Two-dimension stepper control with potentiometers

Projects Programming
9

Sure, here it is:

#define XDRIVER_STEP_PIN   2
#define XDRIVER_DIR_PIN    3
#define XPOT_PIN           A0
#define YDRIVER_STEP_PIN   4
#define YDRIVER_DIR_PIN    5
#define YPOT_PIN           A1

#define XDEADZONE 50
#define XMIN_DRIVER_PULSE_PERIOD_US  50 //max speed
#define XMAX_DRIVER_PULSE_PERIOD_US  3000 //min speed
#define YDEADZONE 50
#define YMIN_DRIVER_PULSE_PERIOD_US  50 //max speed
#define YMAX_DRIVER_PULSE_PERIOD_US  3000 //min speed

enum XDriver_pulse_state_enum {XPULSE_IDLE, XPULSE_HIGH, XPULSE_LOW};
enum YDriver_pulse_state_enum {YPULSE_IDLE, YPULSE_HIGH, YPULSE_LOW};

unsigned long Xtime_now = 0;
unsigned long Ytime_now = 0;
uint16_t Xdriver_pulse_hold_time_us = XMIN_DRIVER_PULSE_PERIOD_US/2;
uint8_t Xdriver_pulse_state = XPULSE_IDLE;
int Xnormalized_analog_value = 0;
uint8_t Xidle_flag = 1;
uint16_t Ydriver_pulse_hold_time_us = YMIN_DRIVER_PULSE_PERIOD_US/2;
uint8_t Ydriver_pulse_state = YPULSE_IDLE;
int Ynormalized_analog_value = 0;
uint8_t Yidle_flag = 1;
 
void setup() {
    pinMode(XDRIVER_STEP_PIN, OUTPUT);
    pinMode(XDRIVER_DIR_PIN, OUTPUT);
    pinMode(YDRIVER_STEP_PIN, OUTPUT);
    pinMode(YDRIVER_DIR_PIN, OUTPUT);
  
}

void loop() {
    Xnormalized_analog_value = analogRead(XPOT_PIN) - 512;
 
    if(abs(Xnormalized_analog_value)-XDEADZONE < 0){
        Xidle_flag = 1;
    }
    else{
        Xidle_flag = 0;
    }
    Ynormalized_analog_value = analogRead(YPOT_PIN) - 512;
 
    if(abs(Ynormalized_analog_value)-YDEADZONE < 0){
        Yidle_flag = 1;
    }
    else{
        Yidle_flag = 0;
    }
    Xdriver_pulse_hold_time_us = map(abs(Xnormalized_analog_value), XDEADZONE, 512, XMAX_DRIVER_PULSE_PERIOD_US, XMIN_DRIVER_PULSE_PERIOD_US)/2;
 
    if(!Xidle_flag && Xdriver_pulse_state == XPULSE_IDLE){
        write_Xpulse_high();
    }
 
    if((micros() - Xtime_now > Xdriver_pulse_hold_time_us) && (Xdriver_pulse_state == XPULSE_LOW)){
        write_Xpulse_high();
    }
 
    if((micros() - Xtime_now > Xdriver_pulse_hold_time_us) && (Xdriver_pulse_state == XPULSE_HIGH)){
        write_Xpulse_low();
    }
    Ydriver_pulse_hold_time_us = map(abs(Ynormalized_analog_value), YDEADZONE, 512, YMAX_DRIVER_PULSE_PERIOD_US, YMIN_DRIVER_PULSE_PERIOD_US)/2;

    if(!Yidle_flag && Ydriver_pulse_state == YPULSE_IDLE){
        write_Ypulse_high();
    }

    if((micros() - Ytime_now > Ydriver_pulse_hold_time_us) && (Ydriver_pulse_state == YPULSE_LOW)){
        write_Ypulse_high();
    }
 
    if((micros() - Ytime_now > Ydriver_pulse_hold_time_us) && (Ydriver_pulse_state == YPULSE_HIGH)){
        write_Ypulse_low();
    }
}
 
void write_Xpulse_high(void){
    Xdriver_pulse_state = XPULSE_HIGH;
 
    if(Xnormalized_analog_value > 0){
        digitalWrite(XDRIVER_DIR_PIN, HIGH);
    }
    else if(Xnormalized_analog_value < 0){
        digitalWrite(XDRIVER_DIR_PIN, LOW);
    }
 
    digitalWrite(XDRIVER_STEP_PIN, HIGH);
    Xtime_now = micros();
}
void write_Ypulse_high(void){
    Ydriver_pulse_state = YPULSE_HIGH;
 
    if(Ynormalized_analog_value > 0){
        digitalWrite(YDRIVER_DIR_PIN, HIGH);
    }
    else if(Ynormalized_analog_value < 0){
        digitalWrite(YDRIVER_DIR_PIN, LOW);
    }
 
    digitalWrite(YDRIVER_STEP_PIN, HIGH);
    Ytime_now = micros();
}

void write_Xpulse_low(void){
    digitalWrite(XDRIVER_STEP_PIN, LOW);
    Xtime_now = micros();
 
    if(!Xidle_flag){
        Xdriver_pulse_state = XPULSE_LOW;
    }
    else{
        Xdriver_pulse_state = XPULSE_IDLE;
    }
}
void write_Ypulse_low(void){
    digitalWrite(YDRIVER_STEP_PIN, LOW);
    Ytime_now = micros();
 
    if(!Yidle_flag){
        Ydriver_pulse_state = YPULSE_LOW;
    }
    else{
        Ydriver_pulse_state = YPULSE_IDLE;
    }
}