Hi,
I'm trying to get a stepper running by using the adafruit motorshield v2.3
I use the nuget package TA.NetMF.MotorControl. The included samples say it is possible to use this shield, but as soon as I uncomment the needed shield, it isn't possible to compile the code anymore.
I guess the following code (changed sample) should run, but my stepper is not running. If I use the shield on a arduino uno the stepper is working so I guess my wiring seems ok.
Does anybody have a working sample of controlling a stepper motor by this library and this shield?
Many thanks in advance!
using System;
using System.Diagnostics;
using System.Threading;
using Microsoft.SPOT.Hardware;
using SecretLabs.NETMF.Hardware.NetduinoPlus;
using TA.NetMF.Motor;
using TA.NetMF.ShieldDriver;
//This using isn't working...
//using TA.NetMF.AdafruitMotorShieldV2;
namespace AdafruitMotorShield
{
public class Program
{
static IStepSequencer StepperM1M2;
static IStepSequencer StepperM3M4;
static readonly Random randomGenerator = new Random();
public static void Main()
{
//this line seems to be wrong, should't that be
//var adafruitMotorShieldV2 = new SparkfunArdumoto(); // use shield at default I2C address.
var adafruitMotorShieldV2 = new AdafruitV2MotorShield();
adafruitMotorShieldV2.InitializeShield();
StepperM1M2 = adafruitMotorShieldV2.GetMicrosteppingStepperMotor(MicrostepsPerStep, 1, 2);
StepperM3M4 = adafruitMotorShieldV2.GetMicrosteppingStepperMotor(MicrostepsPerStep, 3, 4);
// Create the stepper motor axes and link them to the Adafruit driver.
var axis1 = new AcceleratingStepperMotor(LimitOfTravel, StepperM1M2)
{
MaximumSpeed = MaxSpeed,
RampTime = RampTime
};
// Now we subscribe to the MotorStopped event on each axis. When the event fires,
// we start the axis going again with a new random target position.
axis1.MotorStopped += HandleAxisStoppedEvent;
// We need to call our event handler once manually to get things going.
// After that it is fully automatic.
HandleAxisStoppedEvent(axis1);
// Finally, we sleep forever as there is nothing else to do in the main thread.
// The motors continue to work in the background all by themselves.
Thread.Sleep(Timeout.Infinite);
}
/// <summary>
/// Handles the axis stopped event for an axis.
/// Picks a new random position and starts a new move.
/// </summary>
/// <param name="axis">The axis that has stopped.</param>
static void HandleAxisStoppedEvent(StepperMotor axis)
{
// Be careful, both axes appear to run on the same thread, so using Thread.Sleep() here will affect both.
//Thread.Sleep(3000); // Wait a short time before starting the next move.
var randomTarget = randomGenerator.Next(LimitOfTravel);
//Debug.Print("Starting move to " + randomTarget);
axis.MoveToTargetPosition(randomTarget);
}
#region Stepper Configuration - Change these values to your liking.
const int LimitOfTravel = 20000;
/// <summary>
/// The maximum speed in steps per second.
/// Although the theoretical maximum is 1,000 steps per second, in practice
/// the netduino plus can handle about 400 steps (or microsteps) per second, total.
/// </summary>
const int MaxSpeed = 400;
/// <summary>
/// The number of microsteps per whole step.
/// Specify 4 to use whole steps, 8 to use half-steps, or 9+ to use microsteps.
/// The higher the value, the smoother the motor motion will be but the slower it will turn.
/// </summary>
const int MicrostepsPerStep = 256;
/// <summary>
/// The ramp time, i.e. the number of seconds taken to reach <see cref="MaxSpeed" />.
/// Setting <see cref="AcceleratingStepperMotor.RampTime" /> affects <see cref="AcceleratingStepperMotor.Acceleration" />
/// and vice versa.
/// </summary>
const double RampTime = 5; // seconds to reach full speed (acceleration)
#endregion
}
}
