implemented sending/resending- buffer and lots of other bugfixes

2026-03-19 00:06:48 +01:00 · 2015-04-03 23:11:41 +02:00
parent 5bddfa9c78
commit f3d518b4d4
30 changed files with 8255 additions and 46 deletions
--- a/Arduino/SphereBot/SphereBot.ino
+++ b/Arduino/SphereBot/SphereBot.ino
@@ -40,10 +40,21 @@

 #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_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_VMS1, YAXIS_VMS2, YAXIS_VMS3,
-        YAXIS_MIN_STEPCOUNT, YAXIS_MIN_STEPCOUNT, YAXIS_STEPS_PER_FULL_ROTATION, YAXIS_MICROSTEPPING);
+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);
+        
+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);

 SoftwareServo servo;
 boolean servoEnabled=true;
@@ -59,6 +70,9 @@ char serial_char; // value for each byte read in from serial comms
 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_maximum = 1000;
 // end comm variables

 // GCode States
@@ -82,7 +96,7 @@ void setup()
    
    clear_buffer();

-    servo.attach(SERVO_PIN);
+    servo.attach(SERVO_PIN_1);
    servo.write(DEFAULT_PEN_UP_POSITION);
    
    if(servoEnabled)
@@ -112,13 +126,19 @@ void loop() // input loop, looks for manual input and then checks to see if and
  get_command(); // check for Gcodes
  if(servoEnabled)
    SoftwareServo::refresh();
+  Serial.flush();
 }

 //--- Interrupt-Routine: Move the steppers
 void doInterrupt()
-{
+{  
  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
@@ -199,6 +219,7 @@ 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;
      buffer[serial_count]=0;
      process_commands(buffer, serial_count);
      clear_buffer();
@@ -277,9 +298,11 @@ void process_commands(char command[], int command_length) // deals with standard

  if(!(cs == (int)getcs || hasCS == false)) // if checksum does not match
  {
-    Serial.print("rs");
+    Serial.print("rs ");
+	Serial.print((int)getcs);
    //Serial.print((int)nVal);
    Serial.print("\n");
+	//Serial.flush();
  }
  else	//continue if checksum matches or none detected
  {
@@ -459,9 +482,11 @@ void process_commands(char command[], int command_length) // deals with standard

  //done processing commands
  //if (Serial.available() <= 0) {
-  Serial.print("ok");
-  //Serial.println(command);
+  Serial.print("ok ");
+  //Serial.print((int)getcs);
+  Serial.println(command);
  Serial.print("\n");
+  //Serial.flush();
  //}
  
  }
--- a/Arduino/SphereBot/StepperModel.cpp
+++ b/Arduino/SphereBot/StepperModel.cpp
@@ -22,7 +22,11 @@
 /*
 * inEnablePin < 0 => No Endstop
 */
-StepperModel::StepperModel(int inDirPin, int inStepPin, int inEnablePin, int inEndStopPin, int inMs1Pin, int inMs2Pin, int inMs3Pin, bool vms1, bool vms2, bool vms3,
+StepperModel::StepperModel(
+        int inDirPin, int inStepPin, int inEnablePin, int inEndStopPin, 
+        int inMs1Pin, int inMs2Pin, int inMs3Pin, 
+        int inSleepPin, int inResetPin,
+        bool vms1, bool vms2, bool vms3, 
        long minSC, long maxSC,
        double in_kStepsPerRevolution, int in_kMicroStepping)
 {
@@ -33,6 +37,8 @@ StepperModel::StepperModel(int inDirPin, int inStepPin, int inEnablePin, int inE
  stepPin = inStepPin;
  enablePin = inEnablePin;
  endStopPin = inEndStopPin;
+  sleepPin = inSleepPin;
+  resetPin = inResetPin;
  ms1Pin = inMs1Pin;
  ms2Pin = inMs2Pin;
  ms3Pin = inMs3Pin;
@@ -43,6 +49,16 @@ StepperModel::StepperModel(int inDirPin, int inStepPin, int inEnablePin, int inE
  pinMode(dirPin, OUTPUT);  
  pinMode(stepPin, OUTPUT);  
  pinMode(enablePin, OUTPUT);  
+  if((sleepPin >=0))
+  {
+    pinMode(sleepPin, OUTPUT);
+    digitalWrite(sleepPin, HIGH);
+  }
+  if((resetPin >=0))
+  {
+    pinMode(resetPin, OUTPUT);   
+    digitalWrite(resetPin, HIGH); 
+  }
  if(endStopPin>=0)
    pinMode(endStopPin, INPUT); 
  if((ms1Pin >=0))
--- a/Arduino/SphereBot/StepperModel.h
+++ b/Arduino/SphereBot/StepperModel.h
@@ -28,6 +28,8 @@ private:
  int dirPin;
  int stepPin;
  int enablePin;
+  int sleepPin;
+  int resetPin;
  int ms1Pin;
  int ms2Pin;
  int ms3Pin;
@@ -53,7 +55,11 @@ public:
  volatile long counter;
  double targetPosition;
  
- StepperModel(int inDirPin, int inStepPin, int inEnablePin, int inEndStopPin,int inMs1Pin, int inMs2Pin, int inMs3Pin, bool vms1, bool vms2, bool vms3,
+ StepperModel(
+        int inDirPin, int inStepPin, int inEnablePin, int inEndStopPin,
+        int inMs1Pin, int inMs2Pin, int inMs3Pin, 
+        int inSleepPin, int inResetPin, 
+        bool vms1, bool vms2, bool vms3,
        long minSC, long maxSC,
        double in_kStepsPerRevolution, int in_kMicroStepping);
  
--- a/Arduino/SphereBot/config.h
+++ b/Arduino/SphereBot/config.h
@@ -11,6 +11,8 @@
 #define YAXIS_DIR_PIN 14
 #define YAXIS_STEP_PIN 15
 #define YAXIS_ENABLE_PIN 21
+#define YAXIS_RST_PIN -1
+#define YAXIS_SLP_PIN -1
 #define YAXIS_MS1_PIN -1
 #define YAXIS_MS2_PIN -1
 #define YAXIS_MS3_PIN -1
@@ -27,6 +29,8 @@
 #define XAXIS_DIR_PIN 10
 #define XAXIS_STEP_PIN 8
 #define XAXIS_ENABLE_PIN 2
+#define XAXIS_RST_PIN -1
+#define XAXIS_SLP_PIN -1
 #define XAXIS_MS1_PIN -1
 #define XAXIS_MS2_PIN -1
 #define XAXIS_MS3_PIN -1
@@ -39,7 +43,7 @@
 #define XAXIS_STEPS_PER_FULL_ROTATION 200.0
 #define XAXIS_MICROSTEPPING 2

-#define SERVO_PIN 13
+#define SERVO_PIN_1 13

 /*
 * Other Configuration
--- a/Arduino/SphereBot/config_new.h
+++ b/Arduino/SphereBot/config_new.h
@@ -0,0 +1,97 @@
+//#define BAUDRATE 9600
+#define BAUDRATE 57600
+//#define BAUDRATE 115200
+//#define BAUDRATE 256000
+
+/*
+ * PINS
+ 
+ D0 - 0
+ D1 - 1
+ D2 - 2
+ D3 - 3 
+ D4 - 4
+ D05 - 5
+ D06 - 6
+ D07 - 7
+ D08 - 8
+ D09 - 9
+ D10 - 10 
+ D11 - 11
+ D12 - 12
+ D13 - 13
+ A00 - 14
+ A01 - 15
+ A02 - 16
+ A03 - 17
+ A04 - 18
+ A05 - 19
+ A06 - 20  //no digital pin
+ A07 - 21  //no digital pin
+ 
+ */
+ 
+// Y-Axis -- Pen
+#define YAXIS_DIR_PIN 8
+#define YAXIS_STEP_PIN 9
+#define YAXIS_ENABLE_PIN 2
+#define YAXIS_RST_PIN 6
+#define YAXIS_SLP_PIN 7
+#define YAXIS_MS1_PIN 3
+#define YAXIS_MS2_PIN 4
+#define YAXIS_MS3_PIN 5
+#define YAXIS_ENDSTOP_PIN -1     // -1 -> No Endstop
+#define YAXIS_VMS1 LOW
+#define YAXIS_VMS2 LOW
+#define YAXIS_VMS3 LOW
+#define YAXIS_MIN_STEPCOUNT 0    // Travel limits
+#define YAXIS_MAX_STEPCOUNT 0
+#define YAXIS_STEPS_PER_FULL_ROTATION 200.0
+#define YAXIS_MICROSTEPPING 16
+
+//X-Axis -- Egg
+#define XAXIS_DIR_PIN 18
+#define XAXIS_STEP_PIN 17
+#define XAXIS_ENABLE_PIN 12
+#define XAXIS_RST_PIN 15
+#define XAXIS_SLP_PIN 16
+#define XAXIS_MS1_PIN 11
+#define XAXIS_MS2_PIN 10
+#define XAXIS_MS3_PIN 14
+#define XAXIS_ENDSTOP_PIN -1     // -1 -> No Endstop
+#define XAXIS_VMS1 LOW
+#define XAXIS_VMS2 LOW
+#define XAXIS_VMS3 LOW
+#define XAXIS_MIN_STEPCOUNT 0    // Travel limits
+#define XAXIS_MAX_STEPCOUNT 0
+#define XAXIS_STEPS_PER_FULL_ROTATION 200.0
+#define XAXIS_MICROSTEPPING 16
+
+#define SERVO_PIN_1 19
+#define SERVO_PIN_2 13    //unused -- led on arduino board
+
+/*
+ * Other Configuration
+ */
+
+#define DEFAULT_PEN_UP_POSITION 35
+
+#define DEFAULT_ZOOM_FACTOR 0.1808 // With a Zoom-Faktor of .65, I can print gcode for Makerbot Unicorn without changes. 
+                               // The zoom factor can be also manipulated by the propretiary code M402
+#define X_SCALING_FACTOR    1.65/2    //this factor is for correction to meet the unicorn coordinates 
+#define Y_SCALING_FACTOR    1
+/*
+ * Microstepping Information
+ */     
+                               
+//MS1, MS2 and MS3 are optional. You can also make these settings by hardwiring the pins to high or low
+ 
+   /* MS1  |  MS2  |  MS3      Microstepping Resolution
+    -----------------------
+      L    |  L    |  L     ->  Full Step
+      H    |  L    |  L     ->  Half Step 
+      L    |  H    |  L     ->  Quarter Step
+      H    |  H    |  L     ->  Eighth Step
+      H    |  H    |  H     ->  Sixteenth Step
+  */
+