168 lines
5 KiB
C++
168 lines
5 KiB
C++
#include <AccelStepper.h>
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#define red 3
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#define green 6
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#define blue 4
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AccelStepper stepper(1,2,5); // Defaults to AccelStepper::FULL4WIRE (4 pins) on 2, 3, 4, 5
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const uint8_t PROGMEM gamma8[] = {
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0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
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0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1,
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1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 2, 2,
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2, 3, 3, 3, 3, 3, 3, 3, 4, 4, 4, 4, 4, 5, 5, 5,
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5, 6, 6, 6, 6, 7, 7, 7, 7, 8, 8, 8, 9, 9, 9, 10,
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10, 10, 11, 11, 11, 12, 12, 13, 13, 13, 14, 14, 15, 15, 16, 16,
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17, 17, 18, 18, 19, 19, 20, 20, 21, 21, 22, 22, 23, 24, 24, 25,
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25, 26, 27, 27, 28, 29, 29, 30, 31, 32, 32, 33, 34, 35, 35, 36,
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37, 38, 39, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 50,
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51, 52, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 66, 67, 68,
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69, 70, 72, 73, 74, 75, 77, 78, 79, 81, 82, 83, 85, 86, 87, 89,
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90, 92, 93, 95, 96, 98, 99,101,102,104,105,107,109,110,112,114,
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115,117,119,120,122,124,126,127,129,131,133,135,137,138,140,142,
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144,146,148,150,152,154,156,158,160,162,164,167,169,171,173,175,
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177,180,182,184,186,189,191,193,196,198,200,203,205,208,210,213,
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215,218,220,223,225,228,231,233,236,239,241,244,247,249,252,255 };
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unsigned long time_motor = 0;
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unsigned long time_filter = 0;
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unsigned long time_open = 0;
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unsigned long pas_count = 0;
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unsigned long pas_count_ant = 0;
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#define CONST_TIME 5000
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#define CONST_TIME_PAS CONST_TIME/(2*255)
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int time_pas = CONST_TIME_PAS;
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uint8_t i=0;
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bool flag_up=true;
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bool flag_down=false;
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bool flag_time_open=true;
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void setup()
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{
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Serial.begin(115200);
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pinMode(53, INPUT);
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pinMode(8, OUTPUT);
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pinMode(red, OUTPUT);
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pinMode(green, OUTPUT);
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pinMode(blue, OUTPUT);
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digitalWrite(red, LOW);
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digitalWrite(green, LOW);
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digitalWrite(blue, LOW);
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digitalWrite(53, HIGH);
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digitalWrite(8, LOW);
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stepper.setEnablePin(8);
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stepper.setPinsInverted(false, false, true); // invert direction & enable pin
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stepper.enableOutputs();
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// stepper.setMaxSpeed(10000000);
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// stepper.setSpeed(1050);
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stepper.setMaxSpeed(10000);
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stepper.setSpeed(4000);
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// analogWrite(red,255);
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// analogWrite(green,0);
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// analogWrite(blue,0);
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// delay(2000);
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// analogWrite(red,0);
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// analogWrite(green,255);
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// analogWrite(blue,0);
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// delay(2000);
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// analogWrite(red,0);
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// analogWrite(green,0);
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// analogWrite(blue,255);
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// delay(2000);
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}
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void loop()
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{
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stepper.runSpeed();
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if((digitalRead(53))||flag_down==true)
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{
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if(digitalRead(53))
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{
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flag_time_open=true;
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time_filter = millis();
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}
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if (((millis()-time_motor)>=time_pas)&&(flag_up))
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{
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i++;
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analogWrite(blue,0);
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analogWrite(green,0);
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//analogWrite(red,i);
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analogWrite(red, pgm_read_byte(&gamma8[i]));
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time_motor = millis();
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if (i==255)
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{
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flag_up=false;
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flag_down=true;
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}
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// Serial.print("Subo: ");
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// Serial.println(i);
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}
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else if(((millis()-time_motor)>=(2*time_pas))&&(flag_down))
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{
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i=i-1;
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analogWrite(blue,0);
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analogWrite(green,0);
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//analogWrite(red,i);
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analogWrite(red, pgm_read_byte(&gamma8[i]));
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time_motor = millis();
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if (i==0)
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{
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flag_down=false;
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}
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// Serial.print("Bajo: ");
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// Serial.println(i);
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}
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}
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if(!digitalRead(53))
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{
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if(((millis()-time_filter)>1000))
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{
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if (flag_time_open)
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{
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// analogWrite(blue,0);
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// analogWrite(green,0);
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// analogWrite(red,0);
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time_filter = millis();
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pas_count = stepper.currentPosition();
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Serial.print("Tiempo transcurrido = ");
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Serial.print(millis()-time_open);
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time_pas = ((millis()-time_open)/2.)/255;
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Serial.print(", pasos = ");
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Serial.print(pas_count-pas_count_ant);
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Serial.print(", paso = ");
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Serial.print(time_pas);
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if (((time_pas)<(CONST_TIME_PAS-1))||((time_pas)>(CONST_TIME_PAS+4)))
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{
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Serial.print(", ERROR DE FC pasos corregidos = ");
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time_pas=CONST_TIME_PAS;
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Serial.print(time_pas);
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}
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Serial.println();
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pas_count_ant = pas_count;
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time_open = millis();
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flag_time_open=false;
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}
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time_open = millis();
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if ((flag_up==false)&&(flag_down==false))
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{
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flag_up=true;
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flag_down=false;
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}
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// i=0;
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//flag_up=true;
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}
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}
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}
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