XY-4140 pasiruošimai arba žingsninių motoriukų valdymas džoistiku

//Stepers control by joystick. http://megejas.lt
#include <AccelStepper.h> //This library from http://www.airspayce.com/mikem/arduino/AccelStepper/

// Define the steppers and the pins it will use
AccelStepper stepper1(1, 9, 8);
AccelStepper stepper2(1, 11, 10);

#define BLINK_PIN 13
// Define our analog joystick input pins
#define SPEED_PIN1 0
#define SPEED_PIN2 1

// Define our maximum and minimum speed in steps per second
#define MAX_SPEED 1000
#define MIN_SPEED 0.1
static float analog_0_1;
static float analog_0_2;
void setup() {
// The only AccelStepper value we have to set here is the max speeed, which is higher than we'll ever go
stepper1.setMaxSpeed(10000.0);
stepper2.setMaxSpeed(10000.0);

// initialize serial IF NEED:
 // Serial.begin(115200);   //Remowe comments in front for serial

analog_0_1 = analogRead(SPEED_PIN1);
analog_0_2 = analogRead(SPEED_PIN2);
pinMode(BLINK_PIN, OUTPUT);
if (analog_0_1 >600 || analog_0_1<400 || analog_0_2 >600 || analog_0_2<400) blink(); //Testing joystick - in zero range?

}

void blink() { //Joystick out of range
digitalWrite(BLINK_PIN, HIGH); // turn the LED on
delay(200); // wait
digitalWrite(BLINK_PIN, LOW); // turn the LED off by making the voltage LOW
delay(200); // wait
blink();
}

void loop() {
static float current_speed1 = 0.0; // Holds current motor speed in steps/second
static float current_speed2 = 0.0;
static int analog_read_counter = 1000; // Counts down to 0 to fire analog read
static float analog_value_1 = analog_0_1; // Holds raw analog value chanel 1.
static float analog_value_2 = analog_0_2; // Holds raw analog value chanel 2.
static int print = 10; // Print countdown

// We only want to read the joystick every time in main loop (because it takes a long time we don't
if (analog_read_counter > 0) {
analog_read_counter--;
}
else {
analog_read_counter = 3000;
// Now read the pot (from 0 to 1023)
analog_value_1 = analogRead(SPEED_PIN1);
if ((analog_value_1> analog_0_1 && analog_value_1-analog_0_1 <10) ||(analog_value_1<analog_0_1 && analog_0_1 - analog_value_1 <10)) {
analog_value_1 = analog_0_1;
}
// Give the stepper a chance to step if it needs to
stepper1.runSpeed();
current_speed1 = (((analog_value_1-analog_0_1)/analog_0_1)* (MAX_SPEED - MIN_SPEED));
// Update the stepper to run at this new speed
stepper1.setSpeed(current_speed1);
stepper1.runSpeed();

 /*     //Remowe comments in front for serial 
if (print>0) {
print --;
}
else {

Serial.print("analog_val.:");
Serial.print(analog_value_1);
Serial.print(" ");
Serial.print(analog_value_2);
Serial.print(" analog_0:");
Serial.print(analog_0_1);
Serial.print(" ");
Serial.print(analog_0_2);
Serial.print(" analog_value-analog_0:");
Serial.print(analog_value_1-analog_0_1);
Serial.print(" ");
// Serial.print(((analog_value_1-analog_0_1)/analog_0_1));
Serial.print(" current_speed:");
Serial.print(current_speed1);
Serial.print(" ");
Serial.println(current_speed2);
print=5;
}

 */     //Remowe comments in front for serial

analog_value_2 = analogRead(SPEED_PIN2);
if ((analog_value_2> analog_0_2 && analog_value_2-analog_0_2 <10) ||(analog_value_2<analog_0_2 && analog_0_2 - analog_value_2 <10)) {
analog_value_2 = analog_0_2;
}
// Give the stepper a chance to step if it needs to
stepper2.runSpeed();
current_speed2 = (((analog_value_2-analog_0_2)/analog_0_2)* (MAX_SPEED - MIN_SPEED));
// Update the stepper to run at this new speed
stepper2.setSpeed(current_speed2);
}

// This will run the stepper at a constant speed
stepper1.runSpeed();
stepper2.runSpeed();
}