first commit

nuvia.ino

@@ -0,0 +1,116 @@
+#include <Wire.h>
+#include <VL53L0X.h>
+// 20 teeth to 125 = 6.25 at 1/8 steps = 10000 steps per revolution = 251mm at 80mm diameter = ca. 36000 steps for 900mm
+
+#define LIMITUP 2700
+#define LIMITDOWN 1800
+
+#define STEP 6
+#define DIR 7
+#define ENABLE 1
+
+#define LEDWW 14
+#define LEDCW 10
+
+#define REFERENCE 18
+
+VL53L0X sensor;
+
+volatile bool referenced = false;
+int maxSteps = floor((LIMITUP - LIMITDOWN) * (10000/251));
+volatile int position = 0;
+int newPosition = 0;
+volatile int distance = 10000;
+volatile bool setup_finished = false;
+
+void step(bool dir = false, int del = 1000){
+  if(dir) digitalWrite(DIR, HIGH);
+  if(!dir) digitalWrite(DIR, LOW);
+  
+  if(!dir) position++;
+  if(dir) position--;
+  //Serial.println(position);
+  digitalWrite(STEP, HIGH);
+  delayMicroseconds(del);
+  digitalWrite(STEP, LOW);
+  delayMicroseconds(del);
+}
+
+void setup() {
+  // put your setup code here, to run once:
+  Serial.begin(9600);
+
+  delay(1000);
+
+  pinMode(STEP, OUTPUT);
+  pinMode(DIR, OUTPUT);
+  pinMode(ENABLE, OUTPUT);
+  pinMode(REFERENCE, INPUT_PULLUP);
+
+  Wire.setSDA(16);
+  Wire.setSCL(17);
+  Wire.begin();
+
+  // for(int i = 0; i < 10000; i++){ // 10000 steps = 1 revolution
+  //   step(true);
+  // }
+  sensor.setTimeout(500);
+  if (!sensor.init())
+  {
+    
+    while (1) {
+      Serial.println("Failed to detect and initialize sensor!");
+      delay(100);
+    }
+  }
+
+  sensor.setSignalRateLimit(0.1);
+  sensor.setVcselPulsePeriod(VL53L0X::VcselPeriodPreRange, 18);
+  sensor.setVcselPulsePeriod(VL53L0X::VcselPeriodFinalRange, 14);
+
+  //analogWrite(LEDCW, 25);
+  //analogWrite(LEDWW, 25);
+  delay(1000);
+  digitalWrite(ENABLE, LOW);
+  setup_finished = true;
+}
+
+void setup1(){}
+
+void loop() {
+  distance = sensor.readRangeSingleMillimeters();
+  Serial.print(distance);
+  Serial.print("\t");
+  Serial.println(position);
+  delay(10);
+}
+
+uint32_t counter = 0;
+uint32_t last = 0;
+uint32_t next = 0;
+
+void loop1(){
+  if(setup_finished){
+    if(!referenced){
+      if(digitalRead(REFERENCE) == HIGH) {
+        digitalWrite(ENABLE, LOW);
+        analogWrite(LEDCW, 0);
+        analogWrite(LEDWW, 25);
+        step(true);
+      } else {
+        referenced = true;
+        position = 0;
+        analogWrite(LEDCW, 50);
+        delay(100);
+        analogWrite(LEDCW, 25);
+      }
+    } else {
+      if(position == newPosition){
+        newPosition = random(0, maxSteps);
+      } else {
+        if(position > newPosition) step(true, 1500);
+        if(position < newPosition) step(false, 1500);
+      }
+    }
+  }
+}