111 lines
3.1 KiB
Arduino
111 lines
3.1 KiB
Arduino
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/*
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* cheapStepper_newMoveTo.ino
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* ///////////////////////////////////////////
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* using CheapStepper Arduino library v.0.2.0
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* created by Tyler Henry, 7/2016
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* ///////////////////////////////////////////
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*
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* This sketch illustrates the library's
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* "non-blocking" move functions -
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* i.e. you can perform moves with the stepper over time
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* while still running other code in your loop()
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*
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* This can be useful if your Arduino is multi-tasking,
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* but be careful: if the other code in your loop()
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* slows down your Arduino, the stepper motor may
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* slow down or move with a stutter
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*
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* //////////////////////////////////////////////////////
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*/
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// first, include the library :)
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#include <CheapStepper.h>
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// next, declare the stepper
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// and connect pins 8,9,10,11 to IN1,IN2,IN3,IN4 on ULN2003 board
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CheapStepper stepper (8,9,10,11);
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// let's also create a boolean variable to save the direction of our rotation
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// and a timer variable to keep track of move times
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bool moveClockwise = true;
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unsigned long moveStartTime = 0; // this will save the time (millis()) when we started each new move
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void setup() {
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// let's run the stepper at 12rpm (if using 5V power) - the default is ~16 rpm
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stepper.setRpm(12);
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// let's print out the RPM to make sure the setting worked
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Serial.begin(9600);
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Serial.print("stepper RPM: "); Serial.print(stepper.getRpm());
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Serial.println();
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// and let's print the delay time (in microseconds) between each step
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// the delay is based on the RPM setting:
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// it's how long the stepper will wait before each step
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Serial.print("stepper delay (micros): "); Serial.print(stepper.getDelay());
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Serial.println(); Serial.println();
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// now let's set up our first move...
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// let's move a half rotation from the start point
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stepper.newMoveTo(moveClockwise, 2048);
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/* this is the same as:
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* stepper.newMoveToDegree(clockwise, 180);
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* because there are 4096 (default) steps in a full rotation
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*/
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moveStartTime = millis(); // let's save the time at which we started this move
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}
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void loop() {
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// we need to call run() during loop()
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// in order to keep the stepper moving
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// if we are using non-blocking moves
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stepper.run();
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////////////////////////////////
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// now the stepper is moving, //
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// let's do some other stuff! //
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////////////////////////////////
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// let's check how many steps are left in the current move:
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int stepsLeft = stepper.getStepsLeft();
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// if the current move is done...
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if (stepsLeft == 0){
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// let's print the position of the stepper to serial
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Serial.print("stepper position: "); Serial.print(stepper.getStep());
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Serial.println();
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// and now let's print the time the move took
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unsigned long timeTook = millis() - moveStartTime; // calculate time elapsed since move start
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Serial.print("move took (ms): "); Serial.print(timeTook);
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Serial.println(); Serial.println();
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// let's start a new move in the reverse direction
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moveClockwise = !moveClockwise; // reverse direction
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stepper.newMoveDegrees (moveClockwise, 180); // move 180 degrees from current position
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moveStartTime = millis(); // reset move start time
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}
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}
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