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#define X_STEP_PIN 15
#define X_DIR_PIN 18
#define X_ENABLE_PIN 19
#define Y_STEP_PIN 23
#define Y_DIR_PIN 22
#define Y_ENABLE_PIN 19
#define Z_STEP_PIN 29
#define Z_DIR_PIN 30
#define Z_ENABLE_PIN 31
void setup()
{
Serial.begin(19200);
Serial.println("Starting stepper exerciser.");
pinMode(X_STEP_PIN, OUTPUT);
pinMode(X_DIR_PIN, OUTPUT);
pinMode(X_ENABLE_PIN, OUTPUT);
pinMode(Y_STEP_PIN, OUTPUT);
pinMode(Y_DIR_PIN, OUTPUT);
pinMode(Y_ENABLE_PIN, OUTPUT);
pinMode(Z_STEP_PIN, OUTPUT);
pinMode(Z_DIR_PIN, OUTPUT);
pinMode(Z_ENABLE_PIN, OUTPUT);
digitalWrite(X_STEP_PIN, HIGH);
digitalWrite(X_DIR_PIN, LOW);
digitalWrite(X_ENABLE_PIN, HIGH);
digitalWrite(Y_STEP_PIN, HIGH);
digitalWrite(Y_DIR_PIN, LOW);
digitalWrite(Y_ENABLE_PIN, HIGH);
digitalWrite(Z_STEP_PIN, HIGH);
digitalWrite(Z_DIR_PIN, LOW);
digitalWrite(Z_ENABLE_PIN, HIGH);
}
void loop()
{
int i, j;
for (i=1650; i>=500; i-=150)
{
digitalWrite(X_ENABLE_PIN, HIGH);
digitalWrite(Y_ENABLE_PIN, HIGH);
digitalWrite(Z_ENABLE_PIN, HIGH);
Serial.print("Speed: ");
Serial.println(i);
for (j=0; j<1000; j++)
{
digitalWrite(X_STEP_PIN, HIGH);
digitalWrite(Y_STEP_PIN, HIGH);
digitalWrite(Z_STEP_PIN, HIGH);
delayMicroseconds(2);
digitalWrite(X_STEP_PIN, LOW);
digitalWrite(Y_STEP_PIN, LOW);
digitalWrite(Z_STEP_PIN, LOW);
delayMicroseconds(i);
}
digitalWrite(X_ENABLE_PIN, LOW);
digitalWrite(Y_ENABLE_PIN, LOW);
digitalWrite(Z_ENABLE_PIN, LOW);
}
delay(500);
Serial.println("Switching directions.");
digitalWrite(X_DIR_PIN, !digitalRead(X_DIR_PIN));
digitalWrite(Y_DIR_PIN, !digitalRead(Y_DIR_PIN));
digitalWrite(Z_DIR_PIN, !digitalRead(Z_DIR_PIN));
}
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