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Detab Arduino sketch

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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
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87
SphereBot Arduino/SphereBot/StepperModel.cpp
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@@ -30,8 +30,8 @@ StepperModel::StepperModel(
long minSC, long maxSC,
double in_kStepsPerRevolution, int in_kMicroStepping)
{
kStepsPerRevolution=in_kStepsPerRevolution;
kMicroStepping=in_kMicroStepping;
kStepsPerRevolution = in_kStepsPerRevolution;
kMicroStepping = in_kMicroStepping;
dirPin = inDirPin;
stepPin = inStepPin;
@@ -46,35 +46,32 @@ StepperModel::StepperModel(
minStepCount=minSC;
maxStepCount=maxSC;
pinMode(dirPin, OUTPUT);
pinMode(stepPin, OUTPUT);
pinMode(enablePin, OUTPUT);
if((sleepPin >=0))
{
pinMode(dirPin, OUTPUT);
pinMode(stepPin, OUTPUT);
pinMode(enablePin, OUTPUT);
if (sleepPin >=0) {
pinMode(sleepPin, OUTPUT);
digitalWrite(sleepPin, HIGH);
}
if((resetPin >=0))
{
if (resetPin >=0) {
pinMode(resetPin, OUTPUT);
digitalWrite(resetPin, HIGH);
}
if(endStopPin>=0)
pinMode(endStopPin, INPUT);
if((ms1Pin >=0))
{
pinMode(ms1Pin, OUTPUT);
digitalWrite(ms1Pin, vms1);
if (endStopPin>=0) {
pinMode(endStopPin, INPUT);
}
if((ms2Pin >=0))
{
pinMode(ms2Pin, OUTPUT);
digitalWrite(ms2Pin, vms1);
if (ms1Pin >=0) {
pinMode(ms1Pin, OUTPUT);
digitalWrite(ms1Pin, vms1);
}
if((ms3Pin >=0))
{
pinMode(ms3Pin, OUTPUT);
digitalWrite(ms3Pin, vms1);
if (ms2Pin >=0) {
pinMode(ms2Pin, OUTPUT);
digitalWrite(ms2Pin, vms1);
}
if (ms3Pin >=0) {
pinMode(ms3Pin, OUTPUT);
digitalWrite(ms3Pin, vms1);
}
digitalWrite(dirPin, LOW);
@@ -91,7 +88,7 @@ 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)
if (endStopPin>=0)
{
#ifdef AUTO_HOMING
autoHoming();
@@ -105,12 +102,10 @@ void StepperModel::resetSteppersForObjectDiameter(double diameter)
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;
}
@@ -126,8 +121,8 @@ void StepperModel::setTargetStepcount(long tsc)
enableStepper(true);
}
if (delta < 0) {
delta = -delta;
direction = false;
delta = -delta;
direction = false;
}
}*/
@@ -142,14 +137,14 @@ void StepperModel::setTargetPosition(double pos)
enableStepper(true);
}
if (delta < 0) {
delta = -delta;
direction = false;
delta = -delta;
direction = false;
}
}
double StepperModel::getCurrentPosition()
{
return (double)currentStepcount/steps_per_mm;
return (double)currentStepcount/steps_per_mm;
}
void StepperModel::enableStepper(bool enabled)
@@ -160,26 +155,28 @@ void StepperModel::enableStepper(bool enabled)
void StepperModel::resetStepper()
{
enableStepper(false);
currentStepcount=0;
targetStepcount=0;
delta=0;
currentStepcount = 0;
targetStepcount = 0;
delta = 0;
}
void StepperModel::doStep(long intervals)
{
counter += delta;
if (counter >= 0) {
if (counter >= 0)
{
digitalWrite(dirPin, direction?HIGH:LOW);
counter -= intervals;
if (direction) {
if(maxStepCount==0 || currentStepcount<=maxStepCount)
{
if (direction)
{
if (maxStepCount == 0 || currentStepcount<=maxStepCount) {
digitalWrite(stepPin, HIGH);
currentStepcount++;
}
} else {
if(minStepCount==0 || currentStepcount>=minStepCount)
{
}
else
{
if (minStepCount == 0 || currentStepcount>=minStepCount) {
digitalWrite(stepPin, HIGH);
currentStepcount--;
}
@@ -196,11 +193,11 @@ void StepperModel::autoHoming()
while(digitalRead(endStopPin))
{
digitalWrite(stepPin, HIGH);
digitalWrite(stepPin, LOW);
delay(1);
digitalWrite(stepPin, HIGH);
digitalWrite(stepPin, LOW);
delay(1);
}
currentStepcount= minStepCount-16;
currentStepcount = minStepCount-16;
}
#endif