아두이노 연속운전 예제 코드

//==============================================================
// MSD-224 / MSD-224N + MAS-001 연속운전 예제
// Arduino Uno + MAS-001
//
// [MAS-001 입력]
//   버튼1=D13 / 버튼2=D12 / 볼륨=A0
// [드라이버 결선]
//   D9 -> PUL+ / D5 -> DIR+ / D6 -> ENA+
//   GND -> PUL- / DIR- / ENA-
//
// 버튼1: 운전/정지
// 버튼2: 정지 후 방향 변경(변경 뒤 버튼1로 재기동)
// 볼륨: 약 100~4000Hz
//
// 주의: 연속운전 시험용. 위치제어·엔코더 피드백은 수행하지 않음.
//==============================================================
const byte PUL_PIN = 9;
const byte DIR_PIN = 5;
const byte EN_PIN  = 6;

const byte BTN1_PIN = 13;
const byte BTN2_PIN = 12;
const byte POT_PIN  = A0;

const byte ENA_ENABLE_LEVEL  = LOW;
const byte ENA_DISABLE_LEVEL = HIGH;

bool running = false;
bool dirCW = true;
bool btn1Prev = HIGH;
bool btn2Prev = HIGH;

unsigned int currentHz = 100;
unsigned int targetHz  = 100;
unsigned long lastRampMs = 0;

void stopPulse() {
  noTone(PUL_PIN);
  running = false;
  currentHz = 100;
}

void setup() {
  pinMode(PUL_PIN, OUTPUT);
  pinMode(DIR_PIN, OUTPUT);
  pinMode(EN_PIN, OUTPUT);

  // MAS-001 회로에 버튼 풀업이 구성되어 있어 눌림=LOW
  pinMode(BTN1_PIN, INPUT);
  pinMode(BTN2_PIN, INPUT);

  digitalWrite(DIR_PIN, dirCW ? HIGH : LOW);
  digitalWrite(EN_PIN, ENA_ENABLE_LEVEL);
  digitalWrite(PUL_PIN, LOW);

  Serial.begin(9600);
  Serial.println(F("MSD-224 + MAS-001 ready"));
}

void loop() {
  bool b1 = digitalRead(BTN1_PIN);
  bool b2 = digitalRead(BTN2_PIN);

  // 버튼1: 운전/정지 토글
  if (btn1Prev == HIGH && b1 == LOW) {
    if (running) {
      stopPulse();
      Serial.println(F("STOP"));
    } else {
      currentHz = 100;
      targetHz = map(analogRead(POT_PIN), 0, 1023, 100, 4000);
      running = true;
      tone(PUL_PIN, currentHz);
      Serial.println(F("RUN"));
    }
    delay(30);
  }
  btn1Prev = b1;

  // 버튼2: 펄스를 먼저 멈춘 뒤 방향 변경
  if (btn2Prev == HIGH && b2 == LOW) {
    stopPulse();
    delay(5);
    dirCW = !dirCW;
    digitalWrite(DIR_PIN, dirCW ? HIGH : LOW);
    delayMicroseconds(20);
    Serial.println(dirCW ? F("DIR: CW - press BTN1 to run")
                         : F("DIR: CCW - press BTN1 to run"));
    delay(30);
  }
  btn2Prev = b2;

  if (running) {
    targetHz = map(analogRead(POT_PIN), 0, 1023, 100, 4000);

    // 약 20ms마다 50Hz씩 변화시켜 급격한 속도 변경을 완화
    if (millis() - lastRampMs >= 20) {
      lastRampMs = millis();

      if (currentHz < targetHz) {
        currentHz = min((unsigned int)(currentHz + 50), targetHz);
      } else if (currentHz > targetHz) {
        unsigned int nextHz = (currentHz > 150) ? currentHz - 50 : 100;
        currentHz = max(nextHz, targetHz);
      }

      tone(PUL_PIN, currentHz);
    }
  }
}

//==============================================================
// MSD-224 / MSD-224N 아두이노 직결 연속운전 예제
// Arduino Uno / 시리얼 모니터 9600bps, 새 줄
//
// D9 -> PUL+ / D5 -> DIR+ / D6 -> ENA+
// GND -> PUL- / DIR- / ENA-
//
// f2000 : CW 2000Hz     r500 : CCW 500Hz
// s     : 펄스 정지     e1   : 드라이버 활성
// e0    : 드라이버 비활성
//
// 주의: 연속운전 시험용. 위치제어·엔코더 피드백은 수행하지 않음.
//==============================================================
const byte PUL_PIN = 9;
const byte DIR_PIN = 5;
const byte EN_PIN  = 6;

const byte ENA_ENABLE_LEVEL  = LOW;
const byte ENA_DISABLE_LEVEL = HIGH;

bool running = false;
bool enabled = true;
bool directionCW = true;

unsigned int currentHz = 100;
unsigned int targetHz  = 100;
unsigned long lastRampMs = 0;

void stopPulse() {
  noTone(PUL_PIN);
  running = false;
  currentHz = 100;
}

void setDirection(bool cw) {
  stopPulse();
  delay(5);
  directionCW = cw;
  digitalWrite(DIR_PIN, directionCW ? HIGH : LOW);
  delayMicroseconds(20);
}

void setup() {
  pinMode(PUL_PIN, OUTPUT);
  pinMode(DIR_PIN, OUTPUT);
  pinMode(EN_PIN, OUTPUT);

  digitalWrite(PUL_PIN, LOW);
  digitalWrite(DIR_PIN, HIGH);
  digitalWrite(EN_PIN, ENA_ENABLE_LEVEL);

  Serial.begin(9600);
  Serial.setTimeout(50);
  Serial.println(F("Ready: f2000 r500 s e1 e0"));
}

void loop() {
  if (Serial.available()) {
    String cmd = Serial.readStringUntil('\n');
    cmd.trim();

    if (cmd.length() > 0) {
      char c = cmd.charAt(0);
      long value = cmd.substring(1).toInt();

      switch (c) {
        case 'f':
        case 'F':
          if (value <= 0) {
            stopPulse();
            Serial.println(F("STOP"));
            break;
          }
          setDirection(true);
          targetHz = constrain(value, 100, 20000);
          currentHz = 100;
          running = enabled;
          if (running) tone(PUL_PIN, currentHz);
          Serial.print(F("CW target "));
          Serial.print(targetHz);
          Serial.println(F("Hz"));
          break;

        case 'r':
        case 'R':
          if (value <= 0) {
            stopPulse();
            Serial.println(F("STOP"));
            break;
          }
          setDirection(false);
          targetHz = constrain(value, 100, 20000);
          currentHz = 100;
          running = enabled;
          if (running) tone(PUL_PIN, currentHz);
          Serial.print(F("CCW target "));
          Serial.print(targetHz);
          Serial.println(F("Hz"));
          break;

        case 's':
        case 'S':
          stopPulse();
          Serial.println(F("STOP - holding torque remains if enabled"));
          break;

        case 'e':
        case 'E':
          enabled = (value != 0);
          digitalWrite(EN_PIN, enabled ? ENA_ENABLE_LEVEL : ENA_DISABLE_LEVEL);
          if (!enabled) stopPulse();
          Serial.println(enabled ? F("DRIVER ENABLED") : F("DRIVER DISABLED"));
          break;

        default:
          Serial.println(F("? use: f2000 r500 s e1 e0"));
          break;
      }
    }
  }

  // 목표 주파수까지 완만하게 변경
  if (running && enabled && millis() - lastRampMs >= 20) {
    lastRampMs = millis();

    if (currentHz < targetHz) {
      currentHz = min((unsigned int)(currentHz + 50), targetHz);
    } else if (currentHz > targetHz) {
      unsigned int nextHz = (currentHz > 150) ? currentHz - 50 : 100;
      currentHz = max(nextHz, targetHz);
    }

    tone(PUL_PIN, currentHz);
  }
}