第107-7課：用定義嘅STPB-5按鈕將28BYJ-48步進電機送到任意角度

/*
* Lesson 107-6: Controlling a stepper motor using 3 push buttons STPB-4. 
STPB-4: We control a stepper motor using three push buttons. One push button for CW (fixed angle and speed) and another for CCW (fixed angle and speed), and one for stopping it. The angles are set in the code.
See the video for details and demonstration. 

In this lesson, we learn how to use a mini stepper motor 28BYJ-48 for our project. I am presenting eight projects
  so you can use it in almost any application. In the video, I have explained the code, shown the full wiring diagram, and 
  how to connect the wires, push buttons, and breadboard. 

  Project 1: Running motor 
  Project 2: Controlling stepper motor from Serial Monitor
  Project 3: Controlling stepper motor using push button STPB-1 
  Project 4: Controlling using push button STPB-2 (keep pressing)
  Project 5: One Revolution using push button STPB-3
  Project 6: Push button: Any Angle and speed STPB-4 
  Project 7: Using multiple buttons for any angles STPB-5: angle, speed, and direction (this code)
  Project 8: Controlling stepper motor using potentiometer

  * Watch Video instruction for this code: https://youtu.be/TQ7R2bY-MWU
  * 
  * This code is part of the Arduino Step by Step Course, which starts here:  https://youtu.be/-6qSrDUA5a8
  * 
  * For the library for this code, visit http://robojax.com/
  * 
 If you found this tutorial helpful, please support me so I can continue creating 
 content like this. Make a donation using PayPal or a credit card: https://bit.ly/donate-robojax 
 
 * Written by Ahmad Shamshiri for Robojax Robojax.com
 * on Jun 09, 2020 in Ajax, Ontario, Canada
 * 
 * 
  *  * This code is "AS IS" without warranty or liability. Free to be used as long as you keep this note intact.* 
  * This code has been downloaded from Robojax.com
     This program is free software: you can redistribute it and/or modify
     it under the terms of the GNU General Public License as published by
     the Free Software Foundation, either version 3 of the License, or
     (at your option) any later version.
 
     This program is distributed in the hope that it will be useful,
     but WITHOUT ANY WARRANTY; without even the implied warranty of
     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
     GNU General Public License for more details.
 
     You should have received a copy of the GNU General Public License
     along with this program.  If not, see <https://www.gnu.org/licenses/>.

 */


const int CW =1;
const int CCW =2;
const int STOP =3;

int Pin1 = 8;//IN1 is connected to 8 
int Pin2 = 9;//IN2 is connected to 9  
int Pin3 = 10;//IN3 is connected to 10 
int Pin4 = 11;//IN4 is connected to 11
int switchSTOP =2;//define input pin for STOP push button
int stopType=1;//1=normal stop, 2=hold stop (consumes power)

int speedFactor =1;//1=fastest, 2=slower or 3 more slower

long angles[] = {360, 270, 7655};//angles of each push button
int pushButtons[] ={3, 4, 5};//digial pin for each push button
int directions[] ={CW, CCW, CW};//direction of each push button
int speedFactors[] = {1, 1, 3};//speed for each push button


int correction_CW = 150;//watch video for details
int correction_CCW = 150;//watch video for details


int poleStep = 0; 
long stepVale =0;
const int SPR=64*64;
long goToAngle=0;
int activeButton=0;
int pole1[] ={0,0,0,0, 0,1,1,1, 0};//pole1, 8 step values
int pole2[] ={0,0,0,1, 1,1,0,0, 0};//pole2, 8 step values
int pole3[] ={0,1,1,1, 0,0,0,0, 0};//pole3, 8 step values
int pole4[] ={1,1,0,0, 0,0,0,1, 0};//pole4, 8 step values





int count=0;
int  dirStatus = STOP;// stores direction status 3= stop (do not change)

void setup() 
{ 
  //Robojax.com Stepper Push button Any Angle STPB-5
  Serial.begin(9600);
  Serial.print("Robojax Video for Stepper Motor STPB-2");  
  pinMode(Pin1, OUTPUT);//define pin for ULN2003 in1 
  pinMode(Pin2, OUTPUT);//define pin for ULN2003 in2   
  pinMode(Pin3, OUTPUT);//define pin for ULN2003 in3   
  pinMode(Pin4, OUTPUT);//define pin for ULN2003 in4   

  pinMode(switchSTOP,INPUT_PULLUP); 
  attachInterrupt(digitalPinToInterrupt(switchSTOP), stopMotor, FALLING );
  // see this https://www.arduino.cc/reference/en/language/variables/utilities/sizeof/
  for (byte i = 0; i < (sizeof(pushButtons) / sizeof(pushButtons[0])); i++) {
    pinMode(pushButtons[i],INPUT_PULLUP);
  }


 
} //setup
 void loop() 
{ 
    stepVale = (SPR * goToAngle)/360 ;
  //Robojax.com Stepper Push button Any Angle STPB-5

  //see this https://www.arduino.cc/reference/en/language/variables/utilities/sizeof/
 for (byte i = 0; i < (sizeof(angles) / sizeof(angles[0])); i++) {
    if(digitalRead(pushButtons[i]) == LOW) 
    {
      goToAngle =angles[i];
      dirStatus =directions[i];
      count =0;
      activeButton =i;
    }// if ends
 }//for loop ends
  
  
 if(dirStatus ==CCW){ 
  
   poleStep++; 
   count++;   
   if(count+correction_CCW <= stepVale)
   {
    driveStepper(poleStep);      
   }else{
      stopMotor();  
   }
  //full explanation at Arduino Course on Udemy.com see link above
 }else if(dirStatus ==CW){ 
   poleStep--; 
   count++;   
   if(count+correction_CW <=stepVale)
   {
    driveStepper(poleStep);      
   }else{
      stopMotor();  
   }   
 }else{
  stopMotor();   
 }
 if(poleStep>7){ 
   poleStep=0;
 } 
 if(poleStep<0){ 
   poleStep=7; 
 } 
  delay(speedFactors[activeButton]);
  
  //Robojax.com Stepper Push button Any Angle STPB-5

}// loop


/*
 * @brief moves motor to specific angle 
 * @param "angle" is an integer representing the angle
 * @return does not return anything
 * 
 * www.Robojax.com code April 19, 2020 at 01:22 in Ajax, Ontario, Canada
 */
void driveStepper(int c)
{
    //Robojax.com Stepper Push button Any Angle STPB-5
     digitalWrite(Pin1, pole1[c]);  
     digitalWrite(Pin2, pole2[c]); 
     digitalWrite(Pin3, pole3[c]); 
     digitalWrite(Pin4, pole4[c]);

}//driveStepper ends here

/*
 * @brief stops the motor immediately
 * @param none
 * @return does not return anything
 * 
 * www.Robojax.com code June 09, 2020 at 11:09 in Ajax, Ontario, Canada
 */
void stopMotor()
{
  //see this https://www.arduino.cc/reference/en/language/variables/utilities/sizeof/
 for (byte i = 0; i < (sizeof(angles) / sizeof(angles[0])); i++) {
    digitalWrite(pushButtons[i], HIGH); 

 }//for loop ends
 dirStatus = STOP;
 if( stopType ==2)
 {
  driveStepper(8);
 }
}//stopMotor()