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Velocity Control of Rotate Stepper Implemented #9
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newmanjoel
reviewed
Feb 3, 2018
| upper.SetOutputLimits(-255, 255); | ||
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| //testLED | ||
| pinMode(13, OUTPUT); |
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what is this pin? ca we use a define?
| int rotateCurrentSteps {0}; | ||
| bool rotateZeroSet {0}; | ||
| int rotateLimitState {0}; | ||
| int stepsToRotate; | ||
| int rotateDir; | ||
| Stepper rotateStepper(stepsPerRevolution, 9, 10, 11, 12); |
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The pins should be defined using #defines
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| if (rotateCurrentSteps == 0) digitalWrite(13, HIGH); | ||
| else digitalWrite(13, LOW); | ||
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please explain why this is here
| @@ -149,6 +161,7 @@ void serialEvent() { | |||
| case 4: | |||
| // this might cause an issue trying to left shift a char | |||
| RotateMode = POSITION; | |||
| rotateStepper.setSpeed(60); | |||
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what is the range of speeds that we can go between? 0-255?
| } | ||
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| current = rotateCurrentSteps / 800 * 360; | ||
| return current; | ||
| return RotateCurrent; |
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if the limit switch is low (not actuated), and its in velocity mode, what is RotateCurrent equal to?
| //included counting steps here due to problem of missed steps. This seems to have fixed it. Further testing required. | ||
| rotateStepper.step(rotateDir * 10); | ||
| rotateCurrentSteps = rotateCurrentSteps + rotateDir * 10; | ||
| RotateCurrent = rotateCurrentSteps / stepsPerRevolution * 360; |
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this answers my previous question but why is this in the output and not the feedback?
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I added some functionality for the joystick control of the rotation stepper motor. It's a bit messy, avoiding missing steps got a bit tricky as did keeping the zero, but seems to be functioning. Let me know what you think. I changed the way I got data from direct_motor_control slightly to keep the arduino code more readable for me, but It would be easy to switch back.