B4R Tutorial Stepper Motor with swing and rotate

Build1=Default,B4RDev
Group=Default Group
Library1=rcore
Library2=radafruitmotorshieldv2
NumberOfFiles=0
NumberOfLibraries=2
NumberOfModules=0
Version=3.31
@EndOfDesignText@

#Region Project Attributes
    #AutoFlushLogs: True
    #CheckArrayBounds: True
    #StackBufferSize: 600
#End Region

#Region
'A0 on Uno    Swing from switch
'A1 on Uno    Rotate from switch

'Adafruit Motor Shield v2

'Motor RS-Components 191-8328 Nema 23 5V

'Power 9V 3A

'Micro stepping set to 16 steps!

#End Region

Sub Process_Globals
    'These global variables will be declared once when the application starts.
    'Public variables can be accessed from all modules.
    Public Serial1 As Serial
   
    'Variables for the motor control
    Dim mshield As AdafruitMotorShield
    Dim stepper1 As AdafruitStepperMotor
    Dim MotorTimer, SwingTimer As Timer
    Dim Steps As Int
    Dim TimeDelay As Int
    Dim SwingPin, RotatePin As Pin
    Dim SwingPinState As Boolean
    Dim RPM, Angle As Int
End Sub

Private Sub AppStart
    Serial1.Initialize(115200)
    Log("AppStart")
   
    'Prepare analog inputs
    'Using the internal pull up resistor to prevent the pin from floating.
    SwingPin.Initialize(SwingPin.A0, SwingPin.MODE_INPUT_PULLUP)
    SwingPin.AddListener("SwingPin_StateChanged")
    RotatePin.Initialize(RotatePin.A1, RotatePin.MODE_INPUT_PULLUP)
    RotatePin.AddListener("RotatePin_StateChanged")
       
    'calculate steps for swing
    'based on ±45°    =    25 steps
    Angle=45
    Steps=Angle*200/360
       
    'initialise shield
    mshield.Initialize(0x60, 1600) 'default values
    stepper1.Initialize(mshield, 200, 1)
   
    'Set motor speed
    RPM=6
    stepper1.Speed=RPM
   
    'calculate delay for speed
    'speed is 1 revolution in 10 seconds
    'TimeDelay is in milliseconds
    TimeDelay=1000*60/(RPM*200)    '10 seconds = 50 ms
    MotorTimer.Initialize("MotorTimer_Tick", TimeDelay)
    SwingTimer.Initialize("SwingTimer_Tick", TimeDelay*100)
   
End Sub

Sub MotorTimer_Tick
    'Log("Motor step")
    stepper1.OneStep(stepper1.DIR_FORWARD, stepper1.STYLE_MICROSTEP)
End Sub

Sub SwingTimer_Tick
    'Log("Case 1")
    'stepper1.OneStep(stepper1.DIR_FORWARD, stepper1.STYLE_MICROSTEP)
    stepper1.Step(Steps,stepper1.DIR_FORWARD, stepper1.STYLE_MICROSTEP)
    'Log("Case 2")
    'stepper1.OneStep(stepper1.DIR_BACKWARD, stepper1.STYLE_MICROSTEP)
    stepper1.Step(Steps*2,stepper1.DIR_BACKWARD, stepper1.STYLE_MICROSTEP)
    'Log("Case 3")
    'stepper1.OneStep(stepper1.DIR_FORWARD, stepper1.STYLE_MICROSTEP)
    stepper1.Step(Steps,stepper1.DIR_FORWARD, stepper1.STYLE_MICROSTEP)

End Sub

'state will be False when the switch is on because of the PULLUP mode.
Sub SwingPin_StateChanged (State As Boolean)
    Log("Swing state = ", State)
    SwingPinState=State
    Log("SwingPinstate = ", SwingPinState)
   
    If SwingPinState=True Then
        'turn off motor
        Log("Swing stop")
        SwingTimer.Enabled=False
        stepper1.Release
    Else
        Log("Swing start")
        SwingTimer.Enabled=True
    End If
   
End Sub


'state will be False when the switch is on because of the PULLUP mode.
Sub RotatePin_StateChanged (State As Boolean)
    Log("Rotate state = ", State)
    If State=True Then
        'turn off motor
        MotorTimer.Enabled=False
        stepper1.Release
    Else
        MotorTimer.Enabled=True
    End If
   
End Sub