improved DCCInterface_TurntableControl example to:
- Added selectable Movement Strategy: Positive Direction Only, Negative Direction Only, Shortest Distance - Made Disabling Output on Idle optional
This commit is contained in:
Alex Shepherd
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.development
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*.zip
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@@ -1,8 +1,8 @@
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// DCC Stepper Motor Controller ( A4988 ) Example for Model Railroad Turntable Control
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//
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// See: https://www.dccinterface.com/how-to/assemblyguide/
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// See: https://www.dccinterface.com/product/arduino-model-railway-dcc-stepper-motor-controller-a4988-assembled/
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//
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// Author: Alex Shepherd 2017-12-04
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// Author: Alex Shepherd 2020-06-01
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//
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// This example requires two Arduino Libraries:
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//
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@@ -22,12 +22,22 @@
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// The lines below define the pins used to connect to the A4988 driver module
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#define A4988_STEP_PIN 4
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#define A4988_DIRECTION_PIN 5
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// Uncomment the next line to enable Powering-Off the Stepper when its not running to reduce heating the motor and driver
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#define A4988_ENABLE_PIN 6
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#ifdef A4988_ENABLE_PIN
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// Uncomment the next line to enable Powering-Off the Stepper when its not running to reduce heating the motor and driver
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//#define DISABLE_OUTPUTS_IDLE
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#endif
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// By default the stepper motor will move the shortest distance to the desired position.
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// If you need the turntable to only move in the Positive/Increasing or Negative/Decreasing step numbers to better handle backlash in the mechanism
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// Then uncomment the appropriate line below
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//#define ALWAYS_MOVE_POSITIVE
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//#define ALWAYS_MOVE_NEGATIVE
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// The lines below define the stepping speed and acceleration, which you may need to tune for your application
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#define STEPPER_MAX_SPEED 800 // Sets the maximum permitted speed
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#define STEPPER_ACCELARATION 1000 // Sets the acceleration/deceleration rate
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#define STEPPER_ACCELARATION 1000 // Sets the acceleration/deceleration rate
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#define STEPPER_SPEED 300 // Sets the desired constant speed for use with runSpeed()
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// The line below defines the number of "Full Steps" your stepper motor does for a full rotation
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@@ -92,6 +102,9 @@ TurnoutPosition turnoutPositions[] = {
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// --------------------------------------------------------------------------------------------
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// You shouldn't need to edit anything below this line unless you're needing to make big changes... ;)
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// --------------------------------------------------------------------------------------------
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#if defined(ALWAYS_MOVE_POSITIVE) && defined(ALWAYS_MOVE_NEGATIVE)
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#error ONLY uncomment one of ALWAYS_MOVE_POSITIVE or ALWAYS_MOVE_NEGATIVE but NOT both
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#endif
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#define MAX_TURNOUT_POSITIONS (sizeof(turnoutPositions) / sizeof(TurnoutPosition))
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@@ -104,11 +117,12 @@ NmraDcc Dcc ;
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// Variables to store the last DCC Turnout message Address and Direction
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uint16_t lastAddr = 0xFFFF ;
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uint8_t lastDirection = 0xFF;
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int lastStep = 0;
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// This function is called whenever a normal DCC Turnout Packet is received
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void notifyDccAccTurnoutOutput( uint16_t Addr, uint8_t Direction, uint8_t OutputPower )
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{
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Serial.print("notifyDccAccTurnoutOutput: ") ;
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Serial.print(F("notifyDccAccTurnoutOutput: "));
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Serial.print(Addr,DEC) ;
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Serial.print(',');
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Serial.print(Direction,DEC) ;
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@@ -131,23 +145,50 @@ void notifyDccAccTurnoutOutput( uint16_t Addr, uint8_t Direction, uint8_t Output
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#ifdef A4988_ENABLE_PIN
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stepper1.enableOutputs();
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#endif
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if (Direction)
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{
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Serial.println(turnoutPositions[i].positionFront, DEC);
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stepper1.moveTo(turnoutPositions[i].positionFront);
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break;
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}
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int newStep;
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if(Direction)
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newStep = turnoutPositions[i].positionFront;
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else
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{
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Serial.println(turnoutPositions[i].positionBack, DEC);
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stepper1.moveTo(turnoutPositions[i].positionBack);
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break;
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}
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newStep = turnoutPositions[i].positionBack;
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Serial.print(newStep, DEC);
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Serial.print(F(" Last Step: "));
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Serial.print(lastStep, DEC);
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int diffStep = newStep - lastStep;
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Serial.print(F(" Diff Step: "));
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Serial.print(diffStep, DEC);
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#if defined ALWAYS_MOVE_POSITIVE
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Serial.print(F(" Positive"));
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if(diffStep < 0)
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diffStep += FULL_TURN_STEPS;
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#elif defined ALWAYS_MOVE_NEGATIVE
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Serial.print(F(" Negative"));
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if(diffStep > 0)
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diffStep -= FULL_TURN_STEPS;
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#else
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if(diffStep > HALF_TURN_STEPS)
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diffStep = diffStep - FULL_TURN_STEPS;
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else if(diffStep < -HALF_TURN_STEPS)
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diffStep = diffStep + FULL_TURN_STEPS;
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#endif
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Serial.print(F(" Move: "));
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Serial.println(diffStep, DEC);
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stepper1.move(diffStep);
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lastStep = newStep;
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break;
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}
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}
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};
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#ifdef A4988_ENABLE_PIN
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#ifdef DISABLE_OUTPUTS_IDLE
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bool lastIsRunningState ;
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#endif
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@@ -163,6 +204,10 @@ void setupStepperDriver()
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stepper1.setSpeed(STEPPER_SPEED); // Sets the desired constant speed for use with runSpeed()
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#ifdef A4988_ENABLE_PIN
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stepper1.enableOutputs();
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#endif
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#ifdef DISABLE_OUTPUTS_IDLE
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lastIsRunningState = stepper1.isRunning();
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#endif
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}
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@@ -173,14 +218,19 @@ bool moveToHomePosition()
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pinMode(HOME_SENSOR_PIN, INPUT_PULLUP);
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#ifdef ALWAYS_MOVE_NEGATIVE
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stepper1.move(0 - (FULL_TURN_STEPS * 2));
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#else
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stepper1.move(FULL_TURN_STEPS * 2);
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#endif
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while(digitalRead(HOME_SENSOR_PIN) != HOME_SENSOR_ACTIVE_STATE)
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stepper1.run();
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if(digitalRead(HOME_SENSOR_PIN) == HOME_SENSOR_ACTIVE_STATE)
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{
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Serial.println(F("Found Home Position - Setting Current Position to 0"));
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stepper1.stop();
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stepper1.setCurrentPosition(0);
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Serial.println(F("Found Home Position - Setting Current Position to 0"));
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return true;
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}
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else
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@@ -210,28 +260,32 @@ void setup()
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Serial.print(F("Full Rotation Steps: "));
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Serial.println(FULL_TURN_STEPS);
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Serial.print(F("Movement Strategy: "));
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#if defined ALWAYS_MOVE_POSITIVE
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Serial.println(F("Positive Direction Only"));
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#elif defined ALWAYS_MOVE_NEGATIVE
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Serial.println(F("Negative Direction Only"));
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#else
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Serial.println(F("Shortest Distance"));
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#endif
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for(uint8_t i = 0; i < MAX_TURNOUT_POSITIONS; i++)
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{
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Serial.print("DCC Addr: ");
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Serial.print(F("DCC Addr: "));
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Serial.print(turnoutPositions[i].dccAddress);
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Serial.print(" Front: ");
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Serial.print(F(" Front: "));
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Serial.print(turnoutPositions[i].positionFront);
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Serial.print(" Back: ");
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Serial.print(F(" Back: "));
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Serial.println(turnoutPositions[i].positionBack);
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}
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setupStepperDriver();
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if(moveToHomePosition());
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{
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setupDCCDecoder();
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#ifdef A4988_ENABLE_PIN
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stepper1.enableOutputs();
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#endif
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// Fake a DCC Packet to cause the Turntable to move to Position 1
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notifyDccAccTurnoutOutput(POSITION_01_DCC_ADDRESS, 1, 1);
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}
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@@ -245,7 +299,7 @@ void loop()
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// Process the Stepper Library
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stepper1.run();
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#ifdef A4988_ENABLE_PIN
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#ifdef DISABLE_OUTPUTS_IDLE
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if(stepper1.isRunning() != lastIsRunningState)
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{
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lastIsRunningState = stepper1.isRunning();
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