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OpenBot-Code

This document defines constants for pin assignments and includes the Servo library. It controls 3 stepper motors using microstepping to move specified steps in a given direction at a specified speed. A servo motor is also controlled to two positions. The main loop calls functions to operate each motor independently in sequences, such as moving one motor forward and another backward simultaneously.

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#define IN1 8  #define IN2 9  #define IN3 10  #define IN4 11  #define IN5 4  #define IN6 5  #define IN7 6  #define IN8 7  #define INn1 22  #define INn2 24  #define INn3 26  #define INn4 28  #include <Servo.h>  Servo myservo; // create servo object to control a servo  // twelve servo objects can be created on most boards  int pos = 0;   int Steps = 0;  int Steps1 = 0;  int Steps2 = 0;  boolean Direction = true;// gre  boolean Direction1 = true;// gre  boolean Direction2 = true;// gre  unsigned long last_time;  unsigned long currentMillis ;  int steps_left=40950;  int steps_left1=40950;  int steps_left2=40950;  int k=0;  long time;  void setup()  {  Serial.begin(115200);  pinMode(IN1, OUTPUT);   pinMode(IN2, OUTPUT);   pinMode(IN3, OUTPUT);   pinMode(IN4, OUTPUT);  pinMode(IN5, OUTPUT);   pinMode(IN6, OUTPUT);   pinMode(IN7, OUTPUT);   pinMode(IN8, OUTPUT);  pinMode(INn1, OUTPUT);   pinMode(INn2, OUTPUT);   pinMode(INn3, OUTPUT);   pinMode(INn4, OUTPUT);  myservo.attach(12);    // delay(1000);  }  //_____________________________________________________________  void motor1 (int spd1 ,int steps1 ,int dir1 ){  steps_left1 = steps1 ; 
Direction1 = dir1 ;  while(steps_left1>0){  currentMillis = micros();  if(currentMillis-last_time>=spd1){  stepper1(1);   time=time+micros()-last_time;  last_time=micros();  steps_left1--;  }     //delay(1000);  //Direction=!Direction;       }             }  //-___________________________________________________________  void loop()  {  k=0;  while(k<2000){  motor (1000 , 1 , 0 );  motor1 (1000 , 1 , 1 );  k++;  }  while(k<3500){  motor (3700 , 1 , 1 );  motor2 (1000 , 1 , 1 );  k++;  }  while(k<5000){  motor (1000 , 1 , 1 );  motor2 (1000 , 1 , 0 );  k++;  }  myservo.write(30);  delay(1000);  while(k<5500){  motor (3700 , 1 , 0 );  motor1 (1000 , 1 , 0 );  motor2 (1000 , 1 , 0 );  k++;  }  myservo.write(0);  delay(2000);  /* while(k<9000){  motor (800 , 1 , 0 ); 
motor1 (800 , 1 , 1 );  k++;  }  while(k<12000){  motor (800 , 1 , 0 );  motor1 (1000 , 1 , 0 );  k++;  }*/         }  void motor (int spd ,int steps ,int dir ){  steps_left = steps ;  Direction = dir ;  while(steps_left>0){  currentMillis = micros();  if(currentMillis-last_time>=spd){  stepper(1);   time=time+micros()-last_time;  last_time=micros();  steps_left--;      }     //delay(1000);  //Direction=!Direction;       }             }  //____________________________________________________________________________________ _____    void motor2 (int spd2 ,int steps2 ,int dir2 ){  steps_left2 = steps2 ;  Direction2 = dir2 ;  while(steps_left2>0){  currentMillis = micros();  if(currentMillis-last_time>=spd2){  stepper2(1);   time=time+micros()-last_time;  last_time=micros();  steps_left2--;  }     //delay(1000);  //Direction=!Direction; 
     }             }  //__________________________________________________  void stepper(int xw){  for (int x=0;x<xw;x++){  switch(Steps){  case 0:  digitalWrite(IN1, LOW);   digitalWrite(IN2, LOW);  digitalWrite(IN3, LOW);  digitalWrite(IN4, HIGH);  break;   case 1:  digitalWrite(IN1, LOW);   digitalWrite(IN2, LOW);  digitalWrite(IN3, HIGH);  digitalWrite(IN4, HIGH);  break;   case 2:  digitalWrite(IN1, LOW);   digitalWrite(IN2, LOW);  digitalWrite(IN3, HIGH);  digitalWrite(IN4, LOW);  break;   case 3:  digitalWrite(IN1, LOW);   digitalWrite(IN2, HIGH);  digitalWrite(IN3, HIGH);  digitalWrite(IN4, LOW);  break;   case 4:  digitalWrite(IN1, LOW);   digitalWrite(IN2, HIGH);  digitalWrite(IN3, LOW);  digitalWrite(IN4, LOW);  break;   case 5:  digitalWrite(IN1, HIGH);   digitalWrite(IN2, HIGH);  digitalWrite(IN3, LOW);  digitalWrite(IN4, LOW);  break;   case 6:  digitalWrite(IN1, HIGH);   digitalWrite(IN2, LOW); 
digitalWrite(IN3, LOW);  digitalWrite(IN4, LOW);  break;   case 7:  digitalWrite(IN1, HIGH);   digitalWrite(IN2, LOW);  digitalWrite(IN3, LOW);  digitalWrite(IN4, HIGH);  break;   default:  digitalWrite(IN1, LOW);   digitalWrite(IN2, LOW);  digitalWrite(IN3, LOW);  digitalWrite(IN4, LOW);  break;   }  SetDirection();  }  }   //____________________________________________________________________________________ ________  void stepper1(int xy){  for (int x=0;x<xy;x++){  switch(Steps1){  case 0:  digitalWrite(IN5, LOW);   digitalWrite(IN6, LOW);  digitalWrite(IN7, LOW);  digitalWrite(IN8, HIGH);  break;   case 1:  digitalWrite(IN5, LOW);   digitalWrite(IN6, LOW);  digitalWrite(IN7, HIGH);  digitalWrite(IN8, HIGH);  break;   case 2:  digitalWrite(IN5, LOW);   digitalWrite(IN6, LOW);  digitalWrite(IN7, HIGH);  digitalWrite(IN8, LOW);  break;   case 3:  digitalWrite(IN5, LOW);   digitalWrite(IN6, HIGH);  digitalWrite(IN7, HIGH);  digitalWrite(IN8, LOW);  break;   case 4:  digitalWrite(IN5, LOW);  
digitalWrite(IN6, HIGH);  digitalWrite(IN7, LOW);  digitalWrite(IN8, LOW);  break;   case 5:  digitalWrite(IN5, HIGH);   digitalWrite(IN6, HIGH);  digitalWrite(IN7, LOW);  digitalWrite(IN8, LOW);  break;   case 6:  digitalWrite(IN5, HIGH);   digitalWrite(IN6, LOW);  digitalWrite(IN7, LOW);  digitalWrite(IN8, LOW);  break;   case 7:  digitalWrite(IN5, HIGH);   digitalWrite(IN6, LOW);  digitalWrite(IN7, LOW);  digitalWrite(IN8, HIGH);  break;   default:  digitalWrite(IN5, LOW);   digitalWrite(IN6, LOW);  digitalWrite(IN7, LOW);  digitalWrite(IN8, LOW);  break;   }  SetDirection1();  }  }  //____________________________________________________________________  void stepper2(int xz){  for (int x=0;x<xz;x++){  switch(Steps2){  case 0:  digitalWrite(INn1, LOW);   digitalWrite(INn2, LOW);  digitalWrite(INn3, LOW);  digitalWrite(INn4, HIGH);  break;   case 1:  digitalWrite(INn1, LOW);   digitalWrite(INn2, LOW);  digitalWrite(INn3, HIGH);  digitalWrite(INn4, HIGH);  break;   case 2:  digitalWrite(INn1, LOW);  
digitalWrite(INn2, LOW);  digitalWrite(INn3, HIGH);  digitalWrite(INn4, LOW);  break;   case 3:  digitalWrite(INn1, LOW);   digitalWrite(INn2, HIGH);  digitalWrite(INn3, HIGH);  digitalWrite(INn4, LOW);  break;   case 4:  digitalWrite(INn1, LOW);   digitalWrite(INn2, HIGH);  digitalWrite(INn3, LOW);  digitalWrite(INn4, LOW);  break;   case 5:  digitalWrite(INn1, HIGH);   digitalWrite(INn2, HIGH);  digitalWrite(INn3, LOW);  digitalWrite(INn4, LOW);  break;   case 6:  digitalWrite(INn1, HIGH);   digitalWrite(INn2, LOW);  digitalWrite(INn3, LOW);  digitalWrite(INn4, LOW);  break;   case 7:  digitalWrite(INn1, HIGH);   digitalWrite(INn2, LOW);  digitalWrite(INn3, LOW);  digitalWrite(INn4, HIGH);  break;   default:  digitalWrite(INn1, LOW);   digitalWrite(INn2, LOW);  digitalWrite(INn3, LOW);  digitalWrite(INn4, LOW);  break;   }  SetDirection2();  }  }   //______________________________________________________  void SetDirection(){  if(Direction==1){ Steps++;}  if(Direction==0){ Steps--; }  if(Steps>7 ){Steps=0;}  if(Steps<0){Steps=7; } 
}  //___________________________________________________________  void SetDirection1(){  if(Direction1==1){ Steps1++;}  if(Direction1==0){ Steps1--; }  if(Steps1>7 ){Steps1=0;}  if(Steps1<0){Steps1=7; }  }  //______________________________  void SetDirection2(){  if(Direction2==1){ Steps2++;}  if(Direction2==0){ Steps2--; }  if(Steps2>7 ){Steps2=0;}  if(Steps2<0){Steps2=7; }  }   

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OpenBot-Code

  • 1.
    #define IN1 8  #defineIN2 9  #define IN3 10  #define IN4 11  #define IN5 4  #define IN6 5  #define IN7 6  #define IN8 7  #define INn1 22  #define INn2 24  #define INn3 26  #define INn4 28  #include <Servo.h>  Servo myservo; // create servo object to control a servo  // twelve servo objects can be created on most boards  int pos = 0;   int Steps = 0;  int Steps1 = 0;  int Steps2 = 0;  boolean Direction = true;// gre  boolean Direction1 = true;// gre  boolean Direction2 = true;// gre  unsigned long last_time;  unsigned long currentMillis ;  int steps_left=40950;  int steps_left1=40950;  int steps_left2=40950;  int k=0;  long time;  void setup()  {  Serial.begin(115200);  pinMode(IN1, OUTPUT);   pinMode(IN2, OUTPUT);   pinMode(IN3, OUTPUT);   pinMode(IN4, OUTPUT);  pinMode(IN5, OUTPUT);   pinMode(IN6, OUTPUT);   pinMode(IN7, OUTPUT);   pinMode(IN8, OUTPUT);  pinMode(INn1, OUTPUT);   pinMode(INn2, OUTPUT);   pinMode(INn3, OUTPUT);   pinMode(INn4, OUTPUT);  myservo.attach(12);    // delay(1000);  }  //_____________________________________________________________  void motor1 (int spd1 ,int steps1 ,int dir1 ){  steps_left1 = steps1 ; 
  • 2.
    Direction1 = dir1;  while(steps_left1>0){  currentMillis = micros();  if(currentMillis-last_time>=spd1){  stepper1(1);   time=time+micros()-last_time;  last_time=micros();  steps_left1--;  }     //delay(1000);  //Direction=!Direction;       }             }  //-___________________________________________________________  void loop()  {  k=0;  while(k<2000){  motor (1000 , 1 , 0 );  motor1 (1000 , 1 , 1 );  k++;  }  while(k<3500){  motor (3700 , 1 , 1 );  motor2 (1000 , 1 , 1 );  k++;  }  while(k<5000){  motor (1000 , 1 , 1 );  motor2 (1000 , 1 , 0 );  k++;  }  myservo.write(30);  delay(1000);  while(k<5500){  motor (3700 , 1 , 0 );  motor1 (1000 , 1 , 0 );  motor2 (1000 , 1 , 0 );  k++;  }  myservo.write(0);  delay(2000);  /* while(k<9000){  motor (800 , 1 , 0 ); 
  • 3.
    motor1 (800 ,1 , 1 );  k++;  }  while(k<12000){  motor (800 , 1 , 0 );  motor1 (1000 , 1 , 0 );  k++;  }*/         }  void motor (int spd ,int steps ,int dir ){  steps_left = steps ;  Direction = dir ;  while(steps_left>0){  currentMillis = micros();  if(currentMillis-last_time>=spd){  stepper(1);   time=time+micros()-last_time;  last_time=micros();  steps_left--;      }     //delay(1000);  //Direction=!Direction;       }             }  //____________________________________________________________________________________ _____    void motor2 (int spd2 ,int steps2 ,int dir2 ){  steps_left2 = steps2 ;  Direction2 = dir2 ;  while(steps_left2>0){  currentMillis = micros();  if(currentMillis-last_time>=spd2){  stepper2(1);   time=time+micros()-last_time;  last_time=micros();  steps_left2--;  }     //delay(1000);  //Direction=!Direction; 
  • 4.
         }             }  //__________________________________________________  voidstepper(int xw){  for (int x=0;x<xw;x++){  switch(Steps){  case 0:  digitalWrite(IN1, LOW);   digitalWrite(IN2, LOW);  digitalWrite(IN3, LOW);  digitalWrite(IN4, HIGH);  break;   case 1:  digitalWrite(IN1, LOW);   digitalWrite(IN2, LOW);  digitalWrite(IN3, HIGH);  digitalWrite(IN4, HIGH);  break;   case 2:  digitalWrite(IN1, LOW);   digitalWrite(IN2, LOW);  digitalWrite(IN3, HIGH);  digitalWrite(IN4, LOW);  break;   case 3:  digitalWrite(IN1, LOW);   digitalWrite(IN2, HIGH);  digitalWrite(IN3, HIGH);  digitalWrite(IN4, LOW);  break;   case 4:  digitalWrite(IN1, LOW);   digitalWrite(IN2, HIGH);  digitalWrite(IN3, LOW);  digitalWrite(IN4, LOW);  break;   case 5:  digitalWrite(IN1, HIGH);   digitalWrite(IN2, HIGH);  digitalWrite(IN3, LOW);  digitalWrite(IN4, LOW);  break;   case 6:  digitalWrite(IN1, HIGH);   digitalWrite(IN2, LOW); 
  • 5.
    digitalWrite(IN3, LOW);  digitalWrite(IN4, LOW);  break;   case7:  digitalWrite(IN1, HIGH);   digitalWrite(IN2, LOW);  digitalWrite(IN3, LOW);  digitalWrite(IN4, HIGH);  break;   default:  digitalWrite(IN1, LOW);   digitalWrite(IN2, LOW);  digitalWrite(IN3, LOW);  digitalWrite(IN4, LOW);  break;   }  SetDirection();  }  }   //____________________________________________________________________________________ ________  void stepper1(int xy){  for (int x=0;x<xy;x++){  switch(Steps1){  case 0:  digitalWrite(IN5, LOW);   digitalWrite(IN6, LOW);  digitalWrite(IN7, LOW);  digitalWrite(IN8, HIGH);  break;   case 1:  digitalWrite(IN5, LOW);   digitalWrite(IN6, LOW);  digitalWrite(IN7, HIGH);  digitalWrite(IN8, HIGH);  break;   case 2:  digitalWrite(IN5, LOW);   digitalWrite(IN6, LOW);  digitalWrite(IN7, HIGH);  digitalWrite(IN8, LOW);  break;   case 3:  digitalWrite(IN5, LOW);   digitalWrite(IN6, HIGH);  digitalWrite(IN7, HIGH);  digitalWrite(IN8, LOW);  break;   case 4:  digitalWrite(IN5, LOW);  
  • 6.
    digitalWrite(IN6, HIGH);  digitalWrite(IN7, LOW);  digitalWrite(IN8,LOW);  break;   case 5:  digitalWrite(IN5, HIGH);   digitalWrite(IN6, HIGH);  digitalWrite(IN7, LOW);  digitalWrite(IN8, LOW);  break;   case 6:  digitalWrite(IN5, HIGH);   digitalWrite(IN6, LOW);  digitalWrite(IN7, LOW);  digitalWrite(IN8, LOW);  break;   case 7:  digitalWrite(IN5, HIGH);   digitalWrite(IN6, LOW);  digitalWrite(IN7, LOW);  digitalWrite(IN8, HIGH);  break;   default:  digitalWrite(IN5, LOW);   digitalWrite(IN6, LOW);  digitalWrite(IN7, LOW);  digitalWrite(IN8, LOW);  break;   }  SetDirection1();  }  }  //____________________________________________________________________  void stepper2(int xz){  for (int x=0;x<xz;x++){  switch(Steps2){  case 0:  digitalWrite(INn1, LOW);   digitalWrite(INn2, LOW);  digitalWrite(INn3, LOW);  digitalWrite(INn4, HIGH);  break;   case 1:  digitalWrite(INn1, LOW);   digitalWrite(INn2, LOW);  digitalWrite(INn3, HIGH);  digitalWrite(INn4, HIGH);  break;   case 2:  digitalWrite(INn1, LOW);  
  • 7.
    digitalWrite(INn2, LOW);  digitalWrite(INn3, HIGH);  digitalWrite(INn4,LOW);  break;   case 3:  digitalWrite(INn1, LOW);   digitalWrite(INn2, HIGH);  digitalWrite(INn3, HIGH);  digitalWrite(INn4, LOW);  break;   case 4:  digitalWrite(INn1, LOW);   digitalWrite(INn2, HIGH);  digitalWrite(INn3, LOW);  digitalWrite(INn4, LOW);  break;   case 5:  digitalWrite(INn1, HIGH);   digitalWrite(INn2, HIGH);  digitalWrite(INn3, LOW);  digitalWrite(INn4, LOW);  break;   case 6:  digitalWrite(INn1, HIGH);   digitalWrite(INn2, LOW);  digitalWrite(INn3, LOW);  digitalWrite(INn4, LOW);  break;   case 7:  digitalWrite(INn1, HIGH);   digitalWrite(INn2, LOW);  digitalWrite(INn3, LOW);  digitalWrite(INn4, HIGH);  break;   default:  digitalWrite(INn1, LOW);   digitalWrite(INn2, LOW);  digitalWrite(INn3, LOW);  digitalWrite(INn4, LOW);  break;   }  SetDirection2();  }  }   //______________________________________________________  void SetDirection(){  if(Direction==1){ Steps++;}  if(Direction==0){ Steps--; }  if(Steps>7 ){Steps=0;}  if(Steps<0){Steps=7; } 
  • 8.
    }  //___________________________________________________________  void SetDirection1(){  if(Direction1==1){ Steps1++;}  if(Direction1==0){Steps1--; }  if(Steps1>7 ){Steps1=0;}  if(Steps1<0){Steps1=7; }  }  //______________________________  void SetDirection2(){  if(Direction2==1){ Steps2++;}  if(Direction2==0){ Steps2--; }  if(Steps2>7 ){Steps2=0;}  if(Steps2<0){Steps2=7; }  }