//Program for acceleration rate control for Stepper Motor with L298N & Arduino
//Source: https://www.ee-diary.com/2021/08/stepper-motor-acceleration-speed.html


#include <AccelStepper.h>


//define pins for stepper motor
int en = 10;
int in1 = 9;
int in2 = 8;
int in3 = 7;
int in4 = 6;

int fullstep = 4; //number of stages in full drive
int halfstep = 8; //number of stages in half drive
int stepdrive = fullstep; //select step drive mode

//define stepper motor with step mode and inputs
AccelStepper stepper1(1, 3, 2);

int steps = 200; //number of steps per revolution
long last = 0;
int lag = 500; //time (ms) interval for display
int dir = 1; //direction of rotation
float rpm, v, oldspeed, a;
int nsteps;

void setup() {
  Serial.begin(9600); // define Serial output baud rate
  pinMode(en, OUTPUT);
  digitalWrite(en, HIGH);
  stepper1.setMaxSpeed(2000); //max speed 2000 steps/s
  stepper1.setAcceleration(50); //acceleration rate(steps/s^2)
  Serial.println("Outputs:");
  Serial.println("                           (+ve=clockwise, -ve=counter clockwise)");
  Serial.println("No. of Steps      RPM        Acceleration(m/s^2)       Speed(m/s)");
  Serial.println("-------------------------------------------------------------------\n");
  stepper1.moveTo(20000);

}

void loop() {
  // stepper1.moveTo(11000); //move to position ±100 or ±200
  // if(stepper1.distanceToGo()==0)
  // stepper1.setSpeed(2000);
  // stepper1.moveTo(20000);
  if (millis() > last + lag) //lag time elapsed since last print
  {
    v = stepper1.speed(); //get motor speed (steps/s)
    nsteps = v * lag / pow(10, 3); //No. of steps taken during lag time
    rpm = 60.0 * v / steps; //RPM
    a = (v - oldspeed) * 1000.0 / lag; //Acceleration
    oldspeed = v; //update speed value
    last = millis(); //update last print time


    //Outputs
    //print No. of Steps
    Serial.print(String(nsteps) + "\t\t");
    //print RPM
    Serial.print(String(rpm, 2) + "\t\t");
    //print Acceleration
    Serial.print(String(a, 2) + "\t\t\t");
    //print Speed
    Serial.println(String(v));
  }
  stepper1.run(); //move to new position
}