WOKWI Stepper Motor & MQTT

WOKWI　Stepper Motor & MQTT

#include <Stepper.h>

#include <WiFi.h>

#include <PubSubClient.h>

float stepmax = 600;

// (A- ==> 26 , A+ ==> 27 , B+ ==> 14 , B- ==> 12  )

// (A- ==> 21 , A+ ==> 19 , B+ ==> 18 , B- ==> 5 )

// initialize the stepper library on pins 8 through 11:

Stepper Stepper1(stepmax, 12, 14, 27, 26);

Stepper Stepper2(stepmax, 21,19, 18, 5);

// Update these with values suitable for your network.

const char* ssid =  "Wokwi-GUEST";   // your network SSID (name)

const char* password = "";   // your network password

//const char* mqtt_server = "broker.mqttdashboard.com";// choose your mqtt server

const char* mqtt_server = "broker.mqttgo.io";

WiFiClient espClient;

PubSubClient client(espClient);

long lastMsg = 0;

char msg[50];

int value = 0;

//=====================================================================

int i = 0;

float step1=0;

float step2=0;

float steptarget1 = 500;

//float stepmax = 600;

float steptarget2 = 300;

float deltaT = 5;

float speed1;

float speed2;

//=========================================================

void setup_wifi() {

   delay(100);

  // We start by connecting to a WiFi network

    Serial.print("Connecting to ");

    Serial.println(ssid);

    WiFi.begin(ssid, password);

    while (WiFi.status() != WL_CONNECTED)

    {

      delay(500);

      Serial.print(".");

    }

  randomSeed(micros());

  Serial.println("");

  Serial.println("WiFi connected");

  Serial.println("IP address: ");

  Serial.println(WiFi.localIP());

}

//=========================================================

void callback(char* topic, byte* payload, unsigned int length)

{

  Serial.print("Command from MQTT broker is : [");

  Serial.print(topic);

  Serial.print(" Rotation angle is:");

  Serial.print("   ");

  String message="";

  for(int i=0;i<length;i++)

  {

    message += ((char)payload[i]);

    //Serial.print((char)payload[i]);

  }

  message.trim();

  int show= message.toInt();

  steptarget1 = show * 1.0;

  steptarget2 = show * 1.0;

  if (String(topic)=="alex9ufo/stepcommand1") {

    Stepper1.step(steptarget1);

   

    Serial.print(show);   //print the rotation angle

    Serial.print("]");

    Serial.println();

  }

  if (String(topic)=="alex9ufo/stepcommand2") {

    Stepper2.step(steptarget2);

    Serial.print(show);   //print the rotation angle

    Serial.print("]");

    Serial.println();

  }

//  Stepper1.step(steptarget1);

//  Stepper2.step(steptarget2);

}//end callback

//=========================================================

void reconnect() {

  // Loop until we're reconnected

  while (!client.connected())

  {

    Serial.print("Attempting MQTT connection...");

    // Create a random client ID

    String clientId = "ESP32Client-";

    clientId += String(random(0xffff), HEX);

    // Attempt to connect

    //if you MQTT broker has clientID,username and password

    //please change following line to    if (client.connect(clientId,userName,passWord))

    if (client.connect(clientId.c_str()))

    {

      Serial.println("connected");

     //once connected to MQTT broker, subscribe command if any

      client.subscribe("alex9ufo/stepcommand1");

      client.subscribe("alex9ufo/stepcommand2");

    } else {

      Serial.print("failed, rc=");

      Serial.print(client.state());

      Serial.println(" try again in 5 seconds");

      // Wait 6 seconds before retrying

      delay(6000);

    }

  }

} //end reconnect()

//=========================================================

void setup() {

  // initialize the serial port:

  Serial.begin(115200);

  speed1 = ((steptarget1*60)/(deltaT*stepmax));

  speed2 = ((steptarget2*60)/(deltaT*stepmax));

  Stepper1.setSpeed(speed1);

  Stepper2.setSpeed(speed2);

  Serial.print("speed1==>");

  Serial.println(speed1);

  Serial.print("speed2==>");

  Serial.println(speed2);

  setup_wifi();

  client.setServer(mqtt_server, 1883);

}

//=========================================================

void loop() {

  if (!client.connected()) {

    reconnect();

  }

  client.setCallback(callback);

  client.loop();

}