#include "./controller/stepper/Stepper.h" stepperConfiguration_s spoolConfig = {.stepperId = "spool", .maxCurrent = 700, .microstepsPerStep = 32, .stepsPerRotation = 200, .mmPerRotation = 2800, .gearRatio = 5.18, .stall = 8, .pins = { .en = 12, .dir = 16, .step = 26, .cs = 5, }}; stepperConfiguration_s ferrariConfig = {.stepperId = "ferrari", .maxCurrent = 700, .microstepsPerStep = 32, .stepsPerRotation = 200, .mmPerRotation = 8, .gearRatio = 1, .stall = 5, // 5 = new ferrari-motor, 10 (or 9) = old ferrari-motor .pins = { .en = 12, .dir = 14, .step = 17, .cs = 13, }}; stepperConfiguration_s pullerConfig = {.stepperId = "puller", .maxCurrent = 700, .microstepsPerStep = 32, .stepsPerRotation = 200, .mmPerRotation = 10, .gearRatio = 1, .stall = 8, .pins = { .en = 12, .dir = 27, .step = 25, .cs = 2, }}; FastAccelStepperEngine engine = FastAccelStepperEngine(); Stepper spool = Stepper(spoolConfig, &engine); Stepper ferrari = Stepper(ferrariConfig, &engine); Stepper puller = Stepper(pullerConfig, &engine); uint16_t TEMP_SPEED_RPM = 5; void setup() { SPI.begin(); Serial.begin(115200); Serial.println("\n-----------------"); // Initalisation engine.init(); spool.init(); puller.init(); ferrari.init(); McValidatorEsp32 testValidator; uint8_t pins[] = {1, 2, 3, 4, 5, 6, 7, 8, 9, 10}; uint16_t pinLen = 10; Serial.printf("digiPinTest: %d\n", testValidator.isDigitalPin(pins, pinLen)); // Set starting commands // ferrari.movePosition(80, 80); } void loop() { // Handle commands sent by user via terminal if (Serial.available() > 0) { uint8_t newCommand = Serial.read(); switch (newCommand) { // Basic commands case 'c': spool.moveRotate(3); spool.handle(); for (int i = 0; i < 5; ++i) { delay(1000); Serial.print("."); } Serial.print("\n"); for (int i = 3; i <= 100; ++i) { spool.adjustMoveSpeed(i); spool.handle(); delay(2000); Serial.printf("rpm;%d;", i); for (int k = 0; k < 50; ++k) { delay(100); Serial.printf("%d%c", spool.getCurrentStall(), (k == 49 ? '\n' : ';')); } } spool.switchModeOff(); break; case 'h': // Home Serial.println("[CMD]: home()"); // ferrari.moveHome(70); ferrari.movePosition(120, 135); break; case 'H': // Home Serial.println("[CMD]: home()"); ferrari.moveOscillate(2, 63, 108); break; case 'p': // Position Serial.println("[CMD]: movePosition()"); ferrari.movePosition(80, 80); break; case '.': spool.moveRotateWithLoadAdjust(TEMP_SPEED_RPM, 0); break; case '+': Serial.printf("\nSpeed+: %d\t", TEMP_SPEED_RPM); TEMP_SPEED_RPM += 1; spool.adjustMoveSpeed(TEMP_SPEED_RPM); break; case '-': TEMP_SPEED_RPM -= 1; Serial.printf("\nSpeed-: %d\t", TEMP_SPEED_RPM); spool.adjustMoveSpeed(TEMP_SPEED_RPM); break; case '1': // Oscillate Serial.println("[CMD]: 111111111111111111111()"); puller.moveRotate(-20); spool.moveRotateWithLoadAdjust(-5, 5); // ferrari.moveOscillate(30, 80, 130); break; case '2': // Oscillate Serial.println("[CMD]: 222222222222222222222222()"); puller.moveRotate(-30); spool.moveRotateWithLoadAdjust(-7.5, 5); // ferrari.moveOscillate(30, 80, 130); break; case '3': // Oscillate Serial.println("[CMD]: 333333333333333333333333333333333()"); puller.moveRotate(-40); spool.moveRotateWithLoadAdjust(-10, 5); // ferrari.moveOscillate(30, 80, 130); break; case '4': // Oscillate Serial.println("[CMD]: 44444444444444444444444444444444()"); puller.moveRotate(-50); spool.moveRotateWithLoadAdjust(-12.5, 5); // ferrari.moveOscillate(30, 80, 130); break; case '5': Serial.println("[CMD]: 555555555555555555()"); puller.moveRotate(-60); spool.moveRotateWithLoadAdjust(-15, 5); break; case '6': Serial.println("[CMD]: 666666666666()"); puller.moveRotate(-80); spool.moveRotateWithLoadAdjust(-20, 5); break; case '7': Serial.println("[CMD]: 777777777777777()"); puller.moveRotate(-100); spool.moveRotateWithLoadAdjust(-25, 5); break; case '8': Serial.println("[CMD]: 88888888888888888()"); puller.moveRotate(-120); spool.moveRotateWithLoadAdjust(-30, 5); break; case '9': Serial.println("[CMD]: 999999999999999999()"); puller.moveRotate(-140); spool.moveRotateWithLoadAdjust(-35, 5); break; case '0': Serial.println("[CMD]: 000000000000000000000()"); puller.moveRotate(-160); spool.moveRotateWithLoadAdjust(-40, 5); break; case 'q': ferrari.movePosition(70, 80); break; case 'b': ferrari.movePosition(70, 100); break; case 'v': ferrari.adjustMoveSpeed(30); break; case 'V': ferrari.adjustMoveSpeed(-30); break; case 'u': // Unwind Serial.println("[CMD]: moveRotate()"); spool.switchModeOff(); puller.moveRotate(40); break; case 'R': // Rotate Serial.println("[CMD]: moveRotate()"); ferrari.moveRotate(-40); break; case 'a': // Adjust Serial.println("[CMD]: moveRotateWithLoadAdjust()"); ferrari.moveRotateWithLoadAdjust(40, 5); break; case 'x': // mode off Serial.println("[CMD]: switchModeStandby()"); spool.switchModeStandby(); ferrari.switchModeStandby(); puller.switchModeStandby(); break; case 'X': // mode standby Serial.println("[CMD]: switchModeOff()"); spool.switchModeOff(); ferrari.switchModeOff(); puller.switchModeOff(); break; case 'l': // print out long debugging message Serial.println("[CMD]: enable debugging, printStatusLong()"); ferrari.printStatus(true); break; case 'd': // enable debugging Serial.println("[CMD]: enable debugging"); // ferrari.setDebuggingLevel(INFO); break; case 'D': // disable debugging Serial.println("[CMD]: disable debugging"); // ferrari.setDebuggingLevel(NONE); break; // Debug-related 'programs', adjust as needed default: Serial.println("[CMD] Unknown command - input ignored"); }; } // Let the stepper do its thing for a second for (int i = 0; i < 10; ++i) { for (int k = 0; k < 10; ++k) { spool.handle(); ferrari.handle(); puller.handle(); delay(10); // TODO: Delay only to prevent a debug-message-flood } // spool.printStatus(false); // ferrari.printStatus(false); // puller.printStatus(false); } // spool.printStatus(true); // ferrari.printStatus(true); // puller.printStatus(true); }