLst = usec;
        digitalWrite (p->stepPin, ! digitalRead (p->stepPin));
    }
}

// -----------------------------------------------------------------------------
void
loop ()
{
    usec      = micros ();

    operate (& axis [0]);
    operate (& axis [1]);
    Serial.println ();
}

// -----------------------------------------------------------------------------
void setup () {
    Serial.begin (9600);

    Axis *p = axis;
    for (unsigned n = 0; n < N_AXIS; n++, p++)  {
        pinMode (p->dirPin,  OUTPUT);
        pinMode (p->stepPin, OUTPUT);
    }
}