Updates for the AccelStepper library - TB6600 and Arduino
In this video I share a lot of things with you guys! I explain a new, updated code for stepper motor controlling using the AccelStepper library, I show a way of implementation of the oscillation motion and finally I show you a toolbox that you can use to control the stepper motor from your computer.
If you use the source code or the toolbox, please subscribe to my channel!
Arduino source code
#include <AccelStepper.h> //User-defined values long receivedSteps = 0; //Number of steps long receivedSpeed = 0; //Steps / second long receivedMaxSpeed = 0; //Steps / second long receivedAcceleration = 0; //Steps / second^2 long CurrentPosition = 0; char receivedCommand; //a letter sent from the terminal long StartTime = 0; long PreviousTime = 0; //------------------------------------------------------------------------------- bool newData, runallowed = false; // booleans for new data from serial, and runallowed flag bool lastStepPosition = false; //follows the steps to see if the last step was preformed bool pingpong_CW = true; bool pingpong_CCW = true; bool pingpongAllowed = false; //------------------------------------------------------------------------------- AccelStepper stepper(1, 8, 9);// direction Digital 9 (CCW), pulses Digital 8 (CLK) void setup() { Serial.begin(115200); //define a baud rate Serial.println("Demonstration of AccelStepper Library"); //print a messages Serial.println("Send 'C' for printing the commands."); //setting up some default values for maximum speed and maximum acceleration Serial.println("Default speed: 400 steps/s, default acceleration: 800 steps/s^2."); stepper.setMaxSpeed(400); //SPEED = Steps / second stepper.setAcceleration(800); //ACCELERATION = Steps /(second)^2 stepper.disableOutputs(); //disable outputs StartTime = millis(); //start the timer } void loop() { //Constantly looping through these 4 functions. //We only use non-blocking commands, so something else (should also be non-blocking) can be done during the movement of the motor checkSerial(); //check serial port for new commands RunTheMotor(); //function to handle the motor SendPosition(); PingPong(); } void RunTheMotor() //function for the motor { if (stepper.distanceToGo() != 0) { stepper.enableOutputs(); //enable pins stepper.run(); //step the motor (this will step the motor by 1 step at each loop) lastStepPosition = true; } else //program enters this part if the runallowed is FALSE, we do not do anything { stepper.disableOutputs(); //disable outputs if(lastStepPosition == true) { Serial.print("L"); Serial.println(stepper.currentPosition());//Print the message //Serial.print("V"); //You can do the same with speed, but it slows down the arduino //Serial.println(stepper.speed());//Print the message lastStepPosition = false; } return; } } void SendPosition() { if (stepper.distanceToGo() != 0) { //The larger this number (300) the better. Multiple serial.println interferes with the stepper motor if((millis()-StartTime) >= 400) { StartTime = millis(); Serial.print("L"); Serial.println(stepper.currentPosition());//Print the message //Serial.print("V"); //Alternatively, we can print speed too, but it can interfere with the motor at high speeds //Serial.println(stepper.speed());//Print the message } } else { // skip } } void checkSerial() //function for receiving the commands { if (Serial.available() > 0) //if something comes from the computer { receivedCommand = Serial.read(); // pass the value to the receivedCommad variable newData = true; //indicate that there is a new data by setting this bool to true if (newData == true) //we only enter this long switch-case statement if there is a new command from the computer { switch (receivedCommand) //we check what is the command { case 'P': //P uses the move() function of the AccelStepper library, which means that it moves relatively to the current position. receivedSteps = Serial.parseFloat(); //value for the steps receivedSpeed = Serial.parseFloat(); //value for the speed Serial.println("Positive direction."); //print the action RotateRelative(); //Run the function //example: P2000 400 - 2000 steps (5 revolution with 400 step/rev microstepping) and 400 steps/s speed //In theory, this movement should take 5 seconds break; case 'R': //R uses the moveTo() function of the AccelStepper library, which means that it moves absolutely to the current position. receivedSteps = Serial.parseFloat(); //value for the steps receivedSpeed = Serial.parseFloat(); //value for the speed Serial.println("Absolute position (+)."); //print the action RotateAbsolute(); //Run the function //example: R800 400 - It moves to the position which is located at +800 steps away from 0. break; case 'S': // Stops the motor stepper.stop(); //stop motor stepper.disableOutputs(); //disable power Serial.println("Stopped."); //print action runallowed = false; //disable running pingpongAllowed = false; //disable pingpong break; case 'A': // Updates acceleration //runallowed = false; //we still keep running disabled, since we just update a variable //stepper.disableOutputs(); //disable power receivedAcceleration = Serial.parseFloat(); //receive the acceleration from serial stepper.setAcceleration(receivedAcceleration); //update the value of the variable //Serial.print("New acceleration value: "); //confirm update by message //Serial.println(receivedAcceleration); //confirm update by message break; case 'V': // Updates speed //runallowed = false; //we still keep running disabled, since we just update a variable //stepper.disableOutputs(); //disable power receivedSpeed = Serial.parseFloat(); //receive the acceleration from serial stepper.setSpeed(receivedSpeed); //update the value of the variable //Serial.print("New speed value: "); //confirm update by message //Serial.println(receivedSpeed); //confirm update by message break; case 'v': // Updates Max speed //runallowed = false; //we still keep running disabled, since we just update a variable //stepper.disableOutputs(); //disable power receivedMaxSpeed = Serial.parseFloat(); //receive the acceleration from serial stepper.setMaxSpeed(receivedMaxSpeed); //update the value of the variable //Serial.print("New Max speed value: "); //confirm update by message //Serial.println(receivedMaxSpeed); //confirm update by message break; case 'L': //L: Location runallowed = false; //we still keep running disabled stepper.disableOutputs(); //disable power Serial.print("L");//Print the message Serial.println(stepper.currentPosition()); //Printing the current position in steps. break; case 'U': runallowed = false; //we still keep running disabled stepper.disableOutputs(); //disable power stepper.setCurrentPosition(0); //Reset current position. "new home" stepper.setSpeed(receivedSpeed); //We have to reupdate this, because the above function resets it. Serial.print("L"); //Print message Serial.println(stepper.currentPosition()); //Check position after reset. break; case 'C': PrintCommands(); //Print the commands for controlling the motor break; case 'K': runallowed = true; stepper.enableOutputs(); //enable pins stepper.setMaxSpeed(1000); Serial.println("PingPong"); pingpong_CW = false; pingpong_CCW = false; pingpongAllowed = true; break; default: //skip break; } } //after we went through the above tasks, newData is set to false again, so we are ready to receive new commands again. newData = false; } } void PingPong() { if(pingpongAllowed == true) //If the pingpong function is allowed we enter { if(pingpong_CW == false) //CW rotation is not yet done { stepper.moveTo(5000); //set a target position, it should be an absolute. relative (move()) leads to "infinite loop" if(stepper.distanceToGo() == 0) //When the above number of steps are completed, we manipulate the variables { pingpong_CW = true; //CW rotation is now done pingpong_CCW = false; //CCW rotation is not yet done - this allows the code to enter the next ifs } } if(pingpong_CW == true && pingpong_CCW == false) //CW is completed and CCW is not yet done { stepper.moveTo(0); //Absolute position if(stepper.distanceToGo() == 0) //When the number of steps are completed { pingpong_CCW = true; //CCW is now done pingpong_CW = false; //CW is not yet done. This allows the code to enter the first if again! } } } } void RotateRelative() { //We move X steps from the current position of the stepper motor in a given direction (+/-). runallowed = true; //allow running - this allows entering the RunTheMotor() function. stepper.setMaxSpeed(receivedSpeed); //set speed stepper.move(receivedSteps); //set relative distance and direction } void RotateAbsolute() { //We move to an absolute position. //The AccelStepper library keeps track of the position. runallowed = true; //allow running - this allows entering the RunTheMotor() function. stepper.setMaxSpeed(receivedSpeed); //set speed stepper.moveTo(receivedSteps); //set relative distance } void PrintCommands() { //Printing the commands Serial.println(" 'C' : Prints all the commands and their functions."); Serial.println(" 'P' : Rotates the motor - relative using move()."); Serial.println(" 'R' : Rotates the motor - absolute using moveTo()."); Serial.println(" 'S' : Stops the motor immediately."); Serial.println(" 'A' : Sets an acceleration value."); Serial.println(" 'V' : Sets a speed value using setSpeed()."); Serial.println(" 'v' : Sets a speed value using setMaxSpeed()."); Serial.println(" 'L' : Prints the current position/location of the motor using currentPosition()."); Serial.println(" 'U' : Updates the current position and makes it as the new 0 position using setCurrentPosition()."); Serial.println(" 'K' : Demonstrates an oscillating motion."); }
Toolbox for Windows
You can download the executable for the toolbox which communicates with the above Arduino code. Please subscribe if you use the codes!
