Arduino with AccelStepper library and TB6600 stepper motor controller
This is another demonstration of the powerful AccelStepper library. I haven't modified the library, but I wrote the Arduino software from scratch that utilizes the functions of it. This is a good guide to get introduced to the stepper motor controls with with library because most of the common features of the libraries are discussed.
Arduino source code
//Transforming the motor's rotary motion into linear motion by using a threaded rod: //Threaded rod's pitch = 2 mm. This means that one revolution will move the nut 2 mm. //Default stepping = 400 step/revolution. // 400 step = 1 revolution = 8 mm linear motion. (4 start 2 mm pitch screw) // 1 cm = 10 mm =>> 10/8 * 400 = 4000/8 = 500 steps are needed to move the nut by 1 cm. //character for commands /* 'C' : Prints all the commands and their functions. 'P' : Rotates the motor in positive (CW) direction, relative. 'N' : Rotates the motor in negative (CCW) direction, relative. 'R' : Rotates the motor to an absolute positive position (+). 'r' : Rotates the motor to an absolute negative position (-). 'S' : Stops the motor immediately. 'A' : Sets an acceleration value. 'L' : Prints the current position/location of the motor. 'H' : Goes back to 0 position from the current position (homing). 'U' : Updates the position current position and makes it as the new 0 position. */ #include <AccelStepper.h> //User-defined values long receivedSteps = 0; //Number of steps long receivedSpeed = 0; //Steps / second long receivedAcceleration = 0; //Steps / second^2 char receivedCommand; //------------------------------------------------------------------------------- int directionMultiplier = 1; // = 1: positive direction, = -1: negative direction bool newData, runallowed = false; // booleans for new data from serial, and runallowed flag AccelStepper stepper(1, 8, 9);// direction Digital 9 (CCW), pulses Digital 8 (CLK) void setup() { Serial.begin(9600); //define 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 } void loop() { //Constantly looping through these 2 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 } void RunTheMotor() //function for the motor { if (runallowed == true) { stepper.enableOutputs(); //enable pins stepper.run(); //step the motor (this will step the motor by 1 step at each loop) } else //program enters this part if the runallowed is FALSE, we do not do anything { stepper.disableOutputs(); //disable outputs return; } } 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 directionMultiplier = 1; //We define the direction 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 'N': //N 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 directionMultiplier = -1; //We define the direction Serial.println("Negative direction."); //print action RotateRelative(); //Run the function //example: N2000 400 - 2000 steps (5 revolution with 400 step/rev microstepping) and 500 steps/s speed; will rotate in the other direction //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 directionMultiplier = 1; //We define the direction 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 '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 directionMultiplier = -1; //We define the direction 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 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 'L': //L: Location runallowed = false; //we still keep running disabled stepper.disableOutputs(); //disable power Serial.print("Current location of the motor: ");//Print the message Serial.println(stepper.currentPosition()); //Printing the current position in steps. break; case 'H': //H: Homing runallowed = true; Serial.println("Homing"); //Print the message GoHome();// Run the function break; case 'U': runallowed = false; //we still keep running disabled stepper.disableOutputs(); //disable power stepper.setCurrentPosition(0); //Reset current position. "new home" Serial.print("The current position is updated to: "); //Print message Serial.println(stepper.currentPosition()); //Check position after reset. break; case 'C': PrintCommands(); //Print the commands for controlling the motor break; default: 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 GoHome() { if (stepper.currentPosition() == 0) { Serial.println("We are at the home position."); stepper.disableOutputs(); //disable power } else { stepper.setMaxSpeed(400); //set speed manually to 400. In this project 400 is 400 step/sec = 1 rev/sec. stepper.moveTo(0); //set abolute distance to move } } void RotateRelative() { //We move X steps from the current position of the stepper motor in a given direction. //The direction is determined by the multiplier (+1 or -1) runallowed = true; //allow running - this allows entering the RunTheMotor() function. stepper.setMaxSpeed(receivedSpeed); //set speed stepper.move(directionMultiplier * receivedSteps); //set relative distance and direction } void RotateAbsolute() { //We move to an absolute position. //The AccelStepper library keeps track of the position. //The direction is determined by the multiplier (+1 or -1) //Why do we need negative numbers? - If you drive a threaded rod and the zero position is in the middle of the rod... runallowed = true; //allow running - this allows entering the RunTheMotor() function. stepper.setMaxSpeed(receivedSpeed); //set speed stepper.moveTo(directionMultiplier * 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 in positive (CW) direction, relative."); Serial.println(" 'N' : Rotates the motor in negative (CCW) direction, relative."); Serial.println(" 'R' : Rotates the motor to an absolute positive position (+)."); Serial.println(" 'r' : Rotates the motor to an absolute negative position (-)."); Serial.println(" 'S' : Stops the motor immediately."); Serial.println(" 'A' : Sets an acceleration value."); Serial.println(" 'L' : Prints the current position/location of the motor."); Serial.println(" 'H' : Goes back to 0 position from the current position (homing)."); Serial.println(" 'U' : Updates the position current position and makes it as the new 0 position. "); }
