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| # FlexyStepper - Arduino Library | ||
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| This library is used to control one or more stepper motors. The motors are accelerated and decelerated as they travel to their destination. The library has been optimized for flexible control where speeds and positions can be changed while in-motion. | ||
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| Note: FlexyStepper's companion library that supports faster step rates can be found here: | ||
| https://github.com/Stan-Reifel/SpeedyStepper | ||
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| ## Documentation: | ||
| For documentation and a hookup guide, go to: | ||
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| https://github.com/Stan-Reifel/FlexyStepper | ||
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| ## License: | ||
| Copyright (c) 2018 S. Reifel & Co. - Licensed under the MIT license. |
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examples/Example10_CNC_V3_Shield/Example10_CNC_V3_Shield.ino
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| // ****************************************************************** | ||
| // * * | ||
| // * An example for using the "CNC V3 Shield" board * | ||
| // * * | ||
| // * S. Reifel & Co. 6/24/2018 * | ||
| // * * | ||
| // ****************************************************************** | ||
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| // Available on Amazon at very low cost is a stepper driver board shield for | ||
| // the Arduino Uno. It is called the "CNC V3 Shield". It supports up to | ||
| // 4 steppers. This example shows how to use it. | ||
| // | ||
| // | ||
| // Documentation at: | ||
| // https://github.com/Stan-Reifel/FlexyStepper | ||
| // | ||
| // | ||
| // Note: FlexyStepper's companion library that supports faster step rates can | ||
| // be found here: | ||
| // https://github.com/Stan-Reifel/SpeedyStepper | ||
| // | ||
| // | ||
| // For all driver boards, it is VERY important that you set the motor | ||
| // current before running the example. This is typically done by adjusting | ||
| // a potentiometer on the board. Read the driver board's documentation to | ||
| // learn how. | ||
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| // *********************************************************************** | ||
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| #include <FlexyStepper.h> | ||
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| // | ||
| // pin assignments | ||
| // | ||
| const int LED_PIN = 13; | ||
| const int MOTOR_X_STEP_PIN = 2; | ||
| const int MOTOR_Y_STEP_PIN = 3; | ||
| const int MOTOR_Z_STEP_PIN = 4; | ||
| const int MOTOR_X_DIR_PIN = 5; | ||
| const int MOTOR_Y_DIR_PIN = 6; | ||
| const int MOTOR_Z_DIR_PIN = 7; | ||
| const int STEPPERS_ENABLE_PIN = 8; | ||
| const int LIMIT_SWITCH_X_PIN = 9; | ||
| const int LIMIT_SWITCH_Y_PIN = 10; | ||
| const int LIMIT_SWITCH_Z_PIN = 11; | ||
| const int SPINDLE_ENABLE_PIN = 12; | ||
| const int SPINDLE_DIRECTION_PIN = 13; | ||
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| // | ||
| // create the stepper motor objects | ||
| // | ||
| FlexyStepper stepperX; | ||
| FlexyStepper stepperY; | ||
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| void setup() | ||
| { | ||
| // | ||
| // setup the LED pin and enable print statements | ||
| // | ||
| pinMode(LED_PIN, OUTPUT); | ||
| pinMode(STEPPERS_ENABLE_PIN, OUTPUT); // be sure to do this | ||
| Serial.begin(9600); | ||
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| // | ||
| // connect and configure the stepper motor to there IO pins | ||
| // | ||
| stepperX.connectToPins(MOTOR_X_STEP_PIN, MOTOR_X_DIR_PIN); | ||
| stepperY.connectToPins(MOTOR_Y_STEP_PIN, MOTOR_Y_DIR_PIN); | ||
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| // | ||
| // enable the stepper motors | ||
| // | ||
| digitalWrite(STEPPERS_ENABLE_PIN, LOW); // be sure to do this | ||
| } | ||
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| void loop() | ||
| { | ||
| // | ||
| // Note 1: It is assumed that you are using a stepper motor with a | ||
| // 1.8 degree step angle (which is 200 steps/revolution). This is the | ||
| // most common type of stepper. | ||
| // | ||
| // Note 2: It is also assumed that your stepper driver board is | ||
| // configured for 1x microstepping. | ||
| // | ||
| // It is OK if these assumptions are not correct, your motor will just | ||
| // turn less than a full rotation when commanded to. | ||
| // | ||
| // Note 3: This example uses "relative" motions. This means that each | ||
| // command will move the number of steps given, starting from it's | ||
| // current position. | ||
| // | ||
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| // | ||
| // first show how to run just one stepper motor | ||
| // | ||
| Serial.println("Running just the X stepper"); | ||
| runJustTheXStepper(); | ||
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| // | ||
| // now show how to run two stepper motors | ||
| // | ||
| Serial.println("Running the X & Y steppers"); | ||
| runBothXAndYSteppers(); | ||
| } | ||
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| void runJustTheXStepper() | ||
| { | ||
| // | ||
| // set the speed and acceleration rates for the stepper motor | ||
| // | ||
| stepperX.setSpeedInStepsPerSecond(100); | ||
| stepperX.setAccelerationInStepsPerSecondPerSecond(100); | ||
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| // | ||
| // Rotate the motor in the forward direction one revolution (200 steps). | ||
| // This function call will not return until the motion is complete. | ||
| // | ||
| stepperX.moveRelativeInSteps(200); | ||
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| // | ||
| // now that the rotation has finished, delay 1 second before starting | ||
| // the next move | ||
| // | ||
| delay(1000); | ||
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| // | ||
| // rotate backward 1 rotation, then wait 1 second | ||
| // | ||
| stepperX.moveRelativeInSteps(-200); | ||
| delay(1000); | ||
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| // | ||
| // This time speedup the motor, turning 10 revolutions. Note if you | ||
| // tell a stepper motor to go faster than it can, it just stops. | ||
| // | ||
| stepperX.setSpeedInStepsPerSecond(800); | ||
| stepperX.setAccelerationInStepsPerSecondPerSecond(800); | ||
| stepperX.moveRelativeInSteps(200 * 10); | ||
| delay(2000); | ||
| } | ||
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| void runBothXAndYSteppers() | ||
| { | ||
| // | ||
| // use the function below to move two motors with speed coordination | ||
| // so that both stop at the same time, even if one moves farther than | ||
| // the other | ||
| // | ||
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| // | ||
| // turn both motors 200 steps, but in opposite directions | ||
| // | ||
| long stepsX = -200 * 1; | ||
| long stepsY = 200 * 1; | ||
| float speedInStepsPerSecond = 100; | ||
| float accelerationInStepsPerSecondPerSecond = 100; | ||
| moveXYWithCoordination(stepsX, stepsY, speedInStepsPerSecond, accelerationInStepsPerSecondPerSecond); | ||
| delay(1000); | ||
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| // | ||
| // turn one motor 5 revolutions, the other motor just 1 | ||
| // | ||
| stepsX = -200 * 1; | ||
| stepsY = 200 * 5; | ||
| speedInStepsPerSecond = 500; | ||
| accelerationInStepsPerSecondPerSecond = 500; | ||
| moveXYWithCoordination(stepsX, stepsY, speedInStepsPerSecond, accelerationInStepsPerSecondPerSecond); | ||
| delay(3000); | ||
| } | ||
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| // | ||
| // move both X & Y motors together in a coordinated way, such that they each | ||
| // start and stop at the same time, even if one motor moves a greater distance | ||
| // | ||
| void moveXYWithCoordination(long stepsX, long stepsY, float speedInStepsPerSecond, float accelerationInStepsPerSecondPerSecond) | ||
| { | ||
| float speedInStepsPerSecond_X; | ||
| float accelerationInStepsPerSecondPerSecond_X; | ||
| float speedInStepsPerSecond_Y; | ||
| float accelerationInStepsPerSecondPerSecond_Y; | ||
| long absStepsX; | ||
| long absStepsY; | ||
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| // | ||
| // setup initial speed and acceleration values | ||
| // | ||
| speedInStepsPerSecond_X = speedInStepsPerSecond; | ||
| accelerationInStepsPerSecondPerSecond_X = accelerationInStepsPerSecondPerSecond; | ||
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| speedInStepsPerSecond_Y = speedInStepsPerSecond; | ||
| accelerationInStepsPerSecondPerSecond_Y = accelerationInStepsPerSecondPerSecond; | ||
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| // | ||
| // determine how many steps each motor is moving | ||
| // | ||
| if (stepsX >= 0) | ||
| absStepsX = stepsX; | ||
| else | ||
| absStepsX = -stepsX; | ||
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| if (stepsY >= 0) | ||
| absStepsY = stepsY; | ||
| else | ||
| absStepsY = -stepsY; | ||
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| // | ||
| // determine which motor is traveling the farthest, then slow down the | ||
| // speed rates for the motor moving the shortest distance | ||
| // | ||
| if ((absStepsX > absStepsY) && (stepsX != 0)) | ||
| { | ||
| // | ||
| // slow down the motor traveling less far | ||
| // | ||
| float scaler = (float) absStepsY / (float) absStepsX; | ||
| speedInStepsPerSecond_Y = speedInStepsPerSecond_Y * scaler; | ||
| accelerationInStepsPerSecondPerSecond_Y = accelerationInStepsPerSecondPerSecond_Y * scaler; | ||
| } | ||
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| if ((absStepsY > absStepsX) && (stepsY != 0)) | ||
| { | ||
| // | ||
| // slow down the motor traveling less far | ||
| // | ||
| float scaler = (float) absStepsX / (float) absStepsY; | ||
| speedInStepsPerSecond_X = speedInStepsPerSecond_X * scaler; | ||
| accelerationInStepsPerSecondPerSecond_X = accelerationInStepsPerSecondPerSecond_X * scaler; | ||
| } | ||
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| // | ||
| // setup the motion for the X motor | ||
| // | ||
| stepperX.setSpeedInStepsPerSecond(speedInStepsPerSecond_X); | ||
| stepperX.setAccelerationInStepsPerSecondPerSecond(accelerationInStepsPerSecondPerSecond_X); | ||
| stepperX.setTargetPositionRelativeInSteps(stepsX); | ||
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| // | ||
| // setup the motion for the Y motor | ||
| // | ||
| stepperY.setSpeedInStepsPerSecond(speedInStepsPerSecond_Y); | ||
| stepperY.setAccelerationInStepsPerSecondPerSecond(accelerationInStepsPerSecondPerSecond_Y); | ||
| stepperY.setTargetPositionRelativeInSteps(stepsY); | ||
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| // | ||
| // now execute the moves, looping until both motors have finished | ||
| // | ||
| while((!stepperX.motionComplete()) || (!stepperY.motionComplete())) | ||
| { | ||
| stepperX.processMovement(); | ||
| stepperY.processMovement(); | ||
| } | ||
| } | ||
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