Controlling 4 steppers

hi!

i have project: omniwheel 4wd car stepper motors. use library ah_easydriver controlling steppers. want control motors 3 parameters: x axis speed (xm), y axis speed (ym) , rotating speed (fi).

code: [select]


#include <ah_easydriver.h>
#include <math.h>

// ah_easydriver(int res, int dir, int step, int ms1, int ms2, int slp);

ah_easydriver stepper1(200,2,3,4,5,6);   
ah_easydriver stepper3(200,7,8,9,10,11);
ah_easydriver stepper2(200,22,23,24,25,26);
ah_easydriver stepper4(200,27,28,29,30,31);

void setup()
{
  serial.begin(57600);
  serial.println(stepper1.getversion());
  stepper1.setmicrostepping(0);  // 0 -> full stepping  1 -> 1/2 stepping  2 -> 1/4 stepping  3 -> 1/8 stepping                       
  serial.println(stepper2.getversion());
  stepper2.setmicrostepping(0);     
  serial.println(stepper3.getversion());
  stepper3.setmicrostepping(0);     
  serial.println(stepper4.getversion());
  stepper4.setmicrostepping(0);     
}

void loop()
{
  //speed calculating
  float pi= 3.1416;
  float xm= 15.0; //speed x smer
  float ym= 0.0; //speed y  smer
  float fi= 0.0; //rotating

  int koraki = 200; //number of steps 1 rpm
  float r = 0.029; //wheel radius
  float l = 0.09; //width
  float d = 0.09; //length

  float obseg= 2*r*pi;

  float v1= (xm - ym - (l+d)*fi)/sqrt(2);  //1 motor speed
  float v2= (xm + ym - (l+d)*fi)/sqrt(2);  //2 motor speed
  float v3= (xm - ym + (l+d)*fi)/sqrt(2);  //3 motor
  float v4= (xm + ym + (l+d)*fi)/sqrt(2);  //4 motor

  float obrati1 = v1 / obseg; //obrati prvega kolesa
  float obrati2 = v2 / obseg; //obrati drugega kolesa
  float obrati3 = v3 / obseg; //obrati tretjega kolesa
  float obrati4 = v4 / obseg; //obrati četrtega kolesa

  serial.print(obrati1,4);
  serial.print("\t");
  serial.print(obrati2,4);
  serial.print("\t");
  serial.print(obrati3,4);
  serial.print("\t");
  serial.print(obrati4,4);
  serial.print("\n");

  if(xm==0.0 && ym==0.0 && fi==0.0)
  {
    stepper1.sleepon();
    stepper2.sleepon();
    stepper3.sleepon();
    stepper4.sleepon();
  }
  else if(xm != 0.0 || ym!=0.0 ||fi!=0.0)
  {
    stepper1.sleepoff();
    stepper2.sleepoff();
    stepper3.sleepoff();
    stepper4.sleepoff();
  }
  //motor1
  if(obrati1<0)
  {
    stepper1.move(forward); 
  }
  else if (obrati1>0)
  {
    stepper1.move(-forward);
  }
  stepper1.setspeedrpm(obrati1);              // rpm

  ///motor2
  if(obrati2<0)
  {
    stepper2.move(forward); 
  }
  else if (obrati2>0)
  {
    stepper2.move(-forward); 
  }
  stepper2.setspeedrpm(obrati2);              // rpm

  //motor3
  if(obrati3<0)
  {
    stepper3.move(-forward); 
  }
  else if (obrati3>0)
  {
    stepper3.move(forward); 
  } 
  stepper3.setspeedrpm(obrati3);              // rpm

  //motor4
  if(obrati4<0)
  {
    stepper4.move(-forward); 
  }
  else if (obrati4>0)
  {
    stepper4.move(forward); 
  }
  stepper4.setspeedrpm(obrati4);              // rpm


}



in code, every motor individually controlled. same speed on wheels if input more 1 parameter. advice?

i have not heard of ah_easydriver library. please post link documentation.

what stepper motor drivers using?
what arduino using?

...r

Arduino Forum > Using Arduino > Motors, Mechanics, and Power (Moderator: fabioc84) > Controlling 4 steppers

arduino