Draw lines controlling direction with rotary encoder.

drawLines.cpp

#include<AccelStepper.h>
#include <MultiStepper.h>
#include <Servo.h>
#include <Rotary.h>


#include <Wire.h>

Servo servo1;
Servo servo2;
Servo servo3;


MultiStepper steppers;


Rotary rotary = Rotary(18,19);

const int analogInPin1 = A1;  // Analog input pin that the potentiometer is attached to
const int analogInPin2 = A2;  // Analog input pin that the potentiometer is attached to
int sensorValue1 = 0;        // value read from the pot
int sensorValue2 = 0;        // value read from the pot
int outputValue1 = 0;        // value output to the PWM (analog out)
int outputValue2 = 0;        // value output to the PWM (analog out)

AccelStepper stepper1(1, 2, 3);
AccelStepper stepper2(1, 10, 11);

//AccelStepper stepper1(1,2,3);   //set up the accelStepper intance, the "1" tells it we are using a driver
//AccelStepper stepper2(1,10,11);
AccelStepper stepper3(1, 5, 6);
volatile int state = LOW;
int stepper1TotalSteps = 0;
int stepper2TotalSteps = 0;
int stepper1Steps;
int stepper2Steps;

int POTs;
int POTu;
int POTt;
int POTv;
int voltageS = A13;
int voltageT = A12;
float voltageU = A11;
float voltageV = A10;
float previousVoltageV;
int voltageQ = A3;
int i = 0;
int pos = 130;
int currentpos = 0;
int pos1 = random(1000, 13000);
int pos2 = random(1000, 13000);

int xx;
int yy;

long positions[2];


int x, y;
float point1,point2;
int length = random(300, 1000);
//float angle = 0.0;
float angle = 0.0;
// float angle_stepsize = PI/4;
float angle_stepsize = 0.08;

/// float angle = PI/2;
// float angle_stepsize = PI/6;

int anglef1;
float anglef2;
int angle3;
float anglef3;
int newAngle;
float  newAnglef;
int newLength = 70;

int x2;
int y2;
int ppp, qqq;
int xxx, yyy;
float incr1,incr2;
int counter = 0;
float g = counter *.26;
float P1x;
float P1y;
float P2x;
float P2y;
int centerX = 0;
int centerY = 0;

void setup()
{

  Serial.begin(9600);

  pinMode(9, INPUT_PULLUP);


  pinMode (A13, INPUT);
  pinMode (A12, INPUT);
  pinMode (A11, INPUT);
  pinMode (A10, INPUT);
  pinMode (A3, INPUT);

  pinMode (A5, INPUT_PULLUP);
  servo1.attach(8);//paint
  servo1.write(90);
  servo2.attach(9);//trigger
  servo2.write(165);

  attachInterrupt(4, rotate, CHANGE);//0 on uno
  attachInterrupt(5, rotate, CHANGE);//1 on uno




  stepper1.setMaxSpeed(800);
  stepper1.setAcceleration(1000);


  stepper2.setMaxSpeed(800);
  stepper2.setAcceleration(1000);


  stepper3.setMaxSpeed(2000);
  stepper3.setAcceleration(2000);





  steppers.addStepper(stepper1);
  steppers.addStepper(stepper2);





}

void loop()
{
  static float previousAngle = 0;

  unsigned long seed = seedOut(31);
  randomSeed(seed);
  delay(2000);

  voltageQ = analogRead(A3); 
  voltageQ = map(voltageQ, 0, 1023, 500, 2000); //speed
  int speed1 = voltageQ;
  stepper1.setMaxSpeed(speed1);
  stepper2.setMaxSpeed(speed1);

  s1up();
  
  float newAngle = counter;

  voltageQ = analogRead(A3); 
  voltageQ = map(voltageQ, 0, 1023, 500, 2000); //speed
  int speed1 = voltageQ;
  stepper1.setMaxSpeed(speed1);
  stepper2.setMaxSpeed(speed1);



  newAngle = counter *.13;
  Serial.print("previousAngle");Serial.println(previousAngle);
  Serial.print("newAngle");Serial.println(newAngle);
  voltageQ = analogRead(A3); 
  voltageQ = map(voltageQ, 0, 1023, 500, 2000);


  int radius = 500;

  stepper3.setMaxSpeed(1000);

  if( newAngle > previousAngle  ){ // make a new center x y
    Serial.println("hello1");
    // calcutlate a new center and P1x,P1y. divide it in steps keep P2x, P2y
    centerX = P2x + radius * cos(newAngle);
    centerY = P2y + radius * sin(newAngle);

  };


  if( newAngle  < previousAngle ){
    Serial.println("hello2");

    newAngle = newAngle + 3.14;
    centerX = P1x + radius * cos(newAngle);
    centerY = P1y + radius * sin(newAngle);
    newAngle = newAngle - 3.14;
  };


  s1up();

  P1x = centerX + radius  * cos(newAngle);  // P1x = x
  P1y = centerY + radius  * sin(newAngle);// P1y = y
  positions[0] =  P1x;        
  positions[1] =  P1y  ;
  steppers.moveTo(positions);
  steppers.runSpeedToPosition();

  s1down();
  newAngle = newAngle + 3.14; 
  P2x = centerX + radius  * cos(newAngle);  
  P2y = centerY + radius * sin(newAngle); 
  positions[0] =  P2x;
  positions[1] =  P2y  ;
  steppers.moveTo(positions);
  steppers.runSpeedToPosition();
  ////////////to get the direction 90 degree from line
  newAngle = newAngle - 1.57; 
  int newRadius = 50;
  centerX = centerX + newRadius * cos(newAngle); 
  centerY = centerY + newRadius * sin(newAngle); 
  newAngle = newAngle - 1.57; 

  /////////////////////////////////////
  previousAngle = newAngle;

  previousAngle = newAngle;
}
////////////////////////////////////////////////////////////////////////
 void rotate() {
  unsigned char result = rotary.process();
  if (result == DIR_CW) {
    counter++;
   // Serial.println(counter);
  } else if (result == DIR_CCW) {
    counter--;
   // Serial.println(counter);
  }
}