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Adding few improvements:

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- motors toggle button: allows for manual adjustments and silences motors
- pen toggle button: pen up and down positions are stored in EEPROM
- SMQB command: allows faster and smoother operation with custom version of eggbot extension (bartebor/eggbot_extensions)
- PRG button fix
This commit is contained in:
Bartosz Borkowski
2015-04-30 23:43:14 +02:00
parent f4b7367399
commit 0d7fe3e922
3 changed files with 217 additions and 95 deletions
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220
Functions.ino
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@@ -5,6 +5,7 @@ void makeComInterface(){
SCmd.addCommand("SC",stepperModeConfigure);
SCmd.addCommand("SP",setPen);
SCmd.addCommand("SM",stepperMove);
SCmd.addCommand("SMQB",stepperMoveQueryButton); // composite function enabling smooth movement
SCmd.addCommand("SE",ignore);
SCmd.addCommand("TP",togglePen);
SCmd.addCommand("PO",ignore); //Engraver command, not implemented, gives fake answer
@@ -38,7 +39,7 @@ void queryButton() {
void queryLayer() {
Serial.print(String(layer) +"\r\n");
sendAck();
}
}
void setLayer() {
uint32_t value=0;
@@ -82,76 +83,109 @@ void nodeCountDecrement() {
sendAck();
}
void stepperMove(){
void stepperMove() {
uint16_t duration=0; //in ms
int penStepsEBB=0; //Pen
int rotStepsEBB=0; //Rot
if (!parseSMArgs(&duration, &penStepsEBB, &rotStepsEBB)) {
sendError();
return;
}
if ( (penStepsEBB==0) && (rotStepsEBB==0) ) {
delay(duration);
sendAck();
return;
}
doMove(duration, penStepsEBB, rotStepsEBB);
sendAck();
}
void stepperMoveQueryButton() {
uint16_t duration=0; //in ms
int penStepsEBB=0; //Pen
int rotStepsEBB=0; //Rot
if (!parseSMArgs(&duration, &penStepsEBB, &rotStepsEBB)) {
sendError();
return;
}
if ( (penStepsEBB==0) && (rotStepsEBB==0) ) {
delay(duration);
queryButton();
return;
}
// sending ACK before actual move to allow buffering
queryButton();
doMove(duration, penStepsEBB, rotStepsEBB);
}
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);
//sendAck();
*duration = atoi(arg1);
arg2 = SCmd.next();
}
if (arg2 != NULL) {
*penStepsEBB = atoi(arg2);
arg3 = SCmd.next();
}
if (arg3 != NULL) {
*rotStepsEBB = atoi(arg3);
if ( (penStepsEBB==0) && (rotStepsEBB==0) ) {
delay(duration);
sendAck();
}
if ( (penStepsEBB!=0) || (rotStepsEBB!=0) ) {
//################### Move-Code Start ############################################################
//Turn on Motors, if they are off....
digitalWrite(enableRotMotor, LOW) ;
digitalWrite(enablePenMotor, LOW) ;
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 );
}
//Start Move
while ( penMotor.distanceToGo() || rotMotor.distanceToGo() ) {
penMotor.runSpeedToPosition(); // Moving.... moving... moving....
rotMotor.runSpeedToPosition();
}
//################### Move-Code End ############################################################
sendAck(); //report Mission completed
}
}
else
sendError();
return true;
}
return false;
}
void doMove(uint16_t duration, int penStepsEBB, int rotStepsEBB) {
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 );
}
while ( penMotor.distanceToGo() || rotMotor.distanceToGo() ) {
penMotor.runSpeedToPosition(); // Moving.... moving... moving....
rotMotor.runSpeedToPosition();
}
}
void setPen(){
int cmd;
int value;
@@ -197,28 +231,25 @@ void togglePen(){
arg = SCmd.next();
if (arg != NULL)
value = atoi(arg);
else
value = 500;
doTogglePen();
delay(value);
sendAck();
}
void doTogglePen() {
if (penState==penUpPos) {
penServo.write(penDownPos);
penState=penDownPos;
if (arg != NULL)
delay(value);
else
delay(500);
sendAck();
}
else {
} else {
penServo.write(penUpPos);
penState=penUpPos;
if (arg != NULL)
delay(value);
else
delay(500);
sendAck();
}
}
}
void enableMotors(){
int cmd;
int value;
@@ -233,12 +264,10 @@ void enableMotors(){
//values parsed
if ((arg != NULL) && (val == NULL)){
switch (cmd) {
case 0: digitalWrite(enableRotMotor, HIGH) ;
digitalWrite(enablePenMotor, HIGH) ;
case 0: motorsOff();
sendAck();
break;
case 1: digitalWrite(enableRotMotor, LOW) ;
digitalWrite(enablePenMotor, LOW) ;
case 1: motorsOn();
sendAck();
break;
default:
@@ -248,21 +277,38 @@ void enableMotors(){
//the following implementaion is a little bit cheated, because i did not know, how to implement different values for first and second argument.
if ((arg != NULL) && (val != NULL)){
switch (value) {
case 0: digitalWrite(enableRotMotor, HIGH) ;
digitalWrite(enablePenMotor, HIGH) ;
case 0: motorsOff();
sendAck();
break;
case 1: digitalWrite(enableRotMotor, LOW) ;
digitalWrite(enablePenMotor, LOW) ;
case 1: motorsOn();
sendAck();
break;
default:
sendError();
}
}
}
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();
}
}
void stepperModeConfigure(){
int cmd;
int value;
@@ -277,9 +323,11 @@ void stepperModeConfigure(){
if ((arg != NULL) && (val != NULL)){
switch (cmd) {
case 4: penDownPos= (int) ((float) (value-6000)/(float) 133.3); // transformation from EBB to PWM-Servo
storePenDownPosInEE();
sendAck();
break;
case 5: penUpPos= (int)((float) (value-6000)/(float) 133.3); // transformation from EBB to PWM-Servo
storePenUpPosInEE();
sendAck();
break;
case 6: //rotMin=value; ignored