Update: Lift Team Demo Code

Summary: Demo code for lift team is done.

It will need modifications to the timing values, but here is the finished demo code for the lift mechanism:

UPDATE: Changed the function set-up:

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#include <Wire.h>

#include <Adafruit_MotorShield.h>

#include "utility/Adafruit_PWMServoDriver.h"

Adafruit_MotorShield AFMS = Adafruit_MotorShield();

// Motor on M1 and M2

Adafruit_StepperMotor *BMotor = AFMS.getStepper(200, 1);

// Motor on M3 and M4

Adafruit_StepperMotor *FMotor = AFMS.getStepper(200, 2);

//Sets motor directions and speed

int up = FORWARD;

int down = BACKWARD;

int liftSpeed = 50;

int count = 0;

void setup() {

 

  AFMS.begin();

}

void loop() {

 

liftUp(200);

liftHold(2000);

liftDown(200);

liftHold(2000);

}

//function for lifting, length in steps

void liftUp(int length){

 

  while(count <= length){

 

    BMotor->setSpeed(liftSpeed);

    FMotor->setSpeed(liftSpeed);

 

    BMotor->step(1,up,DOUBLE);

    FMotor->step(1,up,DOUBLE);

   

    count++;

  }

  count = 0;

}

//function for lifting, length in steps

void liftDown(int length){

 

  while(count <= length){

 

    BMotor->setSpeed(liftSpeed);

    FMotor->setSpeed(liftSpeed);

 

    BMotor->step(1,down,DOUBLE);

    FMotor->step(1,down,DOUBLE);

   

    count++; 

  }

  count = 0;

}

//function for lifting, length in milliseconds

void liftHold(int length){

 

delay(length);

 

}

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Original:

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#include <Wire.h>

#include <Adafruit_MotorShield.h>

#include "utility/Adafruit_PWMServoDriver.h"

Adafruit_MotorShield AFMS = Adafruit_MotorShield();

// Motor on M1 and M2

Adafruit_StepperMotor *BMotor = AFMS.getStepper(200, 1);

// Motor on M3 and M4

Adafruit_StepperMotor *FMotor = AFMS.getStepper(200, 2);

int UP = FORWARD;

int DOWN = BACKWARD;

int SPEED = 50;

int count = 0;

void setup() {

 

  AFMS.begin();

}

void loop() {

 

while(count <= 200){

LiftUp();

count = count + 1;

}

while(count > 200 && count <= 400){

LiftHold();

count = count + 1;

}

while(count > 400 && count <= 600){

LiftDown();

count = count + 1;

}

while(count > 600 && count <= 800){

LiftHold();

count = count + 1;

}

count = 0;

}

void LiftUp(){

 

  BMotor->setSpeed(SPEED);

  FMotor->setSpeed(SPEED);

 

  BMotor->step(1,UP,DOUBLE);

  FMotor->step(1,UP,DOUBLE);

}

void LiftDown(){

 

  BMotor->setSpeed(SPEED);

  FMotor->setSpeed(SPEED);

 

  BMotor->step(1,DOWN,DOUBLE);

  FMotor->step(1,DOWN,DOUBLE);

}

void LiftHold(){

 

delay(10);

 

}

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