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Noterparrddddddddhead

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12 views3 pages

Noterparrddddddddhead

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 = 24;
const int pulPin = 26;
const int lmswPin1 = 28; // Limit switch pin 1
const int lmswPin2 = 30; // Limit switch pin 2

// Define motor steps per revolution


const int stepsPerRevolution = 6400;

// Variables to keep track of the motor state


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


int stepsToSend = 0;

// Variable to check if limit switch was pressed


volatile bool limitSwitchPressed = false;
volatile bool limitSwitchDirection = true;

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);

// Set initial direction to clockwise


digitalWrite(dirPin, HIGH); // Set dirPin HIGH for clockwise rotation

// Initialize serial communication


Serial.begin(115200);

// Initialize Timer1 with a 100Hz frequency


Timer1.initialize(1000); // 1kHz
Timer1.attachInterrupt(stepMotor);
}

void loop() {
if (Serial.available() > 0) {
String command = Serial.readStringUntil('\n'); // Read the command from serial

if (command == "a") {
// Rotate the motor clockwise by 90 degrees
rotateMotor(180, true);
} else if (command == "b") {
// Rotate the motor counterclockwise by 90 degrees
rotateMotor(180, false);
} else if (command == "c" || command == "None") {
// Stop the motor
isRunning = false;
Timer1.stop(); // Stop the timer interrupt
currentPosition = 0; // Reset the current position
} else if (command == "getAngle") {
// Get the current angle and send it back to Python
int currentAngle = stepsToAngle(currentPosition);
Serial.println(currentAngle);
}

// Send acknowledgment back to Python


Serial.println("1");
delay(10);
}

// Check the limit switch state


if (digitalRead(lmswPin1) == LOW && !limitSwitchPressed) {
// When the limit switch 1 is triggered
limitSwitchPressed = true;
limitSwitchDirection = true; // Set direction to clockwise
isRunning = false; // Stop the motor
stepsToSend = 3200; // Set steps to 3200
Timer1.start(); // Start the timer
}

if (digitalRead(lmswPin2) == LOW && !limitSwitchPressed) {


// When the limit switch 2 is triggered
limitSwitchPressed = true;
limitSwitchDirection = false; // Set direction to counterclockwise
isRunning = false; // Stop the motor
stepsToSend = 3200; // Set steps to 3200
Timer1.start(); // Start the timer
}
}

void stepMotor() {
static int stepCount = 0; // Counter to track the number of steps

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);

stepCount++; // Increment the step counter


currentPosition += (digitalRead(dirPin) == HIGH) ? 1 : -1; // Update current
position

if (stepCount >= stepsToSend) {


// Stop the motor after sending the required steps
isRunning = false;
limitSwitchPressed = false; // Reset limit switch flag
Timer1.stop();
stepCount = 0; // Reset the step counter
}
}
}

// Function to rotate the motor by a certain angle


void rotateMotor(int angle, bool clockwise) {
int steps = angleToSteps(angle);
isRunning = true;
digitalWrite(dirPin, clockwise ? HIGH : LOW); // Set direction pin
stepsToSend = steps;
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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