Programs/Code 💓 

/*******************************************************************************

 * IO DEFINITION                                                                *

 *******************************************************************************/

// PWM is connected to pin 23.

const int pinOut = 25;

// DIR is connected to pin 22.

const int pinIn = 24;

/**********************  *********************************************************

 * PRIVATE GLOBAL VARIABLES                                                     *

 *******************************************************************************/

static int Ttrial = 10000;

float Depth=1;

static int frequency = 550;

//time not moving: make sure is not less than ~70

//static float Tpause = (2.0625-Depth)*20*16;

//static float Tp = (2.0625-Depth);

static int Tpause = 140;

static int Tmoving = (frequency - Tpause - 20) / 2;

static int dBuffer = 30;

long Time = 0;

int counter = 0;

int stat = 0;

int s = 0;

int Tinit=0;

int compressions = 0;

int compression_counter;

int pos;

int pos_i;

/*******************************************************************************

 * FUNCTIONS                                                                    *

 *******************************************************************************/

// The setup routine runs once when you press reset.

void setup() {                

  // Initialize the PWM and DIR pins as digital outputs.

  Serial.begin(115200);

  pinMode(pinOut, OUTPUT);

  pinMode(pinIn, OUTPUT);

  in();

  delay(3000);

  Tinit = millis();

  pos_i=pos;

  Serial.print(Tpause);

}

// The loop routine runs over and over again forever.

void loop() {

  Time = millis()-Tinit;

  /*

  if (Time <= Ttrial) {

    if (pos >= pos_i - dBuffer) {

    }

  } else {

  */

    counter = Time % frequency + 1;

    compression_counter = Time % (4*frequency) + 1;

    if (compression_counter <= 3*frequency){

      if (counter <= Tmoving) {

          out();

          stat = 1;

      } else if ((counter > Tmoving) && (counter <= Tmoving + 20)) {

          noMove();

          stat = 2;

      } else if ((counter > Tmoving + 20) && (counter <= (frequency - Tpause))){

          in();

          stat = 0;

      } else {

          noMove();

          stat = 2;

      }

    } else {

      noMove();

      stat = 2;

    }

    //Serial.print(Time);

    //Serial.print("___");

    //Serial.print(stat);

    //Serial.print("___");

    Serial.println(stat); 

  }

//}

void in() {

  digitalWrite(pinOut, HIGH);

  digitalWrite(pinIn, LOW);

}

void out() {

  digitalWrite(pinOut, LOW);

  digitalWrite(pinIn, HIGH);

}

void noMove() {

  digitalWrite(pinOut, LOW);

  digitalWrite(pinIn, LOW);

}

// Include the AccelStepper library:

#include <AccelStepper.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

// Create a new instance of the AccelStepper class:

AccelStepper stepper = AccelStepper(motorInterfaceType, stepPin, dirPin);

void setup() {

 // Set the maximum speed in steps per second:

 stepper.setMaxSpeed(4000);

}

void loop() {

 // Set the current position to 0:

 stepper.setCurrentPosition(0);

 // Run the motor forward at 200 steps/second until the motor reaches 400 steps (4 revolutions):

 while(stepper.currentPosition() != - 5*200)

 {

   stepper.setSpeed(-1800);

   stepper.run();

 }

 delay(50);

 // Reset the position to 0:

 stepper.setCurrentPosition(0);

 // Run the motor backwards at 600 steps/second until the motor reaches -200 steps (5 revolution):

 while(stepper.currentPosition() != 5*200)

 {

   stepper.setSpeed(1800);

   stepper.run();

 }

 delay(50);

}