Bending Wiring

Coding untuk bender mesin
#include <AccelStepper.h>
#include <Servo.h>
#define limitSwitch 11
// Define the stepper motors and the pins the will use
AccelStepper feederStepper(1, 5, 6); // (Type:driver, STEP, DIR)
AccelStepper zAxisStepper(1, 7, 8);
AccelStepper benderStepper(1, 9, 10);
Servo servo01;
String dataIn = "";
String manualStatus = "";
int count = 0;
int dist;
Code language: Arduino (arduino)
In the setup section we set the initial position of the servo or the bending pin, and also set the initial
position of the bender gear. This is done with the help of the limit switch. The stepper rotates toward
the switch and once it’s pressed the motor starts counting the steps from zero and position itself to zero
degrees, ready for bending.
void setup() {
Serial.begin(9600);
pinMode(limitSwitch, INPUT_PULLUP);
servo01.attach(2);
servo01.write(40); // Initial position, bending pin up
// Stepper motors max speed
feederStepper.setMaxSpeed(2000);
zAxisStepper.setMaxSpeed(2000);
benderStepper.setMaxSpeed(2000);
// Homing
while (digitalRead(limitSwitch) != 0) {
benderStepper.setSpeed(1200);
benderStepper.runSpeed();
benderStepper.setCurrentPosition(0); // When limit switch pressed set position
to 0 steps
}
delay(40);
// Move 1400 steps from the limit switch to starting position
while (benderStepper.currentPosition() != -1400) {
benderStepper.setSpeed(-1200); // if negative rotates anti-clockwise
benderStepper.run();
}
benderStepper.setCurrentPosition(0);
}
Now in the loop section, we wait for commands coming from the serial monitor. If we type manual, we
will enter the manual bending mode or if we type for example star, the start() custom function will be
executed and the machine will automatic make a star form for us.
void loop() {
String mode = Serial.readString();
if (mode.startsWith("manual")) {
manual();
}
if (mode.startsWith("star")) {
star();
}
if (mode.startsWith("cube")) {
cube();
}
if (mode.startsWith("stand")) {
stand();
}
}
Let’s take a look at this custom function.

void star() {
while (count != 5) {
int feed = 38; // mm
int feedDistance = feed * 48; // 48- constats that map the mm value to number
of steps the stepper show move
while (feederStepper.currentPosition() != feedDistance) { // run until it
reaches the distance value
feederStepper.setSpeed(1200);
feederStepper.run();
}
feederStepper.setCurrentPosition(0); // reset the current position to 0
servo01.write(40); // Set the bender pin up
delay(200);
int angleConst = 18; // angle constant
// Bend the wire 52 degrees
while (benderStepper.currentPosition() != -52 * angleConst) {
benderStepper.setSpeed(-700);
}
delay(100);
// Go back 52 degrees to initial position
while (benderStepper.currentPosition() != 52 * angleConst) {
}
delay(100);
// Feed the same distance again
while (feederStepper.currentPosition() != feedDistance) {
}
feederStepper.setCurrentPosition(0);
delay(100);
servo01.write(130); // Set the bender pin down
delay(200);
// Set bender to new initial position, for bending in the other direction
}
delay(200);
servo01.write(40); // Bender pin up
delay(200);
}
delay(50);
}
delay(100);
servo01.write(130);
count++;
}
}
Code language:
So here we enter a while loop which is executed 5 times, because obviously the star has 5 points. We
start by setting the feed value, or that’s how much wire will be feed in millimeters. This value is then
multiplied by 48 which translates feed value into appropriate steps for the stepper motor to move. Then
using the run() function, we rotate the feeder motor with a speed set by the setSpeed() function. We
stops when the above feedDistance value is reached, and right after that we set the current position
value of the stepper zero.
}
In the next step we bend the wire 52 degrees. This is done in similar way as explained above. Here we
also have an angle constant which is multiplied with the desired angle. Once that value is reached by
the motor, the motor stops, reset its current position to 0, and then runs the same number of steps in the
opposite direction which actually returns the motor to its initial position.
}
delay(100);
}
delay(100);
Then again we feed the same length of wire and we set the pin down so that the bender can move to a
new initial position which is used for bending in the other direction. The bender pin is then raised, and
so we bend the wire 105 degrees in the opposite direction. The commands are repeated 5 times and
that’s how we get the star form.
In similar way as explained above we make the cube shape or actually any other shape we can come up
with. As for the manual mode, the working principle of the commands are the same, except that we
have few more lines for reading the commands coming from the serial monitor. For example for
feeding the wire, we need to type “f”, plus the distance in millimeters, for bending the wire, we need to
type “b”, plus the angle in degrees, and for rotating the Z-axis, we need to type “z”, plus the angle in
degrees.
if (dataIn.startsWith("f")) {
dataInS = dataIn.substring(1, dataIn.length()); // reads the feed value
dist = dataInS.toInt();
Serial.print("Feed ");
Serial.print(dist);
Serial.println("mm wire.");
dist = dist * 48;
while (feederStepper.currentPosition() != dist) {
}
delay(100);
}
So that’s how the program that I made works, but of course, there are many other ways this to be
coded. Here’s the complete Arduino code for this 3D Wire Bending Machine:
/*
Arduino 3D Wire Bending Machine
by Dejan Nedelkovski
www.HowToMechatronics.com
Library - AccelStepper by Mike McCauley:
http://www.airspayce.com/mikem/arduino/AccelStepper/index.html
*/
#include <AccelStepper.h>
#include <Servo.h>
#define limitSwitch 11
// Define the stepper motors and the pins the will use
AccelStepper feederStepper(1, 5, 6); // (Type:driver, STEP, DIR)
AccelStepper zAxisStepper(1, 7, 8);
AccelStepper benderStepper(1, 9, 10);
Servo servo01;
String dataIn = "";
String manualStatus = "";
int count = 0;
int dist;
void setup() {
Serial.begin(9600);
pinMode(limitSwitch, INPUT_PULLUP);
servo01.attach(2);
servo01.write(40); // Initial position, bending pin up
// Stepper motors max speed
feederStepper.setMaxSpeed(2000);
zAxisStepper.setMaxSpeed(2000);
benderStepper.setMaxSpeed(2000);
// Homing
while (digitalRead(limitSwitch) != 0) {
benderStepper.runSpeed();
benderStepper.setCurrentPosition(0); // When limit switch pressed set position
to 0 steps
}
delay(40);
// Move 1400 steps from the limit switch to starting position
while (benderStepper.currentPosition() != -1400) {
benderStepper.setSpeed(-1200); // if negative rotates anti-clockwise
}
}
void loop() {
String mode = Serial.readString();
if (mode.startsWith("manual")) {
manual();
}
if (mode.startsWith("star")) {
star();
}
if (mode.startsWith("cube")) {
cube();
}
if (mode.startsWith("stand")) {
stand();
}
}
void star() {
}
servo01.write(40); // Set the bender pin up
delay(200);
int angleConst = 18; // angle constant
}
delay(100);
}
delay(100);
// Feed the same distance again
}
delay(100);
servo01.write(130); // Set the bender pin down
delay(200);
// Set bender to new initial position, for bending in the other direction
}
delay(200);
servo01.write(40); // Bender pin up
delay(200);
}
delay(50);
}
delay(100);
servo01.write(130);
count++;
}
}
void cube() {
int feedDistance = feed * 48;
int angleConst = 16;
// Step 1
}
delay(100);
}
delay(100);
}
delay(100);
count++;
}
count = 0;
// Step 2
while (zAxisStepper.currentPosition() != 88 * angleConst) {
zAxisStepper.setSpeed(500);
zAxisStepper.run();
}
zAxisStepper.setCurrentPosition(0);
delay(100);
//Step 3
}
delay(100);
}
delay(100);
}
delay(100);
count++;
}
count = 0;
// Step 4
zAxisStepper.run();
}
delay(100);
// Step 5
servo01.write(130);
delay(200);
}
delay(100);
servo01.write(40);
delay(200);
// Step 6
}
delay(100);
}
delay(100);
}
delay(100);
count++;
}
count = 0;
}
void stand() {
int feedDistance = feed * 48;
int angleConst = 16;
// Step 1
}
delay(100);
}
delay(100);
}
delay(100);
// Step 2
}
delay(100);
}
delay(100);
}
delay(100);
// Step 3
feed = 80; // mm
feedDistance = feed * 48;
}
delay(100);
// Step 4
servo01.write(130);
delay(200);
}
delay(100);
servo01.write(40);
delay(200);
}
delay(100);
}
//Step 5
servo01.write(130);
delay(200);
// Step 6
feed = 80; // mm
}
servo01.write(40);
delay(200);
// Step 7
while (zAxisStepper.currentPosition() != -90 * angleConst) {
zAxisStepper.setSpeed(-500);
zAxisStepper.run();
}
delay(100);
// Step 8
}
delay(100);
}
delay(100);
// Step 6
feed = 45; // mm
}
// Step 10
}
delay(100);
}
delay(100);
// Step 11
zAxisStepper.run();
}
delay(100);
feed = 80; // mm
}
// Step 12
}
delay(100);
}
//Step 13
servo01.write(130);
delay(200);
feed = 80; // mm
}
servo01.write(40);
delay(200);
// Step 14
}
delay(100);
}
delay(100);
//Step 15
feed = 25; // mm
}
delay(100);
// Step 16
}
delay(100);
}
delay(100);
// Step 17
}
}
void manual() {
int sign;
String dataInS;
int angle;
int angleConst;
Serial.println(" // MANUAL MODE //");
while (!dataIn.startsWith("end")) {
servo01.write(130);
delay(200);
dataIn = Serial.readString();
if (dataIn.startsWith("f")) {
dataInS = dataIn.substring(1, dataIn.length()); // reads the feed value
dist = dataInS.toInt();
Serial.print("Feed ");
Serial.print(dist);
Serial.println("mm wire.");
dist = dist * 48;
while (feederStepper.currentPosition() != dist) {
}
delay(100);
}
if (dataIn.startsWith("b")) {
if (dataIn.charAt(1) == '-') {
dataInS = dataIn.substring(2, dataIn.length()); ///reads the angle value
angle = dataInS.toInt();
Serial.print("Bend -");
Serial.print(angle);
Serial.println(" degrees.");
angleConst = 16;
// Set "negative" bending initial position
}
delay(100);
servo01.write(40);
delay(200);
// Bend the wire
while (benderStepper.currentPosition() != angle * angleConst) {
}
delay(100);
while (benderStepper.currentPosition() != (-1) * angle * angleConst) {
}
delay(100);
servo01.write(130);
delay(200);
// Get back to original "positive" bending initial poistion
}
delay(100);
}
else {
dataInS = dataIn.substring(1, dataIn.length());
Serial.print("Bend ");
angleConst = 16;
servo01.write(40);
delay(200);
while (benderStepper.currentPosition() != (-1) *angle * angleConst) {
}
delay(100);
while (benderStepper.currentPosition() != angle * angleConst) {
}
delay(100);
}
angleConst = 16;
while (benderStepper.currentPosition() != sign * angle * angleConst) {
}
delay(100);
while (benderStepper.currentPosition() != sign * angle * angleConst) {
}
delay(100);
}
// Z-Axis Control
if (dataIn.startsWith("z")) {
if (dataIn.charAt(1) == '-') {
Serial.print("Move Z-Axis -");
angleConst = 16;
while (zAxisStepper.currentPosition() != angle * angleConst) {
zAxisStepper.run();
}
delay(100);
}
else {
Serial.print("Move Z-Axis ");
angleConst = 16;
while (zAxisStepper.currentPosition() != (-1) *angle * angleConst) {
zAxisStepper.setSpeed(-500);
zAxisStepper.run();
}
delay(100);
}
}
manualStatus = dataIn;
}
}
At the end I would like to point out that the wire straightening system of the wire bending machine is
actually not working like it should work, because if I tighten it more, the feeder loses grip and the wire
doesn’t move.
For solving this issue you could try to use different, stronger material than the copper tube or make a
different feeder system.

Bending Wiring

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Bending Wiring

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Coding untuk bender mesin

Code language: Arduino (arduino)

Let’s take a look at this custom function.

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