Resolved Stepper moves randomly

Hello,
I'm building a 3DOF moton simulator based on actuators. I use 8,5NM stepper motors driven by a HBS86H driver, and controlled by an Arduino Uno R3. I modified a code written by @eaorobbie, so it can work with my steppers :

Code:

#include <BasicStepperDriver.h>

//------------------------- Can be modified --------------------------//
#define STEP 3
#define DIR 4
#define RPM 120
#define MICROSTEPS 16
#define MOTOR_STEPS 200
//#define DEBUG 1
//--------------------------------------------------------------------//

BasicStepperDriver stepper(MOTOR_STEPS, DIR, STEP);

const int kActuatorCount = 1;  //Number of actuators
const char kActuatorName[kActuatorCount] = {'R'};
const int kActuatorScale[kActuatorCount][2] = { { -10000, 10000 } };
const char kEOL = '~';
const int kMaxCharCount = 3;
int actuatorPosition[kActuatorCount] = {0};
int actuatorPosition2[kActuatorCount] = {0};
int currentActuator;
int valueCharCount = 0;
int remember[kActuatorCount] = {0};
enum TPortState { psReadActuator, psReadValue };
TPortState currentState = psReadActuator;

void setup(){
  Serial.begin(9600);
  stepper.begin(RPM, MICROSTEPS);
  }

void loop()
{
}

void serialEvent(){
    char tmpChar;
    int tmpValue;

    while (Serial.available()) {
        if (currentState == psReadActuator) {
            tmpChar = Serial.read();
 
#ifdef DEBUG           
Serial.print("read in ");           
Serial.println(tmpChar);           
#endif

            for (int i = 0; i < kActuatorCount; i++) {
                if (tmpChar == kActuatorName[i]) {

#ifdef DEBUG           
Serial.print("which is actuator ");           
Serial.println(i);           
#endif

                    currentActuator = i;
                    currentState = psReadValue;             
                    actuatorPosition[currentActuator] = 0;
                    valueCharCount = 0;         
                    break;
                }
            }
        }
      
        if (currentState == psReadValue) {
            while ((valueCharCount < kMaxCharCount) && Serial.available()) {
                tmpValue = Serial.read();
                if (tmpValue != kEOL) {
                    tmpValue = tmpValue - 48;
                    if ((tmpValue < 0) || (tmpValue > 9)) tmpValue = 0;
                    actuatorPosition[currentActuator] = actuatorPosition[currentActuator] * 10 + tmpValue;
                    valueCharCount++;
                }
                else break;
            }
          
            if (tmpValue == kEOL || valueCharCount == kMaxCharCount) {

#ifdef DEBUG           
Serial.print("read in ");           
Serial.println(actuatorPosition[currentActuator]);           
#endif


                actuatorPosition[currentActuator] = map(actuatorPosition[currentActuator], 0, 255, kActuatorScale[currentActuator][0], kActuatorScale[currentActuator][1]);
#ifdef DEBUG           
Serial.print("scaled to ");           
Serial.println(actuatorPosition[currentActuator]);   
#endif

actuatorPosition2[currentActuator] = actuatorPosition[currentActuator] - remember[currentActuator];
remember[currentActuator] = actuatorPosition[currentActuator];
                updateActuator(currentActuator);
                currentState = psReadActuator;
            }
        }
    }

    
}


void updateActuator(int thisActuator) {
    stepper.move(actuatorPosition2[thisActuator]);
}

It works perfectly in the Serial Monitor, but unfortunately, the motor rotates randomly when testing in Simtools (Output Testing).

Here are my settings :


Any help would be appreciated,
Best regards,
Tintin Boulsard

Hi @yobuddy,
I'll test this soon, but I don't think this will resolve the problem because I have no problem when I use other codes on the Arduino. I'll keep you updated.

Thanks anyway,
Best regards,
Tintin Boulsard

Hello,
I changed the thread title to "Resolved" because I don't have issues anymore. I didn't change the "system local setting" but it works perfectly well. The problem was coming from, I think, the Arduino library...

Best regards,
Tintin Boulsard