The arduino sketch of the Mapamok + Stepper motor experiment

mapamokStepper.ino

#include <Streaming.h>
#include <SerialCommand.h>

#define DIR_PIN 10
#define STEP_PIN 11

float speed = 0.0;
float rotation = 0.0;

SerialCommand scmd;

void setup() {
  
  Serial.begin(9600);
  Serial << "# Serial port connected at 9600 bauds" << endl;
  
  pinMode(DIR_PIN, OUTPUT);
  pinMode(STEP_PIN, OUTPUT);
  
  scmd.addCommand("S", cmd_setspeed);
  scmd.addCommand("R", cmd_getrotation);
  scmd.addCommand("0", cmd_reset);
} 

void loop() { 

  scmd.readSerial();
  
  if(speed < 0.0001) return;
  
  digitalWrite(DIR_PIN, HIGH);
  
  float deg = 0.51;
  int steps = abs(deg)*(1.0/0.225);
  float usDelay = (1/speed) * 70;
  
  for(int i=0; i < steps; i++){
    digitalWrite(STEP_PIN, HIGH);
    delayMicroseconds(usDelay); 
    
    digitalWrite(STEP_PIN, LOW);
    delayMicroseconds(usDelay);
    
    rotation += 0.225;
  }
}

void assignNextCommandValueTo(int& prop) {
  char* arg;
  arg = scmd.next();
  if(arg != NULL) {
    prop = atoi(arg);
  }
}

int getNextCommandValueAsInt() {
  int value;
  assignNextCommandValueTo(value);
  return value;
}

void acknowledge() {
  Serial << '$' << endl;
}

void cmd_setspeed() {
  speed = (float)getNextCommandValueAsInt()/100;
  acknowledge();
}

void cmd_getrotation() {
  Serial << "@" << (int)rotation % 360 << endl;
  acknowledge();
}

void cmd_reset() {
  speed = 0;
  rotation = 0;
  acknowledge();
}