added ir ToF sensors VL53L0X

turntable/.vscode/c_cpp_properties.json

@@ -19,6 +19,8 @@
                 "/home/bach/.arduino15/packages/arduino/hardware/avr/1.8.6/cores/arduino",
                 "/home/bach/.arduino15/packages/arduino/hardware/avr/1.8.6/variants/standard",
                 "/home/bach/Electronic/libraries/AccelStepper/src",
+                "/home/bach/.arduino15/packages/arduino/hardware/avr/1.8.6/libraries/Wire/src",
+                "/home/bach/Electronic/libraries/VL53L0X",
                 "/home/bach/.arduino15/packages/arduino/tools/avr-gcc/7.3.0-atmel3.6.1-arduino7/lib/gcc/avr/7.3.0/include",
                 "/home/bach/.arduino15/packages/arduino/tools/avr-gcc/7.3.0-atmel3.6.1-arduino7/lib/gcc/avr/7.3.0/include-fixed",
                 "/home/bach/.arduino15/packages/arduino/tools/avr-gcc/7.3.0-atmel3.6.1-arduino7/avr/include"

turntable/turntable.ino

@@ -1,3 +1,5 @@
+
+
 /*
   Example sketch to control a stepper motor with A4988 stepper motor driver, 
   AccelStepper library and Arduino: continuous rotation. 
@@ -7,26 +9,54 @@
 // Include the AccelStepper library:
 #include "AccelStepper.h"
 
+#include <Wire.h>
+#include <VL53L0X.h>
+
 // Define stepper motor connections and motor interface type. 
-// Motor interface type must be set to 1 when using a driver
 #define dirPin 2
 #define stepPin 3
 #define motorInterfaceType 1
+// Motor interface type must be set to 1 when using a driver
 #define ms1Pin 4
 #define ms2Pin 5
 #define ms3Pin 6
 
 #define speedPin A0
 double lastTime = 0;
+// double lastTimesensors = 0;
 double thisTime = 0;
 const int SPEED_MIN = 50;
 const int SPEED_MAX = 800;
 
-// #define irPin 7
 
 // Create a new instance of the AccelStepper class:
 AccelStepper stepper = AccelStepper(motorInterfaceType, stepPin, dirPin);
 
+// IR SENSORS
+
+#define XSHUT_pin4 8 //not required for address change
+#define XSHUT_pin3 9
+#define XSHUT_pin2 10
+#define XSHUT_pin1 11
+
+//ADDRESS_DEFAULT 0b0101001 or 41
+#define Sensor4_newAddress 41  //not required address change
+#define Sensor3_newAddress 42
+#define Sensor2_newAddress 43
+#define Sensor1_newAddress 44
+
+// IR sensors
+VL53L0X sensor4;
+VL53L0X sensor3;
+VL53L0X sensor2;
+VL53L0X sensor1;
+
+
+// bool last_sensor1_state = 0;
+// bool last_sensor2_state = 0;
+// bool last_sensor3_state = 0;
+// bool last_sensor4_state = 0;
+
 void setup() {
   Serial.begin(115200);
   // Set the maximum speed in steps per second:
@@ -46,6 +76,60 @@ void setup() {
   // Set the speed in steps per second:
   stepper.setSpeed(200);
 
+
+  // VL53L0X
+  
+  /*WARNING*/
+  //Shutdown pins of VL53L0X ACTIVE-LOW-ONLY NO TOLERANT TO 5V will fry them
+  pinMode(XSHUT_pin1, OUTPUT);
+  pinMode(XSHUT_pin2, OUTPUT);
+  pinMode(XSHUT_pin3, OUTPUT);
+  pinMode(XSHUT_pin4, OUTPUT);
+  
+  digitalWrite(XSHUT_pin1, LOW);
+  digitalWrite(XSHUT_pin2, LOW);
+  digitalWrite(XSHUT_pin3, LOW);
+  digitalWrite(XSHUT_pin4, LOW);
+
+  Wire.begin();
+
+  //Change address of sensor and power up next one
+
+  pinMode(XSHUT_pin1, INPUT);
+  sensor1.init();
+  sensor1.setAddress(Sensor1_newAddress);
+  delay(10);
+  
+  pinMode(XSHUT_pin2, INPUT);
+  sensor2.init();
+  sensor2.setAddress(Sensor2_newAddress);
+  delay(10);
+  
+  pinMode(XSHUT_pin3, INPUT);
+  sensor3.init();
+  sensor3.setAddress(Sensor3_newAddress);
+  delay(10);
+
+  pinMode(XSHUT_pin4, INPUT);
+  sensor4.init();
+  sensor4.setAddress(Sensor4_newAddress);
+  delay(10);
+
+
+  sensor1.setTimeout(0);
+  sensor2.setTimeout(0);
+  sensor3.setTimeout(0);
+  sensor4.setTimeout(0);
+
+  // // if (!sensor.init())
+  // // {
+  // //   Serial.println("Failed to detect and initialize  sensor!");
+  // //   while (1) {}
+  // // }
+  sensor1.startContinuous();
+  sensor2.startContinuous();
+  sensor3.startContinuous();
+  sensor4.startContinuous();
 }
 
 void loop() {
@@ -64,4 +148,28 @@ void loop() {
   // Step the motor with a constant speed as set by setSpeed():
   stepper.runSpeed();
   
+    int state1 = sensor1.readRangeContinuousMillimeters();
+    Serial.print("s1 : ");
+    Serial.print(state1);
+    Serial.print(" | ");
+    
+    int state2 = sensor2.readRangeContinuousMillimeters();
+    Serial.print("s2 : ");
+    Serial.print(state2);
+    Serial.print(" | ");
+    
+    int state3 = sensor3.readRangeContinuousMillimeters();
+    Serial.print("s3 : ");
+    Serial.print(state3);
+    Serial.print(" | ");
+
+    int state4 = sensor4.readRangeContinuousMillimeters();
+    Serial.print("s4 : ");
+    Serial.println(state4);
+  
+  
+  // if (sensor1.timeoutOccurred()) { Serial.print(" TIMEOUT"); }
+  // if (sensor2.timeoutOccurred()) { Serial.print(" TIMEOUT"); }
+  // if (sensor3.timeoutOccurred()) { Serial.print(" TIMEOUT"); }
+  // if (sensor4.timeoutOccurred()) { Serial.print(" TIMEOUT"); }
 }