Wanted to share a function Code i made and get tips

ez8mm · December 8, 2022, 2:59pm

Below i shared some code i used to Help with Accel and De-accelerating my stepper motor via the pulse step pin im not shearing to be torn apart By the people of brilliant community but rather share and get you feed back on if this can be reduced or if there is a better method do acceleration and moving steppers from raw code with out libraries or Shields

type or paste code here

</>

Void Move my motor {
//Ccmd is an Int set By serial read in main loop of code nonrelevant here
``` Ccmd = Cpos * -1; // some pre setting cmd is the steps to move 
  Cacel = Cspd + 3000; // Csped is a defualt timing of the steps
  int a = 0;
  while (Ccmd >= 1) {
    //============== accelrate plus set the max speed
    if (Cacel > 600 && a == 0) {// top speed here
      Cacel = Cacel / 1.004;
    }
    if (Ccmd < 600 && Cacel < 1600) {//  never hit max slow down any way
      a = 1;          // set bit to one to avoid acel conflict
    }
    if (a == 1 && Ccmd < 600 && Cacel < 2999)// when were aproching last few steps
    {
      Cacel = Cacel * 1.003 ;    // decel from short move
    }
    if (a == 1 || a == 0 && Cacel < 599 && Ccmd < 300) {//<<<<< trigger max speed hit not much time to stop
      a = 2;
    }
    if (a == 2 && Ccmd < 500 && Cacel < 2999) {

      Cacel = Cacel * 1.003 ;  // decel from fast long move
    }
    digitalWrite(Cdir, LOW);
    digitalWrite(11, HIGH);
    delayMicroseconds(Cacel);
    digitalWrite(11, LOW);
    delayMicroseconds(Cacel);
    Ccmd--;
  }`
</>

Preformatted text`

anon57585045 · December 8, 2022, 3:20pm

Did you try compiling this? It's not legal in C to have spaces in an identifier.

I hope this doesn't constitute, "tearing you apart".

What does the variable 'a' do? What is its purpose?

ToddL1962 · December 8, 2022, 3:27pm

Without a good description of how you expect this to behave and what the definition and ranges of the variables are it is hard to critique. I am not an expert on stepper deceleration but I assume this is a rather simple algorithm for decelerating. I just don't understand what your algorithm is and the value of the variables on entry to the function. Below are a few initial observations:

"Void" should be "void"
"Move my motor" is not a valid function name
What is Cpos?
What is the valid range for "Cspd"? Unless it is -1401 or less "Cacel" will never be less than 1600.

anon57585045 · December 8, 2022, 3:28pm

It seems unlikely that you have tested this. So "reducing" it doesn't seem appropriate.

ez8mm · December 8, 2022, 8:11pm

Hey thanks for the reply ...
yes i only Rough typed the code in here by hand on the forum i am aware of the errors and the actual code works fine but is more confusing with the abbreviations ILL share it a little differently here in my reply `// example 2

void Dposmov() {
  //  Serial.println("x"); // debugging to serial monitor 
  Dcmd = Dmotorcurrntpostion;// Dcmd is the amount of steps we want to move I.e(1000)


  Dacel = Dspd + 2100;  //  (Dspd)=a value that is used to Turn the speed up and down IN a diff function  you can say its a pot with a map of 1 -100% speed off set



  int a = 0;    // an indexer / swtich case type value  i use it only to make below if () true or false

  while (Dcmd >= 1) {// < while we still have steps to do 


    //============== accelrate plus set the max speed
    if (Dacel > 300 && a == 0) {// top speed here this limits the step pulse to  300mills
      Dacel = Dacel / 1.003; // this is like ( Dacel-- ) but by dividing it against it self 
    }
    if (Dcmd < 600 && Dacel < 1600) {//  never hit max slow down any way
      a = 1;          // set case type marker to 1 to avoid acel conflict
    }
    if (a == 1 && Dcmd < 600 && Dacel < 2099)// when were aproching last few steps
    {
      Dacel = Dacel * 1.002 ;    // decel from short move
    }
    if (a == 1 || a == 0 && Dacel < 599 && Dcmd < 300) {//<<<<< trigger max speed hit not much time to stop
      a = 2;  // Case type marker
    }


// the simplest de acceleration state ment i could think of but only covers a big move lots of steps //VVVV

    if (a == 2 && Dcmd < 500 && Dacel < 2099) {  

      Dacel = Dacel * 1.002 ;  // decel from fast long move
    }



// last part of the while loop is to pulse the step pin high and low with the dynamic intager that //changes the time between the pulses


    digitalWrite(5, HIGH);
    delayMicroseconds(Dacel);
    digitalWrite(5, LOW);
    delayMicroseconds(Dacel);
    Dcmd--;  // pull  one step off the   value of steps sent to the function to execute 
  }

}

`

alto777 · December 8, 2022, 8:19pm

It would be of much greater interest to me (I mean I would spend any time on it at all) if you were to

Post a complete, compiles we can run it ourselves sketch.

I would then do that. And read your code. And possibly have something to say.

Have you tried the wokwi simulator?

If you are using a regular four wire stepper, you could use a virtual UNO or whatever Arduino boad, put your code in there, wire up a stepper and we could play with it, nothing to buy or find lying around the house (yes, in my house there's all sorts of kit lying about) and go to the trouble of actually realizing in front of ourselves.

a7

anon57585045 · December 8, 2022, 8:23pm

Yes, posting code that isn't the real code, and not telling us that it isn't, is a waste of our time. Please read and follow the forum guidelines.

ez8mm · December 8, 2022, 8:38pm

Hey thanks for your reply to my understanding this is all you need as it's all the subject is ill gladly share my code with you. But it's only that section that I wish to discuss, and there is no need for me to emulate I'm not her because my code is not working
I'm not here cuz I have an issue
I am here to share. And was thinking there maybe some one who has done this better ill send you my full code that I'd you would like to try in your emulator feel free

ez8mm · December 8, 2022, 8:41pm


#include <Servo.h>

Servo myservoR;
Servo myservoL;
const int ledPin =  13;

int Adir = A0;
int Bdir = A2;
int Cdir = A1;
int Ddir = A5;
int Edir = A4;
int Fdir = A3;

int Apulse = 10;
int Bpulse = 11;
int Cpulse = 12;
int Dpulse = 3;
int Epulse = 4;
int Fpulse = 5;


//stepper intagers
int acel = 850;
int dcel = 2800;
String stringOne = "";
int incomingByte;

int Acmd = 0;
float Apos = 0;
float Anewpos = 0;
float Alastpos = 0;
int Asteps = 0;
int Aspd = 1500;
int Aacel = 1000;
int Adecl = 1000;

int Bcmd = 0;
float Bpos = 0;
float Bnewpos = 0;
float Blastpos = 0;
int Bsteps = 0;
int Bspd = 1000;
int Bacel = 1000;
int Bdecl = 1000;

int Ccmd = 0;
float Cpos = 0;
float Cnewpos = 0;
float Clastpos = 0;
int Csteps = 0;
int Cspd = 1000;
int Cacel = 1000;
int Cdecl = 1000;

int Dcmd = 0;
float Dpos = 0;
float Dnewpos = 0;
float Dlastpos = 0;
int Dsteps = 0;
int Dspd = 1000;
int Dacel = 1000;
int Ddecl = 1000;

int Ecmd = 0;
float Epos = 0;
float Enewpos = 0;
float Elastpos = 0;
int Esteps = 0;
int Espd = 1000;
int Eacel = 1000;
int Edecl = 1000;

int Fcmd = 0;
float Fpos = 0;
float Fnewpos = 0;
float Flastpos = 0;
int Fsteps = 0;
int Fspd = 1000;
int Facel = 1000;
int Fdecl = 1000;
int Gcmd = 0;
int Rval = 0;
int Lval = 0;

int tempAcmd = 0;
int n = LOW;

int ledPinST = 0;

// communacations value stores
byte inByte = 0;// incoming serial byte
String inString = "";
float z1 = 9.999;
float s = 0;
float gotoByte = 0;
float gotoabs = 0;
long tempsteps = 1200;
long resteps = 0;
long steps = 100;
long SPD = 950;
long tempSPD = 700;
long aspeed = 820;
long dspeed = 900;
long z2 = 0;
byte estop;
int checkindex = 0;
int count = 100;

void setup() {
  myservoR.attach(9);
  myservoL.attach(6);
  Serial.begin (9600);
  checkindex = 1;
  pinMode(ledPin, OUTPUT);
  pinMode (Adir, OUTPUT);
  pinMode (Bdir, OUTPUT);
  pinMode (Cdir, OUTPUT);
  pinMode (Ddir, OUTPUT);
  pinMode (Edir, OUTPUT);
  pinMode (Fdir, OUTPUT);


  pinMode (12, OUTPUT);
  pinMode (11, OUTPUT);
  pinMode (10, OUTPUT);

  pinMode (5, OUTPUT);
  pinMode (4, OUTPUT);
  pinMode (3, OUTPUT);


  Anewpos = 180;
  Alastpos = 180;
  Bnewpos = 180;
  Blastpos = 180;
  Cnewpos = 180;
  Clastpos = 180;
  Dnewpos = 180;
  Dlastpos = 180;
  Enewpos = 180;
  Elastpos = 180;
  Fnewpos = 180;
  Flastpos = 180;
  Gcmd = 120;
  Serial.println(Gcmd);
  myservoR.write(107);
  delay(300);
  myservoL.write(128);
  delay(300);
  Serial.println("x");
  delay(300);
}
void loop() {   
  if (count < 1){
  Serial.println("x");
  count = 100;
  } 
  count--;
  delay(1);
// ...........................................
  if (Serial.available()) {
    byte inByte = Serial.read();
    switch (inByte) {
      case 'A':// SETTING ACELLRATION FROM REMOTE SERIAL
        Acmd = Serial.parseInt();
        if (Acmd > Alastpos) {
          //Serial.println(Acmd);
          //  Serial.println(Alastpos);
          int x = (Acmd - Alastpos);
          //   Serial.println(x);
          Alastpos =  Acmd;
          x = map(x, 0, 360, 0, 5200); // switch to deg
          //  Serial.println(x);
          Apos = x;
          Aposmov();
          break;
        }
        if (Acmd < Alastpos) {
          //  Serial.println(Acmd);
          //  Serial.println(Alastpos);
          int x = (Acmd - Alastpos);
          //  Serial.println(x);
          Alastpos =  Acmd;
          x = map(x, 0, 360, 0, 5200); // switch to deg
          //  Serial.println(x);
          Apos = x;
          Anegmov();
        }
        break;
      case 'B':// SETTING ACELLRATION FROM REMOTE SERIAL
        Bcmd = Serial.parseInt();
        if (Bcmd > Blastpos) {
          //   Serial.println(Bcmd);
          //  Serial.println(Blastpos);
          int x = (Bcmd - Blastpos);
          //  Serial.println(x);
          Blastpos =  Bcmd;
          x = map(x, 0, 360, 0, 5200); // switch to deg
          //  Serial.println(x);
          Bpos = x;
          Bposmov();
          break;
        }
        if (Bcmd < Blastpos) {
          // Serial.println(Bcmd);
          //  Serial.println(Blastpos);
          int x = (Bcmd - Blastpos);
          //  Serial.println(x);
          Blastpos =  Bcmd;
          x = map(x, 0, 360, 0, 5200); // switch to deg
          //  Serial.println(x);
          Bpos = x;
          Bnegmov();
        }
        break;
      case 'C':// SETTING ACELLRATION FROM REMOTE SERIAL
        Ccmd = Serial.parseInt();
        if (Ccmd > Clastpos) {
          //  Serial.println(Ccmd);
          //  Serial.println(Clastpos);
          int x = (Ccmd - Clastpos);
          //  Serial.println(x);
          Clastpos =  Ccmd;
          x = map(x, 0, 360, 0, 5200); // switch to deg
          //  Serial.println(x);
          Cpos = x;
          Cposmov();
          break;
        }
        if (Ccmd < Clastpos) {
          //  Serial.println(Ccmd);
          //  Serial.println(Clastpos);
          int x = (Ccmd - Clastpos);
          //  Serial.println(x);
          Clastpos =  Ccmd;
          x = map(x, 0, 360, 0, 5200); // switch to deg
          //  Serial.println(x);
          Cpos = x;
          Cnegmov();
        }
        break;
      case 'D':// SETTING ACELLRATION FROM REMOTE SERIAL
        Dcmd = Serial.parseInt();
        if (Dcmd > Dlastpos) {
          //  Serial.println(Dcmd);
          // Serial.println(Dlastpos);
          int x = (Dcmd - Dlastpos);
          //  Serial.println(x);
          Dlastpos =  Dcmd;
          x = map(x, 0, 360, 0, 5200); // switch to deg
          //  Serial.println(x);
          Dpos = x;
          Dposmov();
          break;
        }
        if (Dcmd < Dlastpos) {
          //   Serial.println(Dcmd);
          //   Serial.println(Dlastpos);
          int x = (Dcmd - Dlastpos);
          //   Serial.println(x);
          Dlastpos =  Dcmd;
          x = map(x, 0, 360, 0, 5200); // switch to deg
          //   Serial.println(x);
          Dpos = x;
          Dnegmov();
        }
        break;
      case 'E':// SETTING ACELLRATION FROM REMOTE SERIAL
        Ecmd = Serial.parseInt();
        if (Ecmd > Elastpos) {
          //   Serial.println(Ecmd);
          //   Serial.println(Elastpos);
          int x = (Ecmd - Elastpos);
          //   Serial.println(x);
          Elastpos =  Ecmd;
          x = map(x, 0, 360, 0, 5200); // switch to deg
          //  Serial.println(x);
          Epos = x;
          Eposmov();
          break;
        }
        if (Ecmd < Elastpos) {
          //   Serial.println(Ecmd);
          //   Serial.println(Elastpos);
          int x = (Ecmd - Elastpos);
          //   Serial.println(x);
          Elastpos =  Ecmd;
          x = map(x, 0, 360, 0, 5200); // switch to deg
          //  Serial.println(x);
          Epos = x;
          Enegmov();
        }
        break;
      case 'F':// SETTING ACELLRATION FROM REMOTE SERIAL
        Fcmd = Serial.parseInt();
        if (Fcmd > Flastpos) {
          //  Serial.println(Fcmd);
          //  Serial.println(Flastpos);
          int x = (Fcmd - Flastpos);
          //   Serial.println(x);
          Flastpos =  Fcmd;
          x = map(x, 0, 360, 0, 5200); // switch to deg
          //  Serial.println(x);
          Fpos = x;
          Fposmov();
          break;
        }
        if (Fcmd < Flastpos) {
          //  Serial.println(Fcmd);
          //  Serial.println(Flastpos);
          int x = (Fcmd - Flastpos);
          //  Serial.println(x);
          Flastpos =  Fcmd;
          x = map(x, 0, 360, 0, 5200); // switch to deg
          //    Serial.println(x);
          Fpos = x;
          Fnegmov();
        }
        break;
      case 'G':// SETTING ACELLRATION FROM REMOTE SERIAL
        Gcmd = Serial.parseInt();

        Gcmd = constrain(Gcmd, 0, 110);
        // Serial.println(Gcmd);
        Rval = map(Gcmd, 0, 100, 102, 132);
        Lval = map(Gcmd, 100, 0, 102, 132);
        //  Serial.println(Rval);
        //  Serial.println(Lval);
        myservoR.write(Rval);
        myservoL.write(Lval);
        delay(500);
        Serial.println("x");
        break;
  }
  }
}
void Aposmov() {
  // Serial.println("x");
  Acmd = Apos;
  Aacel = Aspd + 3000;
  int a = 0;
  while (Acmd >= 1) {
    //============== accelrate plus set the max speed
    if (Aacel > 500 && a == 0) {
      Aacel = Aacel / 1.004;
    }
    if (Acmd < 500 && Aacel < 1600) {//  never hit max slow down any way
      a = 1;          // set bit to one to avoid acel conflict
    }
    if (a == 1 && Acmd < 500 && Aacel < 2999)// when were aproching last few steps
    {
      Aacel = Aacel * 1.003 ;    // decel from short move
    }
    if (a == 1 || a == 0 && Aacel < 599 && Acmd < 300) {//<<<<< trigger max speed hit not much time to stop
      a = 2;
    }
    if (a == 2 && Acmd < 500 && Aacel < 2999) {

      Aacel = Aacel * 1.003 ;  // decel from fast long move
    }
    digitalWrite(Adir, LOW);
    digitalWrite(12, HIGH);
    delayMicroseconds(Aacel);
    digitalWrite(12, LOW);
    delayMicroseconds(Aacel);
    Acmd--;
  }
  a = 0;

}
void Anegmov() {
  Acmd = Apos * -1;
  Aacel = Aspd + 3000;
  int a = 0;
  while (Acmd >= 1) {
    //============== accelrate plus set the max speed
    if (Aacel > 500 && a == 0) {
      Aacel = Aacel / 1.004;
    }
    if (Acmd < 500 && Aacel < 1600) {//  never hit max slow down any way
      a = 1;          // set bit to one to avoid acel conflict
    }
    if (a == 1 && Acmd < 500 && Aacel < 2999)// when were aproching last few steps
    {
      Aacel = Aacel * 1.003 ;    // decel from short move
    }
    if (a == 1 || a == 0 && Aacel < 599 && Acmd < 300) {//<<<<< trigger max speed hit not much time to stop
      a = 2;
    }
    if (a == 2 && Acmd < 500 && Aacel < 2999) {

      Aacel = Aacel * 1.003 ;  // decel from fast long move
    }
    digitalWrite(Adir, HIGH);
    digitalWrite (12, HIGH);
    delayMicroseconds(Aacel);
    digitalWrite(12, LOW);
    delayMicroseconds(Aacel);
    Acmd--;
  }
}
void Bposmov() {
  // Serial.println("x");
  Bcmd = Bpos;
  Bacel = Bspd + 3000;
  int a = 0;
  while (Bcmd >= 1) {
    //============== accelrate plus set the max speed
    if (Bacel > 600 && a == 0) {// top speed here
      Bacel = Bacel / 1.006;
    }
    if (Bcmd < 600 && Bacel < 1600) {//  never hit max slow down any way
      a = 1;          // set bit to one to avoid acel conflict
    }
    if (a == 1 && Bcmd < 600 && Bacel < 2999)// when were aproching last few steps
    {
      Bacel = Bacel * 1.006 ;    // decel from short move
    }
    if (a == 1 || a == 0 && Bacel < 599 && Bcmd < 300) {//<<<<< trigger max speed hit not much time to stop
      a = 2;
    }
    if (a == 2 && Bcmd < 500 && Bacel < 2999) {

      Bacel = Bacel * 1.006 ;  // decel from fast long move
    }
    digitalWrite(Bdir, HIGH);
    digitalWrite(10, HIGH);
    delayMicroseconds(Bacel);
    digitalWrite(10, LOW);
    delayMicroseconds(Bacel);
    Bcmd--;
  }

  a = 0;
}
void Bnegmov() {
  Bcmd = Bpos * -1;
  Bacel = Bspd + 3000;
  int a = 0;
  while (Bcmd >= 1) {
    //============== accelrate plus set the max speed
    if (Bacel > 600 && a == 0) {// top speed here
      Bacel = Bacel / 1.006;
    }
    if (Bcmd < 600 && Bacel < 1600) {//  never hit max slow down any way
      a = 1;          // set bit to one to avoid acel conflict
    }
    if (a == 1 && Bcmd < 600 && Bacel < 2999)// when were aproching last few steps
    {
      Bacel = Bacel * 1.006 ;    // decel from short move
    }
    if (a == 1 || a == 0 && Bacel < 599 && Bcmd < 300) {//<<<<< trigger max speed hit not much time to stop
      a = 2;
    }
    if (a == 2 && Bcmd < 500 && Bacel < 2999) {

      Bacel = Bacel * 1.006 ;  // decel from fast long move
    }
    digitalWrite(Bdir, LOW);
    digitalWrite(10, HIGH);
    delayMicroseconds(Bacel);
    digitalWrite(10, LOW);
    delayMicroseconds(Bacel);
    Bcmd--;
  }

}
void Cposmov() {
  // Serial.println("x");
  Ccmd = Cpos;
  Cacel = Cspd + 3000;
  int a = 0;
  while (Ccmd >= 1) {
    //============== accelrate plus set the max speed
    if (Cacel > 600 && a == 0) {// top speed here
      Cacel = Cacel / 1.004;
    }
    if (Ccmd < 600 && Cacel < 1600) {//  never hit max slow down any way
      a = 1;          // set bit to one to avoid acel conflict
    }
    if (a == 1 && Ccmd < 600 && Cacel < 2999)// when were aproching last few steps
    {
      Cacel = Cacel * 1.003 ;    // decel from short move
    }
    if (a == 1 || a == 0 && Cacel < 599 && Ccmd < 300) {//<<<<< trigger max speed hit not much time to stop
      a = 2;
    }
    if (a == 2 && Ccmd < 500 && Cacel < 2999) {

      Cacel = Cacel * 1.003 ;  // decel from fast long move
    }
    digitalWrite(Cdir, HIGH);
    digitalWrite(11, HIGH);
    delayMicroseconds(Cacel);
    digitalWrite(11, LOW);
    delayMicroseconds(Cacel);
    Ccmd--;
  }

}
void Cnegmov() {
  Ccmd = Cpos * -1;
  Cacel = Cspd + 3000;
  int a = 0;
  while (Ccmd >= 1) {
    //============== accelrate plus set the max speed
    if (Cacel > 600 && a == 0) {// top speed here
      Cacel = Cacel / 1.004;
    }
    if (Ccmd < 600 && Cacel < 1600) {//  never hit max slow down any way
      a = 1;          // set bit to one to avoid acel conflict
    }
    if (a == 1 && Ccmd < 600 && Cacel < 2999)// when were aproching last few steps
    {
      Cacel = Cacel * 1.003 ;    // decel from short move
    }
    if (a == 1 || a == 0 && Cacel < 599 && Ccmd < 300) {//<<<<< trigger max speed hit not much time to stop
      a = 2;
    }
    if (a == 2 && Ccmd < 500 && Cacel < 2999) {

      Cacel = Cacel * 1.003 ;  // decel from fast long move
    }
    digitalWrite(Cdir, LOW);
    digitalWrite(11, HIGH);
    delayMicroseconds(Cacel);
    digitalWrite(11, LOW);
    delayMicroseconds(Cacel);
    Ccmd--;
  }

}
void Dposmov() {
  //  Serial.println("x");
  Dcmd = Dpos;
  Dacel = Dspd + 2100;
  int a = 0;
  while (Dcmd >= 1) {
    //============== accelrate plus set the max speed
    if (Dacel > 300 && a == 0) {// top speed here
      Dacel = Dacel / 1.003;
    }
    if (Dcmd < 600 && Dacel < 1600) {//  never hit max slow down any way
      a = 1;          // set bit to one to avoid acel conflict
    }
    if (a == 1 && Dcmd < 600 && Dacel < 2099)// when were aproching last few steps
    {
      Dacel = Dacel * 1.002 ;    // decel from short move
    }
    if (a == 1 || a == 0 && Dacel < 599 && Dcmd < 300) {//<<<<< trigger max speed hit not much time to stop
      a = 2;
    }
    if (a == 2 && Dcmd < 500 && Dacel < 2099) {

      Dacel = Dacel * 1.002 ;  // decel from fast long move
    }
    digitalWrite(Ddir, LOW);
    digitalWrite(5, HIGH);
    delayMicroseconds(Dacel);
    digitalWrite(5, LOW);
    delayMicroseconds(Dacel);
    Dcmd--;
  }

}
void Dnegmov() {
  Dcmd = Dpos * -1;
  Dacel = Dspd + 2100;
  int a = 0;
  while (Dcmd >= 1) {
    //============== accelrate plus set the max speed
    if (Dacel > 300 && a == 0) {// top speed here
      Dacel = Dacel / 1.002;
    }
    if (Dcmd < 600 && Dacel < 1600) {//  never hit max slow down any way
      a = 1;          // set bit to one to avoid acel conflict
    }
    if (a == 1 && Dcmd < 600 && Dacel < 2099)// when were aproching last few steps
    {
      Dacel = Dacel * 1.002 ;    // decel from short move
    }
    if (a == 1 || a == 0 && Dacel < 599 && Dcmd < 300) {//<<<<< trigger max speed hit not much time to stop
      a = 2;
    }
    if (a == 2 && Dcmd < 500 && Dacel < 2099) {

      Dacel = Dacel * 1.002 ;  // decel from fast long move
    }
    digitalWrite(Ddir, HIGH);
    digitalWrite(5, HIGH);
    delayMicroseconds(Dacel);
    digitalWrite(5, LOW);
    delayMicroseconds(Dacel);
    Dcmd--;
  }

}
void Eposmov() {
  // Serial.println("x");
  Ecmd = Epos;
  Eacel = Espd + 3000;
  int a = 0;
  while (Ecmd >= 1) {
    //============== accelrate plus set the max speed
    if (Eacel > 300 && a == 0) {// top speed here
      Eacel = Eacel / 1.004;
    }
    if (Ecmd < 600 && Eacel < 1600) {//  never hit max slow down any way
      a = 1;          // set bit to one to avoid acel conflict
    }
    if (a == 1 && Ecmd < 600 && Eacel < 2999)// when were aproching last few steps
    {
      Eacel = Eacel * 1.003 ;    // decel from short move
    }
    if (a == 1 || a == 0 && Eacel < 599 && Ecmd < 300) {//<<<<< trigger max speed hit not much time to stop
      a = 2;
    }
    if (a == 2 && Ecmd < 500 && Eacel < 2999) {

      Eacel = Eacel * 1.003 ;  // decel from fast long move
    }
    digitalWrite(Edir, LOW);
    digitalWrite(4, HIGH);
    delayMicroseconds(Eacel);
    digitalWrite(4, LOW);
    delayMicroseconds(Eacel);
    Ecmd--;
  }

}
void Enegmov() {
  Ecmd = Epos * -1;
  Eacel = Espd + 3000;
  int a = 0;
  while (Ecmd >= 1) {
    //============== accelrate plus set the max speed
    if (Eacel > 300 && a == 0) {// top speed here
      Eacel = Eacel / 1.004;
    }
    if (Ecmd < 600 && Eacel < 1600) {//  never hit max slow down any way
      a = 1;          // set bit to one to avoid acel conflict
    }
    if (a == 1 && Ecmd < 600 && Eacel < 2999)// when were aproching last few steps
    {
      Eacel = Eacel * 1.003 ;    // decel from short move
    }
    if (a == 1 || a == 0 && Eacel < 599 && Ecmd < 300) {//<<<<< trigger max speed hit not much time to stop
      a = 2;
    }
    if (a == 2 && Ecmd < 500 && Eacel < 2999) {

      Eacel = Eacel * 1.003 ;  // decel from fast long move
    }
    digitalWrite(Edir, HIGH);
    digitalWrite(4, HIGH);
    delayMicroseconds(Eacel);
    digitalWrite(4, LOW);
    delayMicroseconds(Eacel);
    Ecmd--;
  }

}
void Fposmov() {
  // Serial.println("x");
  Fcmd = Fpos;
  Facel = Fspd + 3000;
  int a = 0;
  while (Fcmd >= 1) {
    //============== accelrate plus set the max speed
    if (Facel > 300 && a == 0) {// top speed here
      Facel = Facel / 1.004;
    }
    if (Fcmd < 600 && Facel < 1600) {//  never hit max slow down any way
      a = 1;          // set bit to one to avoid acel conflict
    }
    if (a == 1 && Fcmd < 600 && Facel < 2999)// when were aproching last few steps
    {
      Facel = Facel * 1.003 ;    // decel from short move
    }
    if (a == 1 || a == 0 && Facel < 599 && Fcmd < 300) {//<<<<< trigger max speed hit not much time to stop
      a = 2;
    }
    if (a == 2 && Fcmd < 500 && Facel < 2999) {

      Facel = Facel * 1.003 ;  // decel from fast long move
    }
    digitalWrite(Fdir, LOW);
    digitalWrite(3, HIGH);
    delayMicroseconds(Facel);
    digitalWrite(3, LOW);
    delayMicroseconds(Facel);
    Fcmd--;
  }
  ;
}
void Fnegmov() {
  Fcmd = Fpos * -1;
  Facel = Fspd + 3000;
  int a = 0;
  while (Fcmd >= 1) {
    //============== accelrate plus set the max speed
    if (Facel > 300 && a == 0) {// top speed here
      Facel = Facel / 1.004;
    }
    if (Fcmd < 600 && Facel < 1600) {//  never hit max slow down any way
      a = 1;          // set bit to one to avoid acel conflict
    }
    if (a == 1 && Fcmd < 600 && Facel < 2999)// when were aproching last few steps
    {
      Facel = Facel * 1.003 ;    // decel from short move
    }
    if (a == 1 || a == 0 && Facel < 599 && Fcmd < 300) {//<<<<< trigger max speed hit not much time to stop
      a = 2;
    }
    if (a == 2 && Fcmd < 500 && Facel < 2999) {

      Facel = Facel * 1.003 ;  // decel from fast long move
    }
    digitalWrite(Fdir, HIGH);
    digitalWrite(3, HIGH);
    delayMicroseconds(Facel);
    digitalWrite(3, LOW);
    delayMicroseconds(Facel);
    Fcmd--;
  }

}

alto777 · December 8, 2022, 8:51pm

and

Accel and De-accelerating my stepper

Servos or stepper motors?

Please share a schematic diagram showing how you have hooked eveything up and say what kind of motors you have.

I sense you aren't going to like what I say about your code after a quick glance:

Go learn about arrays and functions. That is very probably the quickest way for you to improve as a programmer, and to improve the code you have graciously shared.

a7

build_1971 · December 8, 2022, 9:30pm

Using functions with arguments and arrays you need 12 times less code to do the same as your code does...

ez8mm · December 8, 2022, 9:43pm

Hahaha...
I am here to ask for
Constructive Criticism... ( Not insults)
So... It's fine with me
Sorry. People can be so rude on here .
But
If you think it can be better that's what I asked .

A schematic is not available. Sorry

There are servos on G
Right and left servos ( regular three wire)

And steppers
On
A one step pin one direction pin
B. one step pin one direction pin
C one step pin one direction pin
D. one step pin one direction pin
E. one step pin one direction pin
F. one step pin one direction pin

That's
All there is for wires
Define how ever you like

ez8mm · December 8, 2022, 9:48pm

So. This array. You speak of
Do you have an example of how you would do it

The whole program.is really

3 parts

A switch case to send steps to the right motor function or( void )

B a motor function (void)
And is repeated for each motor so you can have as many as you want

C is a servo function (void)
Different from steppers

ToddL1962 · December 8, 2022, 10:14pm

Notice all of your "motor functions" do essentially the same thing but with different motors, steps, speed, and direction. Why don't you have one function with those four inputs as parameters? It would save you a lot of code space and if you change the algorithm you would only have to change it in one function.

Sort of like this:

void posmov(int motor, int pos, int speed, int dir)

ToddL1962 · December 8, 2022, 10:25pm

I am wondering why all of your position variables are float when you only assign integers to them and assign them to integers? You can't be in a fractional position or do a fractional step. Even if you are microstepping that is a driver function. It is all steps to you.

anon57585045 · December 8, 2022, 10:40pm

Then you posted in the wrong sub forum. This one is for programming questions.

jremington · December 9, 2022, 2:39am

Great! But might it be better to share code that compiles without errors, and works? Maybe also include a clear explanation of what it does?

ez8mm · December 9, 2022, 6:43am

Yes those are Wrong and should Be INT as you say.
I was Playing Around with Converting steps per inch at one point.
thank you for noticing

ez8mm · December 9, 2022, 6:48am

Yes i think this Is where i was going with only posting definition Originally .
I think i will have issues reducing all the repeat functions to just one and calling out the Motors timing wize as in my mind this will make when all motors get a step command that is different and commanded to execute the move at the same time.

so i would think it would be possible to reduce some but Im at my limit this is unknown mentally territory from her out.

camsysca · December 9, 2022, 11:09am

Are you here to learn? If so, continue with this thread, despite the "abuse" and uncomfortable comments. If you're comfortable with your present knowledge level, then 'shut 'er down, baby, we're done!'

Topic		Replies	Views
Stepper code issue?? Programming	5	625	May 5, 2021
Stop function Stepper Motor Programming	16	3328	December 1, 2021
help on programming stepper Programming	3	1574	May 5, 2021
Simple Stepper Motor Program Jobs and Paid Consultancy	4	854	May 6, 2021
AccelStepper Run Question/Help! Programming	8	2128	May 5, 2021

Wanted to share a function Code i made and get tips

Related topics