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ArduinoCrane_v1.ino
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ArduinoCrane_v1.ino
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// Steve Dunlap
// Sept 24, 2016
// Arduino code for crane
// 3 Nema 17 motors with 3 A4988 drivers and 2 joysticks
//////////////////////////////////////////////////////////////////
// Counters
int counter = 0;
const int m1_x_low = 475;
const int m1_x_high = 555;
int m1_x_position = 0;
const int m2_x_low = 475;
const int m2_x_high = 555;
int m2_x_position = 0;
const int m3_y_low = 475;
const int m3_y_high = 555;
int m3_y_position = 0;
// Base motor
#define m1_dir_pin 2
#define m1_step_pin 3
#define m1_enable_pin 4
// Trolley motor
#define m2_dir_pin 5
#define m2_step_pin 6
#define m2_enable_pin 7
// Lift motor
#define m3_dir_pin 8
#define m3_step_pin 9
#define m3_enable_pin 10
#define m2_limit_switch 12
#define m3_limit_switch 13
// Joystick controls
#define m1_x_pin A0 // moves the base left/right
#define m2_x_pin A1 // moves the trolley left/right
#define m3_y_pin A2 // moves the lift up/down
void setup() {
pinMode(m1_enable_pin, OUTPUT);
digitalWrite(m1_enable_pin, LOW);
pinMode(m1_step_pin, OUTPUT);
pinMode(m1_dir_pin, OUTPUT);
pinMode(m2_enable_pin, OUTPUT);
digitalWrite(m2_enable_pin, LOW);
pinMode(m2_step_pin, OUTPUT);
pinMode(m2_dir_pin, OUTPUT);
pinMode(m3_enable_pin, OUTPUT);
digitalWrite(m3_enable_pin, LOW);
pinMode(m3_step_pin, OUTPUT);
pinMode(m3_dir_pin, OUTPUT);
pinMode(m1_x_pin, INPUT);
pinMode(m2_x_pin, INPUT);
pinMode(m3_y_pin, INPUT);
pinMode(m2_limit_switch, INPUT);
pinMode(m3_limit_switch, INPUT);
}
void loop() {
m1_x_position = analogRead(m1_x_pin);
m2_x_position = analogRead(m2_x_pin);
m3_y_position = analogRead(m3_y_pin);
//digitalRead(m2_limit_switch)
// base motor control
if(m1_x_position < m1_x_low) {
digitalWrite(m1_dir_pin, HIGH); // anti-clockwise
digitalWrite(m1_step_pin, HIGH);
delay(10);
digitalWrite(m1_step_pin, LOW);
delay(10);
}
if(m1_x_position > m1_x_high) {
digitalWrite(m1_dir_pin, LOW); // clockwise
digitalWrite(m1_step_pin, HIGH);
delay(10);
digitalWrite(m1_step_pin, LOW);
delay(10);
}
// trolley motor control
if(m2_x_position < m2_x_low) {
digitalWrite(m2_dir_pin, HIGH); // anti-clockwise
digitalWrite(m2_step_pin, HIGH);
delay(1);
digitalWrite(m2_step_pin, LOW);
delay(1);
}
if(m2_x_position > m2_x_high && digitalRead(m2_limit_switch) == LOW) {
digitalWrite(m2_dir_pin, LOW); // clockwise
digitalWrite(m2_step_pin, HIGH);
delay(1);
digitalWrite(m2_step_pin, LOW);
delay(1);
}
// lift motor control
if(m3_y_position < m3_y_low) {
digitalWrite(m3_dir_pin, HIGH); // anti-clockwise
digitalWrite(m3_step_pin, HIGH);
delay(1);
digitalWrite(m3_step_pin, LOW);
delay(1);
}
if(m3_y_position > m3_y_high && digitalRead(m3_limit_switch) == LOW) {
digitalWrite(m3_dir_pin, LOW); // clockwise
digitalWrite(m3_step_pin, HIGH);
delay(1);
digitalWrite(m3_step_pin, LOW);
delay(1);
}
/*
digitalWrite(m1_dir_pin, HIGH);
digitalWrite(m2_dir_pin, HIGH);
digitalWrite(m3_dir_pin, HIGH);
for(counter = 0; counter < 500; counter++)
{
//digitalWrite(m1_step_pin, HIGH);
digitalWrite(m2_step_pin, HIGH);
digitalWrite(m3_step_pin, HIGH);
delay(5);
//digitalWrite(m1_step_pin, LOW);
digitalWrite(m2_step_pin, LOW);
digitalWrite(m3_step_pin, LOW);
delay(10);
}
*/
}
//end