60 degrees stepper motor arduino sketch

60_degrees.ino

const char version[8]= {"v0.1"};
const char today[15] = {"2015 MAY 26"};

#define BTN_INPUT	1

////////////////////////////////////////////////////////////////////////////////
//  Stepper motor set-up
//
#include <Stepper.h>
// Define how many steps there are in 1 revolution of your motor
#define STEPS_PER_REVOLUTION 200

// Enable (PWM) outputs
#define EN1_PIN 3
#define EN2_PIN 9

// Direction outputs
#define DIR1_PIN 5
#define DIR2_PIN 6

// Fault inputs, active low
//ckck #define FAULT1_PIN 5
#define FAULT2_PIN 8

// General-purpose LED's, active high
//ckck #define LED0_PIN 9    // For motor A
#define LED1_PIN 10   // For motor A
#define LED2_PIN 16   // For motor B
#define LED3_PIN 17   // For motor B

Stepper stepper(STEPS_PER_REVOLUTION, DIR1_PIN, DIR2_PIN);

// Set initial default values
unsigned RPM = 30;
unsigned PWM = 25;
unsigned DIR = 1;

//	200 steps per revolution means 60 degrees is 33-1/3 steps
unsigned STEPS = STEPS_PER_REVOLUTION/6;
unsigned remainder = 3;	// every Nth iteration, add a step
unsigned compensate=1;
unsigned count = 0;
unsigned _steps = 0;

void rest(){
	// Configure all outputs off for now
	pinMode(EN1_PIN, OUTPUT); digitalWrite(EN1_PIN, LOW);
	pinMode(EN2_PIN, OUTPUT); digitalWrite(EN2_PIN, LOW);
	pinMode(DIR1_PIN, OUTPUT); digitalWrite(DIR1_PIN, LOW);
	pinMode(DIR2_PIN, OUTPUT); digitalWrite(DIR2_PIN, LOW);
}

void setup() {
	rest();

	//  pinMode(LED0_PIN, OUTPUT); digitalWrite(LED0_PIN, LOW);
	pinMode(LED1_PIN, OUTPUT); digitalWrite(LED1_PIN, LOW);
	pinMode(LED2_PIN, OUTPUT); digitalWrite(LED2_PIN, LOW);
	pinMode(LED3_PIN, OUTPUT); digitalWrite(LED3_PIN, LOW);

	// Configure fault inputs with pullups
	//  pinMode(FAULT1_PIN, INPUT); digitalWrite(FAULT1_PIN, HIGH);
	pinMode(FAULT2_PIN, INPUT); digitalWrite(FAULT2_PIN, HIGH);

	Serial.begin(9600);
	Serial.println("Started");

	// Change from divide-by-64 prescale on Timer 2 to divide by 8 to get
	// 8-times faster PWM frequency (976 Hz --> 7.8 kHz). This should prevent
	// overcurrent conditions for steppers with high voltages and low inductance.
//	TCCR2B = _BV(CS21);

	// Now enable PWM and start motion
	analogWrite(EN1_PIN, PWM);
	analogWrite(EN2_PIN, PWM);
	stepper.setSpeed(RPM);

}

void button(){
	digitalWrite(LED2_PIN,LOW);
	// Now enable PWM and start motion
	analogWrite(EN1_PIN, PWM);
	analogWrite(EN2_PIN, PWM);

	count++;
//	if( count == compensate )
//		STEPS++;
	if( compensate && (count % remainder == 0) ) {
		STEPS++;
		digitalWrite(LED2_PIN,HIGH);
	}
	Serial.print("count ");
	Serial.print(count);
	Serial.print(", rotating ");
	Serial.print(STEPS);
	Serial.print(" steps ");
	stepper.step(STEPS);
	_steps+=STEPS;
	Serial.print(" total: ");
	Serial.println(_steps);
	if( count == 60 ) {
		count=0;
		_steps=0;
	}
	// put STEPS back
	STEPS = STEPS_PER_REVOLUTION/6;
//			Serial.println("Sleeping...");
			delay(100);	// catch when button held
}

////////////////////////////////////////////////////////////////////////////////
void loop() {
	int input;
	int idx;
	input = analogRead(BTN_INPUT);
	if( input <  100 ) {
//		for(int i=6; i>0; i--) {
			Serial.print("Button read: ");
			Serial.println(input);
			button();
			Serial.println("Done.");
			idx=0;
			do {
				delay(100);
				input = analogRead(BTN_INPUT);
				if( idx++ )
					Serial.println("Button still held down?");
			} while( input < 100 );
//		}
	}
	// send data only when you receive data:
	if (Serial.available() > 0) {
		Serial.println("-------------------------");
		char incomingByte;
		// read the incoming byte:
		incomingByte = Serial.read();
		if( incomingByte == '+' )
			STEPS += 1;
		if( incomingByte == '-' )
			STEPS -= 1;
		if( incomingByte == '+' || incomingByte == '-' ){
			Serial.print("# steps changed: ");
			Serial.println(STEPS);
		}	/////////////////////////////////////////////////
		if( incomingByte == 'f' )
			RPM += 1;
		if( incomingByte == 's' && RPM > 5 )
			RPM -= 1;
		if( incomingByte == 's' || incomingByte == 'f' ){
			stepper.setSpeed(RPM);
			Serial.print("RPM changed: ");
			Serial.println(RPM);
		}	/////////////////////////////////////////////////
		if( incomingByte == 'p' )
			PWM += 5;
		if( incomingByte == 'o' && PWM > 5 )
			PWM -= 5;
		if( incomingByte == 'p' || incomingByte == 'o' ){
			rest();
			Serial.print("PWM changed: ");
			Serial.println(PWM);
		}	/////////////////////////////////////////////////
		if( incomingByte == 'a' )
			button();
		if( incomingByte == 'r' )
			rest();
	}	
}