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EQFocuser2Stepper.ino
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EQFocuser2Stepper.ino
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// EQ Simple Focuser
// Arduino code in controlling an absolute focuser
// using a stepper motor
#include <AccelStepper.h>
//#include <MultiStepper.h>
#include <dht.h>
// first motor pins
#define motor1Pin5 12 // blue
#define motor1Pin6 11 // pink
#define motor1Pin7 10 // yellow
#define motor1Pin8 9 // orange
// second motor pins
#define motor2Pin5 8
#define motor2Pin6 7
#define motor2Pin7 6
#define motor2Pin8 5
// for the temperature and hubmidity sensor
#define DHT11_PIN 13
// Declaration needed for the AccelStepper Library
AccelStepper stepper1(AccelStepper::FULL4WIRE, motor1Pin5, motor1Pin7, motor1Pin6, motor1Pin8);
AccelStepper stepper2(AccelStepper::FULL4WIRE, motor2Pin5, motor2Pin7, motor2Pin6, motor2Pin8);
// for current stepper action
int currentStepper = 0; // 0 - first stepper, 1 - second stepper, 0 = default
// for command purposes
String inputString = "";
int step = 0;
int backlashStep = 0;
String lastDirection = "NONE"; //"OUTWARD"
String currentDirection = "NONE";
// for pin values
int ccwPin = 4;
int cwPin = 3;
int ccwVal = 0;
int cwVal = 0;
int stepperSelect = 2;
int stepperSelectValue = 0;
// for the variable resistor
int potpin = 0;
int variableResistorValue = 10;
int oldVariableResistorValue = 10;
// for manual control
long toPosition;
bool positionReported = false;
// temperature and humidity sensor
dht DHT;
int chkSensor;
void setup() {
Serial.begin(115200);
Serial.println("EQFOCUSER_STEPPER2#");
stepper1.setMaxSpeed(100.0);
stepper1.setAcceleration(100.0);
stepper1.setSpeed(100);
stepper2.setMaxSpeed(100.0);
stepper2.setAcceleration(100.0);
stepper2.setSpeed(100);
inputString.reserve(200);
pinMode(ccwPin, INPUT_PULLUP);
pinMode(cwPin, INPUT_PULLUP);
pinMode(stepperSelect, INPUT_PULLUP);
}
void loop() {
variableResistorValue = analogRead(potpin);
cwVal = digitalRead(cwPin);
ccwVal = digitalRead(ccwPin);
stepperSelectValue = digitalRead(stepperSelect);
// should read the currentStepper here
if (stepperSelectValue == LOW){
// Serial.print("CURRENT MOTOR : ");
// Serial.println(currentStepper);
// Serial.println("SELECTING MOTOR");
if (currentStepper == 0) {
currentStepper = 1;
}
else if (currentStepper == 1) {
currentStepper = 0;
}
delay(300);
Serial.print("SELECTEDMOTOR:");
Serial.print(currentStepper);
Serial.println("#");
}
if (currentStepper == 0){
moveStepper1(variableResistorValue);
}
else if (currentStepper == 1){
moveStepper2(variableResistorValue);
}
}
void moveStepper1(int variableResistorValue){
if (ccwVal == LOW || cwVal == LOW) {
// if (oldVariableResistorValue < variableResistorValue - 5 || oldVariableResistorValue > variableResistorValue + 5 ){
// // set the max acceleration
// stepper1.setAcceleration(variableResistorValue / 102.4);
// oldVariableResistorValue = variableResistorValue;
// Serial.print("Changing Value of acceleration");
// Serial.println(oldVariableResistorValue);
// }
// the PULLUP Pins are pressed
Serial.print("MOVING STEPPER1:");
if (ccwVal == LOW) {
toPosition = stepper1.currentPosition() - variableResistorValue / 10;
Serial.print(toPosition);
applyBacklashStep(toPosition, lastDirection, "INWARD");
// stepper1.moveTo(toPosition);
lastDirection = "INWARD";
}
if (cwVal == LOW) {
toPosition = stepper1.currentPosition() + variableResistorValue / 10;
Serial.print(toPosition);
applyBacklashStep(toPosition, lastDirection, "OUTWARD");
// stepper1.moveTo(toPosition);
lastDirection = "OUTWARD";
}
Serial.println("#");
stepper1.run();
if (toPosition == stepper1.currentPosition()) {
// the stepper is not really moving here so just report the posiiton
reportPosition(stepper1.currentPosition());
}
}
else {
if (stepper1.distanceToGo() != 0) {
// let the stepper finish the movement
stepper1.run();
positionReported = false;
}
if (stepper1.distanceToGo() == 0 && !positionReported) {
reportPosition(stepper1.currentPosition());
delay(500);
positionReported = true;
}
}
}
void moveStepper2(int variableResistorValue){
if (ccwVal == LOW || cwVal == LOW) {
Serial.print("MOVING STEPPER2:");
if (ccwVal == LOW) {
toPosition = stepper2.currentPosition() - variableResistorValue / 10;
Serial.print(toPosition);
applyBacklashStep(toPosition, lastDirection, "INWARD");
lastDirection = "INWARD";
}
if (cwVal == LOW) {
toPosition = stepper2.currentPosition() + variableResistorValue / 10;
Serial.print(toPosition);
applyBacklashStep(toPosition, lastDirection, "OUTWARD");
lastDirection = "OUTWARD";
}
Serial.println("#");
stepper2.run();
if (toPosition == stepper2.currentPosition()) {
reportPosition(stepper2.currentPosition());
}
}
else {
if (stepper2.distanceToGo() != 0) {
stepper2.run();
positionReported = false;
}
if (stepper2.distanceToGo() == 0 && !positionReported) {
reportPosition(stepper2.currentPosition());
delay(500);
positionReported = true;
}
}
}
void reportPosition(int currentPosition) {
Serial.print("POSITION:");
Serial.print(currentPosition);
Serial.println("#");
}
// test if direction is the same, otherwise apply backlash step
// this method is only applicable for manual focusing changes
void applyBacklashStep(int toPosition, String lastDirection, String currentDirection){
if (lastDirection == currentDirection){
// no backlash
if (currentStepper == 0){
stepper1.moveTo(toPosition);
}
else if (currentStepper == 1){
stepper2.moveTo(toPosition);
}
}
else {
// apply backlash
if (currentStepper == 0){
stepper1.moveTo(toPosition + backlashStep);
stepper1.setCurrentPosition(toPosition - backlashStep);
}
else if (currentStepper == 1){
stepper2.moveTo(toPosition + backlashStep);
stepper2.setCurrentPosition(toPosition - backlashStep);
}
}
}
/**
* process the command we recieved from the client
* command format is <Letter><Space><Integer>
* i.e. A 500 ---- Fast Rewind with 500 steps
*/
void serialCommand(String commandString) {
char _command = commandString.charAt(0);
int _step = commandString.substring(2).toInt();
String _answer = "";
// current position of the current stepper
int _currentPosition = currentStepper == 0 ? stepper1.currentPosition() : stepper2.currentPosition();
int _newPosition = _currentPosition;
int _backlashStep;
switch (_command) {
case 'A': // FAST REVERSE "<<"
case 'a': _newPosition = _currentPosition - ( _step * 2 );
currentDirection = "INWARD";
break;
case 'B': // REVERSE "<"
case 'b': _newPosition = _currentPosition - _step;
currentDirection = "INWARD";
break;
case 'C': // FORWARD ">"
case 'c': _newPosition = _currentPosition + _step;
currentDirection = "OUTWARD";
break;
case 'D': // FAST FORWARD ">>"
case 'd': _newPosition = _currentPosition + ( _step * 2 );
currentDirection = "OUTWARD";
break;
case 'E': // MOVE TO POSITION
case 'e': _newPosition = _step;
break;
case 'F': // GET CURRENT POSITION
case 'f': _answer += _currentPosition;
break;
case 'G': // SET POSITION TO 0
case 'g': _newPosition = 0;
_currentPosition = 0;
if (currentStepper == 0) stepper1.setCurrentPosition(0);
if (currentStepper == 1) stepper2.setCurrentPosition(0);
break;
case 'H': // SET ACCELERATION
case 'h': _newPosition = _currentPosition; // non move command
if (currentStepper == 0) stepper1.setAcceleration(_step);
if (currentStepper == 1) stepper2.setAcceleration(_step);
_answer += "SET-ACCELERATION:";
_answer += _step;
break;
case 'I': // SET SPEED
_newPosition = _currentPosition; // non move command
if (currentStepper == 0) stepper1.setSpeed(_step);
if (currentStepper == 1) stepper2.setSpeed(_step);
_answer += "SET-SPEED:";
_answer += _step;
break;
case 'i': // GET SPEED
_newPosition = _currentPosition; // non move command
_answer += "GET-SPEED:";
if (currentStepper == 0) _answer += stepper1.speed();
if (currentStepper == 1) _answer += stepper2.speed();
break;
case 'J': // SET MAX SPEED
case 'j': _newPosition = _currentPosition; // non move command
if (currentStepper == 0) stepper1.setMaxSpeed(_step);
if (currentStepper == 1) stepper2.setMaxSpeed(_step);
_answer += "SET-MAXSPEED:";
_answer += _step;
break;
case 'k': // GET TEMPERATURE / HUMIDITY
_newPosition = _currentPosition; // non move command
humidityTemperatureReport();
break;
case 'L' :
case 'l' :
backlashStep = _step;
_answer += "SET-BACKLASHSTEP:";
_answer += _step;
break;
case 'M' :
case 'm' :
currentStepper = _step;
_answer += "SETTING MOTOR:";
_answer += _step;
break;
case 'n' :
case 'N' :
_answer += "GETTING MOTOR:";
_answer += currentStepper;
break;
case 'X': // GET STATUS - may not be needed
case 'x':
// REGARDLESS OF WHICH ONE, DO A STOP
stepper1.stop();
stepper2.stop();
break;
case 'Z': // IDENTIFY
case 'z': _answer += "EQFOCUSER_STEPPER2";
break;
default:
_answer += "EQFOCUSER_STEPPER2";
break;
}
if (_newPosition != _currentPosition) {
if (lastDirection != "NONE"){
if (currentStepper == 0) {
if (stepper1.currentPosition() < _newPosition){
// moving forward
currentDirection == "OUTWARD";
}
if (stepper1.currentPosition() > _newPosition){
// moving backward
currentDirection == "INWARD";
}
}
if (currentStepper == 1){
if (stepper2.currentPosition() < _newPosition){
// moving forward
currentDirection == "OUTWARD";
}
if (stepper2.currentPosition() > _newPosition){
// moving backward
currentDirection == "INWARD";
}
}
Serial.print(lastDirection);
Serial.print("===");
Serial.println(currentDirection);
if (lastDirection != currentDirection){
if (currentDirection == "OUTWARD") _newPosition = _newPosition + backlashStep;
if (currentDirection == "INWARD") _newPosition = _newPosition - backlashStep;
}
else {
_backlashStep = 0;
}
}
// a move command was issued
Serial.print("MOVING:");
Serial.print(_newPosition);
Serial.println("#");
// stepper1.runToNewPosition(_newPosition); // this will block the execution
if (currentStepper == 0) {
stepper1.moveTo(_newPosition);
stepper1.runSpeedToPosition();
}
if (currentStepper == 1) {
stepper2.moveTo(_newPosition);
stepper2.runSpeedToPosition();
}
lastDirection = currentDirection;
_answer += "POSITION:";
if (currentStepper == 0) _answer += stepper1.currentPosition();
if (currentStepper == 1) _answer += stepper2.currentPosition();
}
Serial.print(_answer);
Serial.println("#");
}
/**
* handler for the serial communicationes
* calls the SerialCommand whenever a new command is received
*/
void serialEvent() {
while (Serial.available()) {
char inChar = (char)Serial.read();
inputString += inChar;
if (inChar == '\n') {
serialCommand(inputString);
inputString = "";
}
}
}
/**
* for DHT routine
*/
void humidityTemperatureReport() {
chkSensor = DHT.read11(DHT11_PIN);
switch (chkSensor) {
case DHTLIB_OK:
Serial.print("TEMPERATURE:");
Serial.print(DHT.temperature, 1);
Serial.println("#");
delay(50);
Serial.print("HUMIDITY:");
Serial.print(DHT.humidity, 1);
Serial.println("#");
delay(50);
break;
case DHTLIB_ERROR_CHECKSUM:
Serial.print("TEMPERATURE:");
Serial.print("CHECKSUMERROR");
Serial.println("#");
Serial.print("HUMIDITY:");
Serial.print("CHECKSUMERROR");
Serial.println("#");
break;
case DHTLIB_ERROR_TIMEOUT:
Serial.print("TEMPERATURE:");
Serial.print("TIMEOUTERROR");
Serial.println("#");
Serial.print("HUMIDITY:");
Serial.print("TIMEOUTERROR");
Serial.println("#");
break;
default:
Serial.print("TEMPERATURE:");
Serial.print("UNKNOWNERROR");
Serial.println("#");
Serial.print("HUMIDITY:");
Serial.print("UNKNOWNERROR");
Serial.println("#");
break;
}
}