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Messprogramm #11

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01831c4
Messprogramm
Conschtantin Sep 6, 2026
0a01870
erste messung daten
Conschtantin Sep 6, 2026
d884bf0
Verbessert Messung
Conschtantin Sep 6, 2026
5e56962
messung hufeisen fast fertig
Conschtantin Sep 6, 2026
e90c80d
Das fertige Programm
Conschtantin Sep 6, 2026
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272 changes: 152 additions & 120 deletions Motorenbewegung_XYZ.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -7,51 +7,57 @@ int HallSignal_x = 0;
int HallSignal_y = 0;
int HallSignal_z = 0;

int normalWert_x = 0;
int normalWert_y = 0;
int normalWert_z = 0;
long normalWert_x = 0;
long normalWert_y = 0;
long normalWert_z = 0;

int millimeterX = 3;
int millimeterY = 90;
int millimeterZ = 1;

int gesamtLaenge_x = 200;
int gesamtLaenge_y = 200;
int gesamtLaenge_z = 200;
int messabstand = 800;
long schrittzaehler = 0;

int infrarot = 100;
int infrarot2 = 100;

int del = 2;

int koordinate_x = 0;
int koordinate_y = 0;
int koordinate_z = 0;

void messen() {

HallSignal_x = analogRead(HallPin_x);
HallSignal_x = HallSignal_x - normalWert_x;

HallSignal_y = analogRead(HallPin_y);
HallSignal_y = HallSignal_y - normalWert_y;
HallSignal_y = HallSignal_y - normalWert_x;

HallSignal_z = analogRead(HallPin_z);
HallSignal_z = HallSignal_z - normalWert_z;

HallSignal_z = HallSignal_z - normalWert_x;
}

class Motor {
private:
bool richtung;

int schrittPin;
int richtungsPin;
int Koordinate;
int gesamtLaenge;

public:

Motor::Motor(int pR, int pS, int K, int gL){
long gesamtLaenge;
bool richtung;
long Koordinate;
int delaySchritte;
long schritte;
long distanz;
float faktor;
long gsamtlaenge;

Motor::Motor(int pR, int pS, long K, long gL, int ds, long steps, float fkt){
this->richtungsPin = pR;
this->schrittPin = pS;
this->Koordinate = K;
this->gesamtLaenge = gL;
this->delaySchritte = ds;
this->schritte = steps;
this->faktor = fkt;

pinMode(richtungsPin, OUTPUT);
pinMode(schrittPin, OUTPUT);
}

void Motor::schritt(){
Expand All @@ -61,136 +67,162 @@ void Motor::schritt(){
digitalWrite(schrittPin, HIGH);
digitalWrite(schrittPin, LOW);

this->Koordinate--;
schrittzaehler++;
delayMicroseconds(this->delaySchritte);
}else{
digitalWrite(richtungsPin, LOW);
digitalWrite(schrittPin, HIGH);
digitalWrite(schrittPin, LOW);

schrittzaehler++;
this->Koordinate++;
delay(del);
delayMicroseconds(this->delaySchritte);
}
else
{

digitalWrite(richtungsPin, LOW);
digitalWrite(schrittPin, HIGH);
digitalWrite(schrittPin, LOW);

this->Koordinate--;
delay(del);
}

}

void Motor::printen()
void Motor::bewegen(long millimeter, bool ausgeben)
{
Serial.println(HallSignal_x);
Serial.println(HallSignal_y);
Serial.println(HallSignal_z);

Serial.println(koordinate_x );
Serial.println(koordinate_y);
Serial.println(this->Koordinate);
}

void Motor::bewegen(int anzahl)
{
for(int c = 0; c < anzahl; c++)
distanz = millimeter * schritte / faktor;
for(int c = 0; c < distanz; c++)
{
infrarot = analogRead(A1);
infrarot2 = analogRead(A2);
if(infrarot > 2 && infrarot2 > 2)
{
if(ausgeben){
messen();
printen();
this->schritt();

}


this->schritt();
}
}

void Motor::hochfahren()
{
for (int c=0; c<(this->gesamtLaenge - this->Koordinate); c++){
this->schritt();
}
for (int c=0; c<(this->gesamtLaenge - this->Koordinate); c++){
this->schritt();
}
}

void Motor::richtungAendern()
{
this->richtung = !this->richtung;

void Motor::richtungHoch() {
this->richtung = false;
}

void Motor::startpunkt(){
this->richtungAendern();
while(this->Koordinate != 0)
{
this->schritt();
void Motor::richtungRunter() {
this->richtung = true;
}
void Motor::nullpunkt(int zeit) {
for(int c = 0; c <= zeit; c++) {
this->richtungHoch();
schritt();
}
this->Koordinate = 0;
}

};

Motor motorx(2,3, 0, 200);
Motor motory(6,7, 0, 200);
Motor motorz(4,5, 200, 200);

void Motor::durchschnitt() {
normalWert_x = normalWert_x + analogRead(HallPin_x);
normalWert_y = normalWert_y + analogRead(HallPin_y);
normalWert_z = normalWert_z + analogRead(HallPin_z);
}

void Motor::umrechnen(){
this->gsamtlaenge = this->gesamtLaenge * this->schritte / this->faktor;
}
};

void setup(){

Serial.begin(9600);
normalWert_x = analogRead (HallPin_x);
normalWert_y = analogRead (HallPin_y);
normalWert_z = analogRead (HallPin_z);

pinMode(2, OUTPUT);
pinMode(3, OUTPUT);
pinMode(4, OUTPUT);
pinMode(5, OUTPUT);
pinMode(6, OUTPUT);
pinMode(7, OUTPUT);
pinMode(A0, INPUT);
pinMode(A1, INPUT);
pinMode(A2, INPUT);
Serial.begin(250000);

scannenXY();
}

void loop()
{
prototyp();

}


void prototyp()
{
while(koordinate_x <= gesamtLaenge_x)
Motor motorx(6,5, 0, 70, 10, 1600, 2);
Motor motory(6,3, 0, 90, 10, 800, 2);
Motor motorz(6, 4, 0, 5, 1000, 6400, 51.7);


void scannenXY(){

motorx.umrechnen();
motory.umrechnen();
motorz.umrechnen();

motorz.Koordinate=0;
motory.Koordinate = motory.gsamtlaenge;
motorz.richtungHoch();
motorz.bewegen(70, false);

for(int c = 0; c < 500; c++)
{
motorx.schritt();
koordinate_x++;
if(koordinate_x % 2 == 0){
while(koordinate_y <= gesamtLaenge_y){
motory.schritt();
koordinate_y++;
motorz.bewegen(gesamtLaenge_z);

motorz.richtungAendern();
motorz.hochfahren();
}
}
else{
while(koordinate_y >= 0){
motory.richtungAendern();
motory.schritt();

koordinate_y--;

motorz.bewegen(gesamtLaenge_z);


motorz.richtungAendern();
motorz.hochfahren();
}
}
motorx.durchschnitt();
}
normalWert_x = normalWert_x / 500;
normalWert_y = normalWert_y / 500;
normalWert_z = normalWert_z / 500;
motorz.richtungRunter();
motorz.bewegen(70, false);

while(motorz.Koordinate < motorz.gsamtlaenge) {

while(motorx.Koordinate < motorx.gsamtlaenge) {
motory.richtungRunter();
motory.bewegen(millimeterY, true);
motorx.richtungHoch();
motorx.bewegen(millimeterX, true);
motory.richtungHoch();
motory.bewegen(millimeterY, true);
motorx.richtungHoch();
motorx.bewegen(millimeterX, true);
}
motory.richtungRunter();
motory.bewegen(millimeterY, true);
motorz.richtungHoch();
motorz.bewegen(millimeterZ, true);
while(motorx.Koordinate >= 0) {
motory.richtungHoch();
motory.bewegen(millimeterY, true);
motorx.richtungRunter();
motorx.bewegen(millimeterX, true);
motory.richtungRunter();
motory.bewegen(millimeterY, true);
motorx.richtungRunter();
motorx.bewegen(millimeterX, true);
}
motory.richtungHoch();
motory.bewegen(millimeterY, true);
motorz.richtungHoch();
motorz.bewegen(millimeterZ, true);
}
if(motory.Koordinate != motory.gsamtlaenge){
motory.richtungRunter();
motory.bewegen(motory.gsamtlaenge, false);
}
if(motorx.Koordinate != 0){
motorx.richtungHoch();
motorx.bewegen(motorx.gsamtlaenge, false);
}

motory.startpunkt();
motorx.startpunkt();

}

void printen()
{ if(schrittzaehler % messabstand == 0){

Serial.print(motorx.Koordinate);
Serial.print(", ");
Serial.print(motory.Koordinate);
Serial.print(", ");
Serial.print(motorz.Koordinate);
Serial.print(", ");

Serial.print(HallSignal_x);
Serial.print(", ");
Serial.print(HallSignal_y);
Serial.print(", ");
Serial.print(HallSignal_z);
Serial.println("");
}
}
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