From 098c577142f0ad0ddf66e5c0d86b07eed01ee7b2 Mon Sep 17 00:00:00 2001 From: Holger Weber Date: Thu, 12 Feb 2026 23:32:32 +0100 Subject: [PATCH] Motors moving --- include/EggDuino.h | 32 +- lib/AccelStepper/src/AccelStepper.cpp | 633 ------------------------ lib/AccelStepper/src/AccelStepper.h | 666 -------------------------- platformio.ini | 1 + src/Helper_Functions.cpp | 190 ++++++++ src/Helper_Functions.xcpp | 132 ----- src/main.cpp | 129 +++-- 7 files changed, 316 insertions(+), 1467 deletions(-) delete mode 100644 lib/AccelStepper/src/AccelStepper.cpp delete mode 100644 lib/AccelStepper/src/AccelStepper.h create mode 100644 src/Helper_Functions.cpp delete mode 100644 src/Helper_Functions.xcpp diff --git a/include/EggDuino.h b/include/EggDuino.h index 3458b69..ce675ad 100644 --- a/include/EggDuino.h +++ b/include/EggDuino.h @@ -11,13 +11,32 @@ #include #endif -#include +#include #include "SerialCommand.h" #include "button.h" // implemented Eggbot-Protocol-Version v13 #define initSting "EBBv13_and_above Protocol emulated by Eggduino-Firmware V1.6a" +#ifdef ESP32 + +// Rotational Stepper +#define dir1 16 +#define enableRotMotor 12 +#define step1 26 +#define rotMicrostep 32 + +// Pen Stepper +#define step2 25 +#define dir2 27 +#define enablePenMotor 12 +#define penMicrostep 32 + +#define servoPin 17 + + +#else + // Rotational Stepper #define step1 2 #define dir1 5 @@ -32,6 +51,9 @@ #define servoPin 4 + +#endif + struct ConfigParameter { const char *key; int *value; @@ -39,8 +61,12 @@ struct ConfigParameter { int defaultValue; }; -extern AccelStepper rotMotor; -extern AccelStepper penMotor; +extern FastAccelStepperEngine g_stepEngine; +extern FastAccelStepper *g_pStepperRotate; +extern FastAccelStepper *g_pStepperPen; + +// extern FastAccelStepper rotMotor; +// extern FastAccelStepper penMotor; extern Servo penServo; extern SerialCommand SCmd; diff --git a/lib/AccelStepper/src/AccelStepper.cpp b/lib/AccelStepper/src/AccelStepper.cpp deleted file mode 100644 index 29e6469..0000000 --- a/lib/AccelStepper/src/AccelStepper.cpp +++ /dev/null @@ -1,633 +0,0 @@ -// AccelStepper.cpp -// -// Copyright (C) 2009-2013 Mike McCauley -// $Id: AccelStepper.cpp,v 1.19 2014/10/31 06:05:27 mikem Exp mikem $ - -#include "AccelStepper.h" - -#if 0 -// Some debugging assistance -void dump(uint8_t* p, int l) -{ - int i; - - for (i = 0; i < l; i++) - { - Serial.print(p[i], HEX); - Serial.print(" "); - } - Serial.println(""); -} -#endif - -void AccelStepper::moveTo(long absolute) -{ - if (_targetPos != absolute) - { - _targetPos = absolute; - computeNewSpeed(); - // compute new n? - } -} - -void AccelStepper::move(long relative) -{ - moveTo(_currentPos + relative); -} - -// Implements steps according to the current step interval -// You must call this at least once per step -// returns true if a step occurred -boolean AccelStepper::runSpeed() -{ - // Dont do anything unless we actually have a step interval - if (!_stepInterval) - return false; - - unsigned long time = micros(); - unsigned long nextStepTime = _lastStepTime + _stepInterval; - // Gymnastics to detect wrapping of either the nextStepTime and/or the current time - if ( ((nextStepTime >= _lastStepTime) && ((time >= nextStepTime) || (time < _lastStepTime))) - || ((nextStepTime < _lastStepTime) && ((time >= nextStepTime) && (time < _lastStepTime)))) - { - if (_direction == DIRECTION_CW) - { - // Clockwise - _currentPos += 1; - } - else - { - // Anticlockwise - _currentPos -= 1; - } - step(_currentPos); - - _lastStepTime = time; - return true; - } - else - { - return false; - } -} - -long AccelStepper::distanceToGo() -{ - return _targetPos - _currentPos; -} - -long AccelStepper::targetPosition() -{ - return _targetPos; -} - -long AccelStepper::currentPosition() -{ - return _currentPos; -} - -// Useful during initialisations or after initial positioning -// Sets speed to 0 -void AccelStepper::setCurrentPosition(long position) -{ - _targetPos = _currentPos = position; - _n = 0; - _stepInterval = 0; -} - -void AccelStepper::computeNewSpeed() -{ - long distanceTo = distanceToGo(); // +ve is clockwise from curent location - - long stepsToStop = (long)((_speed * _speed) / (2.0 * _acceleration)); // Equation 16 - - if (distanceTo == 0 && stepsToStop <= 1) - { - // We are at the target and its time to stop - _stepInterval = 0; - _speed = 0.0; - _n = 0; - return; - } - - if (distanceTo > 0) - { - // We are anticlockwise from the target - // Need to go clockwise from here, maybe decelerate now - if (_n > 0) - { - // Currently accelerating, need to decel now? Or maybe going the wrong way? - if ((stepsToStop >= distanceTo) || _direction == DIRECTION_CCW) - _n = -stepsToStop; // Start deceleration - } - else if (_n < 0) - { - // Currently decelerating, need to accel again? - if ((stepsToStop < distanceTo) && _direction == DIRECTION_CW) - _n = -_n; // Start accceleration - } - } - else if (distanceTo < 0) - { - // We are clockwise from the target - // Need to go anticlockwise from here, maybe decelerate - if (_n > 0) - { - // Currently accelerating, need to decel now? Or maybe going the wrong way? - if ((stepsToStop >= -distanceTo) || _direction == DIRECTION_CW) - _n = -stepsToStop; // Start deceleration - } - else if (_n < 0) - { - // Currently decelerating, need to accel again? - if ((stepsToStop < -distanceTo) && _direction == DIRECTION_CCW) - _n = -_n; // Start accceleration - } - } - - // Need to accelerate or decelerate - if (_n == 0) - { - // First step from stopped - _cn = _c0; - _direction = (distanceTo > 0) ? DIRECTION_CW : DIRECTION_CCW; - } - else - { - // Subsequent step. Works for accel (n is +_ve) and decel (n is -ve). - _cn = _cn - ((2.0 * _cn) / ((4.0 * _n) + 1)); // Equation 13 - _cn = max(_cn, _cmin); - } - _n++; - _stepInterval = _cn; - _speed = 1000000.0 / _cn; - if (_direction == DIRECTION_CCW) - _speed = -_speed; - -#if 0 - Serial.println(_speed); - Serial.println(_acceleration); - Serial.println(_cn); - Serial.println(_c0); - Serial.println(_n); - Serial.println(_stepInterval); - Serial.println(distanceTo); - Serial.println(stepsToStop); - Serial.println("-----"); -#endif -} - -// Run the motor to implement speed and acceleration in order to proceed to the target position -// You must call this at least once per step, preferably in your main loop -// If the motor is in the desired position, the cost is very small -// returns true if the motor is still running to the target position. -boolean AccelStepper::run() -{ - if (runSpeed()) - computeNewSpeed(); - return _speed != 0.0 || distanceToGo() != 0; -} - -AccelStepper::AccelStepper(uint8_t interface, uint8_t pin1, uint8_t pin2, uint8_t pin3, uint8_t pin4, bool enable) -{ - _interface = interface; - _currentPos = 0; - _targetPos = 0; - _speed = 0.0; - _maxSpeed = 1.0; - _acceleration = 0.0; - _sqrt_twoa = 1.0; - _stepInterval = 0; - _minPulseWidth = 1; - _enablePin = 0xff; - _lastStepTime = 0; - _pin[0] = pin1; - _pin[1] = pin2; - _pin[2] = pin3; - _pin[3] = pin4; - - // NEW - _n = 0; - _c0 = 0.0; - _cn = 0.0; - _cmin = 1.0; - _direction = DIRECTION_CCW; - - int i; - for (i = 0; i < 4; i++) - _pinInverted[i] = 0; - if (enable) - enableOutputs(); - // Some reasonable default - setAcceleration(1); -} - -AccelStepper::AccelStepper(void (*forward)(), void (*backward)()) -{ - _interface = 0; - _currentPos = 0; - _targetPos = 0; - _speed = 0.0; - _maxSpeed = 1.0; - _acceleration = 0.0; - _sqrt_twoa = 1.0; - _stepInterval = 0; - _minPulseWidth = 1; - _enablePin = 0xff; - _lastStepTime = 0; - _pin[0] = 0; - _pin[1] = 0; - _pin[2] = 0; - _pin[3] = 0; - _forward = forward; - _backward = backward; - - // NEW - _n = 0; - _c0 = 0.0; - _cn = 0.0; - _cmin = 1.0; - _direction = DIRECTION_CCW; - - int i; - for (i = 0; i < 4; i++) - _pinInverted[i] = 0; - // Some reasonable default - setAcceleration(1); -} - -void AccelStepper::setMaxSpeed(float speed) -{ - if (_maxSpeed != speed) - { - _maxSpeed = speed; - _cmin = 1000000.0 / speed; - // Recompute _n from current speed and adjust speed if accelerating or cruising - if (_n > 0) - { - _n = (long)((_speed * _speed) / (2.0 * _acceleration)); // Equation 16 - computeNewSpeed(); - } - } -} - -void AccelStepper::setAcceleration(float acceleration) -{ - if (acceleration == 0.0) - return; - if (_acceleration != acceleration) - { - // Recompute _n per Equation 17 - _n = _n * (_acceleration / acceleration); - // New c0 per Equation 7, with correction per Equation 15 - _c0 = 0.676 * sqrt(2.0 / acceleration) * 1000000.0; // Equation 15 - _acceleration = acceleration; - computeNewSpeed(); - } -} - -void AccelStepper::setSpeed(float speed) -{ - if (speed == _speed) - return; - speed = constrain(speed, -_maxSpeed, _maxSpeed); - if (speed == 0.0) - _stepInterval = 0; - else - { - _stepInterval = fabs(1000000.0 / speed); - _direction = (speed > 0.0) ? DIRECTION_CW : DIRECTION_CCW; - } - _speed = speed; -} - -float AccelStepper::speed() -{ - return _speed; -} - -// Subclasses can override -void AccelStepper::step(long step) -{ - switch (_interface) - { - case FUNCTION: - step0(step); - break; - - case DRIVER: - step1(step); - break; - - case FULL2WIRE: - step2(step); - break; - - case FULL3WIRE: - step3(step); - break; - - case FULL4WIRE: - step4(step); - break; - - case HALF3WIRE: - step6(step); - break; - - case HALF4WIRE: - step8(step); - break; - } -} - -// You might want to override this to implement eg serial output -// bit 0 of the mask corresponds to _pin[0] -// bit 1 of the mask corresponds to _pin[1] -// .... -void AccelStepper::setOutputPins(uint8_t mask) -{ - uint8_t numpins = 2; - if (_interface == FULL4WIRE || _interface == HALF4WIRE) - numpins = 4; - else if (_interface == FULL3WIRE || _interface == HALF3WIRE) - numpins = 3; - uint8_t i; - for (i = 0; i < numpins; i++) - digitalWrite(_pin[i], (mask & (1 << i)) ? (HIGH ^ _pinInverted[i]) : (LOW ^ _pinInverted[i])); -} - -// 0 pin step function (ie for functional usage) -void AccelStepper::step0(long step) -{ - if (_speed > 0) - _forward(); - else - _backward(); -} - -// 1 pin step function (ie for stepper drivers) -// This is passed the current step number (0 to 7) -// Subclasses can override -void AccelStepper::step1(long step) -{ - // _pin[0] is step, _pin[1] is direction - setOutputPins(_direction ? 0b10 : 0b00); // Set direction first else get rogue pulses - setOutputPins(_direction ? 0b11 : 0b01); // step HIGH - // Caution 200ns setup time - // Delay the minimum allowed pulse width - delayMicroseconds(_minPulseWidth); - setOutputPins(_direction ? 0b10 : 0b00); // step LOW - -} - - -// 2 pin step function -// This is passed the current step number (0 to 7) -// Subclasses can override -void AccelStepper::step2(long step) -{ - switch (step & 0x3) - { - case 0: /* 01 */ - setOutputPins(0b10); - break; - - case 1: /* 11 */ - setOutputPins(0b11); - break; - - case 2: /* 10 */ - setOutputPins(0b01); - break; - - case 3: /* 00 */ - setOutputPins(0b00); - break; - } -} -// 3 pin step function -// This is passed the current step number (0 to 7) -// Subclasses can override -void AccelStepper::step3(long step) -{ - switch (step % 3) - { - case 0: // 100 - setOutputPins(0b100); - break; - - case 1: // 001 - setOutputPins(0b001); - break; - - case 2: //010 - setOutputPins(0b010); - break; - - } -} - -// 4 pin step function for half stepper -// This is passed the current step number (0 to 7) -// Subclasses can override -void AccelStepper::step4(long step) -{ - switch (step & 0x3) - { - case 0: // 1010 - setOutputPins(0b0101); - break; - - case 1: // 0110 - setOutputPins(0b0110); - break; - - case 2: //0101 - setOutputPins(0b1010); - break; - - case 3: //1001 - setOutputPins(0b1001); - break; - } -} - -// 3 pin half step function -// This is passed the current step number (0 to 7) -// Subclasses can override -void AccelStepper::step6(long step) -{ - switch (step % 6) - { - case 0: // 100 - setOutputPins(0b100); - break; - - case 1: // 101 - setOutputPins(0b101); - break; - - case 2: // 001 - setOutputPins(0b001); - break; - - case 3: // 011 - setOutputPins(0b011); - break; - - case 4: // 010 - setOutputPins(0b010); - break; - - case 5: // 011 - setOutputPins(0b110); - break; - - } -} - -// 4 pin half step function -// This is passed the current step number (0 to 7) -// Subclasses can override -void AccelStepper::step8(long step) -{ - switch (step & 0x7) - { - case 0: // 1000 - setOutputPins(0b0001); - break; - - case 1: // 1010 - setOutputPins(0b0101); - break; - - case 2: // 0010 - setOutputPins(0b0100); - break; - - case 3: // 0110 - setOutputPins(0b0110); - break; - - case 4: // 0100 - setOutputPins(0b0010); - break; - - case 5: //0101 - setOutputPins(0b1010); - break; - - case 6: // 0001 - setOutputPins(0b1000); - break; - - case 7: //1001 - setOutputPins(0b1001); - break; - } -} - -// Prevents power consumption on the outputs -void AccelStepper::disableOutputs() -{ - if (! _interface) return; - - setOutputPins(0); // Handles inversion automatically - if (_enablePin != 0xff) - digitalWrite(_enablePin, LOW ^ _enableInverted); -} - -void AccelStepper::enableOutputs() -{ - if (! _interface) - return; - - pinMode(_pin[0], OUTPUT); - pinMode(_pin[1], OUTPUT); - if (_interface == FULL4WIRE || _interface == HALF4WIRE) - { - pinMode(_pin[2], OUTPUT); - pinMode(_pin[3], OUTPUT); - } - else if (_interface == FULL3WIRE || _interface == HALF3WIRE) - { - pinMode(_pin[2], OUTPUT); - } - - if (_enablePin != 0xff) - { - pinMode(_enablePin, OUTPUT); - digitalWrite(_enablePin, HIGH ^ _enableInverted); - } -} - -void AccelStepper::setMinPulseWidth(unsigned int minWidth) -{ - _minPulseWidth = minWidth; -} - -void AccelStepper::setEnablePin(uint8_t enablePin) -{ - _enablePin = enablePin; - - // This happens after construction, so init pin now. - if (_enablePin != 0xff) - { - pinMode(_enablePin, OUTPUT); - digitalWrite(_enablePin, HIGH ^ _enableInverted); - } -} - -void AccelStepper::setPinsInverted(bool directionInvert, bool stepInvert, bool enableInvert) -{ - _pinInverted[0] = stepInvert; - _pinInverted[1] = directionInvert; - _enableInverted = enableInvert; -} - -void AccelStepper::setPinsInverted(bool pin1Invert, bool pin2Invert, bool pin3Invert, bool pin4Invert, bool enableInvert) -{ - _pinInverted[0] = pin1Invert; - _pinInverted[1] = pin2Invert; - _pinInverted[2] = pin3Invert; - _pinInverted[3] = pin4Invert; - _enableInverted = enableInvert; -} - -// Blocks until the target position is reached and stopped -void AccelStepper::runToPosition() -{ - while (run()) - ; -} - -boolean AccelStepper::runSpeedToPosition() -{ - if (_targetPos == _currentPos) - return false; - if (_targetPos >_currentPos) - _direction = DIRECTION_CW; - else - _direction = DIRECTION_CCW; - return runSpeed(); -} - -// Blocks until the new target position is reached -void AccelStepper::runToNewPosition(long position) -{ - moveTo(position); - runToPosition(); -} - -void AccelStepper::stop() -{ - if (_speed != 0.0) - { - long stepsToStop = (long)((_speed * _speed) / (2.0 * _acceleration)) + 1; // Equation 16 (+integer rounding) - if (_speed > 0) - move(stepsToStop); - else - move(-stepsToStop); - } -} diff --git a/lib/AccelStepper/src/AccelStepper.h b/lib/AccelStepper/src/AccelStepper.h deleted file mode 100644 index 5760727..0000000 --- a/lib/AccelStepper/src/AccelStepper.h +++ /dev/null @@ -1,666 +0,0 @@ -// AccelStepper.h -// -/// \mainpage AccelStepper library for Arduino -/// -/// This is the Arduino AccelStepper library. -/// It provides an object-oriented interface for 2, 3 or 4 pin stepper motors. -/// -/// The standard Arduino IDE includes the Stepper library -/// (http://arduino.cc/en/Reference/Stepper) for stepper motors. It is -/// perfectly adequate for simple, single motor applications. -/// -/// AccelStepper significantly improves on the standard Arduino Stepper library in several ways: -/// \li Supports acceleration and deceleration -/// \li Supports multiple simultaneous steppers, with independent concurrent stepping on each stepper -/// \li API functions never delay() or block -/// \li Supports 2, 3 and 4 wire steppers, plus 3 and 4 wire half steppers. -/// \li Supports alternate stepping functions to enable support of AFMotor (https://github.com/adafruit/Adafruit-Motor-Shield-library) -/// \li Supports stepper drivers such as the Sparkfun EasyDriver (based on 3967 driver chip) -/// \li Very slow speeds are supported -/// \li Extensive API -/// \li Subclass support -/// -/// The latest version of this documentation can be downloaded from -/// http://www.airspayce.com/mikem/arduino/AccelStepper -/// The version of the package that this documentation refers to can be downloaded -/// from http://www.airspayce.com/mikem/arduino/AccelStepper/AccelStepper-1.47.zip -/// -/// Example Arduino programs are included to show the main modes of use. -/// -/// You can also find online help and discussion at http://groups.google.com/group/accelstepper -/// Please use that group for all questions and discussions on this topic. -/// Do not contact the author directly, unless it is to discuss commercial licensing. -/// Before asking a question or reporting a bug, please read http://www.catb.org/esr/faqs/smart-questions.html -/// -/// Tested on Arduino Diecimila and Mega with arduino-0018 & arduino-0021 -/// on OpenSuSE 11.1 and avr-libc-1.6.1-1.15, -/// cross-avr-binutils-2.19-9.1, cross-avr-gcc-4.1.3_20080612-26.5. -/// Tested on Teensy http://www.pjrc.com/teensy including Teensy 3.1 built using Arduino IDE 1.0.5 with -/// teensyduino addon 1.18 and later. -/// -/// \par Installation -/// -/// Install in the usual way: unzip the distribution zip file to the libraries -/// sub-folder of your sketchbook. -/// -/// \par Theory -/// -/// This code uses speed calculations as described in -/// "Generate stepper-motor speed profiles in real time" by David Austin -/// http://fab.cba.mit.edu/classes/MIT/961.09/projects/i0/Stepper_Motor_Speed_Profile.pdf -/// with the exception that AccelStepper uses steps per second rather than radians per second -/// (because we dont know the step angle of the motor) -/// An initial step interval is calculated for the first step, based on the desired acceleration -/// On subsequent steps, shorter step intervals are calculated based -/// on the previous step until max speed is achieved. -/// -/// \par Donations -/// -/// This library is offered under a free GPL license for those who want to use it that way. -/// We try hard to keep it up to date, fix bugs -/// and to provide free support. If this library has helped you save time or money, please consider donating at -/// http://www.airspayce.com or here: -/// -/// \htmlonly
\endhtmlonly -/// -/// \par Trademarks -/// -/// AccelStepper is a trademark of AirSpayce Pty Ltd. The AccelStepper mark was first used on April 26 2010 for -/// international trade, and is used only in relation to motor control hardware and software. -/// It is not to be confused with any other similar marks covering other goods and services. -/// -/// \par Copyright -/// -/// This software is Copyright (C) 2010 Mike McCauley. Use is subject to license -/// conditions. The main licensing options available are GPL V2 or Commercial: -/// -/// \par Open Source Licensing GPL V2 -/// This is the appropriate option if you want to share the source code of your -/// application with everyone you distribute it to, and you also want to give them -/// the right to share who uses it. If you wish to use this software under Open -/// Source Licensing, you must contribute all your source code to the open source -/// community in accordance with the GPL Version 2 when your application is -/// distributed. See http://www.gnu.org/copyleft/gpl.html -/// -/// \par Commercial Licensing -/// This is the appropriate option if you are creating proprietary applications -/// and you are not prepared to distribute and share the source code of your -/// application. Contact info@airspayce.com for details. -/// -/// \par Revision History -/// \version 1.0 Initial release -/// -/// \version 1.1 Added speed() function to get the current speed. -/// \version 1.2 Added runSpeedToPosition() submitted by Gunnar Arndt. -/// \version 1.3 Added support for stepper drivers (ie with Step and Direction inputs) with _pins == 1 -/// \version 1.4 Added functional contructor to support AFMotor, contributed by Limor, with example sketches. -/// \version 1.5 Improvements contributed by Peter Mousley: Use of microsecond steps and other speed improvements -/// to increase max stepping speed to about 4kHz. New option for user to set the min allowed pulse width. -/// Added checks for already running at max speed and skip further calcs if so. -/// \version 1.6 Fixed a problem with wrapping of microsecond stepping that could cause stepping to hang. -/// Reported by Sandy Noble. -/// Removed redundant _lastRunTime member. -/// \version 1.7 Fixed a bug where setCurrentPosition() did not always work as expected. -/// Reported by Peter Linhart. -/// \version 1.8 Added support for 4 pin half-steppers, requested by Harvey Moon -/// \version 1.9 setCurrentPosition() now also sets motor speed to 0. -/// \version 1.10 Builds on Arduino 1.0 -/// \version 1.11 Improvments from Michael Ellison: -/// Added optional enable line support for stepper drivers -/// Added inversion for step/direction/enable lines for stepper drivers -/// \version 1.12 Announce Google Group -/// \version 1.13 Improvements to speed calculation. Cost of calculation is now less in the worst case, -/// and more or less constant in all cases. This should result in slightly beter high speed performance, and -/// reduce anomalous speed glitches when other steppers are accelerating. -/// However, its hard to see how to replace the sqrt() required at the very first step from 0 speed. -/// \version 1.14 Fixed a problem with compiling under arduino 0021 reported by EmbeddedMan -/// \version 1.15 Fixed a problem with runSpeedToPosition which did not correctly handle -/// running backwards to a smaller target position. Added examples -/// \version 1.16 Fixed some cases in the code where abs() was used instead of fabs(). -/// \version 1.17 Added example ProportionalControl -/// \version 1.18 Fixed a problem: If one calls the funcion runSpeed() when Speed is zero, it makes steps -/// without counting. reported by Friedrich, Klappenbach. -/// \version 1.19 Added MotorInterfaceType and symbolic names for the number of pins to use -/// for the motor interface. Updated examples to suit. -/// Replaced individual pin assignment variables _pin1, _pin2 etc with array _pin[4]. -/// _pins member changed to _interface. -/// Added _pinInverted array to simplify pin inversion operations. -/// Added new function setOutputPins() which sets the motor output pins. -/// It can be overridden in order to provide, say, serial output instead of parallel output -/// Some refactoring and code size reduction. -/// \version 1.20 Improved documentation and examples to show need for correctly -/// specifying AccelStepper::FULL4WIRE and friends. -/// \version 1.21 Fixed a problem where desiredSpeed could compute the wrong step acceleration -/// when _speed was small but non-zero. Reported by Brian Schmalz. -/// Precompute sqrt_twoa to improve performance and max possible stepping speed -/// \version 1.22 Added Bounce.pde example -/// Fixed a problem where calling moveTo(), setMaxSpeed(), setAcceleration() more -/// frequently than the step time, even -/// with the same values, would interfere with speed calcs. Now a new speed is computed -/// only if there was a change in the set value. Reported by Brian Schmalz. -/// \version 1.23 Rewrite of the speed algorithms in line with -/// http://fab.cba.mit.edu/classes/MIT/961.09/projects/i0/Stepper_Motor_Speed_Profile.pdf -/// Now expect smoother and more linear accelerations and decelerations. The desiredSpeed() -/// function was removed. -/// \version 1.24 Fixed a problem introduced in 1.23: with runToPosition, which did never returned -/// \version 1.25 Now ignore attempts to set acceleration to 0.0 -/// \version 1.26 Fixed a problem where certina combinations of speed and accelration could cause -/// oscillation about the target position. -/// \version 1.27 Added stop() function to stop as fast as possible with current acceleration parameters. -/// Also added new Quickstop example showing its use. -/// \version 1.28 Fixed another problem where certain combinations of speed and accelration could cause -/// oscillation about the target position. -/// Added support for 3 wire full and half steppers such as Hard Disk Drive spindle. -/// Contributed by Yuri Ivatchkovitch. -/// \version 1.29 Fixed a problem that could cause a DRIVER stepper to continually step -/// with some sketches. Reported by Vadim. -/// \version 1.30 Fixed a problem that could cause stepper to back up a few steps at the end of -/// accelerated travel with certain speeds. Reported and patched by jolo. -/// \version 1.31 Updated author and distribution location details to airspayce.com -/// \version 1.32 Fixed a problem with enableOutputs() and setEnablePin on Arduino Due that -/// prevented the enable pin changing stae correctly. Reported by Duane Bishop. -/// \version 1.33 Fixed an error in example AFMotor_ConstantSpeed.pde did not setMaxSpeed(); -/// Fixed a problem that caused incorrect pin sequencing of FULL3WIRE and HALF3WIRE. -/// Unfortunately this meant changing the signature for all step*() functions. -/// Added example MotorShield, showing how to use AdaFruit Motor Shield to control -/// a 3 phase motor such as a HDD spindle motor (and without using the AFMotor library. -/// \version 1.34 Added setPinsInverted(bool pin1Invert, bool pin2Invert, bool pin3Invert, bool pin4Invert, bool enableInvert) -/// to allow inversion of 2, 3 and 4 wire stepper pins. Requested by Oleg. -/// \version 1.35 Removed default args from setPinsInverted(bool, bool, bool, bool, bool) to prevent ambiguity with -/// setPinsInverted(bool, bool, bool). Reported by Mac Mac. -/// \version 1.36 Changed enableOutputs() and disableOutputs() to be virtual so can be overridden. -/// Added new optional argument 'enable' to constructor, which allows you toi disable the -/// automatic enabling of outputs at construction time. Suggested by Guido. -/// \version 1.37 Fixed a problem with step1 that could cause a rogue step in the -/// wrong direction (or not, -/// depending on the setup-time requirements of the connected hardware). -/// Reported by Mark Tillotson. -/// \version 1.38 run() function incorrectly always returned true. Updated function and doc so it returns true -/// if the motor is still running to the target position. -/// \version 1.39 Updated typos in keywords.txt, courtesey Jon Magill. -/// \version 1.40 Updated documentation, including testing on Teensy 3.1 -/// \version 1.41 Fixed an error in the acceleration calculations, resulting in acceleration of haldf the intended value -/// \version 1.42 Improved support for FULL3WIRE and HALF3WIRE output pins. These changes were in Yuri's original -/// contribution but did not make it into production.
-/// \version 1.43 Added DualMotorShield example. Shows how to use AccelStepper to control 2 x 2 phase steppers using the -/// Itead Studio Arduino Dual Stepper Motor Driver Shield model IM120417015.
-/// \version 1.44 examples/DualMotorShield/DualMotorShield.ino examples/DualMotorShield/DualMotorShield.pde -/// was missing from the distribution.
-/// \version 1.45 Fixed a problem where if setAcceleration was not called, there was no default -/// acceleration. Reported by Michael Newman.
-/// \version 1.45 Fixed inaccuracy in acceleration rate by using Equation 15, suggested by Sebastian Gracki.
-/// Performance improvements in runSpeed suggested by Jaakko Fagerlund.
-/// \version 1.46 Fixed error in documentation for runToPosition(). -/// Reinstated time calculations in runSpeed() since new version is reported -/// not to work correctly under some circumstances. Reported by Oleg V Gavva.
- -/// -/// \author Mike McCauley (mikem@airspayce.com) DO NOT CONTACT THE AUTHOR DIRECTLY: USE THE LISTS -// Copyright (C) 2009-2013 Mike McCauley -// $Id: AccelStepper.h,v 1.21 2014/10/31 06:05:30 mikem Exp mikem $ - -#ifndef AccelStepper_h -#define AccelStepper_h - -#include -#if ARDUINO >= 100 -#include -#else -#include -#include -#endif - -// These defs cause trouble on some versions of Arduino -#undef round - -///////////////////////////////////////////////////////////////////// -/// \class AccelStepper AccelStepper.h -/// \brief Support for stepper motors with acceleration etc. -/// -/// This defines a single 2 or 4 pin stepper motor, or stepper moter with fdriver chip, with optional -/// acceleration, deceleration, absolute positioning commands etc. Multiple -/// simultaneous steppers are supported, all moving -/// at different speeds and accelerations. -/// -/// \par Operation -/// This module operates by computing a step time in microseconds. The step -/// time is recomputed after each step and after speed and acceleration -/// parameters are changed by the caller. The time of each step is recorded in -/// microseconds. The run() function steps the motor once if a new step is due. -/// The run() function must be called frequently until the motor is in the -/// desired position, after which time run() will do nothing. -/// -/// \par Positioning -/// Positions are specified by a signed long integer. At -/// construction time, the current position of the motor is consider to be 0. Positive -/// positions are clockwise from the initial position; negative positions are -/// anticlockwise. The current position can be altered for instance after -/// initialization positioning. -/// -/// \par Caveats -/// This is an open loop controller: If the motor stalls or is oversped, -/// AccelStepper will not have a correct -/// idea of where the motor really is (since there is no feedback of the motor's -/// real position. We only know where we _think_ it is, relative to the -/// initial starting point). -/// -/// \par Performance -/// The fastest motor speed that can be reliably supported is about 4000 steps per -/// second at a clock frequency of 16 MHz on Arduino such as Uno etc. -/// Faster processors can support faster stepping speeds. -/// However, any speed less than that -/// down to very slow speeds (much less than one per second) are also supported, -/// provided the run() function is called frequently enough to step the motor -/// whenever required for the speed set. -/// Calling setAcceleration() is expensive, -/// since it requires a square root to be calculated. -class AccelStepper -{ -public: - /// \brief Symbolic names for number of pins. - /// Use this in the pins argument the AccelStepper constructor to - /// provide a symbolic name for the number of pins - /// to use. - typedef enum - { - FUNCTION = 0, ///< Use the functional interface, implementing your own driver functions (internal use only) - DRIVER = 1, ///< Stepper Driver, 2 driver pins required - FULL2WIRE = 2, ///< 2 wire stepper, 2 motor pins required - FULL3WIRE = 3, ///< 3 wire stepper, such as HDD spindle, 3 motor pins required - FULL4WIRE = 4, ///< 4 wire full stepper, 4 motor pins required - HALF3WIRE = 6, ///< 3 wire half stepper, such as HDD spindle, 3 motor pins required - HALF4WIRE = 8 ///< 4 wire half stepper, 4 motor pins required - } MotorInterfaceType; - - /// Constructor. You can have multiple simultaneous steppers, all moving - /// at different speeds and accelerations, provided you call their run() - /// functions at frequent enough intervals. Current Position is set to 0, target - /// position is set to 0. MaxSpeed and Acceleration default to 1.0. - /// The motor pins will be initialised to OUTPUT mode during the - /// constructor by a call to enableOutputs(). - /// \param[in] interface Number of pins to interface to. 1, 2, 4 or 8 are - /// supported, but it is preferred to use the \ref MotorInterfaceType symbolic names. - /// AccelStepper::DRIVER (1) means a stepper driver (with Step and Direction pins). - /// If an enable line is also needed, call setEnablePin() after construction. - /// You may also invert the pins using setPinsInverted(). - /// AccelStepper::FULL2WIRE (2) means a 2 wire stepper (2 pins required). - /// AccelStepper::FULL3WIRE (3) means a 3 wire stepper, such as HDD spindle (3 pins required). - /// AccelStepper::FULL4WIRE (4) means a 4 wire stepper (4 pins required). - /// AccelStepper::HALF3WIRE (6) means a 3 wire half stepper, such as HDD spindle (3 pins required) - /// AccelStepper::HALF4WIRE (8) means a 4 wire half stepper (4 pins required) - /// Defaults to AccelStepper::FULL4WIRE (4) pins. - /// \param[in] pin1 Arduino digital pin number for motor pin 1. Defaults - /// to pin 2. For a AccelStepper::DRIVER (interface==1), - /// this is the Step input to the driver. Low to high transition means to step) - /// \param[in] pin2 Arduino digital pin number for motor pin 2. Defaults - /// to pin 3. For a AccelStepper::DRIVER (interface==1), - /// this is the Direction input the driver. High means forward. - /// \param[in] pin3 Arduino digital pin number for motor pin 3. Defaults - /// to pin 4. - /// \param[in] pin4 Arduino digital pin number for motor pin 4. Defaults - /// to pin 5. - /// \param[in] enable If this is true (the default), enableOutputs() will be called to enable - /// the output pins at construction time. - AccelStepper(uint8_t interface = AccelStepper::FULL4WIRE, uint8_t pin1 = 2, uint8_t pin2 = 3, uint8_t pin3 = 4, uint8_t pin4 = 5, bool enable = true); - - /// Alternate Constructor which will call your own functions for forward and backward steps. - /// You can have multiple simultaneous steppers, all moving - /// at different speeds and accelerations, provided you call their run() - /// functions at frequent enough intervals. Current Position is set to 0, target - /// position is set to 0. MaxSpeed and Acceleration default to 1.0. - /// Any motor initialization should happen before hand, no pins are used or initialized. - /// \param[in] forward void-returning procedure that will make a forward step - /// \param[in] backward void-returning procedure that will make a backward step - AccelStepper(void (*forward)(), void (*backward)()); - - /// Set the target position. The run() function will try to move the motor (at most one step per call) - /// from the current position to the target position set by the most - /// recent call to this function. Caution: moveTo() also recalculates the speed for the next step. - /// If you are trying to use constant speed movements, you should call setSpeed() after calling moveTo(). - /// \param[in] absolute The desired absolute position. Negative is - /// anticlockwise from the 0 position. - void moveTo(long absolute); - - /// Set the target position relative to the current position - /// \param[in] relative The desired position relative to the current position. Negative is - /// anticlockwise from the current position. - void move(long relative); - - /// Poll the motor and step it if a step is due, implementing - /// accelerations and decelerations to acheive the target position. You must call this as - /// frequently as possible, but at least once per minimum step time interval, - /// preferably in your main loop. Note that each call to run() will make at most one step, and then only when a step is due, - /// based on the current speed and the time since the last step. - /// \return true if the motor is still running to the target position. - boolean run(); - - /// Poll the motor and step it if a step is due, implementing a constant - /// speed as set by the most recent call to setSpeed(). You must call this as - /// frequently as possible, but at least once per step interval, - /// \return true if the motor was stepped. - boolean runSpeed(); - - /// Sets the maximum permitted speed. The run() function will accelerate - /// up to the speed set by this function. - /// Caution: the maximum speed achievable depends on your processor and clock speed. - /// \param[in] speed The desired maximum speed in steps per second. Must - /// be > 0. Caution: Speeds that exceed the maximum speed supported by the processor may - /// Result in non-linear accelerations and decelerations. - void setMaxSpeed(float speed); - - /// Sets the acceleration/deceleration rate. - /// \param[in] acceleration The desired acceleration in steps per second - /// per second. Must be > 0.0. This is an expensive call since it requires a square - /// root to be calculated. Dont call more ofthen than needed - void setAcceleration(float acceleration); - - /// Sets the desired constant speed for use with runSpeed(). - /// \param[in] speed The desired constant speed in steps per - /// second. Positive is clockwise. Speeds of more than 1000 steps per - /// second are unreliable. Very slow speeds may be set (eg 0.00027777 for - /// once per hour, approximately. Speed accuracy depends on the Arduino - /// crystal. Jitter depends on how frequently you call the runSpeed() function. - void setSpeed(float speed); - - /// The most recently set speed - /// \return the most recent speed in steps per second - float speed(); - - /// The distance from the current position to the target position. - /// \return the distance from the current position to the target position - /// in steps. Positive is clockwise from the current position. - long distanceToGo(); - - /// The most recently set target position. - /// \return the target position - /// in steps. Positive is clockwise from the 0 position. - long targetPosition(); - - /// The currently motor position. - /// \return the current motor position - /// in steps. Positive is clockwise from the 0 position. - long currentPosition(); - - /// Resets the current position of the motor, so that wherever the motor - /// happens to be right now is considered to be the new 0 position. Useful - /// for setting a zero position on a stepper after an initial hardware - /// positioning move. - /// Has the side effect of setting the current motor speed to 0. - /// \param[in] position The position in steps of wherever the motor - /// happens to be right now. - void setCurrentPosition(long position); - - /// Moves the motor (with acceleration/deceleration) - /// to the target position and blocks until it is at - /// position. Dont use this in event loops, since it blocks. - void runToPosition(); - - /// Runs at the currently selected speed until the target position is reached - /// Does not implement accelerations. - /// \return true if it stepped - boolean runSpeedToPosition(); - - /// Moves the motor (with acceleration/deceleration) - /// to the new target position and blocks until it is at - /// position. Dont use this in event loops, since it blocks. - /// \param[in] position The new target position. - void runToNewPosition(long position); - - /// Sets a new target position that causes the stepper - /// to stop as quickly as possible, using the current speed and acceleration parameters. - void stop(); - - /// Disable motor pin outputs by setting them all LOW - /// Depending on the design of your electronics this may turn off - /// the power to the motor coils, saving power. - /// This is useful to support Arduino low power modes: disable the outputs - /// during sleep and then reenable with enableOutputs() before stepping - /// again. - virtual void disableOutputs(); - - /// Enable motor pin outputs by setting the motor pins to OUTPUT - /// mode. Called automatically by the constructor. - virtual void enableOutputs(); - - /// Sets the minimum pulse width allowed by the stepper driver. The minimum practical pulse width is - /// approximately 20 microseconds. Times less than 20 microseconds - /// will usually result in 20 microseconds or so. - /// \param[in] minWidth The minimum pulse width in microseconds. - void setMinPulseWidth(unsigned int minWidth); - - /// Sets the enable pin number for stepper drivers. - /// 0xFF indicates unused (default). - /// Otherwise, if a pin is set, the pin will be turned on when - /// enableOutputs() is called and switched off when disableOutputs() - /// is called. - /// \param[in] enablePin Arduino digital pin number for motor enable - /// \sa setPinsInverted - void setEnablePin(uint8_t enablePin = 0xff); - - /// Sets the inversion for stepper driver pins - /// \param[in] directionInvert True for inverted direction pin, false for non-inverted - /// \param[in] stepInvert True for inverted step pin, false for non-inverted - /// \param[in] enableInvert True for inverted enable pin, false (default) for non-inverted - void setPinsInverted(bool directionInvert = false, bool stepInvert = false, bool enableInvert = false); - - /// Sets the inversion for 2, 3 and 4 wire stepper pins - /// \param[in] pin1Invert True for inverted pin1, false for non-inverted - /// \param[in] pin2Invert True for inverted pin2, false for non-inverted - /// \param[in] pin3Invert True for inverted pin3, false for non-inverted - /// \param[in] pin4Invert True for inverted pin4, false for non-inverted - /// \param[in] enableInvert True for inverted enable pin, false (default) for non-inverted - void setPinsInverted(bool pin1Invert, bool pin2Invert, bool pin3Invert, bool pin4Invert, bool enableInvert); - -protected: - - /// \brief Direction indicator - /// Symbolic names for the direction the motor is turning - typedef enum - { - DIRECTION_CCW = 0, ///< Clockwise - DIRECTION_CW = 1 ///< Counter-Clockwise - } Direction; - - /// Forces the library to compute a new instantaneous speed and set that as - /// the current speed. It is called by - /// the library: - /// \li after each step - /// \li after change to maxSpeed through setMaxSpeed() - /// \li after change to acceleration through setAcceleration() - /// \li after change to target position (relative or absolute) through - /// move() or moveTo() - void computeNewSpeed(); - - /// Low level function to set the motor output pins - /// bit 0 of the mask corresponds to _pin[0] - /// bit 1 of the mask corresponds to _pin[1] - /// You can override this to impment, for example serial chip output insted of using the - /// output pins directly - virtual void setOutputPins(uint8_t mask); - - /// Called to execute a step. Only called when a new step is - /// required. Subclasses may override to implement new stepping - /// interfaces. The default calls step1(), step2(), step4() or step8() depending on the - /// number of pins defined for the stepper. - /// \param[in] step The current step phase number (0 to 7) - virtual void step(long step); - - /// Called to execute a step using stepper functions (pins = 0) Only called when a new step is - /// required. Calls _forward() or _backward() to perform the step - /// \param[in] step The current step phase number (0 to 7) - virtual void step0(long step); - - /// Called to execute a step on a stepper driver (ie where pins == 1). Only called when a new step is - /// required. Subclasses may override to implement new stepping - /// interfaces. The default sets or clears the outputs of Step pin1 to step, - /// and sets the output of _pin2 to the desired direction. The Step pin (_pin1) is pulsed for 1 microsecond - /// which is the minimum STEP pulse width for the 3967 driver. - /// \param[in] step The current step phase number (0 to 7) - virtual void step1(long step); - - /// Called to execute a step on a 2 pin motor. Only called when a new step is - /// required. Subclasses may override to implement new stepping - /// interfaces. The default sets or clears the outputs of pin1 and pin2 - /// \param[in] step The current step phase number (0 to 7) - virtual void step2(long step); - - /// Called to execute a step on a 3 pin motor, such as HDD spindle. Only called when a new step is - /// required. Subclasses may override to implement new stepping - /// interfaces. The default sets or clears the outputs of pin1, pin2, - /// pin3 - /// \param[in] step The current step phase number (0 to 7) - virtual void step3(long step); - - /// Called to execute a step on a 4 pin motor. Only called when a new step is - /// required. Subclasses may override to implement new stepping - /// interfaces. The default sets or clears the outputs of pin1, pin2, - /// pin3, pin4. - /// \param[in] step The current step phase number (0 to 7) - virtual void step4(long step); - - /// Called to execute a step on a 3 pin motor, such as HDD spindle. Only called when a new step is - /// required. Subclasses may override to implement new stepping - /// interfaces. The default sets or clears the outputs of pin1, pin2, - /// pin3 - /// \param[in] step The current step phase number (0 to 7) - virtual void step6(long step); - - /// Called to execute a step on a 4 pin half-steper motor. Only called when a new step is - /// required. Subclasses may override to implement new stepping - /// interfaces. The default sets or clears the outputs of pin1, pin2, - /// pin3, pin4. - /// \param[in] step The current step phase number (0 to 7) - virtual void step8(long step); - -private: - /// Number of pins on the stepper motor. Permits 2 or 4. 2 pins is a - /// bipolar, and 4 pins is a unipolar. - uint8_t _interface; // 0, 1, 2, 4, 8, See MotorInterfaceType - - /// Arduino pin number assignments for the 2 or 4 pins required to interface to the - /// stepper motor or driver - uint8_t _pin[4]; - - /// Whether the _pins is inverted or not - uint8_t _pinInverted[4]; - - /// The current absolution position in steps. - long _currentPos; // Steps - - /// The target position in steps. The AccelStepper library will move the - /// motor from the _currentPos to the _targetPos, taking into account the - /// max speed, acceleration and deceleration - long _targetPos; // Steps - - /// The current motos speed in steps per second - /// Positive is clockwise - float _speed; // Steps per second - - /// The maximum permitted speed in steps per second. Must be > 0. - float _maxSpeed; - - /// The acceleration to use to accelerate or decelerate the motor in steps - /// per second per second. Must be > 0 - float _acceleration; - float _sqrt_twoa; // Precomputed sqrt(2*_acceleration) - - /// The current interval between steps in microseconds. - /// 0 means the motor is currently stopped with _speed == 0 - unsigned long _stepInterval; - - /// The last step time in microseconds - unsigned long _lastStepTime; - - /// The minimum allowed pulse width in microseconds - unsigned int _minPulseWidth; - - /// Is the direction pin inverted? - ///bool _dirInverted; /// Moved to _pinInverted[1] - - /// Is the step pin inverted? - ///bool _stepInverted; /// Moved to _pinInverted[0] - - /// Is the enable pin inverted? - bool _enableInverted; - - /// Enable pin for stepper driver, or 0xFF if unused. - uint8_t _enablePin; - - /// The pointer to a forward-step procedure - void (*_forward)(); - - /// The pointer to a backward-step procedure - void (*_backward)(); - - /// The step counter for speed calculations - long _n; - - /// Initial step size in microseconds - float _c0; - - /// Last step size in microseconds - float _cn; - - /// Min step size in microseconds based on maxSpeed - float _cmin; // at max speed - - /// Current direction motor is spinning in - boolean _direction; // 1 == CW - -}; - -/// @example Random.pde -/// Make a single stepper perform random changes in speed, position and acceleration - -/// @example Overshoot.pde -/// Check overshoot handling -/// which sets a new target position and then waits until the stepper has -/// achieved it. This is used for testing the handling of overshoots - -/// @example MultiStepper.pde -/// Shows how to multiple simultaneous steppers -/// Runs one stepper forwards and backwards, accelerating and decelerating -/// at the limits. Runs other steppers at the same time - -/// @example ConstantSpeed.pde -/// Shows how to run AccelStepper in the simplest, -/// fixed speed mode with no accelerations - -/// @example Blocking.pde -/// Shows how to use the blocking call runToNewPosition -/// Which sets a new target position and then waits until the stepper has -/// achieved it. - -/// @example AFMotor_MultiStepper.pde -/// Control both Stepper motors at the same time with different speeds -/// and accelerations. - -/// @example AFMotor_ConstantSpeed.pde -/// Shows how to run AccelStepper in the simplest, -/// fixed speed mode with no accelerations - -/// @example ProportionalControl.pde -/// Make a single stepper follow the analog value read from a pot or whatever -/// The stepper will move at a constant speed to each newly set posiiton, -/// depending on the value of the pot. - -/// @example Bounce.pde -/// Make a single stepper bounce from one limit to another, observing -/// accelrations at each end of travel - -/// @example Quickstop.pde -/// Check stop handling. -/// Calls stop() while the stepper is travelling at full speed, causing -/// the stepper to stop as quickly as possible, within the constraints of the -/// current acceleration. - -/// @example MotorShield.pde -/// Shows how to use AccelStepper to control a 3-phase motor, such as a HDD spindle motor -/// using the Adafruit Motor Shield http://www.ladyada.net/make/mshield/index.html. - -/// @example DualMotorShield.pde -/// Shows how to use AccelStepper to control 2 x 2 phase steppers using the -/// Itead Studio Arduino Dual Stepper Motor Driver Shield -/// model IM120417015 - -#endif diff --git a/platformio.ini b/platformio.ini index be20c1f..b059e7d 100644 --- a/platformio.ini +++ b/platformio.ini @@ -18,3 +18,4 @@ upload_port = /dev/ttyUSB* lib_deps = madhephaestus/ESP32Servo@^3.0.6 bblanchon/ArduinoJson@^6.21.5 + gin66/FastAccelStepper@^0.33.13 diff --git a/src/Helper_Functions.cpp b/src/Helper_Functions.cpp new file mode 100644 index 0000000..59e367a --- /dev/null +++ b/src/Helper_Functions.cpp @@ -0,0 +1,190 @@ +#include "EggDuino.h" + +void initHardware() +{ + if (!initConfigStore()) + { + penUpPos = 5; + penDownPos = 20; + } + penState = penUpPos; + + g_stepEngine.init(); + g_pStepperRotate = g_stepEngine.stepperConnectToPin(step1); + if (g_pStepperRotate) + { + // rotMotor.setMaxSpeed(2000.0); + // rotMotor.setAcceleration(10000.0); + + g_pStepperRotate->setDirectionPin(dir1); + g_pStepperRotate->setEnablePin(enableRotMotor); + g_pStepperRotate->setAcceleration(10000); + g_pStepperRotate->setAutoEnable(false); + } + + // Stepper pen init + g_pStepperPen = g_stepEngine.stepperConnectToPin(step2); + if (g_pStepperPen) + { + // penMotor.setMaxSpeed(2000.0); + // penMotor.setAcceleration(10000.0); + g_pStepperPen->setDirectionPin(dir2); + g_pStepperPen->setEnablePin(enablePenMotor); + g_pStepperPen->setAcceleration(10000); + g_pStepperPen->setAutoEnable(false); + } + + motorsOff(); + penServo.attach(servoPin); + penServo.write(penState); +} + +void storePenUpPosInEE() +{ + saveConfigToFile(); +} + +void storePenDownPosInEE() +{ + saveConfigToFile(); +} + +void sendAck() +{ + Serial.print("OK\r\n"); +} + +void sendError() +{ + Serial.print("unknown CMD\r\n"); +} + +void motorsOff() +{ + // digitalWrite(enableRotMotor, HIGH); + // digitalWrite(enablePenMotor, HIGH); + g_pStepperPen->disableOutputs(); + g_pStepperRotate->disableOutputs(); + motorsEnabled = 0; +} + +void motorsOn() +{ + // digitalWrite(enableRotMotor, LOW) ; + // digitalWrite(enablePenMotor, LOW) ; + g_pStepperPen->enableOutputs(); + g_pStepperRotate->enableOutputs(); + motorsEnabled = 1; +} + +void toggleMotors() +{ + if (motorsEnabled) + { + motorsOff(); + } + else + { + motorsOn(); + } +} + +bool parseSMArgs(uint16_t *duration, int *penStepsEBB, int *rotStepsEBB) +{ + char *arg1; + char *arg2; + char *arg3; + arg1 = SCmd.next(); + if (arg1 != NULL) + { + *duration = atoi(arg1); + arg2 = SCmd.next(); + } + if (arg2 != NULL) + { + *penStepsEBB = atoi(arg2); + arg3 = SCmd.next(); + } + if (arg3 != NULL) + { + *rotStepsEBB = atoi(arg3); + + return true; + } + + return false; +} + +void prepareMove(uint16_t duration, int penStepsEBB, int rotStepsEBB) +{ + if (!motorsEnabled) + { + motorsOn(); + } + if ((1 == rotStepCorrection) && (1 == penStepCorrection)) + { // if coordinatessystems are identical + // set Coordinates and Speed + // rotMotor.move(rotStepsEBB); + // rotMotor.setSpeed(abs((float)rotStepsEBB * (float)1000 / (float)duration)); + g_pStepperRotate->move(rotStepsEBB); + g_pStepperRotate->setSpeedInTicks(abs((float)rotStepsEBB * (float)1000 / (float)duration)); + + // penMotor.move(penStepsEBB); + // penMotor.setSpeed(abs((float)penStepsEBB * (float)1000 / (float)duration)); + g_pStepperPen->move(penStepsEBB); + g_pStepperRotate->setSpeedInTicks(abs((float)penStepsEBB * (float)1000 / (float)duration)); + } + else + { + // incoming EBB-Steps will be multiplied by 16, then Integer-maths is done, result will be divided by 16 + // This make thinks here really complicated, but floating point-math kills performance and memory, believe me... I tried... + long rotSteps = ((long)rotStepsEBB * 16 / rotStepCorrection) + (long)rotStepError; // correct incoming EBB-Steps to our microstep-Setting and multiply by 16 to avoid floatingpoint... + long penSteps = ((long)penStepsEBB * 16 / penStepCorrection) + (long)penStepError; + + int rotStepsToGo = (int)(rotSteps / 16); // Calc Steps to go, which are possible on our machine + int penStepsToGo = (int)(penSteps / 16); + + rotStepError = (long)rotSteps - ((long)rotStepsToGo * (long)16); // calc Position-Error, if there is one + penStepError = (long)penSteps - ((long)penStepsToGo * (long)16); + + long temp_rotSpeed = ((long)rotStepsToGo * (long)1000 / (long)duration); // calc Speed in Integer Math + long temp_penSpeed = ((long)penStepsToGo * (long)1000 / (long)duration); + + float rotSpeed = (float)abs(temp_rotSpeed); // type cast + float penSpeed = (float)abs(temp_penSpeed); + + // set Coordinates and Speed + // rotMotor.move(rotStepsToGo); // finally, let us set the target position... + // rotMotor.setSpeed(rotSpeed); // and the Speed! + g_pStepperRotate->move(rotStepsToGo); + g_pStepperRotate->setSpeedInTicks(rotSpeed); + + // penMotor.move(penStepsToGo); + // penMotor.setSpeed(penSpeed); + g_pStepperPen->move(penStepsToGo); + g_pStepperRotate->setSpeedInTicks(penSpeed); + } +} + +void moveOneStep() +{ + // if (penMotor.distanceToGo() || rotMotor.distanceToGo()) + // { + // penMotor.runSpeedToPosition(); // Moving.... moving... moving.... + // rotMotor.runSpeedToPosition(); + // } +} + +void moveToDestination() +{ + // while (penMotor.distanceToGo() || rotMotor.distanceToGo()) + // { + // penMotor.runSpeedToPosition(); // Moving.... moving... moving.... + // rotMotor.runSpeedToPosition(); + // } +} + +void setprgButtonState() +{ + prgButtonState = 1; +} diff --git a/src/Helper_Functions.xcpp b/src/Helper_Functions.xcpp deleted file mode 100644 index 03b546b..0000000 --- a/src/Helper_Functions.xcpp +++ /dev/null @@ -1,132 +0,0 @@ -#include "EggDuino.h" - -void initHardware(){ - if (!initConfigStore()) { - penUpPos = 5; - penDownPos = 20; - } - penState = penUpPos; - - pinMode(enableRotMotor, OUTPUT); - pinMode(enablePenMotor, OUTPUT); - - rotMotor.setMaxSpeed(2000.0); - rotMotor.setAcceleration(10000.0); - penMotor.setMaxSpeed(2000.0); - penMotor.setAcceleration(10000.0); - motorsOff(); - penServo.attach(servoPin); - penServo.write(penState); -} - -void storePenUpPosInEE() { - saveConfigToFile(); -} - -void storePenDownPosInEE() { - saveConfigToFile(); -} - -void sendAck(){ - Serial.print("OK\r\n"); -} - -void sendError(){ - Serial.print("unknown CMD\r\n"); -} - -void motorsOff() { - digitalWrite(enableRotMotor, HIGH); - digitalWrite(enablePenMotor, HIGH); - motorsEnabled = 0; -} - -void motorsOn() { - digitalWrite(enableRotMotor, LOW) ; - digitalWrite(enablePenMotor, LOW) ; - motorsEnabled = 1; -} - -void toggleMotors() { - if (motorsEnabled) { - motorsOff(); - } else { - motorsOn(); - } -} - -bool parseSMArgs(uint16_t *duration, int *penStepsEBB, int *rotStepsEBB) { - char *arg1; - char *arg2; - char *arg3; - arg1 = SCmd.next(); - if (arg1 != NULL) { - *duration = atoi(arg1); - arg2 = SCmd.next(); - } - if (arg2 != NULL) { - *penStepsEBB = atoi(arg2); - arg3 = SCmd.next(); - } - if (arg3 != NULL) { - *rotStepsEBB = atoi(arg3); - - return true; - } - - return false; -} - -void prepareMove(uint16_t duration, int penStepsEBB, int rotStepsEBB) { - if (!motorsEnabled) { - motorsOn(); - } - if( (1 == rotStepCorrection) && (1 == penStepCorrection) ){ // if coordinatessystems are identical - //set Coordinates and Speed - rotMotor.move(rotStepsEBB); - rotMotor.setSpeed( abs( (float)rotStepsEBB * (float)1000 / (float)duration ) ); - penMotor.move(penStepsEBB); - penMotor.setSpeed( abs( (float)penStepsEBB * (float)1000 / (float)duration ) ); - } else { - //incoming EBB-Steps will be multiplied by 16, then Integer-maths is done, result will be divided by 16 - // This make thinks here really complicated, but floating point-math kills performance and memory, believe me... I tried... - long rotSteps = ( (long)rotStepsEBB * 16 / rotStepCorrection) + (long)rotStepError; //correct incoming EBB-Steps to our microstep-Setting and multiply by 16 to avoid floatingpoint... - long penSteps = ( (long)penStepsEBB * 16 / penStepCorrection) + (long)penStepError; - - int rotStepsToGo = (int) (rotSteps/16); //Calc Steps to go, which are possible on our machine - int penStepsToGo = (int) (penSteps/16); - - rotStepError = (long)rotSteps - ((long) rotStepsToGo * (long)16); // calc Position-Error, if there is one - penStepError = (long)penSteps - ((long) penStepsToGo * (long)16); - - long temp_rotSpeed = ((long)rotStepsToGo * (long)1000 / (long)duration ); // calc Speed in Integer Math - long temp_penSpeed = ((long)penStepsToGo * (long)1000 / (long)duration ) ; - - float rotSpeed= (float) abs(temp_rotSpeed); // type cast - float penSpeed= (float) abs(temp_penSpeed); - - //set Coordinates and Speed - rotMotor.move(rotStepsToGo); // finally, let us set the target position... - rotMotor.setSpeed(rotSpeed); // and the Speed! - penMotor.move(penStepsToGo); - penMotor.setSpeed( penSpeed ); - } -} - -void moveOneStep() { - if ( penMotor.distanceToGo() || rotMotor.distanceToGo() ) { - penMotor.runSpeedToPosition(); // Moving.... moving... moving.... - rotMotor.runSpeedToPosition(); - } -} - -void moveToDestination() { - while ( penMotor.distanceToGo() || rotMotor.distanceToGo() ) { - penMotor.runSpeedToPosition(); // Moving.... moving... moving.... - rotMotor.runSpeedToPosition(); - } -} - -void setprgButtonState(){ - prgButtonState = 1; -} diff --git a/src/main.cpp b/src/main.cpp index 9a6efd3..fe34992 100644 --- a/src/main.cpp +++ b/src/main.cpp @@ -29,51 +29,114 @@ //----------------------------------------------------------------------------------------------------------- -//make Objects -// AccelStepper rotMotor(AccelStepper::DRIVER, step1, dir1); -// AccelStepper penMotor(AccelStepper::DRIVER, step2, dir2); -// Servo penServo; -// SerialCommand SCmd; -//create Buttons +FastAccelStepperEngine g_stepEngine = FastAccelStepperEngine(); +FastAccelStepper *g_pStepperRotate = NULL; +FastAccelStepper *g_pStepperPen = NULL; + +// make Objects +// FastAccelStepper rotMotor(FastAccelStepper::DRIVER, step1, dir1); +// FastAccelStepper penMotor(FastAccelStepper::DRIVER, step2, dir2); +Servo penServo; +SerialCommand SCmd; + +// create Buttons #ifdef prgButton - Button prgButtonToggle(prgButton, setprgButtonState); +Button prgButtonToggle(prgButton, setprgButtonState); #endif #ifdef penToggleButton - Button penToggle(penToggleButton, doTogglePen); +Button penToggle(penToggleButton, doTogglePen); #endif #ifdef motorsButton - Button motorsToggle(motorsButton, toggleMotors); +Button motorsToggle(motorsButton, toggleMotors); #endif // Variables... be careful, by messing around here, everything has a reason and crossrelations... -int penMin=0; -int penMax=0; -int penUpPos=5; //can be overwritten from EBB-Command SC -int penDownPos=20; //can be overwritten from EBB-Command SC -int servoRateUp=0; //from EBB-Protocol not implemented on machine-side -int servoRateDown=0; //from EBB-Protocol not implemented on machine-side -long rotStepError=0; -long penStepError=0; -int penState=penUpPos; -uint32_t nodeCount=0; -unsigned int layer=0; -boolean prgButtonState=0; -uint8_t rotStepCorrection = 16/rotMicrostep ; //devide EBB-Coordinates by this factor to get EGGduino-Steps -uint8_t penStepCorrection = 16/penMicrostep ; //devide EBB-Coordinates by this factor to get EGGduino-Steps -float rotSpeed=0; -float penSpeed=0; // these are local variables for Function SteppermotorMove-Command, but for performance-reasons it will be initialized here +int penMin = 0; +int penMax = 0; +int penUpPos = 5; // can be overwritten from EBB-Command SC +int penDownPos = 20; // can be overwritten from EBB-Command SC +int servoRateUp = 0; // from EBB-Protocol not implemented on machine-side +int servoRateDown = 0; // from EBB-Protocol not implemented on machine-side +long rotStepError = 0; +long penStepError = 0; +int penState = penUpPos; +uint32_t nodeCount = 0; +unsigned int layer = 0; +boolean prgButtonState = 0; +uint8_t rotStepCorrection = 16 / rotMicrostep; // devide EBB-Coordinates by this factor to get EGGduino-Steps +uint8_t penStepCorrection = 16 / penMicrostep; // devide EBB-Coordinates by this factor to get EGGduino-Steps +float rotSpeed = 0; +float penSpeed = 0; // these are local variables for Function SteppermotorMove-Command, but for performance-reasons it will be initialized here boolean motorsEnabled = 0; -void setup() { - Serial.begin(115200); - Serial.print("Starting..."); - //makeComInterface(); - //initHardware(); +// Stepper Test +// #define dirPinStepper 16 +// #define enablePinStepper 12 +// #define stepPinStepper 26 + +void setup() +{ + Serial.begin(9600); + Serial.println("Starting..."); + makeComInterface(); + initHardware(); startWebInterface(); + } -void loop() { - // moveOneStep(); - // SCmd.readSerial(); +uint8_t g_uiState = 0; +unsigned long g_uiLastTim = millis(); + +void loop() +{ + +#ifdef TEST + unsigned long uiNow = millis(); + motorsOn(); + + if (uiNow - g_uiLastTim > 500) + { + g_uiLastTim = uiNow; + switch (g_uiState) + { + case 0: + Serial.println(g_uiState); + g_pStepperRotate->setSpeedInUs(10); // the parameter is us/step !!! + g_pStepperRotate->setAcceleration(10000); + g_pStepperRotate->move(1000); + g_uiState++; + break; + + case 1: + Serial.println(g_uiState); + g_pStepperRotate->setSpeedInUs(10); // the parameter is us/step !!! + g_pStepperRotate->setAcceleration(10000); + g_pStepperRotate->move(-1000); + g_uiState++; + break; + + case 2: + Serial.println(g_uiState); + g_pStepperPen->setSpeedInUs(10); // the parameter is us/step !!! + g_pStepperPen->setAcceleration(10000); + g_pStepperPen->move(1000); + g_uiState++; + break; + + case 3: + Serial.println(g_uiState); + g_pStepperPen->setSpeedInUs(10); // the parameter is us/step !!! + g_pStepperPen->setAcceleration(10000); + g_pStepperPen->move(-1000); + g_uiState = 0; + break; + + default: + break; + } + } +#endif + //moveOneStep(); + SCmd.readSerial(); handleWebInterface(); #ifdef penToggleButton