Mirrors/Spherebot-Host-GUI
2
0
Fork 0
mirror of https://github.com/thunderbug1/Spherebot-Host-GUI.git synced 2026-03-08 02:46:47 +01:00
Code Issues Packages Projects Releases Wiki Activity

Detab Arduino sketch

Browse Source
This commit is contained in:
Blokkendoos
2018-05-15 01:16:39 +02:00
parent 3995dddd08
commit dc1f236e02
7 changed files with 346 additions and 334 deletions
Download Patch File Download Diff File Expand all files Collapse all files

268
SphereBot Arduino/SphereBot/SphereBot.ino
View File

@@ -1,7 +1,3 @@
/*
* Original Code: Copyright 2011 by Eberhard Rensch <http://pleasantsoftware.com/developer/3d>
*
@@ -35,26 +31,24 @@
#include "StepperModel.h"
#include "config.h"
#define TIMER_DELAY 1024
#define VERSIONCODE "Spherebot 2.1"
StepperModel xAxisStepper(
XAXIS_DIR_PIN, XAXIS_STEP_PIN, XAXIS_ENABLE_PIN, XAXIS_ENDSTOP_PIN,
XAXIS_MS1_PIN, XAXIS_MS2_PIN, XAXIS_MS3_PIN,
XAXIS_SLP_PIN, XAXIS_RST_PIN,
XAXIS_VMS1, XAXIS_VMS2, XAXIS_VMS3,
XAXIS_MIN_STEPCOUNT, XAXIS_MAX_STEPCOUNT,
XAXIS_STEPS_PER_FULL_ROTATION, XAXIS_MICROSTEPPING);
XAXIS_DIR_PIN, XAXIS_STEP_PIN, XAXIS_ENABLE_PIN, XAXIS_ENDSTOP_PIN,
XAXIS_MS1_PIN, XAXIS_MS2_PIN, XAXIS_MS3_PIN,
XAXIS_SLP_PIN, XAXIS_RST_PIN,
XAXIS_VMS1, XAXIS_VMS2, XAXIS_VMS3,
XAXIS_MIN_STEPCOUNT, XAXIS_MAX_STEPCOUNT,
XAXIS_STEPS_PER_FULL_ROTATION, XAXIS_MICROSTEPPING);
StepperModel rotationStepper(
YAXIS_DIR_PIN, YAXIS_STEP_PIN, YAXIS_ENABLE_PIN, YAXIS_ENDSTOP_PIN,
YAXIS_MS1_PIN, YAXIS_MS2_PIN, YAXIS_MS3_PIN,
YAXIS_SLP_PIN, YAXIS_RST_PIN,
YAXIS_VMS1, YAXIS_VMS2, YAXIS_VMS3,
YAXIS_MIN_STEPCOUNT, YAXIS_MIN_STEPCOUNT,
YAXIS_STEPS_PER_FULL_ROTATION, YAXIS_MICROSTEPPING);
YAXIS_DIR_PIN, YAXIS_STEP_PIN, YAXIS_ENABLE_PIN, YAXIS_ENDSTOP_PIN,
YAXIS_MS1_PIN, YAXIS_MS2_PIN, YAXIS_MS3_PIN,
YAXIS_SLP_PIN, YAXIS_RST_PIN,
YAXIS_VMS1, YAXIS_VMS2, YAXIS_VMS3,
YAXIS_MIN_STEPCOUNT, YAXIS_MIN_STEPCOUNT,
YAXIS_STEPS_PER_FULL_ROTATION, YAXIS_MICROSTEPPING);
SoftwareServo servo;
boolean servoEnabled=true;
@@ -71,7 +65,7 @@ int serial_count = 0; // current length of command
char *strchr_pointer; // just a pointer to find chars in the cmd string like X, Y, Z, E, etc
boolean comment_mode = false;
int next_command_request_counter = 0; //if this counter reaches the maximum then a "ok" is sent to request the nex command
int next_command_request_counter = 0; //if this counter reaches the maximum then a "ok" is sent to request the nex command
int next_command_request_maximum = 1000;
// end comm variables
@@ -86,79 +80,91 @@ double yscaling = Y_SCALING_FACTOR;
const double maxFeedrate = 2000.;
// ------
void setup()
{
Serial.begin(BAUDRATE);
Serial.print(VERSIONCODE);
Serial.print("\n");
clear_buffer();
// disable the Ethernet chip/SD card
pinMode(4, OUTPUT);
digitalWrite(4, HIGH);
servo.attach(SERVO_PIN_1);
servo.write(DEFAULT_PEN_UP_POSITION);
if(servoEnabled)
// flash ALT LED
pinMode(ALT_PIN, OUTPUT);
digitalWrite(ALT_PIN, HIGH);
delay(150);
digitalWrite(ALT_PIN, LOW);
delay(150);
digitalWrite(ALT_PIN, HIGH);
delay(150);
digitalWrite(ALT_PIN, LOW);
Serial.begin(BAUDRATE);
Serial.print(VERSIONCODE);
Serial.print("\n");
clear_buffer();
servo.attach(SERVO_PIN_1);
servo.write(DEFAULT_PEN_UP_POSITION);
if (servoEnabled)
{
for(int i=0; i<100; i++)
{
for(int i=0;i<100;i++)
{
SoftwareServo::refresh();
delay(4);
}
SoftwareServo::refresh();
delay(4);
}
//--- Activate the PWM timer
Timer1.initialize(TIMER_DELAY); // Timer for updating pwm pins
Timer1.attachInterrupt(doInterrupt);
}
// activate the PWM timer
Timer1.initialize(TIMER_DELAY); // Timer for updating pwm pins
Timer1.attachInterrupt(doInterrupt);
#ifdef AUTO_HOMING
xAxisStepper.autoHoming();
xAxisStepper.setTargetPosition(0.);
commitSteppers(maxFeedrate);
delay(2000);
xAxisStepper.enableStepper(false);
xAxisStepper.autoHoming();
xAxisStepper.setTargetPosition(0.);
commitSteppers(maxFeedrate);
delay(2000);
xAxisStepper.enableStepper(false);
#endif
}
void loop() // input loop, looks for manual input and then checks to see if and serial commands are coming in
{
get_command(); // check for Gcodes
if(servoEnabled)
if (servoEnabled)
SoftwareServo::refresh();
Serial.flush();
}
//--- Interrupt-Routine: Move the steppers
// Interrupt-Routine: Move the steppers
void doInterrupt()
{
if(isRunning)
if (isRunning)
{
if(next_command_request_counter++ > next_command_request_maximum)
{
//Serial.print("forced ok\n");
next_command_request_counter = 0;
}
if (intervals_remaining-- == 0)
isRunning = false;
else
{
rotationStepper.doStep(intervals);
xAxisStepper.doStep(intervals);
}
if (next_command_request_counter++ > next_command_request_maximum)
{
//Serial.print("forced ok\n");
next_command_request_counter = 0;
}
if (intervals_remaining-- == 0)
isRunning = false;
else
{
rotationStepper.doStep(intervals);
xAxisStepper.doStep(intervals);
}
}
}
void commitSteppers(double speedrate)
{
long deltaStepsX = xAxisStepper.delta;
if(deltaStepsX != 0L)
if (deltaStepsX != 0L)
{
xAxisStepper.enableStepper(true);
}
long deltaStepsY = rotationStepper.delta;
if(deltaStepsY != 0L)
if (deltaStepsY != 0L)
{
rotationStepper.enableStepper(true);
}
@@ -166,10 +172,10 @@ void commitSteppers(double speedrate)
double deltaDistanceX = xAxisStepper.targetPosition-xAxisStepper.getCurrentPosition();
double deltaDistanceY = rotationStepper.targetPosition-rotationStepper.getCurrentPosition();
// how long is our line length?
double distance = sqrt(deltaDistanceX*deltaDistanceX+deltaDistanceY*deltaDistanceY);
// compute number of intervals for this move
double sub1 = (60000.* distance / speedrate);
double sub2 = sub1 * 1000.;
@@ -191,7 +197,7 @@ void commitSteppers(double speedrate)
// Serial.print(masterSteps);
// Serial.print(" dDistX:");
// Serial.print(deltaDistanceX);
// Serial.print(" dDistY:");
// Serial.print(" dDistY:");
// Serial.print(deltaDistanceY);
// Serial.print(" distance:");
// Serial.print(distance);
@@ -219,7 +225,7 @@ void get_command() // gets commands from serial connection and then calls up sub
if (serial_char == '\n' || serial_char == '\r') // end of a command character
{
next_command_request_counter = 0;
next_command_request_counter = 0;
buffer[serial_count]=0;
process_commands(buffer, serial_count);
clear_buffer();
@@ -270,24 +276,23 @@ boolean getValue(char key, char command[], double* value)
void check_for_version_controll(char command)
{
if(command == 'V')
if (command == 'V')
{
Serial.print(VERSIONCODE);
Serial.print("\n");
}
}
void process_commands(char command[], int command_length) // deals with standardized input from serial connection
{
double nVal;
boolean hasNVal = getValue('N', command, &nVal);
//if(hasNVal) {Serial.println("linenumber detected");};
//if (hasNVal) {Serial.println("linenumber detected");};
double getcs;
boolean hasCS = getValue('*', command, &getcs);
//if(hasCS) {Serial.println("checksum detected");};
//if (hasCS) {Serial.println("checksum detected");};
// checksum code from reprap wiki
int cs = 0;
@@ -296,25 +301,25 @@ void process_commands(char command[], int command_length) // deals with standard
cs = cs ^ command[j];
cs &= 0xff; // Defensive programming...
if(!(cs == (int)getcs || hasCS == false)) // if checksum does not match
if (!(cs == (int)getcs || hasCS == false)) // if checksum does not match
{
Serial.print("rs ");
Serial.print((int)getcs);
Serial.print((int)getcs);
//Serial.print((int)nVal);
Serial.print("\n");
//Serial.flush();
//Serial.flush();
}
else //continue if checksum matches or none detected
else //continue if checksum matches or none detected
{
//Serial.println("checksum match ");
j=0;
j = 0;
while (j < MAX_CMD_SIZE )
{
if ((command[j] == 'G') || command[j] == 'M') {break;}
j++;
}
if(command_length == 1)
if (command_length == 1)
{
check_for_version_controll(command[0]);
}
@@ -328,43 +333,51 @@ void process_commands(char command[], int command_length) // deals with standard
double xVal;
boolean hasXVal = getValue('X', command, &xVal);
if(hasXVal) xVal*=zoom*xscaling;
if (hasXVal) xVal *= zoom*xscaling;
double yVal;
boolean hasYVal = getValue('Y', command, &yVal);
if(hasYVal) yVal*=zoom*yscaling;
if (hasYVal) yVal *= zoom*yscaling;
double zVal;
boolean hasZVal = getValue('Z', command, &zVal);
double iVal;
boolean hasIVal = getValue('I', command, &iVal);
if(hasIVal) iVal*=zoom;
if (hasIVal) iVal *= zoom;
double jVal;
boolean hasJVal = getValue('J', command, &jVal);
if(hasJVal) jVal*=zoom;
if (hasJVal) jVal *= zoom;
double rVal;
boolean hasRVal = getValue('R', command, &rVal);
if(hasRVal) rVal*=zoom;
if (hasRVal) rVal *= zoom;
double pVal;
boolean hasPVal = getValue('P', command, &pVal);
getValue('F', command, &feedrate);
xVal+=currentOffsetX;
yVal+=currentOffsetY;
xVal += currentOffsetX;
yVal += currentOffsetY;
if(absoluteMode)
if (absoluteMode)
{
if(hasXVal)
tempX=xVal;
if(hasYVal)
tempY=yVal;
if (hasXVal)
tempX = xVal;
if (hasYVal)
tempY = yVal;
}
else
{
if(hasXVal)
tempX+=xVal;
if(hasYVal)
tempY+=yVal;
if (hasXVal)
tempX += xVal;
if (hasYVal)
tempY += yVal;
}
switch(codenum)
switch (codenum)
{
case 0: // G0, Rapid positioning
xAxisStepper.setTargetPosition(tempX);
@@ -378,25 +391,25 @@ void process_commands(char command[], int command_length) // deals with standard
break;
case 2: // G2, Clockwise arc
case 3: // G3, Counterclockwise arc
if(hasIVal && hasJVal)
if (hasIVal && hasJVal)
{
double centerX=xAxisStepper.getCurrentPosition()+iVal;
double centerY=rotationStepper.getCurrentPosition()+jVal;
drawArc(centerX, centerY, tempX, tempY, (codenum==2));
}
else if(hasRVal)
else if (hasRVal)
{
//drawRadius(tempX, tempY, rVal, (codenum==2));
}
break;
case 4: // G4, Delay P ms
if(hasPVal)
if (hasPVal)
{
unsigned long endDelay = millis()+ (unsigned long)pVal;
while(millis()<endDelay)
{
delay(1);
if(servoEnabled)
if (servoEnabled)
SoftwareServo::refresh();
}
}
@@ -426,28 +439,14 @@ void process_commands(char command[], int command_length) // deals with standard
break;
case 300: // Servo Position
if(getValue('S', command, &value))
if (getValue('S', command, &value))
{
servoEnabled=true;
if(value<0.)
value=0.;
else if(value>180.)
{
value=DEFAULT_PEN_UP_POSITION;
servo.write((int)value);
for(int i=0;i<100;i++)
{
SoftwareServo::refresh();
delay(2);
}
servoEnabled=false;
}
servo.write((int)value);
moveServo(value);
}
break;
case 400: // Propretary: Reset X-Axis-Stepper settings to new object diameter
if(getValue('S', command, &value))
if (getValue('S', command, &value))
{
xAxisStepper.resetSteppersForObjectDiameter(value);
xAxisStepper.setTargetPosition(0.);
@@ -458,7 +457,7 @@ void process_commands(char command[], int command_length) // deals with standard
break;
case 401: // Propretary: Reset Y-Axis-Stepper settings to new object diameter
if(getValue('S', command, &value))
if (getValue('S', command, &value))
{
rotationStepper.resetSteppersForObjectDiameter(value);
rotationStepper.setTargetPosition(0.);
@@ -469,13 +468,14 @@ void process_commands(char command[], int command_length) // deals with standard
break;
case 402: // Propretary: Reset Y-Axis-Stepper settings to new object diameter
if(getValue('S', command, &value))
if (getValue('S', command, &value))
{
zoom = value/100;
}
break;
default:
break;
break;
}
}
@@ -492,6 +492,25 @@ void process_commands(char command[], int command_length) // deals with standard
}
}
void moveServo(double value)
{
servoEnabled = true;
if (value < 0.)
value = 0.;
else if (value > 180.)
{
value = DEFAULT_PEN_UP_POSITION;
servo.write((int)value);
for(int i=0; i<100; i++)
{
SoftwareServo::refresh();
delay(2);
}
servoEnabled = false;
}
servo.write((int)value);
}
/* This code was ported from the Makerbot/ReplicatorG java sources */
void drawArc(double centerX, double centerY, double endpointX, double endpointY, boolean clockwise)
{
@@ -516,7 +535,6 @@ void drawArc(double centerX, double centerY, double endpointX, double endpointY,
bX = endpointX - centerX;
bY = endpointY - centerY;
// Clockwise
if (clockwise) {
angleA = atan2(bY, bX);
angleB = atan2(aY, aX);
@@ -534,7 +552,7 @@ void drawArc(double centerX, double centerY, double endpointX, double endpointY,
if (angleB <= angleA)
angleB += 2. * M_PI;
angle = angleB - angleA;
// calculate a couple useful things.
radius = sqrt(aX * aX + aY * aY);
length = radius * angle;
@@ -554,24 +572,24 @@ void drawArc(double centerX, double centerY, double endpointX, double endpointY,
for (s = 1; s <= steps; s++) {
// Forwards for CCW, backwards for CW
if (!clockwise)
step = s;
if (clockwise)
step = steps - s;
else
step = steps - s;
step = s;
// calculate our waypoint.
newPointX = centerX + radius * cos(angleA + angle * ((double) step / steps));
newPointY= centerY + radius * sin(angleA + angle * ((double) step / steps));
newPointY= centerY + radius * sin(angleA + angle * ((double) step / steps));
// start the move
xAxisStepper.setTargetPosition(newPointX);
rotationStepper.setTargetPosition(newPointY);
commitSteppers(feedrate);
while(isRunning)
while (isRunning)
{
delay(1);
if(servoEnabled)
if (servoEnabled)
SoftwareServo::refresh();
};
}