1. #include <SpeedyStepper.h>
2. //const int MOTOR_STEP_PINX = 3;
3. //const int MOTOR_DIRECTION_PINX = 4;
4.  
5. //ramps 1.4
6. const int MOTOR_STEP_PINX = 54;
7. const int MOTOR_DIRECTION_PINX = 55;
8. const int enableX = 38;
9.  
10. const int MOTOR_STEP_PINY = 60;
11. const int MOTOR_DIRECTION_PINY = 61;
12. const int enableY = 56;
13.  
14. const int MOTOR_STEP_PINZ = 46;
15. const int MOTOR_DIRECTION_PINZ = 48;
16. const int enableZ = 62;
17.  
18. const int MOTOR_STEP_PINA = 26;
19. const int MOTOR_DIRECTION_PINA = 28;
20. const int enableA = 24;
21.  
22. String dataIn = " ";
23.  
24. double angulosX[10];
25. double angulosY[10];
26. double angulosZ[10];
27. double angulosA[10];
28.  
29. int countX;
30. int countY;
31. int countZ;
32. int countA;
33.  
34. int x;
35. int y;
36. int z;
37. int a;
38.  
39.  
40.  
41.  
42. SpeedyStepper stepperX;
43. SpeedyStepper stepperY;
44. SpeedyStepper stepperZ;
45. SpeedyStepper stepperA;
46.  
47. void setup() {
48.  
49.   stepperX.connectToPins(MOTOR_STEP_PINX, MOTOR_DIRECTION_PINX);
50.   stepperY.connectToPins(MOTOR_STEP_PINY, MOTOR_DIRECTION_PINY);
51.   stepperZ.connectToPins(MOTOR_STEP_PINZ, MOTOR_DIRECTION_PINZ);
52.   stepperA.connectToPins(MOTOR_STEP_PINA, MOTOR_DIRECTION_PINA);
53.  
54.   Serial.begin(9600);
55.   pinMode(enableX, OUTPUT);
56.   digitalWrite(enableX, LOW);
57.   pinMode(enableY, OUTPUT);
58.   digitalWrite(enableY, LOW);
59.   pinMode(enableZ, OUTPUT);
60.   digitalWrite(enableZ, LOW);
61.   pinMode(enableA, OUTPUT);
62.   digitalWrite(enableA, LOW);
63. }
64.  
65.  
66. void loop() {
67.  
68.     Serial.println(angulosX[0]);
69.     Serial.println(angulosY[0]);
70.     Serial.println(angulosZ[0]);
71.     Serial.println(angulosA[0]);
72.  
73.  
74.     if (Serial.available() > 0) {
75.       dataIn = Serial.readStringUntil('\n');
76.  
77.          if (dataIn.startsWith("X"))
78.       {
79.        
80.         angulosX[countX] = dataIn.substring(1, dataIn.length()).toDouble();
81.         countX += 1;
82.         //Serial.println(count);
83.       }
84.  
85.  
86.          if (dataIn.startsWith("Y"))
87.       {
88.        
89.         angulosY[countY] = dataIn.substring(1, dataIn.length()).toDouble();
90.         countY += 1;
91.         //Serial.println(count);
92.       }
93.  
94.  
95.          if (dataIn.startsWith("Z"))
96.       {
97.         angulosZ[countZ] = dataIn.substring(1, dataIn.length()).toDouble();
98.         countZ += 1;
99.         //Serial.println(count);
100.       }
101.  
102.         if (dataIn.startsWith("A"))
103.       {
104.        
105.         angulosA[countA] = dataIn.substring(1, dataIn.length()).toDouble();
106.         countA += 1;
107.         //Serial.println(count);
108.       }
109.  
110.    
111.  
112.      
113.  
114.           if (dataIn.startsWith("J"))
115.       {
116.          for (int i = 0; i <= 10; i++) {
117.          stepperX.setSpeedInStepsPerSecond(100*10);
118.          stepperX.setAccelerationInStepsPerSecondPerSecond(100*10);  
119.          stepperX.setupMoveInSteps(angulosX[i]*85.3);
120.          
121.          stepperY.setSpeedInStepsPerSecond(100*10);
122.          stepperY.setAccelerationInStepsPerSecondPerSecond(100*10);  
123.          stepperY.setupMoveInSteps(angulosY[i]*85.3);
124.  
125.          stepperZ.setSpeedInStepsPerSecond(100*10);
126.          stepperZ.setAccelerationInStepsPerSecondPerSecond(100*10);  
127.          stepperZ.setupMoveInSteps(angulosZ[i]*85.3);
128.  
129.          stepperA.setSpeedInStepsPerSecond(100*10);
130.          stepperA.setAccelerationInStepsPerSecondPerSecond(100*10);  
131.          stepperA.setupMoveInSteps(angulosA[i]*85.3);
132.          
133.        while((!stepperX.motionComplete()) || (!stepperY.motionComplete()) || (!stepperZ.motionComplete()) || (!stepperA.motionComplete()))  
134.      {
135.         stepperX.processMovement();
136.         stepperY.processMovement();
137.         stepperZ.processMovement();
138.         stepperA.processMovement();
139.      }
140.      
141.         y += 1;
142.         x += 1;
143.         z += 1;
144.         a += 1;
145.     }
146.       }
147.    
148.     }
149. }
150.  
151. python code:
152.  
153. import linecache
154. import time  
155. import serial
156.  
157. serialcomm = serial.Serial('COM12', 9600)
158.  
159. serialcomm.timeout = 1
160.  
161. time.sleep(1)
162.  
163.  
164. f = open("commands.txt", "r")
165.  
166. time.sleep(0.2)
167.  
168. count = 1
169.  
170. while True:
171.     print(1)
172.     commandsFile = linecache.getline('commands.txt',count)
173.     file = commandsFile.split(" ")
174.  
175.     for x in file:
176.         print(x)
177.         serialcomm.write((x + '\n').encode())
178.         time.sleep(0.5)
179.         #serialcomm.flush()
180.     else:
181.         count += 1
182.         print(count)
183.  
184.  
185.