|
|
@@ -0,0 +1,60 @@
|
|
|
+#include <AccelStepper.h>
|
|
|
+
|
|
|
+// Define the pinss
|
|
|
+#define STEP_PIN1 5
|
|
|
+#define DIR_PIN1 4
|
|
|
+#define ENABLE_PIN1 6
|
|
|
+
|
|
|
+// Define the steps per revolution of your stepper motor
|
|
|
+const float STEPS_PER_REVOLUTION = 200.0;
|
|
|
+float i = 20; //Gear Transmission
|
|
|
+
|
|
|
+// Create an instance of the AccelStepper class
|
|
|
+AccelStepper stepper(AccelStepper::DRIVER, STEP_PIN1, DIR_PIN1);
|
|
|
+
|
|
|
+void setup() {
|
|
|
+
|
|
|
+ Serial.begin(9600); // Set the baud rate to the same value used in Python
|
|
|
+
|
|
|
+ // Set the maximum speed and acceleration (you can adjust these values)
|
|
|
+ stepper.setMaxSpeed(400);
|
|
|
+ stepper.setAcceleration(100.0);
|
|
|
+
|
|
|
+ // Set the enable pin as an output and disable the motor by default
|
|
|
+ pinMode(ENABLE_PIN1, OUTPUT);
|
|
|
+ digitalWrite(ENABLE_PIN1, HIGH);
|
|
|
+
|
|
|
+ // Set the motor direction (0 for clockwise, 1 for counter-clockwise)
|
|
|
+ stepper.setPinsInverted(false, false, true); // Adjust the last parameter if needed
|
|
|
+}
|
|
|
+
|
|
|
+void loop() {
|
|
|
+ if (Serial.available() > 0) {
|
|
|
+ // Read the incoming value from Python
|
|
|
+ int value = Serial.parseInt();
|
|
|
+ if ((value > -125) && (value < 125)) {
|
|
|
+ rotateStepper(value * i);
|
|
|
+ Serial.println(value);
|
|
|
+ }
|
|
|
+ }
|
|
|
+ delay(1000);
|
|
|
+}
|
|
|
+
|
|
|
+void rotateStepper(float degrees) {
|
|
|
+ // Calculate the number of steps based on the desired angle
|
|
|
+ float steps = degrees * (STEPS_PER_REVOLUTION / 360.0);
|
|
|
+
|
|
|
+ // Move the stepper to the specified number of steps
|
|
|
+ stepper.move(steps);
|
|
|
+
|
|
|
+ // Enable the motor
|
|
|
+ digitalWrite(ENABLE_PIN1, LOW);
|
|
|
+
|
|
|
+ // Run the stepper until it reaches the target position
|
|
|
+ while (stepper.distanceToGo() != 0) {
|
|
|
+ stepper.run();
|
|
|
+ }
|
|
|
+
|
|
|
+ // Disable the motor
|
|
|
+ digitalWrite(ENABLE_PIN1, HIGH);
|
|
|
+}
|
