Arduino kodlamasında takılan olursa buraya gelsin.
Arduino kodlamasında takılan olursa ücretsiz bir şekilde kodunu buraya yazabilir.
iyi çalışmalar arduino uno+ 2x tb6600 + 2x nema23 step motorlar bir pan tilt sistemi yaptım. jostick ile kumanda ediyorum. motorların kalkışının sert olması çekimleri olumsuz etkiliyo. yavaş kalkışı ve yavaş duruşu kodlara nasıl ekleyebilirim.
kod:
#include <AccelStepper.h> //accelstepper library
AccelStepper stepper(1, 8, 9); // direction Digital 9 (CCW), pulses Digital 8 (CLK)
AccelStepper stepper2(1, 10, 11); // direction Digital 11 (CCW), pulses Digital 10 (CLK)
//Pins
const byte Analog_X_pin = A0; //x-axis readings
const byte Analog_Y_pin = A1; //y-axis readings
const byte Analog_R_pin = A2; //r-axis readings
const byte LED_pin = 3; //PWM output for LED
//Variables
int Analog_X = 0; //x-axis value
int Analog_Y = 0; //y-axis value
int Analog_R = 0; //r-axis value
int Analog_X_AVG = 0; //x-axis value average
int Analog_Y_AVG = 0; //y-axis value average
int Analog_R_AVG = 0; //r-axis value average
int Analog_R_Value = 0; //this is used for the PWM value
void setup()
{
//SERIAL
Serial.begin(9600);
//----------------------------------------------------------------------------
//PINS
pinMode(Analog_X_pin, INPUT);
pinMode(Analog_Y_pin, INPUT);
pinMode(Analog_R_pin, INPUT);
pinMode(LED_pin, OUTPUT);
//----------------------------------------------------------------------------
InitialValues(); //averaging the values of the 3 analog pins (values from potmeters)
//----------------------------------------------------------------------------
//Stepper parameters
//setting up some default values for maximum speed and maximum acceleration
stepper.setMaxSpeed(5000); //SPEED = Steps / second
stepper.setAcceleration(1000); //ACCELERATION = Steps /(second)^2
stepper.setSpeed(500);
delay(500);
//----------------------------------------------------------------------------
stepper2.setMaxSpeed(5000); //SPEED = Steps / second
stepper2.setAcceleration(1000); //ACCELERATION = Steps /(second)^2
stepper2.setSpeed(500);
delay(500);
}
void loop()
{
ReadAnalog();
stepper.runSpeed(); //step the motor (this will step the motor by 1 step at each loop indefinitely)
stepper2.runSpeed();
}
void ReadAnalog()
{
//Reading the 3 potentiometers in the joystick: x, y and r.
Analog_X = analogRead(Analog_X_pin);
Analog_Y = analogRead(Analog_Y_pin);
Analog_R = analogRead(Analog_R_pin);
//if the value is 25 "value away" from the average (midpoint), we allow the update of the speed
//This is a sort of a filter for the inaccuracy of the reading
if(abs(Analog_X-Analog_X_AVG)>25)
{
stepper.setSpeed(5*(Analog_X-Analog_X_AVG));
}
else
{
stepper.setSpeed(0);
}
//----------------------------------------------------------------------------
if(abs(Analog_Y-Analog_Y_AVG)>25)
{
stepper2.setSpeed(5*(Analog_Y-Analog_Y_AVG));
}
else
{
stepper2.setSpeed(0);
}
//----------------------------------------------------------------------------
if(abs(Analog_R-Analog_R_AVG)>25)
{
Analog_R_Value = map(Analog_R, 0, 1023, 0, 255); //10 bit ADC (0-1023) and 8 bit PWM (0-255)
analogWrite(LED_pin, Analog_R_Value); //modify the PWM value
}
}
void InitialValues()
{
//Set the values to zero before averaging
float tempX = 0;
float tempY = 0;
float tempR = 0;
//----------------------------------------------------------------------------
//read the analog 50x, then calculate an average.
//they will be the reference values
for(int i = 0; i<50; i++)
{
tempX += analogRead(Analog_X_pin);
delay(10); //allowing a little time between two readings
tempY += analogRead(Analog_Y_pin);
delay(10);
tempR += analogRead(Analog_R_pin);
delay(10);
}
//----------------------------------------------------------------------------
Analog_X_AVG = tempX/50;
Analog_Y_AVG = tempY/50;
Analog_R_AVG = tempR/50;
//----------------------------------------------------------------------------
Serial.print("AVG_X: ");
Serial.println(Analog_X_AVG);
Serial.print("AVG_Y: ");
Serial.println(Analog_Y_AVG);
Serial.print("AVG_R: ");
Serial.println(Analog_R_AVG);
Serial.println("Calibration finished");
}
