Response = "motor is busy - wait for movement to end!" Response = "moving to " + String(messageTemp.toInt()) + " mm position" timerAttachInterrupt(motorTimer, &motorInterrupt, true) Serial.print("Message arrived on topic: ") Void callback(char* topic, byte* message, unsigned int length) We start by connecting to a WiFi network Message.toCharArray(msgArr, sizeof(msgArr)) Ĭlient.publish(topic, msgArr, message.length()) topic.toCharArray(topArr, sizeof(topic)+2) This is calculated inside the Motor class. TODO: timer needs to just figure out what time the next pulse needs to be fired at - needs to be calculated on the fly
Arduino timer interrupt stepper motor serial#
Message //Sends message over serial and MQTT to 'StatusMessage' topic PortMUX_TYPE timerMux = portMUX_INITIALIZER_UNLOCKED ĭebug, //Sends message only to the serial portĮrror, //Sends message over MQTT to 'Errors' topic, and to serial port with "Error: " pre-appended Unsigned long motorCheck_previousMillis = 0 Unsigned long heartbeat_previousMillis = 0 Int numDevices = sizeof(devices)/sizeof(device) get size of array first, to feed to for loop Add your MQTT Broker IP address, example:Ĭonst char* mqtt_server = "" Replace the next variables with your SSID/Password combination This works great, until it comes time to kill the timer and then restart it later - then the ISR is not called at all, like the timer wasn't stopped properly. The timer will then change its time with each iteration, for acceleration compensation. To avoid having to wade through too much, the general process is to initialize the timer (called motorTimer) in the setup method, then connect to wifi, within the callback method for mqtt any message with the payload of an integer will trigger the 'moveTo' method in the motor.h class, and then the update method in that same class will be triggered when the ISR timer is triggered.
This is also my first time trying to work with interrupts at all. The weird thing is that it is started the same way it was the first time, so I'm not sure if it is an issue with my code or the way that that particular library handles garbage collection. It will count down and trigger the ISR as desired as many times as I want, but when I disable it (so that the ISR is not unnecessarily called), it will not start when I try to start it again.
Arduino timer interrupt stepper motor how to#
I am having trouble figuring out how to disable then re-enable (upon a triggering event) the hw (esp32-hal-timer) timer from the esp-arduino library, here for a stepper motor controller application with my esp32 development board.
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