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91 lines
2.7 KiB
91 lines
2.7 KiB
4 years ago
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#define dirPin 2
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#define stepPin 3
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#define endPin 4
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long maxRange = 35000; // motor maximum excursion range - 35000
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int brakeRange = 400; // motor lowSpeed range
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int lowSpeed = 2000; // motor lower speed
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int highSpeed = 2800; // motor higher speed
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int inversionBreak = 10000; // motor pause time - 10000
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long stepSpeed = 0;
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bool dir = true;
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long counter = 0;
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bool rodEnd = false;
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long brakeFactor = 0;
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void setup() {
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pinMode(stepPin, OUTPUT);
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pinMode(dirPin, OUTPUT);
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pinMode(endPin, INPUT);
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digitalWrite(dirPin, dir);
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while(!rodEnd) {
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counter++;
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if(counter <= brakeRange) {
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brakeFactor = (lowSpeed / brakeRange) * counter;
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stepSpeed = (highSpeed + brakeFactor > highSpeed + lowSpeed) ? highSpeed + lowSpeed : highSpeed + brakeFactor;
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} else {
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stepSpeed = highSpeed;
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}
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digitalWrite(stepPin, HIGH);
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delayMicroseconds(stepSpeed);
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digitalWrite(stepPin, LOW);
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delayMicroseconds(stepSpeed);
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if(digitalRead(endPin)) {
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rodEnd = true;
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counter = 0;
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}
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}
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}
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void loop() {
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if(!dir) {
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counter++;
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if(counter >= maxRange) {
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dir = !dir;
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digitalWrite(dirPin, dir);
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delay(inversionBreak);
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} else {
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if(counter >= maxRange - brakeRange) {
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brakeFactor = (lowSpeed / brakeRange) * (maxRange - counter);
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stepSpeed = (highSpeed + brakeFactor > highSpeed + lowSpeed) ? highSpeed + lowSpeed : highSpeed + brakeFactor;
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} else if(counter <= brakeRange) {
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brakeFactor = (lowSpeed / brakeRange) * counter;
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stepSpeed = (highSpeed + brakeFactor > highSpeed + lowSpeed) ? highSpeed + lowSpeed : highSpeed + brakeFactor;
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} else {
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stepSpeed = highSpeed;
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}
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digitalWrite(stepPin, HIGH);
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delayMicroseconds(stepSpeed);
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digitalWrite(stepPin, LOW);
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delayMicroseconds(stepSpeed);
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}
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} else {
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counter--;
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if(counter <= 0) {
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dir = !dir;
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digitalWrite(dirPin, dir);
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delay(inversionBreak);
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} else {
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if(counter >= maxRange - brakeRange) {
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brakeFactor = (lowSpeed / brakeRange) * (maxRange - counter);
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stepSpeed = (highSpeed + brakeFactor > highSpeed + lowSpeed) ? highSpeed + lowSpeed : highSpeed + brakeFactor;
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} else if(counter <= brakeRange) {
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brakeFactor = (lowSpeed / brakeRange) * counter;
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stepSpeed = (highSpeed + brakeFactor > highSpeed + lowSpeed) ? highSpeed + lowSpeed : highSpeed + brakeFactor;
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} else {
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stepSpeed = highSpeed;
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}
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digitalWrite(stepPin, HIGH);
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delayMicroseconds(stepSpeed);
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digitalWrite(stepPin, LOW);
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delayMicroseconds(stepSpeed);
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}
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}
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}
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