Test the motors

[TatianaResend]

Make the necessary connections to plug in a motor and create C++ code to test the motors. Initially, you can test motor by motor individually. The controller to be used initially will be an Arduino UNO but in the final project it will be a Controllino MEGA.

Using the AccelStepper library.

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Connections in Drive:

High Voltage and Encoder

Signal and Control Signal:

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AccelStepper library

• AccelStepper mystepper(1, pinStep, pinDirection);

  A stepper motor controlled by a dedicated driver board.

• mystepper.setMaxSpeed(stepsPerSecond);

  Sets the maximum speed. The default is very slow, so this must be configured. When controlled by setting position, the stepper will accelerate to move at this maximum speed, and decelerate as it reaches the destination. Sets the maximum permitted speed. The run) function will accelerate up to the speed set by this function. Caution: the maximum speed achievable depends on your processor and clock speed. The default maxSpeed is 1.0 steps per second.

• mystepper.moveTo(targetPosition);

  Move the motor to a new absolute position. This returns immediately. Actual movement is caused by the run() function.

• mystepper.move(distance);

  Move the motor (either positive or negative) relative to its current position. This returns immediately. Actual movement is caused by the run() function.

• mystepper.currentPosition();

  Read the motor's current absolution position.

• mystepper.setcurrentPosition();

  Resets the current position of the motor, so that wherever the motor happens to be right now is considered to be the new 0 position. Useful for setting a zero position on a stepper after an initial hardware positioning move. Has the side effect of setting the current motor speed to 0.

• mystepper.run();

  Update the motor. This must be called repetitively to make the motor move.

• mystepper.runToPosition();

  Update the motor, and wait for it to reach its destination. This function does not return until the motor is stopped, so it is only useful if no other motors are moving.

• mystepper.runSpeedToPosition();

  Executes runSpeed() unless the targetPosition is reached. This function needs to be called often just like runSpeed() or run(). Will step the motor if a step is required at the currently selected speed unless the target position has been reached. Does not implement accelerations.

[TatianaResend]

The first motor work. I can rotate the angle I want through the accelstepper library. Missing: try if the other motors also work

[TatianaResend]

I already have the power supply part for the motors. Just missing wires to be able to connect and test.

[TatianaResend]

All engines individually work correctly