Prośba o poradę - kontrola pracy cyklicznej silnika krokowego

Kod: Zaznacz cały

#include <LiquidCrystal.h> 
#include <Stepper.h>


//create object to control an LCD.  
//number of lines in display=2
LiquidCrystal lcd( 8, 9, 4, 5, 6, 7 ); 

// Define pins
int driverPUL = 12;    // PUL- pin
int driverDIR = 13;    // DIR- pin
int EncoderDT = A1;     // Encoder Output A
int EncoderCLK = A2;     // Encoder Output B
int stopSwitch = A3;  // Push button on encoder

// Define variables
int pause = 3000;     // time for stepper to stop/pause
long previousMillis = 0;        // will store last time LED was updated
long interval = pause; 
bool stepperOn = false;
const int stepsPerRevolution = 1600;  // change this to fit the number of steps per revolution

// Stepper options
Stepper myStepper(stepsPerRevolution, driverPUL, driverDIR); 

//Keypad setup 
int adc_key_val[5] ={30, 150, 360, 535, 760 };
int NUM_KEYS = 5;
int adc_key_in;
int key=-1;
int oldkey=-1;


///////////////////////////SETUP/////////////////////START///////
 
void setup() { 
  pinMode(stopSwitch, INPUT);
  myStepper.setSpeed(300);
//  Serial.begin(9600);

  pinMode (driverPUL, OUTPUT);
  pinMode (driverDIR, OUTPUT);

 //////// LCD SETUP /////// START ///////
  lcd.begin(16, 2);
  lcd.clear();
  lcd.print("Prototype v0.01");
  lcd.setCursor(0, 2);
  lcd.print("Pause:");
  lcd.setCursor(6, 2);
  lcd.print (pause);
   //////// LCD SETUP /////// END ///////
}




///////////////////////////SETUP/////////////////////END///////


///////////////////////////LOOP///////////////////START/////////

void loop() {


  
  ////////////////////STEPPER IN LOOP///////START////
  unsigned long currentMillis = millis(); 
  if(stepperOn && currentMillis - previousMillis > interval)
    {
    previousMillis = currentMillis;  
    myStepper.step(stepsPerRevolution);       
    }
  ////////////////////STEPPER IN LOOP///////END////


  ////////////////////KYPAD IN LOOP///////START////

  adc_key_in = analogRead(0);    // read the value from the sensor  
  key = get_key(adc_key_in);            // convert into key press
  
  if (key != oldkey)            // if keypress is detected
  {
    delayMicroseconds(500);    // TODO wait for debounce time (will propably be interrupting stepper, change to millis or something, not v. important as it's gonna start/stop motor
    adc_key_in = analogRead(0);    // read the value from the sensor  
    key = get_key(adc_key_in);            // convert into key press
    if (key != oldkey)        
    {     
      oldkey = key;
      if (key >=0){
      lcd.setCursor(0, 2);  //line=2, x=0
        if(key == 0)            //if key pressed is RIGHT;
          {               
            Serial.println(key);
            stepperOn = true;
          }
        if(key == 1)            //if key pressed is UP;
          {  
            pause += 100;             
            Serial.println(key);    
          }
        if(key == 2)            //if key pressed is DOWN;
          {               
            Serial.println(key);
            pause -= 100;        
          }
        if(key == 3)            //if key pressed is LEFT;
          {               
            Serial.println(key);
            stepperOn = false;
          }
        if(key == 4)            //if key pressed is SELECT;
          {               
            Serial.println(key);
          }
          Serial.println(pause);
          lcd.setCursor(6, 2);  //line=2, x=6 
          lcd.print (pause); //////TO DO //////////////////Print current pause time in milliseconds   
          interval = pause;
          

      }
    }
  }

    ////////////////////KYPAD IN LOOP///////END////
  
  
}
///////////////////////////LOOP///////////////////END/////////


// Convert ADC value to key number
int get_key(unsigned int input)
{
  int k;
    
  for (k = 0; k < NUM_KEYS; k++)
  {
    if (input < adc_key_val[k])
    {
           
    return k;
        }
  }
    
    if (k >= NUM_KEYS)
        k = -1;     // No valid key pressed
    
    return k;
}