Add files via upload

3axis_slider-cache.lib

@@ -0,0 +1,208 @@
+EESchema-LIBRARY Version 2.4
+#encoding utf-8
+#
+# Connector_Generic_Conn_01x03
+#
+DEF Connector_Generic_Conn_01x03 J 0 40 Y N 1 F N
+F0 "J" 0 200 50 H V C CNN
+F1 "Connector_Generic_Conn_01x03" 0 -200 50 H V C CNN
+F2 "" 0 0 50 H I C CNN
+F3 "" 0 0 50 H I C CNN
+$FPLIST
+ Connector*:*_1x??_*
+$ENDFPLIST
+DRAW
+S -50 -95 0 -105 1 1 6 N
+S -50 5 0 -5 1 1 6 N
+S -50 105 0 95 1 1 6 N
+S -50 150 50 -150 1 1 10 f
+X Pin_1 1 -200 100 150 R 50 50 1 1 P
+X Pin_2 2 -200 0 150 R 50 50 1 1 P
+X Pin_3 3 -200 -100 150 R 50 50 1 1 P
+ENDDRAW
+ENDDEF
+#
+# Connector_Generic_Conn_01x04
+#
+DEF Connector_Generic_Conn_01x04 J 0 40 Y N 1 F N
+F0 "J" 0 200 50 H V C CNN
+F1 "Connector_Generic_Conn_01x04" 0 -300 50 H V C CNN
+F2 "" 0 0 50 H I C CNN
+F3 "" 0 0 50 H I C CNN
+$FPLIST
+ Connector*:*_1x??_*
+$ENDFPLIST
+DRAW
+S -50 -195 0 -205 1 1 6 N
+S -50 -95 0 -105 1 1 6 N
+S -50 5 0 -5 1 1 6 N
+S -50 105 0 95 1 1 6 N
+S -50 150 50 -250 1 1 10 f
+X Pin_1 1 -200 100 150 R 50 50 1 1 P
+X Pin_2 2 -200 0 150 R 50 50 1 1 P
+X Pin_3 3 -200 -100 150 R 50 50 1 1 P
+X Pin_4 4 -200 -200 150 R 50 50 1 1 P
+ENDDRAW
+ENDDEF
+#
+# Device_CP
+#
+DEF Device_CP C 0 10 N Y 1 F N
+F0 "C" 25 100 50 H V L CNN
+F1 "Device_CP" 25 -100 50 H V L CNN
+F2 "" 38 -150 50 H I C CNN
+F3 "" 0 0 50 H I C CNN
+$FPLIST
+ CP_*
+$ENDFPLIST
+DRAW
+S -90 20 90 40 0 1 0 N
+S 90 -20 -90 -40 0 1 0 F
+P 2 0 1 0 -70 90 -30 90 N
+P 2 0 1 0 -50 110 -50 70 N
+X ~ 1 0 150 110 D 50 50 1 1 P
+X ~ 2 0 -150 110 U 50 50 1 1 P
+ENDDRAW
+ENDDEF
+#
+# Device_R
+#
+DEF Device_R R 0 0 N Y 1 F N
+F0 "R" 80 0 50 V V C CNN
+F1 "Device_R" 0 0 50 V V C CNN
+F2 "" -70 0 50 V I C CNN
+F3 "" 0 0 50 H I C CNN
+$FPLIST
+ R_*
+$ENDFPLIST
+DRAW
+S -40 -100 40 100 0 1 10 N
+X ~ 1 0 150 50 D 50 50 1 1 P
+X ~ 2 0 -150 50 U 50 50 1 1 P
+ENDDRAW
+ENDDEF
+#
+# ESP32_ESP32-DEVKITC-32D
+#
+DEF ESP32_ESP32-DEVKITC-32D U 0 40 Y Y 1 L N
+F0 "U" -601 1026 50 H V L BNN
+F1 "ESP32_ESP32-DEVKITC-32D" -601 -1101 50 H V L BNN
+F2 "MODULE_ESP32-DEVKITC-32D" 0 0 50 H I L BNN
+F3 "" 0 0 50 H I L BNN
+F4 "Espressif Systems" 0 0 50 H I L BNN "MANUFACTURER"
+F5 "4" 0 0 50 H I L BNN "PARTREV"
+DRAW
+S -600 -1000 600 1000 0 0 10 f
+X 3V3 1 -800 900 200 R 40 40 0 0 W
+X IO26 10 -800 0 200 R 40 40 0 0 B
+X IO27 11 -800 -100 200 R 40 40 0 0 B
+X IO14 12 -800 -200 200 R 40 40 0 0 B
+X IO12 13 -800 -300 200 R 40 40 0 0 B
+X GND1 14 -800 -400 200 R 40 40 0 0 W
+X IO13 15 -800 -500 200 R 40 40 0 0 B
+X SD2 16 -800 -600 200 R 40 40 0 0 B
+X SD3 17 -800 -700 200 R 40 40 0 0 B
+X CMD 18 -800 -800 200 R 40 40 0 0 B
+X EXT_5V 19 -800 -900 200 R 40 40 0 0 W
+X EN 2 -800 800 200 R 40 40 0 0 I
+X GND3 20 800 900 200 L 40 40 0 0 W
+X IO23 21 800 800 200 L 40 40 0 0 B
+X IO22 22 800 700 200 L 40 40 0 0 B
+X TXD0 23 800 600 200 L 40 40 0 0 O
+X RXD0 24 800 500 200 L 40 40 0 0 I
+X IO21 25 800 400 200 L 40 40 0 0 B
+X GND2 26 800 300 200 L 40 40 0 0 W
+X IO19 27 800 200 200 L 40 40 0 0 B
+X IO18 28 800 100 200 L 40 40 0 0 B
+X IO5 29 800 0 200 L 40 40 0 0 B
+X SENSOR_VP 3 -800 700 200 R 40 40 0 0 I
+X IO17 30 800 -100 200 L 40 40 0 0 B
+X IO16 31 800 -200 200 L 40 40 0 0 B
+X IO4 32 800 -300 200 L 40 40 0 0 B
+X IO0 33 800 -400 200 L 40 40 0 0 B
+X IO2 34 800 -500 200 L 40 40 0 0 B
+X IO15 35 800 -600 200 L 40 40 0 0 B
+X SD1 36 800 -700 200 L 40 40 0 0 B
+X SD0 37 800 -800 200 L 40 40 0 0 B
+X CLK 38 800 -900 200 L 40 40 0 0 I C
+X SENSOR_VN 4 -800 600 200 R 40 40 0 0 I
+X IO34 5 -800 500 200 R 40 40 0 0 B
+X IO35 6 -800 400 200 R 40 40 0 0 B
+X IO32 7 -800 300 200 R 40 40 0 0 B
+X IO33 8 -800 200 200 R 40 40 0 0 B
+X IO25 9 -800 100 200 R 40 40 0 0 B
+ENDDRAW
+ENDDEF
+#
+# power_+12V
+#
+DEF power_+12V #PWR 0 0 Y Y 1 F P
+F0 "#PWR" 0 -150 50 H I C CNN
+F1 "power_+12V" 0 140 50 H V C CNN
+F2 "" 0 0 50 H I C CNN
+F3 "" 0 0 50 H I C CNN
+DRAW
+P 2 0 1 0 -30 50 0 100 N
+P 2 0 1 0 0 0 0 100 N
+P 2 0 1 0 0 100 30 50 N
+X +12V 1 0 0 0 U 50 50 1 1 W N
+ENDDRAW
+ENDDEF
+#
+# power_+5V
+#
+DEF power_+5V #PWR 0 0 Y Y 1 F P
+F0 "#PWR" 0 -150 50 H I C CNN
+F1 "power_+5V" 0 140 50 H V C CNN
+F2 "" 0 0 50 H I C CNN
+F3 "" 0 0 50 H I C CNN
+DRAW
+P 2 0 1 0 -30 50 0 100 N
+P 2 0 1 0 0 0 0 100 N
+P 2 0 1 0 0 100 30 50 N
+X +5V 1 0 0 0 U 50 50 1 1 W N
+ENDDRAW
+ENDDEF
+#
+# power_GND
+#
+DEF power_GND #PWR 0 0 Y Y 1 F P
+F0 "#PWR" 0 -250 50 H I C CNN
+F1 "power_GND" 0 -150 50 H V C CNN
+F2 "" 0 0 50 H I C CNN
+F3 "" 0 0 50 H I C CNN
+DRAW
+P 6 0 1 0 0 0 0 -50 50 -50 0 -100 -50 -50 0 -50 N
+X GND 1 0 0 0 D 50 50 1 1 W N
+ENDDRAW
+ENDDEF
+#
+# tmc2208_TMC2208
+#
+DEF tmc2208_TMC2208 U 0 40 Y Y 1 F N
+F0 "U" -200 -200 50 H V C CNN
+F1 "tmc2208_TMC2208" -50 -550 50 H V C CNN
+F2 "" -200 -200 50 H I C CNN
+F3 "" -200 -200 50 H I C CNN
+DRAW
+S 300 -600 -350 300 0 1 0 N
+X EN 1 -450 200 100 R 50 50 1 1 I
+X GND 10 400 100 100 L 50 50 1 1 I
+X OA2 11 400 0 100 L 50 50 1 1 I
+X OA1 12 400 -100 100 L 50 50 1 1 I
+X OB1 13 400 -200 100 L 50 50 1 1 I
+X OB2 14 400 -300 100 L 50 50 1 1 I
+X VIO 15 400 -400 100 L 50 50 1 1 I
+X GND 16 400 -500 100 L 50 50 1 1 I
+X MS1 2 -450 100 100 R 50 50 1 1 I
+X MS2 3 -450 0 100 R 50 50 1 1 I
+X UART 4 -450 -100 100 R 50 50 1 1 I
+X PDN 5 -450 -200 100 R 50 50 1 1 I
+X CLK 6 -450 -300 100 R 50 50 1 1 I
+X STEP 7 -450 -400 100 R 50 50 1 1 I
+X DIR 8 -450 -500 100 R 50 50 1 1 I
+X VM 9 400 200 100 L 50 50 1 1 I
+ENDDRAW
+ENDDEF
+#
+#End Library

3axis_slider.sch

@@ -0,0 +1,537 @@
+EESchema Schematic File Version 4
+EELAYER 30 0
+EELAYER END
+$Descr A4 11693 8268
+encoding utf-8
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+Title ""
+Date ""
+Rev ""
+Comp ""
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+Comment2 ""
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+$EndDescr
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+F 3 "" H 5150 1850 50  0001 L BNN
+F 4 "Espressif Systems" H 5150 1850 50  0001 L BNN "MANUFACTURER"
+F 5 "4" H 5150 1850 50  0001 L BNN "PARTREV"
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+	1    0    0    -1  
+$EndComp
+$Comp
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+F 0 "U4" H 8450 2735 50  0000 C CNN
+F 1 "TMC2208" H 8450 2826 50  0000 C CNN
+F 2 "tmc2208footprint:TMC2208" H 8600 3400 50  0001 C CNN
+F 3 "" H 8600 3400 50  0001 C CNN
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+$EndComp
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+F 2 "Connector_PinHeader_2.54mm:PinHeader_1x04_P2.54mm_Vertical" H 10650 1250 50  0001 C CNN
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+$EndComp
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+F 2 "Connector_PinHeader_2.54mm:PinHeader_1x04_P2.54mm_Vertical" H 10700 3500 50  0001 C CNN
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+F 2 "Capacitor_THT:CP_Radial_D5.0mm_P2.50mm" H 9588 900 50  0001 C CNN
+F 3 "~" H 9550 1050 50  0001 C CNN
+	1    9550 1050
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+F 2 "Capacitor_THT:CP_Radial_D5.0mm_P2.50mm" H 9588 2050 50  0001 C CNN
+F 3 "~" H 9550 2200 50  0001 C CNN
+	1    9550 2200
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+F 0 "C100uF3" V 9295 3300 50  0000 C CNN
+F 1 "CP" V 9386 3300 50  0000 C CNN
+F 2 "Capacitor_THT:CP_Radial_D5.0mm_P2.50mm" H 9588 3150 50  0001 C CNN
+F 3 "~" H 9550 3300 50  0001 C CNN
+	1    9550 3300
+	0    1    1    0   
+$EndComp
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+Wire Wire Line
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+Wire Wire Line
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+Wire Wire Line
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+Wire Wire Line
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+Connection ~ 9700 2100
+Wire Wire Line
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+Wire Wire Line
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+F 1 "GND" H 9305 4077 50  0000 C CNN
+F 2 "" H 9300 4250 50  0001 C CNN
+F 3 "" H 9300 4250 50  0001 C CNN
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+Connection ~ 9150 2700
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+F 2 "" H 6150 950 50  0001 C CNN
+F 3 "" H 6150 950 50  0001 C CNN
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+F 2 "" H 4000 3050 50  0001 C CNN
+F 3 "" H 4000 3050 50  0001 C CNN
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+Wire Wire Line
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+F 1 "Conn_01x03" H 1268 1176 50  0000 C CNN
+F 2 "Connector_PinHeader_2.54mm:PinHeader_1x03_P2.54mm_Vertical" H 1350 950 50  0001 C CNN
+F 3 "~" H 1350 950 50  0001 C CNN
+	1    1350 950 
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+F 2 "Connector_PinHeader_2.54mm:PinHeader_1x03_P2.54mm_Vertical" H 1350 1800 50  0001 C CNN
+F 3 "~" H 1350 1800 50  0001 C CNN
+	1    1350 1800
+	-1   0    0    -1  
+$EndComp
+$Comp
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+U 1 1 60A4A750
+P 1350 2700
+F 0 "TiltHall1" H 1268 3017 50  0000 C CNN
+F 1 "Conn_01x03" H 1268 2926 50  0000 C CNN
+F 2 "Connector_PinHeader_2.54mm:PinHeader_1x03_P2.54mm_Vertical" H 1350 2700 50  0001 C CNN
+F 3 "~" H 1350 2700 50  0001 C CNN
+	1    1350 2700
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+$EndComp
+$Comp
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+F 2 "" H 1600 650 50  0001 C CNN
+F 3 "" H 1600 650 50  0001 C CNN
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+$Comp
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+F 2 "" H 1750 3000 50  0001 C CNN
+F 3 "" H 1750 3000 50  0001 C CNN
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+	1    0    0    -1  
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+$Comp
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+F 3 "~" H 2000 850 50  0001 C CNN
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+	0    1    1    0   
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+$Comp
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+F 3 "~" H 2000 1700 50  0001 C CNN
+	1    2000 1700
+	0    1    1    0   
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+$Comp
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+F 0 "10k3" V 1793 2600 50  0000 C CNN
+F 1 "R" V 1884 2600 50  0000 C CNN
+F 2 "Resistor_THT:R_Axial_DIN0207_L6.3mm_D2.5mm_P10.16mm_Horizontal" V 1930 2600 50  0001 C CNN
+F 3 "~" H 2000 2600 50  0001 C CNN
+	1    2000 2600
+	0    1    1    0   
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+Connection ~ 1600 850 
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+Connection ~ 1600 2600
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+Connection ~ 2400 2600
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+F 2 "tmc2208footprint:TMC2208" H 8500 1150 50  0001 C CNN
+F 3 "" H 8500 1150 50  0001 C CNN
+	1    8500 1150
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+	8900 1250 10450 1250
+Wire Wire Line
+	8900 1350 10450 1350
+Wire Wire Line
+	8900 1650 9300 1650
+Wire Wire Line
+	7550 1150 8050 1150
+Wire Wire Line
+	7450 1550 8050 1550
+Wire Wire Line
+	7350 1650 8050 1650
+Wire Wire Line
+	9000 2100 9700 2100
+Wire Wire Line
+	9000 3200 9700 3200
+Wire Wire Line
+	9000 3300 9300 3300
+Wire Wire Line
+	9000 3500 10500 3500
+Wire Wire Line
+	9000 3700 10500 3700
+Wire Wire Line
+	9000 3800 9150 3800
+Wire Wire Line
+	9000 3900 9300 3900
+Wire Wire Line
+	9150 2700 9000 2700
+Wire Wire Line
+	9000 2800 9300 2800
+Wire Wire Line
+	10500 2600 9000 2600
+Wire Wire Line
+	9000 2500 10500 2500
+Wire Wire Line
+	10500 2400 9000 2400
+Wire Wire Line
+	10500 2300 9000 2300
+$Comp
+L tmc2208:TMC2208 U3
+U 1 1 609B309C
+P 8600 2300
+F 0 "U3" H 8450 1635 50  0000 C CNN
+F 1 "TMC2208" H 8450 1726 50  0000 C CNN
+F 2 "tmc2208footprint:TMC2208" H 8600 2300 50  0001 C CNN
+F 3 "" H 8600 2300 50  0001 C CNN
+	1    8600 2300
+	1    0    0    -1  
+$EndComp
+Wire Wire Line
+	7250 2700 7250 2400
+Wire Wire Line
+	7250 2400 6550 2400
+Wire Wire Line
+	6550 2400 6550 2050
+Wire Wire Line
+	6550 2050 5950 2050
+Wire Wire Line
+	5950 2150 6450 2150
+Wire Wire Line
+	6450 2150 6450 2500
+Wire Wire Line
+	6450 2500 7150 2500
+Wire Wire Line
+	7150 2500 7150 2800
+$EndSCHEMATC

main.cpp

@@ -0,0 +1,820 @@
+#include <Arduino.h>
+#include "FastAccelStepper.h"
+#include "Ps3Controller.h"
+#include "algorithm"
+
+
+
+
+#define PAN_MOTOR_STEP_PIN 23
+#define PAN_MOTOR_DIRECTION_PIN 22
+#define TILT_MOTOR_STEP_PIN 16
+#define TILT_MOTOR_DIRECTION_PIN 4
+#define SLIDE_MOTOR_STEP_PIN 21
+#define SLIDE_MOTOR_DIRECTION_PIN 19
+#define MOTOR_EN_PIN 18
+#define MOTOR_MS1_PIN 5
+#define MOTOR_MS2_PIN 17
+#define PAN_HALL_PIN 36
+#define TILT_HALL_PIN 39
+#define SLIDE_HALL_PIN 34
+#define PAN_MAX_SPEED 2500
+#define PAN_MAX_ACCELERATION 8000
+#define TILT_MAX_SPEED 1250
+#define TILT_MAX_ACCELERATION 8000
+#define SLIDE_MAX_SPEED 3500
+#define SLIDE_MAX_ACCELERATION 8000
+#define KEYFRAME_ARRAY_LENGTH 10
+#define SPEEDADJUSTMENTFACTOR 0.483
+
+unsigned long previousMillis = 0; 
+const long debouncedelay = 100; 
+float speedfactor=1;
+float accelerationfactor=1;
+float panspeed_current=0;
+float tiltspeed_current=0;
+float slidespeed_current=0;
+int keyframe_elements = 0;
+int current_keyframe_index = -1;
+int last_movedto_keyframe_index=-1;
+int cntr_moves=0;
+int cntr_moves_continous=0;
+bool pan_is_moving=true;
+bool tilt_is_moving=true;
+bool slide_is_moving=true;
+long pan_steps_to_move=0;
+long tilt_steps_to_move=0;
+long slide_steps_to_move=0;
+long steps_to_move[3]={0,0,0};
+double pan_time_motion_complete=0;
+double tilt_time_motion_complete=0;
+double slide_time_motion_complete=0;
+int pan_speed_motion_complete=0;
+int tilt_speed_motion_complete=0;
+int slide_speed_motion_complete=0;
+bool continous_mode=false;
+int delay_continous_mode=0;
+
+struct KeyframeElement {
+    long panStepCount = 0;
+    float panSpeed = 0;
+    long tiltStepCount = 0;
+    float tiltSpeed = 0;
+    long sliderStepCount = 0;
+    float sliderSpeed = 0;
+    int msDelay = 0;
+};
+
+KeyframeElement keyframe_array[KEYFRAME_ARRAY_LENGTH];
+
+FastAccelStepperEngine engine = FastAccelStepperEngine();
+FastAccelStepper *pan_stepper = NULL;
+FastAccelStepper *tilt_stepper = NULL;
+FastAccelStepper *slide_stepper = NULL;
+
+class Stick {
+    private:
+        bool _state;
+        bool _2ndstate;
+        int _pin;
+        int _value;
+
+    public:
+        Stick(int pin) : _pin(pin) {}
+        
+        int ps3stickread(int pin2read)
+        {
+          switch(pin2read)
+          {
+            case 0:
+              _value=Ps3.data.analog.stick.lx;
+              break;
+            case 1:
+              _value=Ps3.data.analog.stick.ly;
+              break;
+            case 2:
+               _value=Ps3.data.analog.stick.rx;
+               break;
+            case 3:
+               _value=Ps3.data.analog.stick.ry;
+               break;                    
+          }          
+
+          if(_value<-1 || _value>1)
+          {
+            _2ndstate=true;
+          }
+          if(_value==0 || _value==-1 || _value==1)
+          {
+            _2ndstate=false;
+          }
+          return _2ndstate;         
+        }
+
+        void begin() 
+        {            
+            _state = ps3stickread(_pin);
+        }
+
+        bool isPressed() 
+        {
+           bool v = ps3stickread(_pin);
+           return v;
+           /*
+            bool v = ps3stickread(_pin);
+            if (v != _state) {
+                _state = v;
+                if (_state) {
+                    return true;
+                }
+            }
+            return false;
+            */
+        }
+
+        int getValue()
+        {
+           return _value;
+
+        }
+};
+
+
+class Button {
+    private:
+        bool _state;
+        bool _2ndstate;
+        int _pin;
+        int _value;
+
+    public:
+        Button(int pin) : _pin(pin) {}
+        
+        bool ps3readpin(int pin2read)
+        {
+          switch(pin2read)
+          {
+            case 0:
+              _value=Ps3.data.analog.button.up;
+              break;
+            case 1:
+              _value=Ps3.data.analog.button.down;
+              break;
+            case 2:
+               _value=Ps3.data.analog.button.left;
+               break;
+            case 3:
+               _value=Ps3.data.analog.button.right;
+               break;
+            case 4:
+               _value=Ps3.data.analog.button.cross;
+               break;
+            case 5:
+               _value=Ps3.data.analog.button.square;
+               break;
+            case 6:
+               _value=Ps3.data.analog.button.triangle;
+               break;
+            case 7:
+               _value=Ps3.data.analog.button.circle;
+               break;
+            case 8:
+               _value=Ps3.data.analog.button.l1;
+               break;
+            case 9:
+               _value=Ps3.data.analog.button.r1;
+               break;
+            case 10:
+               _value=Ps3.data.button.l3;
+               break;
+            case 11:
+               _value=Ps3.data.button.r3;
+               break;
+            case 12:
+               _value=Ps3.data.button.select;
+               break;
+            case 13:
+               _value=Ps3.data.button.start;
+               break;
+             case 14:
+               _value=Ps3.data.button.l2;
+               break;
+            case 15:
+               _value=Ps3.data.button.r2;
+               break;
+          }          
+
+          if(_value!=0)
+          {
+            _2ndstate=true;
+          }
+          if(_value==0)
+          {
+            _2ndstate=false;
+          }
+          return _2ndstate;         
+        }
+
+        void begin() 
+        {            
+            _state = ps3readpin(_pin);
+        }
+
+        bool isReleased() 
+        {
+            bool v = ps3readpin(_pin);
+            if (v != _state) {
+                _state = v;
+                if (_state) {
+                    return true;
+                }
+            }
+            return false;
+        }
+};
+
+Button button_dPadUP(0);
+Button button_dPadDOWN(1);
+Button button_dPadLEFT(2);
+Button button_dPadRIGHT(3);
+Button button_CROSS(4);
+Button button_SQUARE(5);
+Button button_TRIANGLE(6);
+Button button_CIRCLE(7);
+Button button_L1(8);
+Button button_R1(9);
+Button button_L3(10);
+Button button_R3(11);
+Button button_SELCET(12);
+Button button_START(13);
+Button button_L2(14);
+Button button_R2(15);
+
+Stick stick_LX(0);
+Stick stick_LY(1);
+Stick stick_RX(2);
+Stick stick_RY(3);
+
+
+void onConnect() 
+{
+  Serial.println("Connected.");
+}
+
+int add_Position(void) {
+  if (keyframe_elements >= 0 && keyframe_elements < KEYFRAME_ARRAY_LENGTH) {
+    keyframe_array[keyframe_elements].panStepCount = pan_stepper->getCurrentPosition();
+    keyframe_array[keyframe_elements].tiltStepCount = tilt_stepper->getCurrentPosition();
+    keyframe_array[keyframe_elements].sliderStepCount = slide_stepper->getCurrentPosition();
+    keyframe_array[keyframe_elements].panSpeed = PAN_MAX_SPEED;
+    keyframe_array[keyframe_elements].tiltSpeed = TILT_MAX_SPEED;
+    keyframe_array[keyframe_elements].sliderSpeed = SLIDE_MAX_SPEED;
+    keyframe_array[keyframe_elements].msDelay = 0;
+
+    Serial.print("Pan: "); 
+    Serial.println(keyframe_array[keyframe_elements].panStepCount);
+    Serial.print("Tilt: "); 
+    Serial.println(keyframe_array[keyframe_elements].tiltStepCount);
+    Serial.print("Slide: "); 
+    Serial.println(keyframe_array[keyframe_elements].sliderStepCount);
+
+    current_keyframe_index = keyframe_elements;
+    keyframe_elements++;    
+    Serial.print("Added at index: ");    
+    Serial.println(current_keyframe_index);
+    return 0;
+  }
+  else {
+    Serial.println("Max number of keyframes reached");    
+  }
+  return -1;
+}
+
+void set_Speed(char _pts)
+{
+   switch(_pts)
+   {
+      case 'p':
+      {
+         pan_time_motion_complete=double(steps_to_move[2])/double(PAN_MAX_SPEED);
+         Serial.print("time to complete pan movement: ");
+         Serial.println(pan_time_motion_complete,5);
+
+         pan_speed_motion_complete=PAN_MAX_SPEED;
+
+         tilt_speed_motion_complete=abs(tilt_steps_to_move)/pan_time_motion_complete;
+         Serial.print("tilt steps to move: ");
+         Serial.println(tilt_steps_to_move);
+         Serial.print("tilt speed according to pan: ");
+         Serial.println(tilt_speed_motion_complete);
+
+         slide_speed_motion_complete=abs(slide_steps_to_move)/pan_time_motion_complete;
+         Serial.print("slide steps to move: ");
+         Serial.println(slide_steps_to_move);
+         Serial.print("slide speed according to pan: ");
+         Serial.println(slide_speed_motion_complete);
+
+
+         break;
+      }
+      case 't':
+      {
+         tilt_time_motion_complete=double(steps_to_move[2])/double(TILT_MAX_SPEED);
+         Serial.print("time to complete tilt movement: ");
+         Serial.println(tilt_time_motion_complete,5);
+
+         tilt_speed_motion_complete=TILT_MAX_SPEED;
+
+         pan_speed_motion_complete=abs(pan_steps_to_move)/tilt_time_motion_complete;
+         Serial.print("pan steps to move: ");
+         Serial.println(pan_steps_to_move);
+         Serial.print("pan speed according to tilt: ");
+         Serial.println(pan_speed_motion_complete);
+
+         slide_speed_motion_complete=abs(slide_steps_to_move)/tilt_time_motion_complete;
+         Serial.print("slide steps to move: ");
+         Serial.println(slide_steps_to_move);
+         Serial.print("slide speed according to tilt: ");
+         Serial.println(slide_speed_motion_complete);
+
+         break;
+      }
+      case 's':
+      {
+         slide_time_motion_complete=double(steps_to_move[2])/double(SLIDE_MAX_SPEED);
+         Serial.print("time to complete slide movement: ");
+         Serial.println(slide_time_motion_complete,5);
+
+         slide_speed_motion_complete=SLIDE_MAX_SPEED;
+
+         pan_speed_motion_complete=abs(pan_steps_to_move)/slide_time_motion_complete;
+         Serial.print("pan steps to move: ");
+         Serial.println(pan_steps_to_move);
+         Serial.print("pan speed according to slide: ");
+         Serial.println(pan_speed_motion_complete);
+
+         tilt_speed_motion_complete=abs(tilt_steps_to_move)/slide_time_motion_complete;
+         Serial.print("tilt steps to move: ");
+         Serial.println(tilt_steps_to_move);
+         Serial.print("tilt speed according to slide: ");
+         Serial.println(tilt_speed_motion_complete);
+
+         break;
+
+      }
+   }
+
+}
+
+void move_toPosition(int index)
+{
+   using namespace std;
+   if(index >= 0 && index<KEYFRAME_ARRAY_LENGTH)
+   {
+      pan_steps_to_move=pan_stepper->getCurrentPosition()-keyframe_array[index].panStepCount;
+      tilt_steps_to_move=tilt_stepper->getCurrentPosition()-keyframe_array[index].tiltStepCount;
+      slide_steps_to_move=slide_stepper->getCurrentPosition()-keyframe_array[index].sliderStepCount;
+
+      steps_to_move[0]=abs(pan_steps_to_move);
+      steps_to_move[1]=abs(tilt_steps_to_move);
+      steps_to_move[2]=abs(slide_steps_to_move);    
+
+      sort(steps_to_move,steps_to_move+3);
+
+      if(steps_to_move[2]==abs(pan_steps_to_move))
+      {
+         Serial.println("most steps 2 move on pan axis");
+         set_Speed('p');
+      }
+      if(steps_to_move[2]==abs(tilt_steps_to_move))
+      {
+         Serial.println("most steps 2 move on tilt axis");
+         set_Speed('t');
+      }
+      if(steps_to_move[2]==abs(slide_steps_to_move))
+      {
+         Serial.println("most steps 2 move on slide axis");
+         set_Speed('s');
+      }
+
+      Serial.println(pan_speed_motion_complete*speedfactor);  
+      Serial.println(tilt_speed_motion_complete*speedfactor);  
+      Serial.println(slide_speed_motion_complete*speedfactor);   
+      pan_stepper->setSpeedInHz(pan_speed_motion_complete*speedfactor);   
+      tilt_stepper->setSpeedInHz(tilt_speed_motion_complete*speedfactor);
+      slide_stepper->setSpeedInHz(slide_speed_motion_complete*speedfactor);
+
+
+      
+
+      pan_stepper->moveTo(keyframe_array[index].panStepCount);
+      tilt_stepper->moveTo(keyframe_array[index].tiltStepCount);
+      slide_stepper->moveTo(keyframe_array[index].sliderStepCount);
+      
+
+      Serial.print("moving to target index:");   
+      Serial.println(index);
+      current_keyframe_index = index;
+      
+
+   }
+   else
+   {
+      Serial.println("cant move to invalid index");
+   }
+
+
+}
+
+void clearKeyframes(void) 
+{
+  keyframe_elements = 0;
+  current_keyframe_index = -1;
+  last_movedto_keyframe_index=-1;
+  Serial.println("Keyframes cleared");
+}
+
+
+void setup()
+{
+   Serial.begin(112500);
+
+   button_dPadUP.begin();
+   button_dPadDOWN.begin();
+   button_dPadLEFT.begin();
+   button_dPadRIGHT.begin();
+   button_CROSS.begin();
+   button_SQUARE.begin();
+   button_TRIANGLE.begin();
+   button_CIRCLE.begin();
+   button_L1.begin();
+   button_R1.begin();
+   button_L3.begin();
+   button_R3.begin();
+   button_SELCET.begin();
+   button_START.begin();
+   button_L2.begin();
+   button_R2.begin();
+   stick_LX.begin();
+   stick_LY.begin();
+   stick_RX.begin();
+   stick_RY.begin();
+ 
+
+  Ps3.attachOnConnect(onConnect);
+  Ps3.begin("20:c9:d0:d5:92:3c");
+  Serial.println("Ready."); 
+     
+
+   engine.init();
+   pan_stepper = engine.stepperConnectToPin(PAN_MOTOR_STEP_PIN);
+   tilt_stepper = engine.stepperConnectToPin(TILT_MOTOR_STEP_PIN);
+   slide_stepper = engine.stepperConnectToPin(SLIDE_MOTOR_STEP_PIN);
+   if (pan_stepper) 
+   {
+      pan_stepper->setDirectionPin(PAN_MOTOR_DIRECTION_PIN);
+      pan_stepper->setEnablePin(MOTOR_EN_PIN);
+      pan_stepper->setAutoEnable(true);
+
+      pan_stepper->setSpeedInHz(PAN_MAX_SPEED);       // 500 steps/s
+      pan_stepper->setAcceleration(PAN_MAX_ACCELERATION);    // 100 steps/s²
+      
+   }
+
+      if (tilt_stepper) 
+    {
+      tilt_stepper->setDirectionPin(TILT_MOTOR_DIRECTION_PIN);
+      tilt_stepper->setEnablePin(MOTOR_EN_PIN);
+      tilt_stepper->setAutoEnable(true);
+
+      tilt_stepper->setSpeedInHz(TILT_MAX_SPEED);       // 500 steps/s
+      tilt_stepper->setAcceleration(TILT_MAX_ACCELERATION);    // 100 steps/s²
+      
+   }
+      if (slide_stepper) 
+    {
+      slide_stepper->setDirectionPin(SLIDE_MOTOR_DIRECTION_PIN);
+      slide_stepper->setEnablePin(MOTOR_EN_PIN);
+      slide_stepper->setAutoEnable(true);
+
+      slide_stepper->setSpeedInHz(SLIDE_MAX_SPEED);       // 500 steps/s
+      slide_stepper->setAcceleration(SLIDE_MAX_ACCELERATION);    // 100 steps/s²
+      
+   }
+}
+
+void loop() 
+{
+   // only runs code, if the controller is connected, otherwise everything stops
+   if(Ps3.isConnected())
+   {
+
+       if(continous_mode)
+         { 
+            if(!(pan_stepper->isRunning()) && !(tilt_stepper->isRunning()) && !(slide_stepper->isRunning()) && keyframe_elements>1 )
+            {
+               delay(delay_continous_mode);
+               move_toPosition(cntr_moves_continous);               
+               if(keyframe_elements>cntr_moves_continous+1)
+               {   
+                  cntr_moves_continous++;
+               }
+               else
+               {
+                  cntr_moves_continous=0;
+               } 
+            }   
+         }
+   
+      //debouncing of PS3 input
+      unsigned long currentMillis = millis(); 
+      if (currentMillis - previousMillis >= debouncedelay) 
+      { 
+         previousMillis = currentMillis; 
+
+         //DPAD
+         if(button_dPadUP.isReleased())
+         {
+            
+            Serial.println("pressed button_dPadUP");  
+            if(delay_continous_mode<1000)   
+            {
+               delay_continous_mode=delay_continous_mode+100; 
+            }
+            Serial.print("increased delay to"); 
+            Serial.println(delay_continous_mode); 
+               
+         }
+         if(button_dPadDOWN.isReleased())
+         {
+            Serial.println("pressed button_dPadDOWN");
+            if(delay_continous_mode>=100)   
+            {
+               delay_continous_mode=delay_continous_mode-100; 
+            }
+            Serial.print("decreased delay to"); 
+            Serial.println(delay_continous_mode); 
+         }
+         if(button_dPadLEFT.isReleased())
+         {
+            Serial.println("pressed button_dPadLEFT");         
+         }
+         if(button_dPadRIGHT.isReleased())
+         {
+            Serial.println("pressed button_dPadRIGHT");         
+         }
+
+         //Buttons
+         if(button_CROSS.isReleased())
+         {
+            Serial.println("pressed button_CROSS");
+            if(keyframe_elements!=0)
+            {
+               last_movedto_keyframe_index=cntr_moves;
+               move_toPosition(last_movedto_keyframe_index);
+               
+
+               if(keyframe_elements>last_movedto_keyframe_index+1)
+               {
+                  cntr_moves++;                
+               }
+               else
+               {
+                  cntr_moves=0;
+               }
+            }        
+            
+
+
+           
+            
+                             
+         }
+         if(button_SQUARE.isReleased())
+         {
+            Serial.println("pressed button_SQUARE");
+            add_Position();
+            last_movedto_keyframe_index=current_keyframe_index;
+            
+         }
+         if(button_TRIANGLE.isReleased())
+         {
+            
+            Serial.println("pressed button_TRIANGLE");
+            continous_mode=true;
+            
+            
+
+
+         }
+         if(button_CIRCLE.isReleased())
+         {
+            continous_mode=false;
+            pan_stepper->stopMove();
+            tilt_stepper->stopMove();
+            slide_stepper->stopMove();         
+            Serial.println("pressed button_CIRCLE");
+         }
+
+         //shoulder Buttons
+         if(button_L1.isReleased())
+         {
+            Serial.println("pressed button_L1");
+            if(speedfactor>0.000691)
+            {
+               speedfactor=speedfactor*SPEEDADJUSTMENTFACTOR;
+            }
+            Serial.println(speedfactor,5);
+            /*
+            pan_stepper->setSpeedInMilliHz(pan_stepper->getSpeedInMilliHz()*speedfactor);
+            tilt_stepper->setSpeedInMilliHz(tilt_stepper->getSpeedInMilliHz()*speedfactor);
+            slide_stepper->setSpeedInMilliHz(slide_stepper->getSpeedInMilliHz()*speedfactor);
+            */
+            
+            
+            
+
+            
+            
+         }
+         if(button_R1.isReleased())
+         {
+            Serial.println("pressed button_R1");
+            if(speedfactor<1)
+            {
+               speedfactor=speedfactor/SPEEDADJUSTMENTFACTOR;
+            }
+            Serial.println(speedfactor,5);
+            /*
+            pan_stepper->setSpeedInMilliHz(pan_stepper->getSpeedInMilliHz()*speedfactor);
+            tilt_stepper->setSpeedInMilliHz(tilt_stepper->getSpeedInMilliHz()*speedfactor);
+            slide_stepper->setSpeedInMilliHz(slide_stepper->getSpeedInMilliHz()*speedfactor);
+            */
+         }
+         if(button_L2.isReleased())
+         {
+            Serial.println("pressed stick_L2");  
+            if(accelerationfactor>0.001)
+            {
+               accelerationfactor=accelerationfactor*0.5;
+            }
+            Serial.println(accelerationfactor);
+            pan_stepper->setAcceleration(PAN_MAX_ACCELERATION*accelerationfactor);
+            tilt_stepper->setAcceleration(TILT_MAX_ACCELERATION*accelerationfactor);    
+            slide_stepper->setAcceleration(SLIDE_MAX_ACCELERATION*accelerationfactor);           
+         }
+         if(button_R2.isReleased())
+         {
+            Serial.println("pressed stick_R2");  
+            if(accelerationfactor<1)
+            {
+               accelerationfactor=accelerationfactor/0.5;
+            }
+            Serial.println(accelerationfactor);
+            pan_stepper->setAcceleration(PAN_MAX_ACCELERATION*accelerationfactor);
+            tilt_stepper->setAcceleration(TILT_MAX_ACCELERATION*accelerationfactor);    
+            slide_stepper->setAcceleration(SLIDE_MAX_ACCELERATION*accelerationfactor);      
+         }
+         if(button_L3.isReleased())
+         {
+            Serial.println("pressed button_L3");
+            
+         }
+         if(button_R3.isReleased())
+         {
+            Serial.println("pressed button_R3");
+            clearKeyframes();
+            //Serial.println(slide_stepper->getCurrentPosition());
+         }
+
+         //start select
+         if(button_SELCET.isReleased())
+         {
+            Serial.println("pressed button_SELCET");
+         }
+         if(button_START.isReleased())
+         {
+            Serial.println("pressed button_START");
+         }
+
+
+         //////////////////////////////////////////////////////////
+         //STICK INPUT
+         if(stick_LX.isPressed())
+         {
+            pan_is_moving=true;
+            panspeed_current=speedfactor*PAN_MAX_SPEED*float(0.0078125)*abs(stick_LX.getValue());
+            Serial.println("pressed stick_LX");
+            Serial.println(stick_LX.getValue());
+            pan_stepper->setSpeedInHz(panspeed_current);            
+            Serial.println("maxspeed:");
+            Serial.println(panspeed_current);
+
+            if(stick_LX.getValue()>1)
+            {
+               pan_stepper->runForward();
+            }
+            else
+            {
+               pan_stepper->runBackward();
+            }
+         }
+         else
+         {
+            if(pan_is_moving)
+            {
+               pan_stepper->stopMove();
+               //pan_stepper->setSpeedInHz(0);
+               pan_stepper->setDelayToDisable(65535);
+               pan_is_moving=false;
+            }
+            
+         }
+
+         if(stick_LY.isPressed())
+         {
+            tilt_is_moving=true;
+            tiltspeed_current=speedfactor*TILT_MAX_SPEED*float(0.0078125)*abs(stick_LY.getValue());
+            Serial.println("pressed stick_LY");
+            Serial.println(stick_LY.getValue());
+            tilt_stepper->setSpeedInHz(tiltspeed_current);
+            Serial.println("maxspeed:");
+            Serial.println(tiltspeed_current);
+
+            if(stick_LY.getValue()>1)
+            {
+               tilt_stepper->runForward();
+            }
+            else
+            {
+               tilt_stepper->runBackward();
+            }
+         }
+         else
+         {
+            if(tilt_is_moving)
+            {
+               
+               tilt_stepper->stopMove();
+               tilt_stepper->setDelayToDisable(65535);
+               //tilt_stepper->setSpeedInHz(0);
+               tilt_is_moving=false;
+            }
+            
+         }
+
+         if(stick_RX.isPressed())
+         {  
+            slide_is_moving=true;
+            slidespeed_current=speedfactor*SLIDE_MAX_SPEED*float(0.0078125)*abs(stick_RX.getValue());    
+            Serial.println("pressed stick_RX");
+            Serial.println(stick_RX.getValue());
+            slide_stepper->setSpeedInHz(slidespeed_current);
+            Serial.println("maxspeed:");
+            Serial.println(slidespeed_current);
+
+            if(stick_RX.getValue()>1)
+            {
+               slide_stepper->runBackward();
+            }
+            else
+            {
+               slide_stepper->runForward();
+            }
+         }
+         else
+         {
+            if(slide_is_moving)
+            {
+               slide_stepper->stopMove();
+               //slide_stepper->setSpeedInHz(0);
+               slide_stepper->setDelayToDisable(65535);
+               slide_is_moving=false;
+            }
+            
+         }
+
+
+         if(stick_RY.isPressed())
+         {
+            Serial.println("pressed stick_RY");
+            Serial.println(stick_RY.getValue());
+         }
+
+        
+      
+      
+      }
+   }
+
+   else
+   {
+      pan_stepper->stopMove();
+      tilt_stepper->stopMove();
+      slide_stepper->stopMove();
+
+   }
+
+
+   
+}