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@@ -307,196 +307,196 @@ We removed everything down to the ultrasonic sensor readings and only then the m
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So the main MCU would do all the thinking and readings from the sensors and the arduino will now act as a stepper motor controller. This is the code currently for the arduino.
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??? Code
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```cpp
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/*
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This example shows how to take simple range measurements with the VL53L1X. The
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range readings are in units of mm.
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*/
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#include <AccelStepper.h>
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```cpp
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/*
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This example shows how to take simple range measurements with the VL53L1X. The
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range readings are in units of mm.
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*/
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#include <AccelStepper.h>
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//=============================================================================================//
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// Stepper motor pins
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//=============================================================================================//
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//=============================================================================================//
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// Stepper motor pins
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//=============================================================================================//
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#define MOTOR_X_ENABLE_PIN 8
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#define MOTOR_X_STEP_PIN 2
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#define MOTOR_X_DIR_PIN 5
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#define MOTOR_X_ENABLE_PIN 8
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#define MOTOR_X_STEP_PIN 2
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#define MOTOR_X_DIR_PIN 5
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#define MOTOR_Y_ENABLE_PIN 8
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#define MOTOR_Y_STEP_PIN 3
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#define MOTOR_Y_DIR_PIN 6
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#define MOTOR_Y_ENABLE_PIN 8
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#define MOTOR_Y_STEP_PIN 3
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#define MOTOR_Y_DIR_PIN 6
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#define MOTOR_Z_ENABLE_PIN 8
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#define MOTOR_Z_STEP_PIN 4
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#define MOTOR_Z_DIR_PIN 7
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#define MOTOR_Z_ENABLE_PIN 8
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#define MOTOR_Z_STEP_PIN 4
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#define MOTOR_Z_DIR_PIN 7
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#define MOTOR_A_ENABLE_PIN 8
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#define MOTOR_A_STEP_PIN 12
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#define MOTOR_A_DIR_PIN 13
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#define MOTOR_A_ENABLE_PIN 8
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#define MOTOR_A_STEP_PIN 12
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#define MOTOR_A_DIR_PIN 13
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//=============================================================================================//
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// Global object creations
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//=============================================================================================//
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//=============================================================================================//
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// Global object creations
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//=============================================================================================//
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AccelStepper motorX(1, MOTOR_X_STEP_PIN, MOTOR_X_DIR_PIN);
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AccelStepper motorY(1, MOTOR_Y_STEP_PIN, MOTOR_Y_DIR_PIN);
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AccelStepper motorZ(1, MOTOR_Z_STEP_PIN, MOTOR_Z_DIR_PIN);
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AccelStepper motorA(1, MOTOR_A_STEP_PIN, MOTOR_A_DIR_PIN);
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AccelStepper motorX(1, MOTOR_X_STEP_PIN, MOTOR_X_DIR_PIN);
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AccelStepper motorY(1, MOTOR_Y_STEP_PIN, MOTOR_Y_DIR_PIN);
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AccelStepper motorZ(1, MOTOR_Z_STEP_PIN, MOTOR_Z_DIR_PIN);
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AccelStepper motorA(1, MOTOR_A_STEP_PIN, MOTOR_A_DIR_PIN);
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//=============================================================================================//
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// Function declarations
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//=============================================================================================//
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//=============================================================================================//
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// Function declarations
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//=============================================================================================//
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void stepperSetup();
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void processCommand(String command);
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String receivedMessage = "";
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void stepperSetup();
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void processCommand(String command);
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String receivedMessage = "";
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void setup()
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{
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Serial.begin(115200);
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stepperSetup();
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}
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void loop()
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{
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// Process any available serial data
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while (Serial.available())
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void setup()
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{
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char incomingChar = Serial.read();
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Serial.begin(115200);
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stepperSetup();
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}
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if (incomingChar == '\n')
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void loop()
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{
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// Process any available serial data
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while (Serial.available())
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{
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char incomingChar = Serial.read();
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if (incomingChar == '\n')
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{
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processCommand(receivedMessage);
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Serial.println(receivedMessage);
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receivedMessage = "";
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}
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else
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{
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// Add the character to the message until the message is complete
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receivedMessage += incomingChar;
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}
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}
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// Run the motors (non-blocking)
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motorX.run();
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motorY.run();
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motorZ.run();
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motorA.run();
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}
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// Process incoming commands in format "motor#,speed"
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void processCommand(String command)
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{
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// Find the comma position
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int commaIndex = command.indexOf(',');
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// Make sure the command has a comma
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if (commaIndex < 0)
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{
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processCommand(receivedMessage);
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Serial.println(receivedMessage);
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receivedMessage = "";
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return;
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}
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else
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// Seperate the motor number and speed value
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int motorNum = command.substring(0, commaIndex).toInt();
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int motorSpeed = command.substring(commaIndex + 1).toInt();
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// number 1-4 for motors
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switch (motorNum)
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{
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// Add the character to the message until the message is complete
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receivedMessage += incomingChar;
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case 1:
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motorX.setSpeed(motorSpeed);
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if (motorSpeed == 0)
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{
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motorX.stop();
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}
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else
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{
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motorX.move(motorSpeed * 100); // just keep moving until told otherwise and the * 100 is so it rotates the correct direction
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motorX.setMaxSpeed(motorSpeed);
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}
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break;
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case 2:
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motorY.setSpeed(motorSpeed);
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if (motorSpeed == 0)
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{
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motorY.stop();
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}
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else
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{
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motorY.move(motorSpeed * 100);
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motorY.setMaxSpeed(motorSpeed);
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}
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break;
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case 3:
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motorZ.setSpeed(motorSpeed);
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if (motorSpeed == 0)
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{
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motorZ.stop();
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}
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else
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{
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motorZ.move(motorSpeed * 100);
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motorZ.setMaxSpeed(motorSpeed);
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}
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break;
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case 4:
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motorA.setSpeed(motorSpeed);
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if (motorSpeed == 0)
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{
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motorA.stop();
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}
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else
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{
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motorA.move(motorSpeed * 100);
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motorA.setMaxSpeed(motorSpeed);
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}
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break;
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default:
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break;
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}
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}
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// Run the motors (non-blocking)
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motorX.run();
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motorY.run();
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motorZ.run();
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motorA.run();
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}
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// Process incoming commands in format "motor#,speed"
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void processCommand(String command)
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{
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// Find the comma position
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int commaIndex = command.indexOf(',');
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// Make sure the command has a comma
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if (commaIndex < 0)
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void stepperSetup()
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{
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receivedMessage = "";
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return;
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pinMode(MOTOR_X_ENABLE_PIN, OUTPUT);
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pinMode(MOTOR_Y_ENABLE_PIN, OUTPUT);
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pinMode(MOTOR_Z_ENABLE_PIN, OUTPUT);
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pinMode(MOTOR_A_ENABLE_PIN, OUTPUT);
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motorX.setEnablePin(MOTOR_X_ENABLE_PIN);
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motorX.setPinsInverted(false, false, true);
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motorX.setAcceleration(800);
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motorX.setMaxSpeed(800);
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motorX.setSpeed(800);
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motorX.enableOutputs();
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motorY.setEnablePin(MOTOR_Y_ENABLE_PIN);
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motorY.setPinsInverted(false, false, true);
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motorY.setAcceleration(800);
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motorY.setMaxSpeed(800);
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motorY.setSpeed(800);
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motorY.enableOutputs();
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motorZ.setEnablePin(MOTOR_Z_ENABLE_PIN);
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motorZ.setPinsInverted(false, false, true);
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motorZ.setAcceleration(800);
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motorZ.setMaxSpeed(800);
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motorZ.setSpeed(800);
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motorZ.enableOutputs();
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motorA.setEnablePin(MOTOR_Z_ENABLE_PIN);
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motorA.setPinsInverted(false, false, true);
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motorA.setAcceleration(800);
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motorA.setMaxSpeed(800);
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motorA.setSpeed(800);
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motorA.enableOutputs();
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}
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// Seperate the motor number and speed value
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int motorNum = command.substring(0, commaIndex).toInt();
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int motorSpeed = command.substring(commaIndex + 1).toInt();
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// number 1-4 for motors
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switch (motorNum)
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{
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case 1:
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motorX.setSpeed(motorSpeed);
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if (motorSpeed == 0)
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{
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motorX.stop();
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}
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else
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{
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motorX.move(motorSpeed * 100); // just keep moving until told otherwise and the * 100 is so it rotates the correct direction
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motorX.setMaxSpeed(motorSpeed);
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}
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break;
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case 2:
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motorY.setSpeed(motorSpeed);
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if (motorSpeed == 0)
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{
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motorY.stop();
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}
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else
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{
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motorY.move(motorSpeed * 100);
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motorY.setMaxSpeed(motorSpeed);
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}
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break;
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case 3:
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motorZ.setSpeed(motorSpeed);
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if (motorSpeed == 0)
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{
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motorZ.stop();
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}
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else
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{
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motorZ.move(motorSpeed * 100);
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motorZ.setMaxSpeed(motorSpeed);
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}
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break;
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case 4:
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motorA.setSpeed(motorSpeed);
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if (motorSpeed == 0)
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{
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motorA.stop();
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}
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else
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{
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motorA.move(motorSpeed * 100);
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motorA.setMaxSpeed(motorSpeed);
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}
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break;
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default:
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break;
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}
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}
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void stepperSetup()
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{
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pinMode(MOTOR_X_ENABLE_PIN, OUTPUT);
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pinMode(MOTOR_Y_ENABLE_PIN, OUTPUT);
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pinMode(MOTOR_Z_ENABLE_PIN, OUTPUT);
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pinMode(MOTOR_A_ENABLE_PIN, OUTPUT);
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motorX.setEnablePin(MOTOR_X_ENABLE_PIN);
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motorX.setPinsInverted(false, false, true);
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motorX.setAcceleration(800);
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motorX.setMaxSpeed(800);
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motorX.setSpeed(800);
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motorX.enableOutputs();
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motorY.setEnablePin(MOTOR_Y_ENABLE_PIN);
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motorY.setPinsInverted(false, false, true);
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motorY.setAcceleration(800);
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motorY.setMaxSpeed(800);
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motorY.setSpeed(800);
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motorY.enableOutputs();
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motorZ.setEnablePin(MOTOR_Z_ENABLE_PIN);
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motorZ.setPinsInverted(false, false, true);
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motorZ.setAcceleration(800);
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motorZ.setMaxSpeed(800);
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motorZ.setSpeed(800);
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motorZ.enableOutputs();
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motorA.setEnablePin(MOTOR_Z_ENABLE_PIN);
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motorA.setPinsInverted(false, false, true);
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motorA.setAcceleration(800);
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motorA.setMaxSpeed(800);
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motorA.setSpeed(800);
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motorA.enableOutputs();
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}
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```
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```
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So now I could send commands to the motors over Serial and see the motors spin in realtime. The command is structured like this. `1,500` Where 1 is the motor number and 500 is the speed of the motor. So like this I could control every motor separately.
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