Angle_config

//Read me please:
//You can notice that the code has not changed all that much, George told me that the normal step mode isn't useful for our purposes
//thus it was removed, the code written/copied below can be given an angle and it will move the point to where it needs to go
//I tried my best to emulate Eddie's style of documentation but of course feel free to amend it however you see fit
//If the angle given is positive the motor will push the 'head' counter-clockwise and vice versa
//on a side note, George sent all of us the inverse schematic texts, read through them, and if you have any questions post them on the
//group chat, I think we all need to have an understanding of what we are working with.

//Declare pin functions on Redboard
//Below are all boolean values
//Motor 1 is the right motor on the board 
#define stp 2 //high makes the motor move, low makes it not move
#define dir 3 //high is clockwise direction, low is counterclockwise direction
#define MS1 4 //divider pin 1, HIGH allows it to make a microstep
#define MS2 5 //divider pin 2, HIGH allows it to make a microstep
#define EN  6 //enabler, determines whether the motor is engaged or not, HIGH turns off the motor

//Below are all copies of above, except now there's two of them because you need to drive both motors
//Motor 2 is the left motor on the board
#define stp2   7
#define dir2   8
#define MS1_2  9
#define MS2_2 10
#define EN2   11

//Declare variables for functions
char user_input;
int x;
int y;
int state;
double angle;

int x2;
int y2;
int state2;

void setup() {
  //these values just assigns what kind of roles the pins will do - the outputs
  pinMode(stp, OUTPUT);
  pinMode(dir, OUTPUT);
  pinMode(MS1, OUTPUT);
  pinMode(MS2, OUTPUT);
  pinMode(EN, OUTPUT);

  pinMode(stp2, OUTPUT);
  pinMode(dir2, OUTPUT);
  pinMode(MS1_2, OUTPUT);
  pinMode(MS2_2, OUTPUT);
  pinMode(EN2, OUTPUT);
 
  resetEDPins(); //Set step, direction, microstep and enable pins to default states
  resetEDPins2();
  Serial.begin(9600); //Open Serial connection for debugging
  Serial.println("Begin motor control");
  Serial.println();
  //Print function list for user selection
  Serial.println("Through what angle (in degrees) do you want the motor to move?");
  Serial.println("If the angle is negative, the motor will move counte-clockwise, and vice versa.");
  Serial.println();
}

//Main loop
void loop() {
  while(Serial.available()){
      angle = Serial.parseInt(); //Assign user input to the angle
      digitalWrite(EN, LOW); //Pull enable pin low to allow motor control
      digitalWrite(EN2, LOW); //Pull enable pin low to allow motor control
     
        SmallStepMode(angle);
        SmallStepMode2(angle);//Motor moves the indicated angle
   
        resetEDPins();
        resetEDPins2();//All pins are reset in order to use again
  }
}

//Reset Easy Driver pins to default states
void resetEDPins()
{
  digitalWrite(stp, LOW);
  digitalWrite(dir, LOW);
  digitalWrite(MS1, LOW);
  digitalWrite(MS2, LOW);
  digitalWrite(EN, HIGH);
}

void resetEDPins2()
{
  digitalWrite(stp2, LOW);
  digitalWrite(dir2, LOW);
  digitalWrite(MS1_2, LOW);
  digitalWrite(MS2_2, LOW);
  digitalWrite(EN2, HIGH);
}
// 1/8th microstep foward mode function
void SmallStepMode(double angle)
{
  if(angle>0){//if number of steps given is negative;
    digitalWrite(dir, LOW); //dir set to LOW or counter-clockwise
  }
  else if(angle<0){
    digitalWrite(dir, HIGH);// else, dir is set to HIGH or clockwise
  }

  int steps= angle/0.225; //one microstep is 0.225 degrees thus the number of steps is equal to the angle (in degrees/0.225)
  digitalWrite(MS1, HIGH); //Pull MS1, and MS2 high to set logic to 1/8th microstep resolution
  digitalWrite(MS2, HIGH);
  for(x= 0; x<abs(steps); x++)  //Loop the forward stepping motion 'steps' number of times. abs() included to allow for negative steps
  {
    digitalWrite(stp,HIGH); //Trigger one step forward
    delay(1);
    digitalWrite(stp,LOW); //Pull step pin low so it can be triggered again
    delay(1);
  }
  Serial.println("Enter new option");
  Serial.println();
}


void SmallStepMode2(double angle)
{
   if(angle>0){//if number of steps given is negative;
    digitalWrite(dir2, LOW); //dir set to LOW or counter-clockwise
  }
  else if(angle<0){
    digitalWrite(dir2, HIGH);// else, dir is set to HIGH or clockwise
  }
  int steps=angle/0.225; //one microstep is 0.225 degrees thus the number of steps is equal to the angle (in degrees/0.225)
  digitalWrite(MS1_2, HIGH); //Pull MS1, and MS2 high to set logic to 1/8th microstep resolution
  digitalWrite(MS2_2, HIGH);
  for(x2= 0; x2<abs(steps); x2++)  //Loop the forward stepping motion 'steps' number of times. abs() included to allow for negative steps
  {
    digitalWrite(stp2,HIGH); //Trigger one step forward
    delay(1);
    digitalWrite(stp2,LOW); //Pull step pin low so it can be triggered again
    delay(1);
  }
  Serial.println("Enter new option");
  Serial.println();
}