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vany5921
Published © MIT

MAK127SP Stepper focuser with M5Stack

I was able to control the focus adjustment of the telescope mak127 sp by the stepping motor which connected to M5Stack.

IntermediateShowcase (no instructions)3 hours1,249
MAK127SP Stepper focuser with M5Stack

Things used in this project

Hardware components

ESP32 Basic Core IoT Development Kit
M5Stack ESP32 Basic Core IoT Development Kit
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Story

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Code

mak127focuser

C/C++
/*
    Description: This exmpale can display the encoder gear reading of the PLUS Module and the state of the keys.
*/
#include <Arduino.h>
#include <Ticker.h>
#include <M5Stack.h>

const int IN1 = 16;
const int IN2 = 17;
const int IN3 = 21;
const int IN4 = 22;
const int ECA = 35;
const int ECB = 36;

const int DISP_W = 320;
const int DISP_H = 240;
const int CIR_R = 195 / 2;
const int V_STEP = 32;
const int H_OFST = 115;
const int H_OFS = 70;
const int V_OFS = 83;
const int V_BASE = 80;

uint8_t full_step_table [] = {
    0b0101, // 0
    0b1001, // 1
    0b1010, // 2
    0b0110, // 3
};

uint8_t half_step_table [] = {
    0b0101, // 0
    0b0001, // 1
    0b1001, // 2
    0b1000, // 3
    0b1010, // 4
    0b0010, // 5
    0b0110, // 6
    0b0100, // 7
};

enum {DIR_NONE, DIR_FW, DIR_BW};
enum {MODE_NULL, MODE_FULL, MODE_HALF};
enum {LOOP_FULL = 4, LOOP_HALF = 8};

Ticker seq_tick;
const float toggle_period_sec = 0.3;
volatile bool step_run_flg = false;
volatile int step_run_cnt = 0;
int step_run_dir = DIR_FW;
volatile int tgl_c = 1;

uint8_t *step_table;

int mark1 = 0;
int mark2 = 0;
int cur_pos = 0;
int last_pos = 0;
int step_round = 48;
float step_angle = 360.0 / step_round;

int color_fg = TFT_RED;
int color_bg = TFT_BLACK;

uint8_t step_phase = 0;
uint8_t l_step_phase = 0;
uint8_t step_loop = LOOP_FULL;
uint8_t step_dir = DIR_FW;
uint8_t last_step_dir = DIR_FW;
uint8_t cur_mode = MODE_FULL;
uint8_t ec, last_ec;

void setNextPhase(uint8_t dir)
{
    step_dir = dir;
    l_step_phase = step_phase;
    last_pos = cur_pos;
    if (dir == DIR_FW) {
        step_phase--;
        cur_pos--;

    } else {
        step_phase++;
        cur_pos++;
    }
    if (cur_pos < 0) {
        cur_pos = step_round - 1;
    }
    step_phase = step_phase % step_loop;
    cur_pos = cur_pos % step_round;
}

void setStepIN()
{
    int val;
    if (cur_mode == MODE_FULL) {
        val = full_step_table[step_phase];
    } else {
        val = half_step_table[step_phase];
    }
    int in1 = ((val & (0x10 >> 1)) == 0) ? LOW : HIGH;
    int in2 = ((val & (0x10 >> 2)) == 0) ? LOW : HIGH;
    int in3 = ((val & (0x10 >> 3)) == 0) ? LOW : HIGH;
    int in4 = ((val & (0x10 >> 4)) == 0) ? LOW : HIGH;
    Serial.printf("%d: %d %d %d %d\n", step_phase, in1, in2, in3, in4);
    digitalWrite(IN1, in1);
    digitalWrite(IN2, in2);
    digitalWrite(IN3, in3);
    digitalWrite(IN4, in4);
}

void drawVal(int ofs, float val)
{
    M5.Lcd.fillRect(DISP_W - H_OFS - 5, V_OFS + ofs, 70, 24, color_bg);
    M5.Lcd.setTextSize(2);
    M5.Lcd.setTextColor(color_fg);
    M5.Lcd.setCursor(DISP_W - H_OFS - 5, V_OFS + ofs);
    M5.Lcd.printf("%.02f", val);
}

void setStepMode(uint8_t mode)
{
    if (cur_mode != mode) {
        if (mode == MODE_FULL) {
            step_table = full_step_table;
            step_round = 48;
            step_loop = LOOP_FULL;
            step_phase /= 2;
            step_angle = 360.0 / step_round;
            cur_pos /= 2;
            Serial.println("FULL step");
        } else {
            step_table = half_step_table;
            step_round = 48 * 2;
            step_loop = LOOP_HALF;
            step_phase *= 2;
            step_angle = 360.0 / step_round;
            cur_pos *= 2;
            Serial.println("HALF step");
        }
        cur_mode = mode;
    }
    drawVal(0, step_angle);
    setStepIN();
}

uint8_t readEC()
{
    uint8_t a, b;
    a  = digitalRead(ECA);
    b  = digitalRead(ECB);
    delay(1);
    a ^= digitalRead(ECA);
    b ^= digitalRead(ECB);
    delay(1);
    a ^= digitalRead(ECA);
    b ^= digitalRead(ECB);
    last_ec = ec;
    ec = a | b << 1;
    if (last_ec == 0b10 && ec == 0b11) {
        Serial.println("EC->FW");
        return DIR_FW;
    } else if (last_ec == 0b11 && ec == 0b10) {
        Serial.println("EC->BW");
        return DIR_BW;
    }
    return DIR_NONE;
}

void drawPos(int pos, int color, int fill)
{
    int center_x = CIR_R;
    int center_y = CIR_R - 2;
    float angle = pos * step_angle;
    float sx0 = cos((angle - 90) * 0.0174532925);
    float sy0 = sin((angle - 90) * 0.0174532925);
    float sx1 = cos((angle + 175 - 90) * 0.0174532925);
    float sy1 = sin((angle + 175 - 90) * 0.0174532925);
    float sx2 = cos((angle + 185 - 90) * 0.0174532925);
    float sy2 = sin((angle + 185 - 90) * 0.0174532925);
    int x0 = sx0 * (CIR_R - 25) + center_x;
    int y0 = sy0 * (CIR_R - 25) + center_y;
    int x1 = sx1 * (CIR_R - 25) + center_x;
    int y1 = sy1 * (CIR_R - 25) + center_y;
    int x2 = sx2 * (CIR_R - 25) + center_x;
    int y2 = sy2 * (CIR_R - 25) + center_y;
    if (fill) {
        M5.Lcd.fillTriangle(x0, y0, x1, y1, x2, y2, color);
    } else {
        M5.Lcd.drawTriangle(x0, y0, x1, y1, x2, y2, color);
    }
    drawVal(V_STEP, step_angle * cur_pos);
    // Serial.printf("LINE %d, %d\n", pos, color);
}

void drawCircle(int clr)
{
    int center_x = CIR_R;
    int center_y = CIR_R - 2;
    if (clr == 0) {
        M5.Lcd.fillCircle(center_x, center_y, CIR_R - 1, color_fg);
    }
    M5.Lcd.fillCircle(center_x, center_y, CIR_R - 9, color_bg);

    for (int i = 0; i < 360; i += 30) {
        float sx  = cos((i - 90) * 0.0174532925);
        float sy  = sin((i - 90) * 0.0174532925);
        int x0 = sx * (CIR_R - 6)  + center_x;
        int y0 = sy * (CIR_R - 6)  + center_y;
        int x1 = sx * (CIR_R - 20) + center_x;
        int y1 = sy * (CIR_R - 20) + center_y;
        M5.Lcd.drawLine(x0, y0, x1, y1, color_fg);
    }
    for (int i = 0; i < step_round; i++) {
        float deg = i * step_angle;
        float sx  = cos((deg - 90) * 0.0174532925);
        float sy  = sin((deg - 90) * 0.0174532925);
        int x0 = sx * (CIR_R - 18) + center_x;
        int y0 = sy * (CIR_R - 18) + center_y;
        // Draw minute markers
        M5.Lcd.drawPixel(x0, y0, color_fg);
    }
    float deg = mark1 * step_angle;
    float sx  = cos((deg - 90) * 0.0174532925);
    float sy  = sin((deg - 90) * 0.0174532925);
    int x0 = sx * (CIR_R - 13) + center_x;
    int y0 = sy * (CIR_R - 13) + center_y;
    M5.Lcd.fillCircle(x0, y0, 3, color_fg);
    drawPos(cur_pos, color_fg, 1);
}

void countDownSeq()
{
    if (step_run_cnt <= 0) {
        return;
    }
    step_run_cnt--;
    step_run_flg = true;
    if (step_run_cnt == 0) {
        seq_tick.detach();
    }
}

int blinkCenter(int flg)
{
    int next_flg;
    M5.Lcd.setTextSize(2);
    M5.Lcd.setCursor(80 * 1 + 42, DISP_H - 30);
    if (flg == 0) {
        M5.Lcd.fillRect(80 * 1 + 38, DISP_H - 33, 77, 20, color_bg);
        M5.Lcd.setTextColor(color_fg);
        next_flg = 1;
    } else {
        M5.Lcd.fillRect(80 * 1 + 38, DISP_H - 33, 77, 20, color_fg);
        M5.Lcd.setTextColor(color_bg);
        next_flg = 0;
    }
    M5.Lcd.print("Center");
    return next_flg;
}

void setup() {
    M5.begin();
    // M5.Power.begin();
    dacWrite(25, 0); // STOP SP
    digitalWrite(IN1, 0);
    digitalWrite(IN2, 0);
    digitalWrite(IN3, 0);
    digitalWrite(IN4, 0);
    pinMode(IN1, OUTPUT);
    pinMode(IN2, OUTPUT);
    pinMode(IN3, OUTPUT);
    pinMode(IN4, OUTPUT);
    pinMode(ECA, INPUT);
    pinMode(ECB, INPUT);
    readEC();
    M5.Lcd.setTextColor(color_fg);
    M5.Lcd.setTextSize(1);
    M5.Lcd.setCursor(DISP_W - H_OFST, V_BASE);
    M5.Lcd.print("Step");
    M5.Lcd.setCursor(DISP_W - H_OFST, V_BASE + 12);
    M5.Lcd.print("Angle");
    setStepMode(MODE_FULL);
    drawCircle(0);
    M5.Lcd.fillRect(DISP_W - H_OFST - 8, 2, 124, 35, color_fg);
    M5.Lcd.setTextColor(color_bg);
    M5.Lcd.setTextSize(2);
    M5.Lcd.setCursor(DISP_W - H_OFST - 5, 5);
    M5.Lcd.print("Focus");
    M5.Lcd.setCursor(DISP_W - H_OFST - 5, 20);
    M5.Lcd.print("controller");
    M5.Lcd.setCursor(DISP_W - H_OFST - 4, 5);
    M5.Lcd.print("Focus");
    M5.Lcd.setCursor(DISP_W - H_OFST - 4, 20);
    M5.Lcd.print("controller");
    M5.Lcd.setTextColor(color_fg);
    M5.Lcd.setTextSize(1);
    M5.Lcd.setCursor(DISP_W - H_OFST, V_BASE + V_STEP);
    M5.Lcd.print("Cur");
    M5.Lcd.setCursor(DISP_W - H_OFST, V_BASE + V_STEP + 12);
    M5.Lcd.print("Pos");
    M5.Lcd.setTextSize(1);
    M5.Lcd.setCursor(DISP_W - H_OFST, V_BASE + V_STEP * 2 + 6);
    M5.Lcd.print("Mark");
    drawVal(V_STEP * 2, step_angle * mark1);
    M5.Lcd.setTextSize(2);
    M5.Lcd.setTextColor(color_fg);
    M5.Lcd.setCursor(80 * 0 + 42, DISP_H - 30);
    M5.Lcd.print("Mark");
    M5.Lcd.setCursor(80 * 2 + 67, DISP_H - 30);
    M5.Lcd.print("Step");
    // M5.Lcd.setCursor(80 * 1 + 42, DISP_H - 30);
    // M5.Lcd.print("Center");
    blinkCenter(0);
}

void loop() {
    if (step_run_cnt > 0 || step_run_flg) {
        if (step_run_flg) {
            setNextPhase(step_run_dir);
            drawPos(last_pos, color_bg, 1);
            drawPos(cur_pos, color_fg, 1);
            setStepIN();
            tgl_c = blinkCenter(tgl_c);
            step_run_flg = false;
        }
        if (step_run_cnt == 0) {
            blinkCenter(0);
        }
        delay(10);
    } else {
        M5.update();
        if (M5.BtnA.wasPressed()) {
            Serial.println("Mark");
            mark1 = cur_pos;
            drawVal(V_STEP * 2, step_angle * mark1);
            drawCircle(1);
        } else if (M5.BtnB.wasPressed()) {
            int pos_diff;
            if (cur_pos >= mark1) {
                pos_diff = cur_pos - mark1;
                step_run_dir = DIR_FW;
            } else {
                pos_diff = mark1 - cur_pos;
                step_run_dir = DIR_BW;
            }
            if (pos_diff > step_round / 2) {
                pos_diff = step_round - pos_diff;
                step_run_dir = (step_run_dir == DIR_FW) ? DIR_BW : DIR_FW;
            }
            step_run_cnt = pos_diff / 2;
            Serial.printf("Center: diff %d %d", step_run_cnt, step_run_dir);
            tgl_c = 1;
            seq_tick.attach(toggle_period_sec, countDownSeq);
        } else if (M5.BtnC.wasPressed()) {
            Serial.print('C');
            int next_mode = (cur_mode == MODE_FULL) ? MODE_HALF : MODE_FULL;
            setStepMode(next_mode);
            drawCircle(1);
        }
        uint8_t ec_dir = readEC();
        if (ec_dir != DIR_NONE) {
            setNextPhase(ec_dir);
            drawPos(last_pos, color_bg, 1);
            drawPos(cur_pos, color_fg, 1);
            setStepIN();
        }

    }
}

Credits

ttrsato

Posted by vany5921

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