From 492f21fda860de017f5bdc1558637321a5c94786 Mon Sep 17 00:00:00 2001
From: Alfonso Parra Rubio <alfonso.parra@cba.mit.edu>
Date: Sat, 15 Jun 2024 20:40:47 -0700
Subject: [PATCH] stable code motors running
---
.DS_Store | Bin 0 -> 6148 bytes
code/.DS_Store | Bin 0 -> 6148 bytes
code/motors_accel/motors_accel.ino | 66 +++++++++++++++++++++++++++++
3 files changed, 66 insertions(+)
create mode 100644 .DS_Store
create mode 100644 code/.DS_Store
create mode 100755 code/motors_accel/motors_accel.ino
diff --git a/.DS_Store b/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..339bbf1aac038f05bcf007f101fd2bc9fda20ef3
GIT binary patch
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literal 0
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diff --git a/code/.DS_Store b/code/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..2666bd64da3b01adf6a00b1eb823ddf7947c92b2
GIT binary patch
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diff --git a/code/motors_accel/motors_accel.ino b/code/motors_accel/motors_accel.ino
new file mode 100755
index 0000000..58482ec
--- /dev/null
+++ b/code/motors_accel/motors_accel.ino
@@ -0,0 +1,66 @@
+
+// Include the AccelStepper Library
+#include <AccelStepper.h>
+
+// Define pin connections
+const int guillotinedirPin = 1;
+const int guillotinestepPin = 2;
+const int feederdirPin = 14;
+const int feederstepPin = 15;
+// Define motor interface type
+#define motorInterfaceType 1
+
+
+ // outside leads to ground and +5V
+int val = 0; // variable to store the value read
+int analogPin = 26; // potentiometer wiper (middle terminal) connected to analog pin 3
+ // outside leads to ground and +5V
+
+// Creates an instance
+AccelStepper guillotine(motorInterfaceType, guillotinestepPin, guillotinedirPin);
+AccelStepper feeder(motorInterfaceType, feederstepPin, feederdirPin);
+
+void setup() {
+ // set the maximum speed, acceleration factor,
+ // guillotine initial speed and target position
+ guillotine.setMaxSpeed(10000);
+ guillotine.setAcceleration(5500);
+ guillotine.setSpeed(9000);
+ guillotine.moveTo(200*16*5);
+ //feeder params
+ feeder.setMaxSpeed(10000);
+ feeder.setAcceleration(5500);
+ feeder.setSpeed(9000);
+ feeder.moveTo(200*16*0.5);
+ // microstepping the guillotine and the feeder? can they share a bus? we will see
+ pinMode(3, OUTPUT);
+ pinMode(4, OUTPUT);
+ pinMode(5, OUTPUT);
+ //microstepping the feeder
+
+}
+
+void loop() {
+ val = analogRead(analogPin);
+ val = map(val, 0, 1023, 1, 10);
+ guillotine.setSpeed(val*1000);
+ Serial.println(val); // debug value
+ // Change direction once the motor reaches target position
+ digitalWrite(3, HIGH);
+ digitalWrite(4, HIGH);
+ digitalWrite(5, HIGH);
+
+
+
+ if (feeder.distanceToGo() == 0)
+ feeder.moveTo(-feeder.currentPosition());
+
+ // Move the motor one step
+ guillotine.run();
+ feeder.run();
+
+
+}
+
+
+
--
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