Code:#include <AccelStepper.h> //accelstepper library
const byte limitSwitch_1 = 2; //pin for the microswitch using attachInterrupt()
const byte limitSwitch_2 = 3; //pin for the microswitch using attachInterrupt()
bool switchFlipped = false; //stores the status for flipping
bool previousFlip = true; //stores the previous state for flipping - needed for the direction change
// direction Digital 4 (CCW), pulses Digital 5 (CLK)
AccelStepper stepper(1, 5, 4);
void setup()
{
//Limit Switches
pinMode(limitSwitch_1, INPUT_PULLUP); // internal pullup resistor (debouncing)
pinMode(limitSwitch_2, INPUT_PULLUP); // internal pullup resistor (debouncing)
attachInterrupt(digitalPinToInterrupt(limitSwitch_1), FlipDirection, FALLING); //do not change it to 'CHANGE'
attachInterrupt(digitalPinToInterrupt(limitSwitch_2), FlipDirection, FALLING);
//---------------------------------------------------------------------------
//Serial Communication
Serial.begin(9600); //defining some baud rate
Serial.println("Testing Accelstepper"); //print a message
//---------------------------------------------------------------------------
//Stepper parameters
//setting up some default values for maximum speed and maximum acceleration
stepper.setMaxSpeed(5000); //SPEED = Steps / second
stepper.setAcceleration(10000); //ACCELERATION = Steps /(second)^2
stepper.setSpeed(5000);
delay(500);
//---------------------------------------------------------------------------
}
void loop()
{
stepper.runSpeed(); //step the motor (this will step the motor by 1 step at each loop indefinitely)
flipCheck(); //checking the flip in each loop
}
void flipCheck()
{
if(switchFlipped == true)
{
Serial.println(previousFlip); //This was just a control flag for debugging
if(previousFlip == true) //If the previous flip is 1, we have positive direction
{
delay(5000);
stepper.setSpeed(5000);
}
if(previousFlip == false) //If the previous flip is 0, we have negative direction
{
delay(2000);
stepper.setSpeed(-5000);
}
switchFlipped = false;
//We have to reset this, so in the next iteration of the loop, the code will not enter this part, only when there was a click again
}
}
void FlipDirection()
{
switchFlipped = true; //we change the status to true, so the code will enter the flipCheck() function
previousFlip = !previousFlip; //change the state to different from the previous - this controls the direction
}
Ja sam samo dodao delay da na krajevima stane odredjeno vreme, takodje njegovi limit prekidaci su bukvalno na krajevima same ose pa verovatno nije ni mogao da vidi kako se ponasa. MOja osovina je skoro 40cm dugacka a limiti su tako stavljeni da je prvi stavljen na sredinu a drugi na kraj.
Kod mene je hall senzor umesto mehanickih prekidaca, ne znam koliko je potrebna funkcija debounce
Za ubrzavanje usporavanje cu koristiti sp.stepper biblioteku svakako, ovo sam hteo da probam jer sam imao ovaj primer snimljen od pre neku nedelju, a nisam bio siguran da znam odmah da koristim ovo ste ste mi dali ti i Bogdan.
