Hi, I really need help here, so I made a rotator using an Arduino Nano Every and 2 TB6600 drivers but they were way too noisy, I tried microstepping but the angles were off, thinking it might be a problem with the drivers I bought two TMC2160 they are much more silent but the minimum stepping is 8 times.
The problem is I set the SPR to 1600 on the code, but when I set the angle, for example to 90º it only turn 22.5º and reports it as 90. I tried setting the SPR, changing the ratios, but it doesn’t make a difference, it refuses to go to the set angle. I have got the driver properly set to 1600 steps per rotation, but whatever I do to the code it doesn’t change it. Please help!
The code:
#include <string.h>
#include <stdlib.h>
#include <math.h>
#include <AccelStepper.h>
#define DIR_AZ 18 //PIN for Azimuth Direction
#define STEP_AZ 10 //PIN for Azimuth Steps
#define DIR_EL 6 //PIN for Elevation Direction
#define STEP_EL 7 //PIN for Elevation Steps
#define MS1 9 //PIN for step size
#define EN 8 //PIN for Enable or Disable Stepper Motors
#define SPR 200 //Step Per Revolution
#define RATIO 60 //Gear ratio
#define T_DELAY 60000 //Time to disable the motors in millisecond
#define HOME_AZ 4 //Homing switch for Azimuth
#define HOME_EL 5 //Homing switch for Elevation
/*The MAX_ANGLE depends of ANGLE_SCANNING_MULT and maybe misbehave for large values*/
#define ANGLE_SCANNING_MULT 180 //Angle scanning multiplier
#define MAX_AZ_ANGLE 360 //Maximum Angle of Azimuth for homing scanning
#define MAX_EL_ANGLE 360 //Maximum Angle of Elevation for homing scanning
#define HOME_DELAY 6000 //Time for homing Decceleration in millisecond
/*Global Variables*/
unsigned long t_DIS = 0; //time to disable the Motors
/*Define a stepper and the pins it will use*/
AccelStepper AZstepper(1, STEP_AZ, DIR_AZ);
AccelStepper ELstepper(1, STEP_EL, DIR_EL);
void setup()
{
/*Change these to suit your stepper if you want*/
AZstepper.setMaxSpeed(150);
AZstepper.setAcceleration(50);
/*Change these to suit your stepper if you want*/
ELstepper.setMaxSpeed(150);
ELstepper.setAcceleration(50);
/*Enable Motors*/
pinMode(EN, OUTPUT);
digitalWrite(EN, LOW);
/*Step size*/
pinMode(MS1, OUTPUT);
digitalWrite(MS1, LOW); //Full step
/*Homing switch*/
pinMode(HOME_AZ, INPUT);
pinMode(HOME_EL, INPUT);
/*Serial Communication*/
Serial.begin(19200);
/*Initial Homing*/
Homing(deg2step(-ANGLE_SCANNING_MULT), deg2step(-ANGLE_SCANNING_MULT));
}
void loop()
{
/*Define the steps*/
static int AZstep = 0;
static int ELstep = 0;
/*Time Check*/
if (t_DIS == 0)
t_DIS = millis();
/*Disable Motors*/
if (AZstep == AZstepper.currentPosition() && ELstep == ELstepper.currentPosition() && millis()-t_DIS > T_DELAY)
{
digitalWrite(EN, HIGH);
}
/*Enable Motors*/
else
digitalWrite(EN, LOW);
/*Read the steps from serial*/
cmd_proc(AZstep, ELstep);
/*Move the Azimuth & Elevation Motor*/
stepper_move(AZstep, ELstep);
}
/*Homing Function*/
void Homing(int AZsteps, int ELsteps)
{
int value_Home_AZ = HIGH;
int value_Home_EL = HIGH;
int n_AZ = 1; //Times that AZ angle has changed
int n_EL = 1; //Times that EL angle has changed
boolean isHome_AZ = false;
boolean isHome_EL = false;
AZstepper.moveTo(AZsteps);
ELstepper.moveTo(ELsteps);
while(isHome_AZ == false || isHome_EL == false)
{
value_Home_AZ = digitalRead(HOME_AZ);
value_Home_EL = digitalRead(HOME_EL);
/* Change to LOW according to Home sensor */
if (value_Home_AZ == HIGH)
{
AZstepper.moveTo(AZstepper.currentPosition());
isHome_AZ = true;
}
/* Change to LOW according to Home sensor */
if (value_Home_EL == HIGH)
{
ELstepper.moveTo(ELstepper.currentPosition());
isHome_EL = true;
}
if (AZstepper.distanceToGo() == 0 && !isHome_AZ)
{
n_AZ++;
AZsteps = deg2step(pow(-1,n_AZ)*n_AZ*ANGLE_SCANNING_MULT);
if (abs(n_AZ*ANGLE_SCANNING_MULT) > MAX_AZ_ANGLE)
{
error(0);
break;
}
AZstepper.moveTo(AZsteps);
}
if (ELstepper.distanceToGo() == 0 && !isHome_EL)
{
n_EL++;
ELsteps = deg2step(pow(-1,n_EL)*n_EL*ANGLE_SCANNING_MULT);
if (abs(n_EL*ANGLE_SCANNING_MULT) > MAX_EL_ANGLE)
{
error(1);
break;
}
ELstepper.moveTo(ELsteps);
}
AZstepper.run();
ELstepper.run();
}
/*Delay to Deccelerate*/
long time = millis();
while(millis() - time < HOME_DELAY)
{
AZstepper.run();
ELstepper.run();
}
/*Reset the steps*/
AZstepper.setCurrentPosition(0);
ELstepper.setCurrentPosition(0);
}
/*EasyComm 2 Protocol & Calculate the steps*/
void cmd_proc(int &stepAz, int &stepEl)
{
/*Serial*/
char buffer[256];
char incomingByte;
char *p=buffer;
char *str;
static int counter=0;
char data[100];
double angleAz,angleEl;
/*Read from serial*/
while (Serial.available() > 0)
{
incomingByte = Serial.read();
/* XXX: Get position using custom and test code */
if (incomingByte == '!')
{
/* Get position */
Serial.print("TM");
Serial.print(1);
Serial.print(" ");
Serial.print("AZ");
Serial.print(10*step2deg(AZstepper.currentPosition()), 1);
Serial.print(" ");
Serial.print("EL");
Serial.println(10*step2deg(ELstepper.currentPosition()), 1);
}
/*new data*/
else if (incomingByte == '\n')
{
p = buffer;
buffer[counter] = 0;
if (buffer[0] == 'A' && buffer[1] == 'Z')
{
if (buffer[2] == ' ' && buffer[3] == 'E' && buffer[4] == 'L')
{
/* Get position */
Serial.print("AZ");
Serial.print(step2deg(AZstepper.currentPosition()), 1);
Serial.print(" ");
Serial.print("EL");
Serial.print(step2deg(ELstepper.currentPosition()), 1);
Serial.println(" ");
}
else
{
/*Get the absolute value of angle*/
str = strtok_r(p, " " , &p);
strncpy(data, str+2, 10);
angleAz = atof(data);
/*Calculate the steps*/
stepAz = deg2step(angleAz);
/*Get the absolute value of angle*/
str = strtok_r(p, " " , &p);
if (str[0] == 'E' && str[1] == 'L')
{
strncpy(data, str+2, 10);
angleEl = atof(data);
/*Calculate the steps*/
stepEl = deg2step(angleEl);
}
}
}
/* Stop Moving */
else if (buffer[0] == 'S' && buffer[1] == 'A' && buffer[2] == ' ' && buffer[3] == 'S' && buffer[4] == 'E')
{
/* Get position */
Serial.print("AZ");
Serial.print(step2deg(AZstepper.currentPosition()), 1);
Serial.print(" ");
Serial.print("EL");
Serial.println(step2deg(ELstepper.currentPosition()), 1);
stepAz = AZstepper.currentPosition();
stepEl = ELstepper.currentPosition();
}
/* Reset the rotator */
else if (buffer[0] == 'R' && buffer[1] == 'E' && buffer[2] == 'S' && buffer[3] == 'E' && buffer[4] == 'T')
{
/* Get position */
Serial.print("AZ");
Serial.print(step2deg(AZstepper.currentPosition()), 1);
Serial.print(" ");
Serial.print("EL");
Serial.println(step2deg(ELstepper.currentPosition()), 1);
/*Move the steppers to initial position*/
Homing(0,0);
/*Zero the steps*/
stepAz = 0;
stepEl = 0;
}
counter = 0;
/*Reset the disable motor time*/
t_DIS = 0;
}
/*Fill the buffer with incoming data*/
else {
buffer[counter] = incomingByte;
counter++;
}
}
}
/*Error Handling*/
void error(int num_error)
{
switch (num_error)
{
/*Azimuth error*/
case (0):
while(1)
{
Serial.println("AL001");
delay(100);
}
/*Elevation error*/
case (1):
while(1)
{
Serial.println("AL002");
delay(100);
}
default:
while(1)
{
Serial.println("AL000");
delay(100);
}
}
}
/*Send pulses to stepper motor drivers*/
void stepper_move(int stepAz, int stepEl)
{
AZstepper.moveTo(stepAz);
ELstepper.moveTo(stepEl);
AZstepper.run();
ELstepper.run();
}
/*Convert degrees to steps*/
int deg2step(double deg)
{
return(RATIO*SPR*deg/360);
}
/*Convert steps to degrees*/
double step2deg(int Step)
{
return(360.00*Step/(SPR*RATIO));
}