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测试完整版本

master
18650180552 2020-07-29 23:37:07 +08:00
parent 737b3ce532
commit 4182e4fba7
1 changed files with 75 additions and 30 deletions
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103
steper/arduino/MultiStepperTest/MultiStepperTest.ino
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@ -19,15 +19,15 @@
#define Z_MAX_PIN 19
// Joint 3
#define Y_STEP_PIN 40
#define Y_DIR_PIN 42
#define Y_STEP_PIN 48
#define Y_DIR_PIN 46
#define Y_ENABLE_PIN 56
#define Y_MIN_PIN 14
#define Y_MAX_PIN 15
// Joint 4
#define X_STEP_PIN 54
#define X_DIR_PIN 55
#define X_STEP_PIN 40
#define X_DIR_PIN 42
#define X_ENABLE_PIN 38
// Joint 5
@ -51,14 +51,14 @@ MultiStepper steppers;
unsigned int x = 1000;
void setup() {
Serial.begin(250000);
Serial.begin(115200);
// Configure each stepper
joint1.setMaxSpeed(1500);
joint2.setMaxSpeed(750);
joint3.setMaxSpeed(2000);
joint4.setMaxSpeed(500);
joint5.setMaxSpeed(1000);
joint1.setMaxSpeed(100);
joint2.setMaxSpeed(200);
joint3.setMaxSpeed(500);
joint4.setMaxSpeed(300);
joint5.setMaxSpeed(80);
// Then give them to MultiStepper to manage
steppers.addStepper(joint1);
@ -66,28 +66,73 @@ void setup() {
steppers.addStepper(joint3);
steppers.addStepper(joint4);
steppers.addStepper(joint5);
pinMode(22, OUTPUT);
pinMode(26, OUTPUT);
pinMode(24, INPUT);
digitalWrite(22,0);
digitalWrite(26,0);
}
/// link1 -960*4
/// link2 -2230*4
/// link3 -2780*4
/// link4 790*4
/// link5 220*4
void loop() {
long positions[5]; // Array of desired stepper positions
if(digitalRead(24) == 1){
Serial.print("enter test mode");
Serial.println();
// Back of the envelope calculation for microsteps/revolution, where positions[i] is the number of steps (or microsteps).
positions[0] = 0; //4100 microsteps is 1/8 revolutions ----> 32800 microsteps/rev
positions[1] = 0; //2000 is 40/360 revolutions ---> 18000 microsteps/rev
positions[2] = 0; //4000 is 20/360 revolutions ---> 72000 microsteps/rev
positions[3] = 0; //820 is 1/4 revolution (200steps/revolution * 16microsteps/step (since microstepping) ~= 32800 microsteps/rev)
positions[4] = 0; //2000 is 50/360 revolution ---> 14400
long positions[5]; // Array of desired stepper positions
steppers.moveTo(positions);
steppers.runSpeedToPosition(); // Blocks until all are in position
delay(2000);
// Move to a different coordinate
positions[0] = 0;
positions[1] = 3000;
positions[2] = 0;
positions[3] = 0;
positions[4] = 0;
steppers.moveTo(positions);
steppers.runSpeedToPosition(); // Blocks until all are in position
delay(2000);
// Back of the envelope calculation for microsteps/revolution, where positions[i] is the number of steps (or microsteps).
positions[0] = 0; //4100 microsteps is 1/8 revolutions ----> 32800 microsteps/rev
positions[1] = 0; //2000 is 40/360 revolutions ---> 18000 microsteps/rev
positions[2] = 0; //4000 is 20/360 revolutions ---> 72000 microsteps/rev
positions[3] = 0; //820 is 1/4 revolution (200steps/revolution * 16microsteps/step (since microstepping) ~= 32800 microsteps/rev)
positions[4] = 0; //2000 is 50/360 revolution ---> 14400
Serial.print("move to ");
Serial.println();
Serial.print(positions[0]);
Serial.println();
Serial.print(positions[1]);
Serial.println();
Serial.print(positions[2]);
Serial.println();
Serial.print(positions[3]);
Serial.println();
Serial.print(positions[0]);
Serial.println();
steppers.moveTo(positions);
steppers.runSpeedToPosition(); // Blocks until all are in position
delay(1000);
// Move to a different coordinate
positions[0] = 0;
positions[1] = 0;
positions[2] = 0;
positions[3] = 0;
positions[4] = 220;
steppers.moveTo(positions);
steppers.runSpeedToPosition(); // Blocks until all are in position
delay(1000);
Serial.print("move to ");
Serial.println();
Serial.print(positions[0]);
Serial.println();
Serial.print(positions[1]);
Serial.println();
Serial.print(positions[2]);
Serial.println();
Serial.print(positions[3]);
Serial.println();
Serial.print(positions[0]);
Serial.println();
}
}