B4R Question drive 2 or more stepper motor

trvip

Member
hi
how can i control 2 or more stepper motor
with these code modul?
can anyone help me please with an example?

stepper:
Sub Process_Globals 'These global variables will be declared once when the application starts. 'Public variables can be accessed from all modules. Private tmr As Timer Private stopcount, endcount As Int Private state As Int Private p1,p2,p3,p4 As Pin Private myangle As Int End Sub Public Sub Initialize(dpin1 As Byte _ ,dpin2 As Byte _ ,dpin3 As Byte _ ,dpin4 As Byte _ ,TimeDelay As ULong ) tmr.Initialize("tmr_Tick",TimeDelay) p1.Initialize(dpin1,p1.MODE_OUTPUT) p2.Initialize(dpin2,p2.MODE_OUTPUT) p3.Initialize(dpin3,p3.MODE_OUTPUT) p4.Initialize(dpin4,p4.MODE_OUTPUT) End Sub public Sub turn( angle As Float) myangle = angle stopcount = 0 endcount = Abs(angle * 2048 /360) state = 0 tmr.Enabled = True End Sub Private Sub tmr_Tick state = (state + 1) Mod 4 If myangle < 0 Then rotate(state) Else rotate(3-state) End If If stopcount >= endcount Then tmr.Enabled = False zeroall Main.turndone(myangle) End If stopcount = stopcount + 1 End Sub Private Sub rotate(mode as int) Select mode Case 0 ' 1000 p1.DigitalWrite(True) p2.DigitalWrite(False) ' p3.DigitalWrite(False) p4.DigitalWrite(False) Case 1 ' 0100 p1.DigitalWrite(False) p2.DigitalWrite(True) p3.DigitalWrite(False) ' p4.DigitalWrite(False) Case 2 ''0010 ' p1.DigitalWrite(False) p2.DigitalWrite(False) p3.DigitalWrite(True) p4.DigitalWrite(False) Case 3 '0001 p1.DigitalWrite(False) ' p2.DigitalWrite(False) p3.DigitalWrite(False) p4.DigitalWrite(True) End Select End Sub Private Sub zeroall p1.DigitalWrite(False) p2.DigitalWrite(False) p3.DigitalWrite(False) p4.DigitalWrite(False) End Sub
thanx
 

Mark Read

Well-Known Member
Licensed User
You are not giving very much information but I can offer you this:

You will need fritzing to view the file - dipper-fritzing.zip (unzip first)!

I am using 2 motors, controlling them simultaneously with 2 DRV8825 controllers. If you do not need all the hardware, remove the code as required.

The code:

B4X:
Build1=Default,B4RDev
Group=Default Group
Library1=rcore
Library2=rrandomaccessfile
Library3=rliquidcrystal_i2c
Library4=rkeypad
NumberOfFiles=0
NumberOfLibraries=4
NumberOfModules=0
Version=2.51
@EndOfDesignText@

#Region Project Attributes
    #AutoFlushLogs: True
    #CheckArrayBounds: True
    #StackBufferSize: 600
#End Region

'Comments
#Region
'Connections 24 x 4 LCD to Uno
'SCL to A5                        Mega-IO 43 (Top right by LAN)
'SDA to A4                        Mega-IO 44
'GND to GND
'VCC to 5V                        Either from Uno or external

'Stepper motor with DVR8825 driver board

'On driver board
'Enable     no connection (driver enabled), can also be controlled by a Mega Pin
'M0 to M2    no connection (full step mode)
'Reset        connect to 5V
'Sleep        connect to 5V
'Step        Mega Pin 7
'Dir        Mega Pin 6
'Vmot        9V supply
'B2 to A1    Motor coils
'Fault        no connection
'GND        Mega GND

' **** Dont forget to set the maximum current! ***

#End Region

Sub Process_Globals
    Dim Serial1 As Serial
    Dim bc As ByteConverter
    Dim HoldTimer As Timer                            'Will be used to measure hold time later
'    Dim MoveTimer As Timer                            'Used for down and up movement
    Dim CoilTimer As Timer                            'Speed of the motor
    
    'Variables for Keypad
    Dim pad As Keypad
    Dim KeyBuffer(6) As Byte
    Dim vKey As Int=0
    
    'Variables for Menu
    Dim SpeedDown As Long=0
    Dim HoldTime As Long=0
    Dim Speedup As Long=0
    Dim CommandActive As UInt=0
        
    'Variable for 20 x 4 LCD Display
    Dim lcd As LiquidCrystal_I2C
    Dim MenuMode As Int=0                        'Determines which screen will be displayed
    Dim FirstTime As Boolean=True                'Used to change menu mode
    
    'Variables for the motor control
    Dim StepsPin As Pin
    Dim DirPin As Pin
        
    Dim Steps As Boolean=False
    Dim Direction As Boolean=True                'True moves down, false moves up
    Dim Park As Boolean=True                    'Position Up=True
    Dim SetSwitchMode As Boolean=False
    
    'Variables for pin detection
    Dim LowerEndSwitchL, LowerEndSwitchR As Pin    'End switches at bottom of dipper
    Dim UpperEndSwitch As Pin
    Dim t As Long                                'used for timing calculation
End Sub

Private Sub AppStart
    Serial1.Initialize(115200)
    Log("AppStart")
    pad.Initialize("123A456B789C*0#D", Array As Byte(39, 41, 43, 45),  Array As Byte(47, 49, 51,53), _
     "pad_KeyPressed")
    HoldTimer.Initialize("HoldTimer_Tick",1000)         'set to run for 1 second, will be overwritten with HoldTime
'    MoveTimer.Initialize("MoveTimer_Tick",1000)         'will be overwritten later
    CoilTimer.Initialize("CoilTimer_Tick",100)
    
    'Prepare LCD
    lcd.Initialize(0x27, 20, 4)
    lcd.Backlight = True
    
    'Prepare motor pins Mega 7,6
    StepsPin.Initialize(7,StepsPin.MODE_OUTPUT)
    DirPin.Initialize(6,DirPin.MODE_OUTPUT)
    
    StepsPin.DigitalWrite(False)                        'set no step
    DirPin.DigitalWrite(True)                            'set direction to down
    
    'Prepare switches
    LowerEndSwitchL.Initialize(LowerEndSwitchL.A0, LowerEndSwitchL.MODE_INPUT_PULLUP) 'Using the internal pull up resistor to prevent the pin from floating.
    LowerEndSwitchL.AddListener("LowerEndSwitchL_StateChanged")
    LowerEndSwitchR.Initialize(LowerEndSwitchR.A1, LowerEndSwitchR.MODE_INPUT_PULLUP) 'Using the internal pull up resistor to prevent the pin from floating.
    LowerEndSwitchR.AddListener("LowerEndSwitchR_StateChanged")
    UpperEndSwitch.Initialize(UpperEndSwitch.A2, UpperEndSwitch.MODE_INPUT_PULLUP) 'Using the internal pull up resistor to prevent the pin from floating.
    UpperEndSwitch.AddListener("UpperEndSwitch_StateChanged")
    
    ShowMainScreen
End Sub

'state will be False when the switch is on because of the PULLUP mode.
Sub LowerEndSwitchL_StateChanged (State As Boolean)
    'This is the movable end switch on the left used to stop down movement
    Log("Lower End switch left triggered: ", State)
    Log("SetSwitchMode ", SetSwitchMode)
    Log("Direction ", Direction)
    
    If State=False And SetSwitchMode=False Then            'move down during run has triggered end switch
        MoveTimer_Tick
    End If
    
    If SetSwitchMode=True And Direction=False Then        'Cannot move down as we are on the switch
        CoilTimer.Enabled=False
    End If
End Sub

'state will be False when the switch is on because of the PULLUP mode. Failsafe for broken left switch.
Sub LowerEndSwitchR_StateChanged (State As Boolean)
    'If this switch is triggered, then the left hand switch is too low or has failed. Park the arm.
    Log("Lower End switch right triggered: ", State)
    
    FirstTime=True
    MenuMode=0
    HoldTimer.Enabled=False
    CoilTimer.Enabled=False
    
    'Park the motor
    SetSwitchMode=True                        'trick the system to use the state changed sub
    Direction=False                            'move up
    DirPin.DigitalWrite(Direction)
    CoilTimer.Interval=15                    'slowly!
    
    lcd.Clear
    lcd.SetCursor(0,0)
    lcd.Write("Limit switch error!")
    lcd.SetCursor(0,2)
    lcd.Write("Parking arm ...")
    
    CoilTimer.Enabled=True
End Sub

'state will be False when the switch is on because of the PULLUP mode.
Sub UpperEndSwitch_StateChanged (State As Boolean)
    Log("Upper End switch triggered: ", State)
    Log("SetSwitchMode: ", SetSwitchMode)
    Log("FirstTime: ", FirstTime)
    Log(" ")
        
If State=False And SetSwitchMode=False And FirstTime=False Then
        'We are parked, turn off all timers
        CoilTimer.Enabled=False                        'Stop the motor
'        MoveTimer.Enabled=False
        Park=True
        
        'Reset all values
        SpeedDown=0
        HoldTime=0
        Speedup=0
        FirstTime=True
        MenuMode=0
        Log("Test finished")
        ShowMainScreen
    End If
    
    If State=False And SetSwitchMode=True Then        'finished setting end switches
        CoilTimer.Enabled=False
        Park=True
        SetSwitchMode=False
        FirstTime=True
        MenuMode=0
        ShowMainScreen
    End If
End Sub

'Used to switch the coils on the motor
Sub CoilTimer_Tick
'    If Direction=True Then
'        Log("Movement down")
'    Else
'        Log("Movement up")
'    End If
    
    StepsPin.DigitalWrite(Steps)
    Steps=Not(Steps)
End Sub

'Used for the down and up movement
Sub MoveTimer_Tick
    'Tick is called when the movement should stop
    CoilTimer.Enabled=False                        'Stop the motor
'    MoveTimer.Enabled=False                        'Stop timer
    If Direction=True Then                        'Down movement is finished
        Log("Down finished.")
        Log("Waiting ", HoldTime, " seconds")
        HoldTimer.Enabled=True                    'Wait, tick event means time is up.
    End If   
End Sub

'Hold time is up, move to park position
Sub HoldTimer_Tick
    Log("Done waiting")
    Log("Moving up")
    HoldTimer.Enabled=False                                                'Finished waiting
    t=Power((Speedup/18.107),-10/9.572)                                    'based on Excel formula                           
    CoilTimer.Interval=t               
    Log("CoilTimer interval for up: ",t)
    t=(Power(CoilTimer.Interval,-0.9572))*18.107
    Log("Up speed mm/s: ", t)
    Direction=False
    DirPin.DigitalWrite(Direction)                                        'Change direction
'    MoveTimer.Enabled=False                                                'Tick stops the motor
    FirstTime=False
    CoilTimer.Enabled=True                                                'Coil switching enabled
End Sub

'Show run screen and run the program
Sub ShowRunScreen (Key As String)
    If FirstTime=True And Park=True Then        'Can only run if we are parked!
        If SpeedDown=0 Or Speedup=0 Or HoldTime=0 Then Return
        lcd.Clear
        lcd.SetCursor(0,0)
        lcd.Write(" [A] Running ...")
        lcd.SetCursor(0,2)
        lcd.Write(" [D] Abort")
'        FirstTime=False
        HoldTimer.Interval=HoldTime*1000        'Time is in seconds
        Direction=True                            'Move down
        DirPin.DigitalWrite(Direction)
'        MoveTimer.Interval=Power((SpeedDown/18.107),-10/9.572)
        Log(" ")
        Log("Test started")
        Log("Speed down mm/s - ", SpeedDown)
        Log("Holdtime secs - ", HoldTime)
        Log("Speed up mm/s - ", Speedup)
        
        t=Power((SpeedDown/18.107),-10/9.572)
        CoilTimer.Interval=t
        Log("CoilTimer interval for down: ",CoilTimer.Interval)
        t=(Power(CoilTimer.Interval,-0.9572))*18.107
        Log("Down speed mm/s: ", t)
        
        Park=False
        Log("Moving down...")
'        MoveTimer.Enabled=False                    'Start timer, the tick stops the movement
        CoilTimer.Enabled=True                    'Start motor movement               
    End If
    
    If Key = "D" Then
        'Abort and reset
        Log("Abort pressed")
        FirstTime=True
        MenuMode=0
        SpeedDown=0
        HoldTime=0
        Speedup=0
        HoldTimer.Enabled=False
        CoilTimer.Enabled=False
'        MoveTimer.Enabled=False

        lcd.Clear
        lcd.SetCursor(0,0)
        lcd.Write(" Abort ...Parking")
        
        'Park the motor
        SetSwitchMode=True                        'trick the system to use the state changed sub
        Direction=False
        DirPin.DigitalWrite(Direction)
        CoilTimer.Interval=15
        CoilTimer.Enabled=True
        
    End If
End Sub

'React to keys pressed on Keypad.
Sub Pad_KeyPressed (Key As String)
    'On first keypress, first time is set, the screen changes to next page
    'further keypresses are routed to the subs defined by menumode
    If Key = "A" And FirstTime=True Then
        MenuMode=1
    Else if Key = "B" And FirstTime=True Then
        MenuMode=2
    Else if Key = "C" And FirstTime=True Then
        MenuMode=3
    End If
    
    Select Case MenuMode
        Case 1
            'Settings mode
            ChangeSettings(Key)                'Pass key to sub
        Case 2
            'Set switch mode
            ShowSetSwitchScreen(Key)
        Case 3
            'Run mode
            ShowRunScreen(Key)
    End Select
End Sub

'Show main screen menu
Sub ShowMainScreen
    lcd.Clear
    lcd.SetCursor(6,0)
    lcd.Write("Main Menu")
    lcd.SetCursor(0,1)
    lcd.Write(" [A] Settings")
    lcd.SetCursor(0,2)
    lcd.Write(" [B] Set Switch")
    lcd.SetCursor(0,3)
    lcd.Write(" [C] Run")
    SetSwitchMode=False
End Sub

'Change main settings
Sub ChangeSettings (Key As String)
    If FirstTime=True Then                     'Do nothing
        FirstTime=False
        ShowSettings                        'Show new menu
        Return           
    End If
    If Key = "*" Then                        'reset all settings
        If CommandActive>0 Then Return
        SpeedDown=0
        HoldTime=0
        Speedup=0
        ShowSettings
    Else if Key = "A" Then
        'Speed down
        If CommandActive>0 Then Return        ' a different command key is active
        CommandActive=1
        lcd.Clear
        lcd.SetCursor(0,0)
        lcd.Write("Speed Down (1-9)")
        lcd.SetCursor(0,1)
        lcd.Write("<# to exit>")
        vKey=0
    Else if Key = "B" Then
        'Hold time
        If CommandActive>0 Then Return
        CommandActive=2
        lcd.Clear
        lcd.SetCursor(0,0)
        lcd.Write("Hold Time (secs)")
        lcd.SetCursor(0,1)
        lcd.Write("<# to exit>")
        vKey=0
    Else if Key = "C" Then
        'Speed up
        If CommandActive>0 Then Return
        CommandActive=3
        lcd.Clear
        lcd.SetCursor(0,0)
        lcd.Write("Speed Up (1-9)")
        lcd.SetCursor(0,1)
        lcd.Write("<# to exit>")
        vKey=0
    Else if Key = "D" Then
        'Done
        FirstTime=True
        ShowMainScreen
        MenuMode=0
        Return
    else if Key = "#" Then
        'Enter pressed, get and store the new settings
        Select Case CommandActive
            Case 1
                SpeedDown=bc.StringFromBytes(KeyBuffer)
                If SpeedDown<1 Then SpeedDown=1
                If SpeedDown>9 Then SpeedDown=9
                CommandActive=0
                ShowSettings
                ClearKeyBuffer
            Case 2
                HoldTime=bc.StringFromBytes(KeyBuffer)
                If HoldTime=0 Then HoldTime=1            'Cannot wait 0 secs
                CommandActive=0
                ShowSettings
                ClearKeyBuffer
            Case 3
                Speedup=bc.StringFromBytes(KeyBuffer)
                If Speedup<1 Then Speedup=1
                If Speedup>9 Then Speedup=9
                CommandActive=0
                ShowSettings
                ClearKeyBuffer
        End Select
        
    else if vKey<6 Then       
        'put the key in the buffer if a command is active. Up to 6 digits can be entered (999999)
        If CommandActive>0 Then
            lcd.SetCursor(vKey,2)
            KeyBuffer(vKey)= Asc(Key)
            lcd.Write(Key)
            vKey=vKey+1
        End If
    End If

End Sub

'Show set end switch screen
Sub ShowSetSwitchScreen (Key As String)
    If FirstTime=True Then                     'Show menu and reset firsttime
        FirstTime=False
        lcd.Clear
        lcd.SetCursor(3,0)
        lcd.Write("Set end switch")
        lcd.SetCursor(0,1)
        lcd.Write("[A] Down [B] Up")
        lcd.SetCursor(0,2)
        lcd.Write("[C] Stop")
        lcd.SetCursor(0,3)
        lcd.Write("[D] Done & Park")
        Return
    End If
    
    SetSwitchMode=True
    CoilTimer.Interval=15                    'set fast motor speed old=50,25,10
    
    If Key="A" Then                            'move down
        Log("move down")
        Direction=True
        DirPin.DigitalWrite(Direction)
        CoilTimer.Enabled=True
    End If
        
    If Key="B" Or Key = "D" Then            'move up
        Log("Move up")
        Direction=False
        DirPin.DigitalWrite(Direction)
        CoilTimer.Enabled=True
    End If
    
    If Key="C" Then                            'stop
        Log("Stopped")
        CoilTimer.Enabled=False
    End If
End Sub

'Show settings on LCD Display
Sub ShowSettings
    lcd.Clear
    lcd.SetCursor(0,0)
    Public txt As String
    txt=JoinStrings(Array As String("(A) Down: ",SpeedDown," mm/s"))
    lcd.Write(txt)
    lcd.SetCursor(0,1)
    txt=JoinStrings(Array As String("(B) Hold: ",HoldTime," secs"))
    lcd.Write(txt)
    lcd.SetCursor(0,2)
    txt=JoinStrings(Array As String("(C) Up: ",Speedup," mm/s"))
    lcd.Write(txt)
    lcd.SetCursor(0,3)
    lcd.Write("(D) Done")
    lcd.SetCursor(10,3)
    lcd.Write("(*) Reset")
End Sub

'Clear the Key Buffer array
Sub ClearKeyBuffer
    'Log("KeyBuffer before clear: ", KeyBuffer)
    For i=0 To KeyBuffer.Length-1
        KeyBuffer(i)=Asc(" ")       
    Next
    'Log("KeyBuffer after clear: ", KeyBuffer)
End Sub
Regards
Mark
 

Attachments

trvip

Member
first many thanx for the code. i will look in
sorry for too little info
i have 2 dvdrom stepper and 2 l298n driver...
i build a plotter with arduino its work ok. but with b4r i have no plan..

greets from vienna
 

Tayfur

Well-Known Member
Licensed User
You are not giving very much information but I can offer you this:

You will need fritzing to view the file - dipper-fritzing.zip (unzip first)!

I am using 2 motors, controlling them simultaneously with 2 DRV8825 controllers. If you do not need all the hardware, remove the code as required.

The code:

B4X:
Build1=Default,B4RDev
Group=Default Group
Library1=rcore
Library2=rrandomaccessfile
Library3=rliquidcrystal_i2c
Library4=rkeypad
NumberOfFiles=0
NumberOfLibraries=4
NumberOfModules=0
Version=2.51
@EndOfDesignText@

#Region Project Attributes
    #AutoFlushLogs: True
    #CheckArrayBounds: True
    #StackBufferSize: 600
#End Region

'Comments
#Region
'Connections 24 x 4 LCD to Uno
'SCL to A5                        Mega-IO 43 (Top right by LAN)
'SDA to A4                        Mega-IO 44
'GND to GND
'VCC to 5V                        Either from Uno or external

'Stepper motor with DVR8825 driver board

'On driver board
'Enable     no connection (driver enabled), can also be controlled by a Mega Pin
'M0 to M2    no connection (full step mode)
'Reset        connect to 5V
'Sleep        connect to 5V
'Step        Mega Pin 7
'Dir        Mega Pin 6
'Vmot        9V supply
'B2 to A1    Motor coils
'Fault        no connection
'GND        Mega GND

' **** Dont forget to set the maximum current! ***

#End Region

Sub Process_Globals
    Dim Serial1 As Serial
    Dim bc As ByteConverter
    Dim HoldTimer As Timer                            'Will be used to measure hold time later
'    Dim MoveTimer As Timer                            'Used for down and up movement
    Dim CoilTimer As Timer                            'Speed of the motor
   
    'Variables for Keypad
    Dim pad As Keypad
    Dim KeyBuffer(6) As Byte
    Dim vKey As Int=0
   
    'Variables for Menu
    Dim SpeedDown As Long=0
    Dim HoldTime As Long=0
    Dim Speedup As Long=0
    Dim CommandActive As UInt=0
       
    'Variable for 20 x 4 LCD Display
    Dim lcd As LiquidCrystal_I2C
    Dim MenuMode As Int=0                        'Determines which screen will be displayed
    Dim FirstTime As Boolean=True                'Used to change menu mode
   
    'Variables for the motor control
    Dim StepsPin As Pin
    Dim DirPin As Pin
       
    Dim Steps As Boolean=False
    Dim Direction As Boolean=True                'True moves down, false moves up
    Dim Park As Boolean=True                    'Position Up=True
    Dim SetSwitchMode As Boolean=False
   
    'Variables for pin detection
    Dim LowerEndSwitchL, LowerEndSwitchR As Pin    'End switches at bottom of dipper
    Dim UpperEndSwitch As Pin
    Dim t As Long                                'used for timing calculation
End Sub

Private Sub AppStart
    Serial1.Initialize(115200)
    Log("AppStart")
    pad.Initialize("123A456B789C*0#D", Array As Byte(39, 41, 43, 45),  Array As Byte(47, 49, 51,53), _
     "pad_KeyPressed")
    HoldTimer.Initialize("HoldTimer_Tick",1000)         'set to run for 1 second, will be overwritten with HoldTime
'    MoveTimer.Initialize("MoveTimer_Tick",1000)         'will be overwritten later
    CoilTimer.Initialize("CoilTimer_Tick",100)
   
    'Prepare LCD
    lcd.Initialize(0x27, 20, 4)
    lcd.Backlight = True
   
    'Prepare motor pins Mega 7,6
    StepsPin.Initialize(7,StepsPin.MODE_OUTPUT)
    DirPin.Initialize(6,DirPin.MODE_OUTPUT)
   
    StepsPin.DigitalWrite(False)                        'set no step
    DirPin.DigitalWrite(True)                            'set direction to down
   
    'Prepare switches
    LowerEndSwitchL.Initialize(LowerEndSwitchL.A0, LowerEndSwitchL.MODE_INPUT_PULLUP) 'Using the internal pull up resistor to prevent the pin from floating.
    LowerEndSwitchL.AddListener("LowerEndSwitchL_StateChanged")
    LowerEndSwitchR.Initialize(LowerEndSwitchR.A1, LowerEndSwitchR.MODE_INPUT_PULLUP) 'Using the internal pull up resistor to prevent the pin from floating.
    LowerEndSwitchR.AddListener("LowerEndSwitchR_StateChanged")
    UpperEndSwitch.Initialize(UpperEndSwitch.A2, UpperEndSwitch.MODE_INPUT_PULLUP) 'Using the internal pull up resistor to prevent the pin from floating.
    UpperEndSwitch.AddListener("UpperEndSwitch_StateChanged")
   
    ShowMainScreen
End Sub

'state will be False when the switch is on because of the PULLUP mode.
Sub LowerEndSwitchL_StateChanged (State As Boolean)
    'This is the movable end switch on the left used to stop down movement
    Log("Lower End switch left triggered: ", State)
    Log("SetSwitchMode ", SetSwitchMode)
    Log("Direction ", Direction)
   
    If State=False And SetSwitchMode=False Then            'move down during run has triggered end switch
        MoveTimer_Tick
    End If
   
    If SetSwitchMode=True And Direction=False Then        'Cannot move down as we are on the switch
        CoilTimer.Enabled=False
    End If
End Sub

'state will be False when the switch is on because of the PULLUP mode. Failsafe for broken left switch.
Sub LowerEndSwitchR_StateChanged (State As Boolean)
    'If this switch is triggered, then the left hand switch is too low or has failed. Park the arm.
    Log("Lower End switch right triggered: ", State)
   
    FirstTime=True
    MenuMode=0
    HoldTimer.Enabled=False
    CoilTimer.Enabled=False
   
    'Park the motor
    SetSwitchMode=True                        'trick the system to use the state changed sub
    Direction=False                            'move up
    DirPin.DigitalWrite(Direction)
    CoilTimer.Interval=15                    'slowly!
   
    lcd.Clear
    lcd.SetCursor(0,0)
    lcd.Write("Limit switch error!")
    lcd.SetCursor(0,2)
    lcd.Write("Parking arm ...")
   
    CoilTimer.Enabled=True
End Sub

'state will be False when the switch is on because of the PULLUP mode.
Sub UpperEndSwitch_StateChanged (State As Boolean)
    Log("Upper End switch triggered: ", State)
    Log("SetSwitchMode: ", SetSwitchMode)
    Log("FirstTime: ", FirstTime)
    Log(" ")
       
If State=False And SetSwitchMode=False And FirstTime=False Then
        'We are parked, turn off all timers
        CoilTimer.Enabled=False                        'Stop the motor
'        MoveTimer.Enabled=False
        Park=True
       
        'Reset all values
        SpeedDown=0
        HoldTime=0
        Speedup=0
        FirstTime=True
        MenuMode=0
        Log("Test finished")
        ShowMainScreen
    End If
   
    If State=False And SetSwitchMode=True Then        'finished setting end switches
        CoilTimer.Enabled=False
        Park=True
        SetSwitchMode=False
        FirstTime=True
        MenuMode=0
        ShowMainScreen
    End If
End Sub

'Used to switch the coils on the motor
Sub CoilTimer_Tick
'    If Direction=True Then
'        Log("Movement down")
'    Else
'        Log("Movement up")
'    End If
   
    StepsPin.DigitalWrite(Steps)
    Steps=Not(Steps)
End Sub

'Used for the down and up movement
Sub MoveTimer_Tick
    'Tick is called when the movement should stop
    CoilTimer.Enabled=False                        'Stop the motor
'    MoveTimer.Enabled=False                        'Stop timer
    If Direction=True Then                        'Down movement is finished
        Log("Down finished.")
        Log("Waiting ", HoldTime, " seconds")
        HoldTimer.Enabled=True                    'Wait, tick event means time is up.
    End If  
End Sub

'Hold time is up, move to park position
Sub HoldTimer_Tick
    Log("Done waiting")
    Log("Moving up")
    HoldTimer.Enabled=False                                                'Finished waiting
    t=Power((Speedup/18.107),-10/9.572)                                    'based on Excel formula                          
    CoilTimer.Interval=t              
    Log("CoilTimer interval for up: ",t)
    t=(Power(CoilTimer.Interval,-0.9572))*18.107
    Log("Up speed mm/s: ", t)
    Direction=False
    DirPin.DigitalWrite(Direction)                                        'Change direction
'    MoveTimer.Enabled=False                                                'Tick stops the motor
    FirstTime=False
    CoilTimer.Enabled=True                                                'Coil switching enabled
End Sub

'Show run screen and run the program
Sub ShowRunScreen (Key As String)
    If FirstTime=True And Park=True Then        'Can only run if we are parked!
        If SpeedDown=0 Or Speedup=0 Or HoldTime=0 Then Return
        lcd.Clear
        lcd.SetCursor(0,0)
        lcd.Write(" [A] Running ...")
        lcd.SetCursor(0,2)
        lcd.Write(" [D] Abort")
'        FirstTime=False
        HoldTimer.Interval=HoldTime*1000        'Time is in seconds
        Direction=True                            'Move down
        DirPin.DigitalWrite(Direction)
'        MoveTimer.Interval=Power((SpeedDown/18.107),-10/9.572)
        Log(" ")
        Log("Test started")
        Log("Speed down mm/s - ", SpeedDown)
        Log("Holdtime secs - ", HoldTime)
        Log("Speed up mm/s - ", Speedup)
       
        t=Power((SpeedDown/18.107),-10/9.572)
        CoilTimer.Interval=t
        Log("CoilTimer interval for down: ",CoilTimer.Interval)
        t=(Power(CoilTimer.Interval,-0.9572))*18.107
        Log("Down speed mm/s: ", t)
       
        Park=False
        Log("Moving down...")
'        MoveTimer.Enabled=False                    'Start timer, the tick stops the movement
        CoilTimer.Enabled=True                    'Start motor movement              
    End If
   
    If Key = "D" Then
        'Abort and reset
        Log("Abort pressed")
        FirstTime=True
        MenuMode=0
        SpeedDown=0
        HoldTime=0
        Speedup=0
        HoldTimer.Enabled=False
        CoilTimer.Enabled=False
'        MoveTimer.Enabled=False

        lcd.Clear
        lcd.SetCursor(0,0)
        lcd.Write(" Abort ...Parking")
       
        'Park the motor
        SetSwitchMode=True                        'trick the system to use the state changed sub
        Direction=False
        DirPin.DigitalWrite(Direction)
        CoilTimer.Interval=15
        CoilTimer.Enabled=True
       
    End If
End Sub

'React to keys pressed on Keypad.
Sub Pad_KeyPressed (Key As String)
    'On first keypress, first time is set, the screen changes to next page
    'further keypresses are routed to the subs defined by menumode
    If Key = "A" And FirstTime=True Then
        MenuMode=1
    Else if Key = "B" And FirstTime=True Then
        MenuMode=2
    Else if Key = "C" And FirstTime=True Then
        MenuMode=3
    End If
   
    Select Case MenuMode
        Case 1
            'Settings mode
            ChangeSettings(Key)                'Pass key to sub
        Case 2
            'Set switch mode
            ShowSetSwitchScreen(Key)
        Case 3
            'Run mode
            ShowRunScreen(Key)
    End Select
End Sub

'Show main screen menu
Sub ShowMainScreen
    lcd.Clear
    lcd.SetCursor(6,0)
    lcd.Write("Main Menu")
    lcd.SetCursor(0,1)
    lcd.Write(" [A] Settings")
    lcd.SetCursor(0,2)
    lcd.Write(" [B] Set Switch")
    lcd.SetCursor(0,3)
    lcd.Write(" [C] Run")
    SetSwitchMode=False
End Sub

'Change main settings
Sub ChangeSettings (Key As String)
    If FirstTime=True Then                     'Do nothing
        FirstTime=False
        ShowSettings                        'Show new menu
        Return          
    End If
    If Key = "*" Then                        'reset all settings
        If CommandActive>0 Then Return
        SpeedDown=0
        HoldTime=0
        Speedup=0
        ShowSettings
    Else if Key = "A" Then
        'Speed down
        If CommandActive>0 Then Return        ' a different command key is active
        CommandActive=1
        lcd.Clear
        lcd.SetCursor(0,0)
        lcd.Write("Speed Down (1-9)")
        lcd.SetCursor(0,1)
        lcd.Write("<# to exit>")
        vKey=0
    Else if Key = "B" Then
        'Hold time
        If CommandActive>0 Then Return
        CommandActive=2
        lcd.Clear
        lcd.SetCursor(0,0)
        lcd.Write("Hold Time (secs)")
        lcd.SetCursor(0,1)
        lcd.Write("<# to exit>")
        vKey=0
    Else if Key = "C" Then
        'Speed up
        If CommandActive>0 Then Return
        CommandActive=3
        lcd.Clear
        lcd.SetCursor(0,0)
        lcd.Write("Speed Up (1-9)")
        lcd.SetCursor(0,1)
        lcd.Write("<# to exit>")
        vKey=0
    Else if Key = "D" Then
        'Done
        FirstTime=True
        ShowMainScreen
        MenuMode=0
        Return
    else if Key = "#" Then
        'Enter pressed, get and store the new settings
        Select Case CommandActive
            Case 1
                SpeedDown=bc.StringFromBytes(KeyBuffer)
                If SpeedDown<1 Then SpeedDown=1
                If SpeedDown>9 Then SpeedDown=9
                CommandActive=0
                ShowSettings
                ClearKeyBuffer
            Case 2
                HoldTime=bc.StringFromBytes(KeyBuffer)
                If HoldTime=0 Then HoldTime=1            'Cannot wait 0 secs
                CommandActive=0
                ShowSettings
                ClearKeyBuffer
            Case 3
                Speedup=bc.StringFromBytes(KeyBuffer)
                If Speedup<1 Then Speedup=1
                If Speedup>9 Then Speedup=9
                CommandActive=0
                ShowSettings
                ClearKeyBuffer
        End Select
       
    else if vKey<6 Then      
        'put the key in the buffer if a command is active. Up to 6 digits can be entered (999999)
        If CommandActive>0 Then
            lcd.SetCursor(vKey,2)
            KeyBuffer(vKey)= Asc(Key)
            lcd.Write(Key)
            vKey=vKey+1
        End If
    End If

End Sub

'Show set end switch screen
Sub ShowSetSwitchScreen (Key As String)
    If FirstTime=True Then                     'Show menu and reset firsttime
        FirstTime=False
        lcd.Clear
        lcd.SetCursor(3,0)
        lcd.Write("Set end switch")
        lcd.SetCursor(0,1)
        lcd.Write("[A] Down [B] Up")
        lcd.SetCursor(0,2)
        lcd.Write("[C] Stop")
        lcd.SetCursor(0,3)
        lcd.Write("[D] Done & Park")
        Return
    End If
   
    SetSwitchMode=True
    CoilTimer.Interval=15                    'set fast motor speed old=50,25,10
   
    If Key="A" Then                            'move down
        Log("move down")
        Direction=True
        DirPin.DigitalWrite(Direction)
        CoilTimer.Enabled=True
    End If
       
    If Key="B" Or Key = "D" Then            'move up
        Log("Move up")
        Direction=False
        DirPin.DigitalWrite(Direction)
        CoilTimer.Enabled=True
    End If
   
    If Key="C" Then                            'stop
        Log("Stopped")
        CoilTimer.Enabled=False
    End If
End Sub

'Show settings on LCD Display
Sub ShowSettings
    lcd.Clear
    lcd.SetCursor(0,0)
    Public txt As String
    txt=JoinStrings(Array As String("(A) Down: ",SpeedDown," mm/s"))
    lcd.Write(txt)
    lcd.SetCursor(0,1)
    txt=JoinStrings(Array As String("(B) Hold: ",HoldTime," secs"))
    lcd.Write(txt)
    lcd.SetCursor(0,2)
    txt=JoinStrings(Array As String("(C) Up: ",Speedup," mm/s"))
    lcd.Write(txt)
    lcd.SetCursor(0,3)
    lcd.Write("(D) Done")
    lcd.SetCursor(10,3)
    lcd.Write("(*) Reset")
End Sub

'Clear the Key Buffer array
Sub ClearKeyBuffer
    'Log("KeyBuffer before clear: ", KeyBuffer)
    For i=0 To KeyBuffer.Length-1
        KeyBuffer(i)=Asc(" ")      
    Next
    'Log("KeyBuffer after clear: ", KeyBuffer)
End Sub
Regards
Mark
Hello;
I have a question. What is your max speed? and can you cotrol Screen and others with in RPM>300 ?

my problems is FAST_DRIVE_PROBLEM
 

Mark Read

Well-Known Member
Licensed User
I have a question. What is your max speed? and can you cotrol Screen and others with in RPM>300 ?
I have no idea what the max speed is as I need very slow for my application - sorry.
Regards
 
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