Updated coiling code

main/coiling.ino/coiling.ino → Final_Coil_Insertion_Code/Final_Coil_Insertion_Code.ino

 #include <Stepper.h>
+#include <ESP.h>
 
 const int stepsPerRevolution = 200;  // change this to fit the number of steps per revolution
 const int rpm = 200;
+const int MAXSTEPS = 10;
 // for your motor
 //asdfasdfasdf
 
@@ -16,34 +18,51 @@ Stepper myStepper(stepsPerRevolution, PIN1, PIN2, PIN3, PIN4);
 
 int stepCount = 0;  // number of steps the motor has taken
 
-void do_steps(int num_steps){
-  int stepsPerSecond = stepsPerRevolution / (60 * rpm);
-  //int run_
+int doSteps(int num_steps){
+  int numRevs = 0;
+  int do_count = num_steps / MAXSTEPS; 
+  int count_remainder = num_steps % MAXSTEPS;
 
+  for(int i = 0; i < do_count; ++i){
+      myStepper.step(-MAXSTEPS);
+      //Serial.print("Increment: ");
+
+      if (i % 20 == 0){
+        Serial.printf("Number of Revolutions: %d\n", numRevs++);        
+      }
+      ESP.wdtFeed(); //yield; feeds the watchdog (resets the software timer)
+  }
+
+  myStepper.step(count_remainder);
+  ESP.wdtFeed();
+  return numRevs;
   
 }
 
 
 
 void setup() {
-  wdt_disable();
-  
+  ESP.wdtDisable();
   pinMode(PIN1, OUTPUT);
   pinMode(PIN2, OUTPUT);
   pinMode(PIN3, OUTPUT);
   pinMode(PIN4, OUTPUT);
 
-  Serial.println("asdfsdF");
+  Serial.begin(115200);
 
   myStepper.setSpeed(rpm);
+  
+  // step 1/100 of a revolution:
+  int numRevolutions = (int) 1e5;
+  
+  doSteps(numRevolutions * stepsPerRevolution);
+  Serial.println(stepCount);
 }
 
 void loop() {
   
-  // step 1/100 of a revolution:
-  int numRevolutions = 10;
   
-  myStepper.step(numRevolutions * stepsPerRevolution);
-  Serial.println(stepCount);
-  delay(500);
+  ESP.wdtFeed();
+  
+  //delay(500);
 }