added optimization for a sinusoidal wave

WaveGen/Arduino/basicStepperDriver/basicStepperDriver.ino

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+#include <Arduino.h>
+#include "BasicStepperDriver.h"
+
+// motor : https://www.omc-stepperonline.com/de/p-series-ip67-wasserdicht-nema-23-schrittmotor-5-0a-1-8nm-254-95oz-in-23ip67-20
+// stepper controller: https://www.omc-stepperonline.com/de/digitaler-schrittmotortreiber-1-0-4-2a-20-50vdc-fuer-nema-17-23-24-schrittmotor-dm542t
+
+// the motor has a 1.8 deg step so 200 steps
+#define MOTOR_STEPS 200
+
+// set a safty RPM
+#define SAFTY_RPM 600
+
+// step resolution on stepper controller set to 800 step/rev
+#define MICROSTEPS 4
+
+// All the wires needed for full functionality
+#define DIR 4
+#define STEP 3
+#define ENABLE 2
+
+//Uncomment line to use enable/disable functionality
+//#define SLEEP 13
+
+// set all value to default 
+float rpmVal = 60.0;  
+float timeVal = 0.0;  
+int angleVal = 0; 
+int start_delay = 0;
+
+unsigned long start_time = 0;
+
+// start bsic driver
+BasicStepperDriver stepper(MOTOR_STEPS, DIR, STEP, ENABLE);
+
+void setup() {
+
+   // enable serial
+   Serial.begin(9600);
+   while (!Serial) {;}  // Wait for serial port to connect
+   Serial.println("Found serial connection of wavegen");
+
+   stepper.begin(rpmVal, MICROSTEPS);
+   stepper.setEnableActiveState(LOW);
+
+   stepper.disable();
+
+}
+
+void loop(){
+
+   // parse the message from python
+   if (Serial.available() > 0) {
+
+      // read in line 
+      String input = Serial.readStringUntil('\n');
+      input.trim();
+
+      // Split command and value
+      int spaceIndex = input.indexOf(' ');
+      String command = input;
+      int value = 0;
+
+      // Split string into tokens
+      const int maxTokens = 10;
+      String tokens[maxTokens];
+      int tokenCount = 0;
+
+      // sort the messages
+      while (input.length() > 0 && tokenCount < maxTokens) {
+         int spaceIndex = input.indexOf(' ');
+         if (spaceIndex == -1) {
+
+            tokens[tokenCount++] = input;
+            break;
+
+         } else {
+
+            tokens[tokenCount++] = input.substring(0, spaceIndex);
+            input = input.substring(spaceIndex + 1);
+            input.trim();
+
+         }
+      }
+
+      // Parse name/value pairs
+      for (int i = 0; i < tokenCount - 1; i += 2) {
+      String name = tokens[i];
+      float value = tokens[i + 1].toFloat();
+
+         if (name == "a") {
+            angleVal = tokens[i + 1].toInt();
+            Serial.print("Set angle to ");
+            Serial.println(angleVal);
+
+         } else if (name == "t") {
+
+            // time in ms
+            timeVal = value;
+            Serial.print("Set time to ");
+            Serial.println(timeVal);
+
+         } else if (name == "rpm") {
+
+            if(value > SAFTY_RPM){
+               rpmVal = SAFTY_RPM;
+            }
+            else if(value != 0.0){
+               rpmVal = value;
+            }
+
+            // set the new rpm value
+            stepper.begin(rpmVal, MICROSTEPS);
+
+            Serial.print("Set rpm to ");
+            Serial.println(rpmVal);
+
+         } else if(name == "delay"){
+
+            start_delay = value;
+            Serial.print("Delay before start: ");
+            Serial.println(start_delay);
+
+         } else {
+
+            Serial.print("Unknown parameter: ");
+            Serial.println(name);
+         }
+      }
+
+      delay(start_delay * 1000); // in sec
+      Serial.println("Starting");      
+
+   }
+
+
+   if(angleVal != 0){
+      Serial.print("start rotation with angle and rpm: ");
+      Serial.print(angleVal);
+      Serial.print(" ");
+      Serial.println(rpmVal);
+
+      stepper.enable();
+      // if no rpm given the rotation speed is set to default
+      stepper.rotate(angleVal); 
+
+      stepper.disable();
+      angleVal = 0;
+      rpmVal = 60.0;
+
+      Serial.println("Finished");
+
+   }
+
+   // only set in rpm if the angle is 0 -> else do angular rotation
+   if(rpmVal != 60.0 && angleVal == 0){
+
+      Serial.print("rotating at rpm ");
+      Serial.println(rpmVal);
+
+      // set the new rpm value
+      stepper.setRPM(rpmVal);
+
+      if(start_time = 0){
+        start_time = millis();    
+      }
+
+      stepper.rotate(360);
+   }
+
+   if(timeVal != 0.0){
+      //Serial.println(millis() - start_time);
+      if(millis() - start_time > timeVal){
+         // set RPM and set time to 0
+         timeVal = 0.0;
+         rpmVal = 60.0;
+         stepper.disable();
+
+         Serial.println("Stopped motor due to time");
+         Serial.println("Finished");
+      }
+   }
+
+}

WaveGen/Arduino/libraries/StepperDriver/LICENSE

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+The MIT License (MIT)
+
+Copyright (c) 2015 Laurentiu Badea
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+

WaveGen/Arduino/libraries/StepperDriver/Makefile

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+# Default build architecture and board
+TARGET ?= arduino:avr:uno
+CORE = $(shell echo $(TARGET) | cut -d: -f1,2)
+
+# Where to save the Arduino support files, this should match what is in arduino-cli.yaml
+ARDUINO_DIR ?= .arduino
+
+default:
+	#################################################################################################
+	# Initial setup: make .arduino/arduino-cli setup
+	#
+	# Build all the examples: make all TARGET=adafruit:samd:adafruit_feather_m0
+	#
+	# Install more cores: make core TARGET=adafruit:samd:adafruit_feather_m0
+	# (edit arduino-cli.yaml and add repository if needed)
+	#################################################################################################
+
+# See https://arduino.github.io/arduino-cli/installation/
+ARDUINO_CLI_URL = https://downloads.arduino.cc/arduino-cli/arduino-cli_latest_Linux_64bit.tar.gz
+ARDUINO_CLI ?= $(ARDUINO_DIR)/arduino-cli --config-file arduino-cli.yaml
+EXAMPLES := $(shell ls examples)
+
+COMPILE = $(ARDUINO_CLI) compile --warnings all --fqbn $(TARGET)
+
+all: # Build all example sketches
+all: $(EXAMPLES:%=%.hex)
+	ls -l build
+
+%.hex: # Generic rule for compiling sketch to uploadable hex file
+%.hex: examples/% core
+	$(ARDUINO_CLI) compile --warnings all --fqbn $(TARGET) --output-dir build $<
+
+# Remove built objects
+clean:
+	rm -rfv build
+
+core: $(ARDUINO_DIR)/arduino-cli
+	$(ARDUINO_CLI) core install $(CORE)
+
+$(ARDUINO_DIR)/arduino-cli:  # Download and install arduino-cli
+$(ARDUINO_DIR)/arduino-cli:
+	mkdir -p $(ARDUINO_DIR)
+	cd $(ARDUINO_DIR)
+	curl -L -s $(ARDUINO_CLI_URL) \
+	| tar xfz - -C $(ARDUINO_DIR) arduino-cli
+	chmod 755 $@
+	$(ARDUINO_CLI) version
+
+setup: # Configure cores and libraries for arduino-cli (which it will download if missing)
+setup: $(ARDUINO_DIR)/arduino-cli
+	mkdir -p $(ARDUINO_DIR)/libraries
+	ln -sf $(CURDIR) $(ARDUINO_DIR)/libraries/
+	$(ARDUINO_CLI) config dump
+	$(ARDUINO_CLI) core update-index
+	$(ARDUINO_CLI) core list
+
+.PHONY: clean %.hex all setup

WaveGen/Arduino/libraries/StepperDriver/README.md

@@ -0,0 +1,124 @@
+[![arduino-library-badge](https://www.ardu-badge.com/badge/StepperDriver.svg?)](https://www.ardu-badge.com/StepperDriver)
+[![Actions Status](https://github.com/laurb9/StepperDriver/workflows/PlatformIO/badge.svg)](https://github.com/laurb9/StepperDriver/actions)
+[![Actions Status](https://github.com/laurb9/StepperDriver/workflows/Arduino/badge.svg)](https://github.com/laurb9/StepperDriver/actions)
+
+StepperDriver
+=============
+
+A4988, DRV8825, DRV8834, DRV8880 and generic two-pin stepper motor driver library.
+Features:
+   - Constant speed mode (low rpms)
+   - Linear (accelerated) speed mode, with separate acceleration and deceleration settings.
+   - Non-blocking mode (yields back to caller after each pulse)
+   - Early brake / increase runtime in non-blocking mode
+
+Hardware currently supported: 
+   - <a href="https://www.pololu.com/product/2134">DRV8834</a> Low-Voltage Stepper Motor Driver
+     up to 1:32
+   - <a href="https://www.pololu.com/product/1182">A4988</a> Stepper Motor Driver up to 1:16
+   - <a href="https://www.pololu.com/product/2131">DRV8825</a> up to 1:32
+   - <a href="https://www.pololu.com/product/2971">DRV8880</a> up to 1:16, with current/torque control
+   - any other 2-pin stepper via DIR and STEP pins, microstepping up to 1:128 externally set
+
+Microstepping
+=============
+
+The library can set microstepping and generate the signals for each of the support driver boards.
+
+High RPM plus high microstep combinations may not work correctly on slower MCUs, there is a maximum speed
+achieveable for each board, especially with acceleration on multiple motors at the same time.
+
+Motors
+======
+
+- 4-wire bipolar stepper motor or 
+- some 6-wire unipolar in 4-wire configuration (leaving centers out) or
+- 28BYJ-48 (commonly available) with a small modification (search for "convert 28byj-48 to 4-wire").
+
+Connections
+===========
+
+Minimal configuration from <a href="https://www.pololu.com/product/2134">Pololu DRV8834 page</a>:
+
+<img src="https://a.pololu-files.com/picture/0J4344.600.png">
+
+Wiring
+======
+
+This is suggested wiring for running the examples unmodified. All the pins below can be changed.
+
+- Arduino to driver board:
+    - DIR - D8
+    - STEP - D9
+    - GND - Arduino GND
+    - GND - Motor power GND
+    - VMOT - Motor power (check driver-specific voltage range)
+    - A4988/DRV8825 microstep control
+      - MS1/MODE0 - D10
+      - MS2/MODE1 - D11
+      - MS3/MODE2 - D12
+    - DRV8834/DRV8880 microstep control
+      - M0 - D10
+      - M1 - D11
+    - ~SLEEP (optional) D13
+
+- driver board to motor (this varies from motor to motor, check motor coils schematic).
+- 100uF capacitor between GND - VMOT 
+- Make sure to set the max current on the driver board to the motor limit (see below).
+- Have a motor power supply that can deliver that current.
+- Make sure the motor power supply voltage is within the range supported by the driver board.
+
+Set Max Current
+===============
+
+The max current is set via the potentiometer on board.
+Turn it while measuring voltage at the passthrough next to it.
+The formula is V = I*5*R where I=max current, R=current sense resistor installed onboard
+
+- DRV8834 or DRV8825 Pololu boards, R=0.1 and V = 0.5 * max current(A). 
+  For example, for 1A you will set it to 0.5V.
+
+For latest info, see the Pololu board information pages.
+
+Code
+====
+
+See the BasicStepperDriver example for a generic driver that should work with any board
+supporting the DIR/STEP indexing mode.
+
+The Microstepping example works with a DRV8834 board.
+
+For example, to show what is possible, here is the ClockStepper example that moves a 
+stepper motor like the seconds hand of a watch:
+
+```C++
+#include <Arduino.h>
+#include "A4988.h"
+
+// using a 200-step motor (most common)
+#define MOTOR_STEPS 200
+// configure the pins connected
+#define DIR 8
+#define STEP 9
+#define MS1 10
+#define MS2 11
+#define MS3 12
+A4988 stepper(MOTOR_STEPS, DIR, STEP, MS1, MS2, MS3);
+
+void setup() {
+    // Set target motor RPM to 1RPM and microstepping to 1 (full step mode)
+    stepper.begin(1, 1);
+}
+
+void loop() {
+    // Tell motor to rotate 360 degrees. That's it.
+    stepper.rotate(360);
+}
+```
+
+Hardware
+========
+- Arduino-compatible board
+- A <a href="https://www.pololu.com/category/120/stepper-motor-drivers">stepper motor driver</a>, for example DRV8834, DRV8825, DRV8824, A4988.
+- A <a href="http://www.circuitspecialists.com/stepper-motor">Stepper Motor</a>.
+- 1 x 100uF capacitor

WaveGen/Arduino/libraries/StepperDriver/_config.yml

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+theme: jekyll-theme-modernist