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Codearrduinohead

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9 views

Codearrduinohead

Uploaded by

Trường Quang
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as TXT, PDF, TXT or read online on Scribd
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#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;
}

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