99 lines
2.9 KiB
Arduino
99 lines
2.9 KiB
Arduino
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#include <Arduino.h>
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#include <FastAccelStepper.h>
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FastAccelStepperEngine engine = FastAccelStepperEngine();
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FastAccelStepper *stepper = NULL;
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// WICHTIG beim XIAO ESP32-C6:
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// Wenn du die Beschriftung auf der Platine nutzt, schreibe D-Pins (z. B. D9),
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// nicht die nackte Zahl, da GPIO-Nummern abweichen!
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#define dirPinStepper D5 // Bei dir zuvor: 5
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#define enablePinStepper D6 // Bei dir zuvor: 6
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#define stepPinStepper D9 // Bei dir zuvor: 9
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#define speedUp D8 // Bei dir zuvor: 8
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#define speedDown D7 // Bei dir zuvor: 7
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const int32_t ACCEL_RATE = 2000;
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const uint32_t MAX_SPEED_HZ = 106000;
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int32_t lastControl = 0;
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uint32_t lastPlotTime = 0;
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void setup() {
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Serial.begin(115200);
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delay(1000); // Zeit für USB-CDC-Verbindung geben
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Serial.println("--- MOTOR DIAGNOSE START ---");
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engine.init();
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stepper = engine.stepperConnectToPin(stepPinStepper);
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if (stepper) {
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Serial.println("[OK] FastAccelStepper erfolgreich an Pin initialisiert.");
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stepper->setDirectionPin(dirPinStepper);
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// Hinweis: Manche Optokoppler-Treiber benötigen HIGH-Aktivität zum Aktivieren.
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// Falls der Motor blockiert bleibt, versuche: stepper->setEnablePin(enablePinStepper, false);
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stepper->setEnablePin(enablePinStepper, true);
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stepper->setAutoEnable(true);
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stepper->setSpeedInHz(MAX_SPEED_HZ);
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} else {
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Serial.println("[FEHLER] FastAccelStepper konnte NICHT initialisiert werden (stepper == NULL)!");
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Serial.println("Prüfe, ob der gewählte Step-Pin von der Library auf dem ESP32-C6 unterstützt wird.");
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}
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pinMode(speedUp, INPUT_PULLUP);
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pinMode(speedDown, INPUT_PULLUP);
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}
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void loop() {
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if (!stepper) {
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Serial.println("[HALT] Kein Stepper-Objekt aktiv.");
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delay(1000);
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return;
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}
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// Bei INPUT_PULLUP: gedrückt = LOW (true)
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bool btnUpPressed = (digitalRead(speedUp) == LOW);
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bool btnDownPressed = (digitalRead(speedDown) == LOW);
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int32_t control = 0;
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if (btnUpPressed && btnDownPressed) {
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stepper->stopMove();
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control = 0;
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}
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else if (btnUpPressed) {
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control = ACCEL_RATE;
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}
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else if (btnDownPressed) {
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control = -ACCEL_RATE;
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}
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else {
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control = 0;
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}
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if (control != lastControl) {
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stepper->moveByAcceleration(control, true);
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lastControl = control;
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}
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// Plotter-Ausgabe alle 50 ms (überflutet den Bus nicht)
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if (millis() - lastPlotTime >= 50) {
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lastPlotTime = millis();
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int32_t currentSpeed = stepper->getCurrentSpeedInUs() == 0 ? 0 : (1000000 / stepper->getCurrentSpeedInUs());
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// Format kompatibel für den Arduino Serial Plotter
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Serial.print("Current_Speed_Hz:");
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Serial.print((60*currentSpeed)/3200);
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Serial.print(" Accel_Control:");
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Serial.print(control);
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Serial.print(" Btn_Up:");
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Serial.print(btnUpPressed ? 5000 : 0);
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Serial.print(" Btn_Down:");
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Serial.print(btnDownPressed ? -5000 : 0);
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Serial.println();
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}
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}
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