Version 2.0

2026-03-03 00:23:59 +01:00 · 2014-02-26 14:22:00 +01:00
parent 964f04565b
commit 6aa4ff7ea8
3606 changed files with 1481193 additions and 6093 deletions
--- a/Arduino/SphereBot/StepperModel.cpp
+++ b/Arduino/SphereBot/StepperModel.cpp
@@ -0,0 +1,179 @@
+/*
+ * Copyright 2011 by Eberhard Rensch <http://pleasantsoftware.com/developer/3d>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>
+ */
+ 
+#include "StepperModel.h"
+#include "Arduino.h"
+
+
+/*
+ * inEnablePin < 0 => No Endstop
+ */
+StepperModel::StepperModel(int inDirPin, int inStepPin, int inEnablePin, int inEndStopPin,int inMs1Pin, int inMs2Pin, bool vms1,bool vms2,
+        long minSC, long maxSC,
+        double in_kStepsPerRevolution, int in_kMicroStepping)
+{
+  kStepsPerRevolution=in_kStepsPerRevolution;
+  kMicroStepping=in_kMicroStepping;
+
+  dirPin = inDirPin;
+  stepPin = inStepPin;
+  enablePin = inEnablePin;
+  endStopPin = inEndStopPin;
+  ms1Pin = inMs1Pin;
+  ms2Pin = inMs2Pin;
+    
+  minStepCount=minSC;
+  maxStepCount=maxSC;
+  
+  pinMode(dirPin, OUTPUT);  
+  pinMode(stepPin, OUTPUT);  
+  pinMode(enablePin, OUTPUT);  
+  pinMode(ms1Pin, OUTPUT);  
+  pinMode(ms2Pin, OUTPUT); 
+  if(endStopPin>=0)
+    pinMode(endStopPin, INPUT);  
+
+  digitalWrite(dirPin, LOW);
+  digitalWrite(stepPin, LOW);
+    
+  digitalWrite(ms1Pin, vms1);    
+  digitalWrite(ms2Pin, vms2);
+ 
+  currentStepcount=0;
+  targetStepcount=0;
+
+  steps_per_mm = (int)((kStepsPerRevolution/(45.*M_PI))*kMicroStepping+0.5); // default value for a "normal" egg (45 mm diameter)
+  enableStepper(false);
+}
+
+void StepperModel::resetSteppersForObjectDiameter(double diameter)
+{
+  // Calculate the motor steps required to move per mm.
+  steps_per_mm = (int)((kStepsPerRevolution/(diameter*M_PI))*kMicroStepping+0.5);
+  if(endStopPin>=0)
+  {
+#ifdef AUTO_HOMING
+    autoHoming();
+#endif
+    enableStepper(false);
+  }
+  else
+    resetStepper();    
+}
+
+long StepperModel::getStepsForMM(double mm)
+{
+  long steps = (long)(steps_per_mm*mm);
+  
+//  Serial.print("steps for ");
+//  Serial.print(mm);
+//  Serial.print(" mm: ");
+//  Serial.println(steps);
+  
+  return steps;
+}
+
+/* Currently unused */
+/*
+void StepperModel::setTargetStepcount(long tsc)
+{
+   targetPosition = (double)tsc/steps_per_mm;
+   targetStepcount = tsc;
+   delta = targetStepcount-currentStepcount;
+   direction = true;
+   if (delta != 0) {
+     enableStepper(true);
+   }
+   if (delta < 0) {
+	delta = -delta;
+	direction = false;
+   }
+}*/
+
+void StepperModel::setTargetPosition(double pos)
+{
+   targetPosition = pos;
+   targetStepcount = getStepsForMM(targetPosition);
+   //Serial.println(targetStepcount);
+   delta = targetStepcount-currentStepcount;
+   direction = true;
+   if (delta != 0) {
+     enableStepper(true);
+   }
+   if (delta < 0) {
+	delta = -delta;
+	direction = false;
+   }
+}
+
+double StepperModel::getCurrentPosition()
+{
+    return (double)currentStepcount/steps_per_mm;
+}
+
+void StepperModel::enableStepper(bool enabled)
+{
+  digitalWrite(enablePin, !enabled);
+}
+
+void StepperModel::resetStepper()
+{
+  enableStepper(false);
+  currentStepcount=0;
+  targetStepcount=0;
+  delta=0;  
+}
+
+void StepperModel::doStep(long intervals)
+{
+  counter += delta;
+  if (counter >= 0) {
+    digitalWrite(dirPin, direction?HIGH:LOW);
+    counter -= intervals;
+    if (direction) {
+      if(maxStepCount==0 || currentStepcount<=maxStepCount)
+      {
+        digitalWrite(stepPin, HIGH);
+        currentStepcount++;
+      }
+    } else {
+      if(minStepCount==0 || currentStepcount>=minStepCount)
+      {
+        digitalWrite(stepPin, HIGH);
+        currentStepcount--;
+      }
+    }
+    digitalWrite(stepPin, LOW);
+  }
+}  
+
+#ifdef AUTO_HOMING
+void StepperModel::autoHoming()
+{
+  enableStepper(true);
+  digitalWrite(dirPin, LOW);
+ 
+  while(digitalRead(endStopPin))
+  {
+        digitalWrite(stepPin, HIGH);
+        digitalWrite(stepPin, LOW);
+        delay(1);
+  }
+
+  currentStepcount= minStepCount-16;
+}
+#endif