hobermann fix

Hobermann/Arduino/Arduino_new.ino

@@ -0,0 +1,90 @@
+#define dirPin 2
+#define stepPin 3
+#define endPin 4
+
+long maxRange = 35000; // motor maximum excursion range - 35000
+int brakeRange = 400; // motor lowSpeed range
+int lowSpeed = 2000;     // motor lower speed
+int highSpeed = 2800; // motor higher speed
+int inversionBreak = 10000; // motor pause time - 10000
+
+long stepSpeed = 0;
+bool dir = true;
+long counter = 0;
+bool rodEnd = false;
+long brakeFactor = 0;
+
+void setup() {
+  pinMode(stepPin, OUTPUT);
+  pinMode(dirPin, OUTPUT);
+  pinMode(endPin, INPUT);
+  digitalWrite(dirPin, dir);
+
+  while(!rodEnd) {    
+    counter++;
+    if(counter <= brakeRange) {
+      brakeFactor = (lowSpeed / brakeRange) * counter;
+      stepSpeed = (highSpeed + brakeFactor > highSpeed + lowSpeed) ? highSpeed + lowSpeed : highSpeed + brakeFactor;
+    } else {
+      stepSpeed = highSpeed;
+    }
+
+    digitalWrite(stepPin, HIGH);
+    delayMicroseconds(stepSpeed);
+    digitalWrite(stepPin, LOW);
+    delayMicroseconds(stepSpeed);
+
+    if(digitalRead(endPin)) {
+      rodEnd = true;
+      counter = 0;
+    }
+  }
+}
+
+void loop() {
+  if(!dir) {
+    counter++;
+    if(counter >= maxRange) {
+      dir = !dir;
+      digitalWrite(dirPin, dir);
+      delay(inversionBreak); 
+    } else {
+      if(counter >= maxRange - brakeRange) {
+        brakeFactor = (lowSpeed / brakeRange) * (maxRange - counter);
+        stepSpeed = (highSpeed + brakeFactor > highSpeed + lowSpeed) ? highSpeed + lowSpeed : highSpeed + brakeFactor;
+      } else if(counter <= brakeRange) {
+          brakeFactor = (lowSpeed / brakeRange) * counter;
+          stepSpeed = (highSpeed + brakeFactor > highSpeed + lowSpeed) ? highSpeed + lowSpeed : highSpeed + brakeFactor;
+      } else {
+        stepSpeed = highSpeed;
+      }
+      
+      digitalWrite(stepPin, HIGH);
+      delayMicroseconds(stepSpeed);
+      digitalWrite(stepPin, LOW);
+      delayMicroseconds(stepSpeed);
+    }
+  } else {
+    counter--;
+    if(counter <= 0) {
+      dir = !dir;
+      digitalWrite(dirPin, dir);
+      delay(inversionBreak);
+    } else {
+      if(counter >= maxRange - brakeRange) {
+        brakeFactor = (lowSpeed / brakeRange) * (maxRange - counter);
+        stepSpeed = (highSpeed + brakeFactor > highSpeed + lowSpeed) ? highSpeed + lowSpeed : highSpeed + brakeFactor;
+      } else if(counter <= brakeRange) {
+          brakeFactor = (lowSpeed / brakeRange) * counter;
+          stepSpeed = (highSpeed + brakeFactor > highSpeed + lowSpeed) ? highSpeed + lowSpeed : highSpeed + brakeFactor;
+      } else {
+        stepSpeed = highSpeed;
+      }
+      
+      digitalWrite(stepPin, HIGH);
+      delayMicroseconds(stepSpeed);
+      digitalWrite(stepPin, LOW);
+      delayMicroseconds(stepSpeed);
+    }
+  }
+}