zirafa

main.ino

#include <TimerOne.h>
const int encoderPinA = 2;  // Connected to interrupt 0 (pin 2)
const int encoderPinB = 3;  // Connected to interrupt 1 (pin 3)
const int stepPin = 9;
const int dirPin = 8;
// Variables to track encoder state
volatile int32_t encoderPositionX = 0;
volatile int32_t encoderPositionY = 0;
volatile int32_t encoderPositionZ = 0;
volatile bool lastEncodedState = false;
volatile int32_t currentStateX = 0;  // Variable to track current state of generated pulses
volatile int32_t currentStateY = 0;  // Variable to track current state of generated pulses
volatile int32_t currentStateZ = 0;  // Variable to track current state of generated pulses

int32_t step = 10;

void setup() {
  // put your setup code here, to run once:
  Serial.begin(9600);
  pinMode(encoderPinA, INPUT_PULLUP);
  pinMode(encoderPinB, INPUT_PULLUP);
  pinMode(A0, INPUT_PULLUP);
  pinMode(A1, INPUT_PULLUP);
  pinMode(A2, INPUT_PULLUP);
  pinMode(A3, INPUT_PULLUP);
  pinMode(A4, INPUT_PULLUP);
  pinMode(A5, INPUT_PULLUP);

  attachInterrupt(digitalPinToInterrupt(encoderPinA), handleEncoder, CHANGE);
  attachInterrupt(digitalPinToInterrupt(encoderPinB), handleEncoder, CHANGE);

  Timer1.initialize(10000);
  Timer1.attachInterrupt(pulsGenerator);
  // Timer1.setPeriod(unsigned long microseconds)
}

bool x1, xx1, x10, xx10, x100, xx100;
volatile bool X, Y, Z ;
void loop() {

  x1 = digitalRead(A0);
  x10 = digitalRead(A1);
  x100 = digitalRead(A2);

  X = digitalRead(A3);
  Z = digitalRead(A4);
  Y = digitalRead(A5);

  if (x1 != xx1) {
    if (x1 == 0) Timer1.setPeriod(10000);
    xx1 = x1;
  }

  if (x10 != xx10) {
    if (x10 == 0) Timer1.setPeriod(1000);
    xx10 = x10;
  }

  if (x100 != xx100) {
    if (x100 == 0) Timer1.setPeriod(100);
    xx100 = x100;
  }


  Serial.print(" X: ");
  Serial.print(encoderPositionX);
  Serial.print(" Y: ");
  Serial.print(encoderPositionY);
  Serial.print(" Z: ");
  Serial.print(encoderPositionZ);
  Serial.print(" A0 X1: ");
  Serial.print(digitalRead(A0));
  Serial.print(" A1 X10: ");
  Serial.print(digitalRead(A1));
  Serial.print(" A2 X100: ");
  Serial.print(digitalRead(A2));
  Serial.print(" A3 X: ");
  Serial.print(digitalRead(A3));
  Serial.print(" A5 Y: ");
  Serial.print(digitalRead(A5));
  Serial.print(" A4 Z: ");
  Serial.println(digitalRead(A4));
  delay(1000);
}

void handleEncoder() {
  // Read the current state of the encoder pins
  bool currentStateA = digitalRead(encoderPinA);
  bool currentStateB = digitalRead(encoderPinB);

  // Determine the direction based on the state transitions
  if (currentStateA != lastEncodedState) {
    if (currentStateA == currentStateB) {
      if(X == 0) encoderPositionX += step;
      if(Z == 0) encoderPositionZ += step;
      if(Y == 0) encoderPositionY += step;
    } else {
      if(X == 0 ) encoderPositionX -= step;
      if(Z == 0 ) encoderPositionZ -= step;
      if(Y == 0 ) encoderPositionY -= step;

    }
  }

  // Update the last state
  lastEncodedState = currentStateA;
}

void controlStepperMotor(bool direction) {
  // Set the stepper motor direction
  digitalWrite(dirPin, direction);

  // Generate a pulse to move the stepper motor
  digitalWrite(stepPin, HIGH);
  delayMicroseconds(1);  // Pulse width, adjust as needed
  digitalWrite(stepPin, LOW);
  delayMicroseconds(1);  // Time between pulses, adjust as needed
}

void pulsGenerator() {
  if (currentStateX < encoderPositionX) {
    currentStateX++;
  }
  if (currentStateX > encoderPositionX) {
    currentStateX--;
  }
  if (currentStateY < encoderPositionY) {
    currentStateY++;
  }
  if (currentStateY > encoderPositionY) {
    currentStateY--;
  }
  if (currentStateZ < encoderPositionZ) {
    currentStateZ++;
  }
  if (currentStateZ > encoderPositionZ) {
    currentStateY--;
  }
}