Thread Particle.io - Controlling a stepper motor with a wheel on it.

sketch.ino

// This #include statement was automatically added by the Particle IDE.
#include "SparkJson/SparkJson.h"

//Includes
#include "MQTT/MQTT.h"
#include "math.h"

//Defines
#define STEPS 200
#define ADCwidth 12
#define ADCsteps pow(2, ADCwidth)
#define maxSpeed 256 //RPM (for test, using max LED value 255)

#define motor_pin_1 D0
#define motor_pin_2 D1
#define motor_pin_3 D2
#define motor_pin_4 D3

#define MAX_ACT 2000
uint8_t speed = 0;

//MQTT-init
void callback(char* topic, uint8_t* payload, unsigned int length);
byte server[] = { 192,168,1,234 }; //Server IP-address for MQTT
MQTT client(server, 1883, callback);

#define MQTT_POWER_TOPIC "/thread"
unsigned long del = 2;
unsigned long step = 0;
int forward = 0; //0=forward 1=backward 2=stand still
int req = 0;
int act = 0;

void callback(char* topic, byte* payload, unsigned int length) {
    
    char p[length + 1];
    memcpy(p, payload, length);
    p[length] = '\0';

    StaticJsonBuffer<200> jsonBuffer;
    JsonObject& root = jsonBuffer.parseObject(p);
    
    const char* svalue = root["height"];
    String value(svalue);
    
    Spark.publish("height",value);
    req = value.toInt();
    
    if(req > MAX_ACT){
        req = MAX_ACT;
    }
    else if(req < 0){
        req = 0;
    }
}


void setup() {
    pinMode(motor_pin_1, OUTPUT);
    pinMode(motor_pin_2, OUTPUT);
    pinMode(motor_pin_3, OUTPUT);
    pinMode(motor_pin_4, OUTPUT);
    
    client.connect("sparkclient"); // connect to the MQTT server

    if (client.isConnected()) {
        Spark.publish("Subscribear","nu");
        client.subscribe(MQTT_POWER_TOPIC);
    }
    
}

void loop() {
    //potVal = analogRead(potPin);
    //speed = floor(potVal/(ADCsteps/maxSpeed));
    
    if(!client.isConnected()){
        Spark.publish("CONNECT","NO");
        client.connect("sparkclient"); // connect to the MQTT server
        client.subscribe(MQTT_POWER_TOPIC);
    }
    else{
        //Spark.publish("CONNECT","YES");
        client.loop();   
        //Spark.publish("MQTT","LOOPED");
    }
    
    switch(forward){
        case 0:
            digitalWrite(motor_pin_1, HIGH);
            digitalWrite(motor_pin_2, LOW);
            digitalWrite(motor_pin_3, LOW);
            digitalWrite(motor_pin_4, HIGH);
            
            delay(del);
            
            digitalWrite(motor_pin_1, HIGH);
            digitalWrite(motor_pin_2, HIGH);
            digitalWrite(motor_pin_3, LOW);
            digitalWrite(motor_pin_4, LOW);
            
            delay(del);
            
            digitalWrite(motor_pin_1, LOW);
            digitalWrite(motor_pin_2, HIGH);
            digitalWrite(motor_pin_3, HIGH);
            digitalWrite(motor_pin_4, LOW);
            
            delay(del);
            
            digitalWrite(motor_pin_1, LOW);
            digitalWrite(motor_pin_2, LOW);
            digitalWrite(motor_pin_3, HIGH);
            digitalWrite(motor_pin_4, HIGH);
            
            delay(del);
            step++;
            break;
        
        case 1:
            digitalWrite(motor_pin_1, LOW);
            digitalWrite(motor_pin_2, LOW);
            digitalWrite(motor_pin_3, HIGH);
            digitalWrite(motor_pin_4, HIGH);
            delay(del);
            
            digitalWrite(motor_pin_1, LOW);
            digitalWrite(motor_pin_2, HIGH);
            digitalWrite(motor_pin_3, HIGH);
            digitalWrite(motor_pin_4, LOW);
            delay(del);
            
            digitalWrite(motor_pin_1, HIGH);
            digitalWrite(motor_pin_2, HIGH);
            digitalWrite(motor_pin_3, LOW);
            digitalWrite(motor_pin_4, LOW);
            delay(del);
            
            digitalWrite(motor_pin_1, HIGH);
            digitalWrite(motor_pin_2, LOW);
            digitalWrite(motor_pin_3, LOW);
            digitalWrite(motor_pin_4, HIGH);
            delay(del);
            step--;
            break;
            
        case 2:
            digitalWrite(motor_pin_1, LOW);
            digitalWrite(motor_pin_2, LOW);
            digitalWrite(motor_pin_3, LOW);
            digitalWrite(motor_pin_4, LOW);
            delay(10);
            break;
    }
    
    act = step;
    if((req-act) > 0){
        forward = 0;
    }
    else if((req-act) < 0){
        forward = 1;
    }
    else{
        forward = 2;
    }
}