Roboterarm/Stepper_Rotation.ino

#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);
}