#include <TimerOne.
h>
// Define pin numbers
const int enablePin = 22;
const int dirPin = 48;
const int pulPin = 50;
const int lmswPin1 = 44; // Limit switch pin 1
const int lmswPin2 = 46; // Limit switch pin 2
// Define motor steps per revolution
const int stepsPerRevolution = 6400; // Replace 6400 with the actual steps per
revolution of your motor
// Variables to keep track of the motor state
volatile bool isRunning = false;
// Variables to store the current position of the motor
volatile int currentPosition = 0;
// Variable to store the number of steps to send
volatile int stepsToSend = 0;
// Variable to check if limit switch was pressed
volatile bool limitSwitchPressed = false;
volatile bool limitSwitchDirection = true;
// Variables to store the previous state of the limit switches
bool previousLmswState1 = HIGH;
bool previousLmswState2 = HIGH;
// Flag to indicate if handleLimitSwitch is being executed
volatile String cocheck = "off";
void setup() {
// Set pin modes
pinMode(enablePin, OUTPUT);
pinMode(dirPin, OUTPUT);
pinMode(pulPin, OUTPUT);
pinMode(lmswPin1, INPUT_PULLUP); // Use internal pull-up resistor for limit
switch pin 1
pinMode(lmswPin2, INPUT_PULLUP); // Use internal pull-up resistor for limit
switch pin 2
// Enable the motor
digitalWrite(enablePin, LOW);
Serial.begin(115200);
Timer1.initialize(10000);
Timer1.attachInterrupt(stepMotor);
rotateMotor(true);
}
String previousCocheck = "off";
void loop() {
String cocheckCopy = String(cocheck.c_str());
if (cocheckCopy != previousCocheck) {
Serial.println(cocheckCopy);
previousCocheck = cocheckCopy;
}
if (cocheckCopy == "on" && Serial.available() > 0) {
String command = Serial.readStringUntil('\n');
Serial.println("ACK");
if (command == "a") {
rotateMotor(true);
} else if (command == "b") {
rotateMotor(false);
} else if (command == "c" || command == "None") {
// Stop the motor
isRunning = false;
Timer1.stop(); // Stop the timer interrupt
}
delay(10);
}
// Check the limit switch state in the main loop
bool currentLmswState1 = digitalRead(lmswPin1);
if (currentLmswState1 == LOW && previousLmswState1 == HIGH) {
handleLimitSwitch(true);
}
previousLmswState1 = currentLmswState1;
bool currentLmswState2 = digitalRead(lmswPin2);
if (currentLmswState2 == LOW && previousLmswState2 == HIGH) {
handleLimitSwitch(false);
}
previousLmswState2 = currentLmswState2;
}
void stepMotor() {
// Check the limit switch state
bool currentLmswState1 = digitalRead(lmswPin1);
if (currentLmswState1 == LOW && previousLmswState1 == HIGH) {
handleLimitSwitch(true);
cocheck = "on";
}
previousLmswState1 = currentLmswState1;
bool currentLmswState2 = digitalRead(lmswPin2);
if (currentLmswState2 == LOW && previousLmswState2 == HIGH) {
handleLimitSwitch(false);
cocheck = "on";
}
previousLmswState2 = currentLmswState2;
if (isRunning || limitSwitchPressed) {
// Check limit switch state
if (limitSwitchPressed) {
// Set direction pin based on limit switch direction
digitalWrite(dirPin, limitSwitchDirection ? HIGH : LOW);
}
// Generate a pulse
digitalWrite(pulPin, HIGH);
delayMicroseconds(5);
digitalWrite(pulPin, LOW);
delayMicroseconds(5);
currentPosition += (digitalRead(dirPin) == HIGH) ? 1 : -1; // Update current
position
if (--stepsToSend <= 0) {
// Stop the motor after sending the required steps
isRunning = false;
limitSwitchPressed = false; // Reset limit switch flag
Timer1.stop();
cocheck = "on";
}
}
}
// Function to handle limit switch
void handleLimitSwitch(bool direction) {
limitSwitchPressed = true;
limitSwitchDirection = direction;
currentPosition = direction ? 0 : stepsPerRevolution; // Reset currentPosition
based on direction
// Set the new number of steps here, for example:
stepsToSend = 3200; // Change this value to the new number of steps you want to
move when hitting the limit
isRunning = false; // Stop the motor
Timer1.start(); // Start the timer
cocheck = "off";
// After finishing the limit switch handling, reset cocheck
}
// Function to rotate the motor
void rotateMotor(bool clockwise) {
isRunning = true;
digitalWrite(dirPin, clockwise ? HIGH : LOW); // Set direction pin
stepsToSend = stepsPerRevolution; // Set steps to full revolution
Timer1.start();
}
// Function to convert steps to angle
int stepsToAngle(int steps) {
int angle = map(steps, 0, stepsPerRevolution, 0, 360);
return angle;
}
// Function to convert angle to steps
int angleToSteps(int angle) {
float steps = (float)angle / 360.0 * stepsPerRevolution;
return (int)steps;
}
