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#include <MobaTools.h>
const byte stepPin = 12; // PWM send many pulses to drive carosel
const byte dirPin = 13; // Direction
//const byte enablePin = 8;
//steps per position
int stepsToMove = 828; // Magic number
unsigned long stepDelay = 1000; // milliseconds
MoToStepper stepper( 400, STEPDIR );
void setup()
{
Serial.begin(115200);
Serial.println("ESP32 is ready");
pinMode(13, OUTPUT);
stepper.attach( stepPin, dirPin );
stepper.setSpeedSteps(20000); // = 75 steps/second (steps in 10 seconds)
stepper.setRampLen(500);
stepper.setZero();
pinMode(2,OUTPUT);
}
void loop()
{
if (Serial.available()>0){
//digitalWrite(2, HIGH);
String command_string = Serial.readStringUntil('\n'); //read communication until next line
Serial.println("OK");
command_string.trim();//removes any spaces before and after
int firstSpaceIndex = command_string.indexOf(' ');//find the first space
if(firstSpaceIndex != -1)
{
String commandName = command_string.substring(0, firstSpaceIndex);
int secondSpaceIndex = command_string.indexOf(' ', firstSpaceIndex + 1);
if(secondSpaceIndex != -1){
int pumpNumber = command_string.substring(firstSpaceIndex + 1, secondSpaceIndex).toInt();
int pumpValue = command_string.substring(secondSpaceIndex + 1).toInt();
if(commandName == "Pump")
{
Pump(pumpNumber, pumpValue);
}
} else{
String secondValue = command_string.substring(firstSpaceIndex + 1, command_string.length() + 1);
Serial.println("Second value: \"" + secondValue + "\"");
if(commandName == "Position"){
GoToPosition(secondValue.toInt() * stepsToMove);
}
if(commandName == "LED"){
bool led_on = secondValue == "1";
Serial.println("LED " + led_on ? "on" : "off");
digitalWrite(2, led_on ? HIGH: LOW);
}
}
}
}
//digitalWrite(2, HIGH);
delay(1000);
//digitalWrite(2, LOW);
}
void GoToPosition(int value){
//execute code
Serial.print("Position command executed with value: ");
Serial.println(value);
stepper.moveTo(value);
}
void Pump(int number,int value){
//Execute code
Serial.print("Pump: ");
Serial.println(number);
Serial.println(" value: ");
Serial.println(value);
}
/*
stepper.moveTo(pos9);
while(stepper.distanceToGo() > 0);
Serial.write("current position :");
delay(stepDelay);
stepper.moveTo(pos2);
while(stepper.distanceToGo() > 0);
delay(stepDelay);
stepper.moveTo(pos5);
while(stepper.distanceToGo() > 0);
delay(stepDelay);
stepper.moveTo(pos3);
while(stepper.distanceToGo() > 0);
delay(stepDelay);
*/
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