Am trying to write Arduino code to control few stepper motors from my c++ app through serial communication. the code i wrote seems to be ok but it gives strange type of output when i send serial command from my c++ app or Arduino IDE serial monitor.
code
#include <AccelStepper.h>
// BaudRate
#define BAUD 9600
#define NO_OF_STEPPERS 3 // total # of stepper motors + 1 , as our motor count star from 1 not from 0 ,
struct steppers_struct {
int stepper_id = 0; // stepper no
bool status = false; // status bool
int steps_2_move = 0; // steps the motor needs to move.
};
steppers_struct steppers_rack[NO_OF_STEPPERS]; // init structure
// Step and Dir pins Array
int step_pin_m[NO_OF_STEPPERS];
int dir_pin_m[NO_OF_STEPPERS];
int enable_pin_m[NO_OF_STEPPERS];
// AcceStepper Stepper Array
AccelStepper stepper_m[NO_OF_STEPPERS];
// Driver A4988
#define motorInterfaceType 1
// Buffer
char buf[80];
// Readline funtion load buffer
int readline(int readch, char *buffer, int len) {
static int pos = 0;
int rpos;
if (readch > 0) {
switch (readch) {
case '\r': // Ignore CR
break;
case '\n': // Return on new-line
rpos = pos;
pos = 0; // Reset position index ready for next time
return rpos;
default:
if (pos < len-1) {
buffer[pos++] = readch;
buffer[pos] = 0;
}
}
}
return 0;
}
// Setup
void setup() {
Serial.begin(BAUD); // init serial
// stepper dir and step pins.
step_pin_m[1] = 2;
dir_pin_m[1] = 5;
enable_pin_m[1] = 8; // on CNC shield v3 its pin 8
step_pin_m[2] = 3;
dir_pin_m[2] = 6;
enable_pin_m[2] = 8; // on CNC shield v3 its pin 8
for(int i=1; i<=NO_OF_STEPPERS; i++)
{
stepper_m[i] = AccelStepper(motorInterfaceType, step_pin_m[i], dir_pin_m[i]);
stepper_m[i].setMaxSpeed(1000);
stepper_m[i].setSpeed(1000);
pinMode(enable_pin_m[i], OUTPUT); // Enable Motors
Serial.print("AccelStepper initalized..");Serial.print("\n");
}
// Some LED
// pinMode(53, OUTPUT); // Red LED it D53
// pinMode(52, OUTPUT); // Green LED it D52
}
void loop() {
// Serial Read Start
if (readline(Serial.read(), buf, 80) > 0) {
// command format 1:100;2:200;3:300
// Read each command pair
char* command = strtok(buf, ";");
while (command != 0)
{
// Split the command in two values
char* separator = strchr(command, ':');
if (separator != 0)
{
// Actually split the string in 2: replace ':' with 0
*separator = 0;
int stepperId = atoi(command);
++separator;
int stepperSteps = atoi(separator);
// Steppers id stars from 1
if(stepperId != 0){
steppers_rack[stepperId].stepper_id = stepperId;
steppers_rack[stepperId].steps_2_move = stepperSteps;
if(stepperSteps != 0){
steppers_rack[stepperId].status = true;
}else{
steppers_rack[stepperId].status = false;
}
// Serial.print(" stepper id: "); Serial.print(steppers_rack[stepperId].stepper_id); Serial.print(" stepper steps: "); Serial.print(steppers_rack[stepperId].steps_2_move); Serial.print("\n"); // output OK.
}
} // if end
// Find the next command in input string
command = strtok(0, ";");
} // while end
} // Serial Read End
// Problems start here when i try to use or change stepper structure data.
// Loop on Stepper_Struct
for(int i=1; i<=NO_OF_STEPPERS; i++)
{
if(steppers_rack[i].steps_2_move != 0 && steppers_rack[i].status == true){
Serial.print(" stepper id : "); Serial.print(steppers_rack[i].stepper_id); Serial.print(" Steps to move : "); Serial.print(steppers_rack[i].steps_2_move); Serial.print(" status : "); Serial.print(steppers_rack[i].status); Serial.print("\n"); // Output not OK
delay(500);
// Lets move stepper motor one step it time so that all motors looks moving it same time , sync
stepper_m[i].move(1); // this states to move one step ahead
stepper_m[i].runToPosition();
steppers_rack[i].steps_2_move -- ; // deducted one step from the total step motors is told to take
if(steppers_rack[i].steps_2_move == 0){
steppers_rack[i].status = false;
}
} // if end
} // for end
} // loop end
so here are few known issues am experiencing with it
1) first when i send command (1:3;2:3) from Arduino Serial Monitor then it not display any output , i have to send it two times then i see output in serial Monitor.
2) another main issue is strange output i get when i sent command : 1:3;2:3 ( mean stepper 1 move 3 steps and stepper 2 also move 3 steps )
stepper id : 14897 Steps to move : 14848 status : 51
stepper id : 14897 Steps to move : 59 status : 51
stepper id : 14897 Steps to move : 12858 status : 51
stepper id : 14897 Steps to move : 12857 status : 51
stepper id : 14897 Steps to move : 12856 status : 51
stepper id : 1 Steps to move : 372 status : 1
stepper id : 49 Steps to move : 12855 status : 51
stepper id : 1 Steps to move : 371 status : 1
stepper id : 49 Steps to move : 12854 status : 51
so am not sure from where these big numbers 14897 , 51 , 49 etc are coming ?
so any idea what am doing wrong and to make the code working so that i can sync multiple stepper motors.
- sorry i had to add all code in case someone try to run and debug it
