Code:
//libraries
#include <IRremoteInt.h>
#include <ir_Lego_PF_BitStreamEncoder.h>
#include <IRremote.h>
#include <Bounce2.h>
uint8_t RECV_PIN = 13;
uint8_t taste = 0;
uint8_t zaehler = 1;
//resett pin definieren
#define PIN2RESET 10
// DIR und STEP pins definieren
#define dirPin_VL 2
#define stepPin_VL 3
#define dirPin_HL 4
#define stepPin_HL 5
#define dirPin_VR 6
#define stepPin_VR 7
#define dirPin_HR 8
#define stepPin_HR 9
//enable pins definieren
#define enbl_VL 40
#define enbl_HL 42
#define enbl_VR 41
#define enbl_HR 43
//definiere steps pro umdrehung:
#define stepsPerRevolution 200
//IR pin definieren
IRrecv irrecv(RECV_PIN);
decode_results results;
// debouncer instanz definieren
Bounce debouncer = Bounce();
void setup()
{
// deklariere pins als output:
pinMode(dirPin_VL, OUTPUT);
pinMode(stepPin_VL, OUTPUT);
pinMode(dirPin_HL, OUTPUT);
pinMode(stepPin_HL, OUTPUT);
pinMode(dirPin_VR, OUTPUT);
pinMode(stepPin_VR, OUTPUT);
pinMode(dirPin_HR, OUTPUT);
pinMode(stepPin_HR, OUTPUT);
Serial.begin(115200);
Serial.println("code----/home/georg/Arduino/outdoor_robo/stepper/test_vier_stepper/ohne_lib/remote_vier_stepper_switch_1_enbl_bounce");
//resett pin zustand definieren
pinMode(PIN2RESET, INPUT);
// IR empfänger pin mit bounce verbinden
debouncer.attach(RECV_PIN);
// debounce interval in ms
debouncer.interval(5);
// starte IR receiver
irrecv.enableIRIn();
// deaktiviere enable pins:
digitalWrite(enbl_VL, HIGH);
digitalWrite(enbl_HL, HIGH);
digitalWrite(enbl_VR, HIGH);
digitalWrite(enbl_HR, HIGH);
//resett pin aktivieren
digitalWrite(PIN2RESET, HIGH);
}
void loop()
{
// aktiviere enable pins:
digitalWrite(enbl_VL, LOW);
digitalWrite(enbl_HL, LOW);
digitalWrite(enbl_VR, LOW);
digitalWrite(enbl_HR, LOW);
// Update the Bounce instance :
debouncer.update();
// Get the updated value :
zaehler = debouncer.read();
if (zaehler == 1)
{
zaehler = 0;
// taste = 0;
if (irrecv.decode(&results))
{
taste = results.value;
Serial.println(taste);
// delay(1000);
irrecv.resume(); // Receive the next value
}
}
tasten_abfrage();
}
/***********************************************************/
void tasten_abfrage(void)
{
switch (taste)
{
case 151 ://taste 1 große FB
{
if (taste == 151 )
{
Serial.println("szenario_1");
Serial1.println("szenario_1");
//fahre szenario_1
delay (1000);
break;
}
}
case 103://taste 2 große FB
{
if (taste == 103)
{
Serial.println("szenario_2");
Serial1.println("szenario_2");
//fahre szenario_2
delay (1000);
break;
}
}
case 79://taste 3 große FB
{
if (taste == 79)
{
Serial.println("szenario_3");
Serial1.println("szenario_3");
//fahre szenario_3
delay (1000);
break;
}
}
case 207://taste 4 große FB
{
if (taste == 207)
{
Serial.println("szenario_4");
Serial1.println("szenario_4");
//fahre szenario_4
delay (1000);
break;
}
}
case 253://OK taste, motor stop
{
if (taste == 253)
{
alle_stepper_stop();
break;
}
}
case 61:// rotate rechts große FB
{
if (taste == 61)
{
rechts_drehen();
break;
}
}
case 221:// rotate links große FB
{
if (taste == 221)
{
links_drehen();
break;
}
}
case 157:// fahre vor große FB
{
if (taste == 157)
{
vorwaerts();
break;
}
}
case 87:// fahre rückwärts große FB
{
if (taste == 87)
{
rueckwaerts();
break;
}
}
}
}
/***********************************************************/
void alle_stepper_stop(void)
{
//enable pins deaktivieren
digitalWrite(enbl_VL, HIGH);
digitalWrite(enbl_HL, HIGH);
digitalWrite(enbl_VR, HIGH);
digitalWrite(enbl_HR, HIGH);
reboot();
}
/***********************************************************/
void vorwaerts(void)
{
// aktiviere enable pins:
digitalWrite(enbl_VL, LOW);
digitalWrite(enbl_HL, LOW);
digitalWrite(enbl_VR, LOW);
digitalWrite(enbl_HR, LOW);
//richtung bestimmen
digitalWrite(dirPin_VL, LOW);
digitalWrite(dirPin_HL, LOW);
digitalWrite(dirPin_VR, HIGH);
digitalWrite(dirPin_HR, HIGH);
for (int i = 0; i < stepsPerRevolution; i++)
{
digitalWrite(stepPin_VL, HIGH);
digitalWrite(stepPin_HL, HIGH);
digitalWrite(stepPin_VR, HIGH);
digitalWrite(stepPin_HR, HIGH);
delayMicroseconds(2000);
digitalWrite(stepPin_VL, LOW);
digitalWrite(stepPin_HL, LOW);
digitalWrite(stepPin_VR, LOW);
digitalWrite(stepPin_HR, LOW);
delayMicroseconds(2000);
}
}
/**********************************************************/
void rueckwaerts(void)
{
// aktiviere enable pins:
digitalWrite(enbl_VL, LOW);
digitalWrite(enbl_HL, LOW);
digitalWrite(enbl_VR, LOW);
digitalWrite(enbl_HR, LOW);
//richtung bestimmen
digitalWrite(dirPin_VL, HIGH);
digitalWrite(dirPin_HL, HIGH);
digitalWrite(dirPin_VR, LOW);
digitalWrite(dirPin_HR, LOW);
for (int i = 0; i < stepsPerRevolution; i++)
{
digitalWrite(stepPin_VL, HIGH);
digitalWrite(stepPin_HL, HIGH);
digitalWrite(stepPin_VR, HIGH);
digitalWrite(stepPin_HR, HIGH);
delayMicroseconds(2000);
digitalWrite(stepPin_VL, LOW);
digitalWrite(stepPin_HL, LOW);
digitalWrite(stepPin_VR, LOW);
digitalWrite(stepPin_HR, LOW);
delayMicroseconds(2000);
}
}
/***********************************************************/
void rechts_drehen(void)
{
// enable pins aktivieren
digitalWrite(enbl_VL, LOW);
digitalWrite(enbl_HL, LOW);
digitalWrite(enbl_VR, LOW);
digitalWrite(enbl_HR, LOW);
//richtung bestimmen
digitalWrite(dirPin_VL, LOW);
digitalWrite(dirPin_HL, LOW);
digitalWrite(dirPin_VR, LOW);
digitalWrite(dirPin_HR, LOW);
for (int i = 0; i < stepsPerRevolution; i++)
{
digitalWrite(stepPin_VL, HIGH);
digitalWrite(stepPin_HL, HIGH);
digitalWrite(stepPin_VR, HIGH);
digitalWrite(stepPin_HR, HIGH);
delayMicroseconds(2000);
digitalWrite(stepPin_VL, LOW);
digitalWrite(stepPin_HL, LOW);
digitalWrite(stepPin_VR, LOW);
digitalWrite(stepPin_HR, LOW);
delayMicroseconds(2000);
}
}
/**********************************************************/
void links_drehen(void)
{
//enable pins aktivieren
digitalWrite(enbl_VL, LOW);
digitalWrite(enbl_HL, LOW);
digitalWrite(enbl_VR, LOW);
digitalWrite(enbl_HR, LOW);
//richtung bestimmen
digitalWrite(dirPin_VL, HIGH);
digitalWrite(dirPin_HL, HIGH);
digitalWrite(dirPin_VR, HIGH);
digitalWrite(dirPin_HR, HIGH);
for (int i = 0; i < stepsPerRevolution; i++)
{
digitalWrite(stepPin_VL, HIGH);
digitalWrite(stepPin_HL, HIGH);
digitalWrite(stepPin_VR, HIGH);
digitalWrite(stepPin_HR, HIGH);
delayMicroseconds(2000);
digitalWrite(stepPin_VL, LOW);
digitalWrite(stepPin_HL, LOW);
digitalWrite(stepPin_VR, LOW);
digitalWrite(stepPin_HR, LOW);
delayMicroseconds(2000);
}
}
/***********************************************************/
void reboot()
{
pinMode(PIN2RESET, OUTPUT);
digitalWrite(PIN2RESET, LOW);
delay(100);
}
/***********************************************************/
/************************************************************/
kommt ohne eine stepper-lib aus, funktioniert soweit...
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