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Added parameters for motor config.

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This commit is contained in:
Holger Weber
2026-02-22 22:47:00 +01:00
parent 3059e5a493
commit 400edb45e5
4 changed files with 116 additions and 55 deletions
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42
include/EggDuino.h
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@@ -21,35 +21,39 @@
#ifdef ESP32 #ifdef ESP32
// Rotational Stepper // Rotational Stepper
#define dir1 16 static const int kDefaultRotDirPin = 16;
#define enableRotMotor 12 static const int kDefaultRotEnablePin = 12;
#define step1 26 static const int kDefaultRotStepPin = 26;
#define rotMicrostep 32 #define rotMicrostep 32
static const int kDefaultRotMicrostep = rotMicrostep;
// Pen Stepper // Pen Stepper
#define step2 25 static const int kDefaultPenStepPin = 25;
#define dir2 27 static const int kDefaultPenDirPin = 27;
#define enablePenMotor 12 static const int kDefaultPenEnablePin = 12;
#define penMicrostep 32 #define penMicrostep 32
static const int kDefaultPenMicrostep = penMicrostep;
#define servoPin 17 static const int kDefaultServoPin = 17;
#else #else
// Rotational Stepper // Rotational Stepper
#define step1 2 static const int kDefaultRotStepPin = 2;
#define dir1 5 static const int kDefaultRotDirPin = 5;
#define enableRotMotor 8 static const int kDefaultRotEnablePin = 8;
#define rotMicrostep 16 #define rotMicrostep 16
static const int kDefaultRotMicrostep = rotMicrostep;
// Pen Stepper // Pen Stepper
#define step2 3 static const int kDefaultPenStepPin = 3;
#define dir2 6 static const int kDefaultPenDirPin = 6;
#define enablePenMotor 8 static const int kDefaultPenEnablePin = 8;
#define penMicrostep 16 #define penMicrostep 16
static const int kDefaultPenMicrostep = penMicrostep;
#define servoPin 4 static const int kDefaultServoPin = 4;
#endif #endif
@@ -81,6 +85,15 @@ extern boolean g_bPrgButtonState;
extern float fROT_STEP_CORRECTION; extern float fROT_STEP_CORRECTION;
extern float fPEN_STEP_CORRECTION; extern float fPEN_STEP_CORRECTION;
extern boolean g_bMotorsEnabled; extern boolean g_bMotorsEnabled;
extern int g_iRotDirPin;
extern int g_iRotEnablePin;
extern int g_iRotStepPin;
extern int g_iPenStepPin;
extern int g_iPenDirPin;
extern int g_iPenEnablePin;
extern int g_iServoPin;
extern int g_iRotMicrostep;
extern int g_iPenMicrostep;
extern ConfigParameter configParameters[]; extern ConfigParameter configParameters[];
extern const size_t configParameterCount; extern const size_t configParameterCount;
@@ -100,6 +113,7 @@ bool parseSMArgs(uint16_t *duration, int *penStepsEBB, int *rotStepsEBB);
void prepareMove(uint16_t duration, int penStepsEBB, int rotStepsEBB); void prepareMove(uint16_t duration, int penStepsEBB, int rotStepsEBB);
void storePenUpPosInEE(); void storePenUpPosInEE();
void storePenDownPosInEE(); void storePenDownPosInEE();
void updateStepCorrectionFactors();
bool initConfigStore(); bool initConfigStore();
bool loadConfigFromFile(); bool loadConfigFromFile();

38
src/Config_Web.cpp
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@@ -5,6 +5,7 @@
namespace namespace
{ {
const char *kConfigPath = "/config.json"; const char *kConfigPath = "/config.json";
const size_t kConfigJsonCapacity = 4096;
WebServer server(80); WebServer server(80);
bool configStoreReady = false; bool configStoreReady = false;
@@ -188,7 +189,6 @@ async function pollLogs() {
return; return;
} }
Log(String("Config gespeichert: penUpPos=") + g_iPenUpPos + ", penDownPos=" + g_iPenDownPos);
server.send(200, "application/json", buildConfigJson()); server.send(200, "application/json", buildConfigJson());
} }
@@ -214,8 +214,17 @@ async function pollLogs() {
} // namespace } // namespace
ConfigParameter configParameters[] = { ConfigParameter configParameters[] = {
// {"penUpPos", &g_iPEN_UP_POS, "Pen Up Position", 5}, {"penUpPos", &g_iPenUpPos, "Pen Up Position", 40},
// {"penDownPos", &g_iPEN_DOWN_POS, "Pen Down Position", 20}, {"penDownPos", &g_iPenDownPos, "Pen Down Position", 10},
{"rotStepPin", &g_iRotStepPin, "Rotational Stepper Step Pin", kDefaultRotStepPin},
{"rotDirPin", &g_iRotDirPin, "Rotational Stepper Direction Pin", kDefaultRotDirPin},
{"rotEnablePin", &g_iRotEnablePin, "Rotational Stepper Enable Pin", kDefaultRotEnablePin},
{"penStepPin", &g_iPenStepPin, "Pen Stepper Step Pin", kDefaultPenStepPin},
{"penDirPin", &g_iPenDirPin, "Pen Stepper Direction Pin", kDefaultPenDirPin},
{"penEnablePin", &g_iPenEnablePin, "Pen Stepper Enable Pin", kDefaultPenEnablePin},
{"rotMicrostep", &g_iRotMicrostep, "Rotational Stepper Microsteps", kDefaultRotMicrostep},
{"penMicrostep", &g_iPenMicrostep, "Pen Stepper Microsteps", kDefaultPenMicrostep},
{"servoPin", &g_iServoPin, "Servo Pin", kDefaultServoPin},
}; };
const size_t configParameterCount = sizeof(configParameters) / sizeof(configParameters[0]); const size_t configParameterCount = sizeof(configParameters) / sizeof(configParameters[0]);
@@ -242,12 +251,12 @@ bool loadConfigFromFile()
return saveConfigToFile(); return saveConfigToFile();
} }
StaticJsonDocument<1024> doc; StaticJsonDocument<kConfigJsonCapacity> doc;
DeserializationError err = deserializeJson(doc, file); DeserializationError err = deserializeJson(doc, file);
file.close(); file.close();
if (err) if (err)
{ {
Log("config.json ist ungueltig, defaults werden gespeichert"); Log(String("config.json ist ungueltig (") + err.c_str() + "), defaults werden gespeichert");
return saveConfigToFile(); return saveConfigToFile();
} }
@@ -273,6 +282,7 @@ bool loadConfigFromFile()
param->description = item["description"].as<String>(); param->description = item["description"].as<String>();
} }
} }
updateStepCorrectionFactors();
Log(String("Config geladen: penUpPos=") + g_iPenUpPos + ", penDownPos=" + g_iPenDownPos); Log(String("Config geladen: penUpPos=") + g_iPenUpPos + ", penDownPos=" + g_iPenDownPos);
return true; return true;
@@ -287,7 +297,7 @@ bool saveConfigToFile()
return false; return false;
} }
StaticJsonDocument<1024> doc; StaticJsonDocument<kConfigJsonCapacity> doc;
JsonArray params = doc.createNestedArray("parameters"); JsonArray params = doc.createNestedArray("parameters");
for (size_t i = 0; i < configParameterCount; ++i) for (size_t i = 0; i < configParameterCount; ++i)
{ {
@@ -296,6 +306,12 @@ bool saveConfigToFile()
item["value"] = *configParameters[i].value; item["value"] = *configParameters[i].value;
item["description"] = configParameters[i].description; item["description"] = configParameters[i].description;
} }
if (doc.overflowed())
{
Log("Config JSON Dokument zu klein beim Speichern");
file.close();
return false;
}
bool ok = serializeJsonPretty(doc, file) > 0; bool ok = serializeJsonPretty(doc, file) > 0;
file.flush(); file.flush();
@@ -309,7 +325,7 @@ bool saveConfigToFile()
String buildConfigJson() String buildConfigJson()
{ {
StaticJsonDocument<1024> doc; StaticJsonDocument<kConfigJsonCapacity> doc;
JsonArray params = doc.createNestedArray("parameters"); JsonArray params = doc.createNestedArray("parameters");
for (size_t i = 0; i < configParameterCount; ++i) for (size_t i = 0; i < configParameterCount; ++i)
{ {
@@ -318,6 +334,11 @@ String buildConfigJson()
item["value"] = *configParameters[i].value; item["value"] = *configParameters[i].value;
item["description"] = configParameters[i].description; item["description"] = configParameters[i].description;
} }
if (doc.overflowed())
{
Log("Config JSON Dokument zu klein beim Lesen");
return String("{\"parameters\":[]}");
}
String output; String output;
serializeJson(doc, output); serializeJson(doc, output);
@@ -326,7 +347,7 @@ String buildConfigJson()
bool applyConfigJson(const String &payload, String &errorMessage) bool applyConfigJson(const String &payload, String &errorMessage)
{ {
StaticJsonDocument<1024> doc; StaticJsonDocument<kConfigJsonCapacity> doc;
DeserializationError err = deserializeJson(doc, payload); DeserializationError err = deserializeJson(doc, payload);
if (err) if (err)
{ {
@@ -361,6 +382,7 @@ bool applyConfigJson(const String &payload, String &errorMessage)
param->description = item["description"].as<String>(); param->description = item["description"].as<String>();
} }
} }
updateStepCorrectionFactors();
return true; return true;
} }

76
src/Helper_Functions.cpp
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@@ -1,5 +1,19 @@
#include "EggDuino.h" #include "EggDuino.h"
void updateStepCorrectionFactors()
{
if (g_iRotMicrostep <= 0)
{
g_iRotMicrostep = kDefaultRotMicrostep;
}
if (g_iPenMicrostep <= 0)
{
g_iPenMicrostep = kDefaultPenMicrostep;
}
fROT_STEP_CORRECTION = 16.0f / (float)g_iRotMicrostep;
fPEN_STEP_CORRECTION = 16.0f / (float)g_iPenMicrostep;
}
void initHardware() void initHardware()
{ {
if (!initConfigStore()) if (!initConfigStore())
@@ -7,35 +21,36 @@ void initHardware()
g_iPenUpPos = 5; g_iPenUpPos = 5;
g_iPenDownPos = 20; g_iPenDownPos = 20;
} }
updateStepCorrectionFactors();
g_iPenState = g_iPenUpPos; g_iPenState = g_iPenUpPos;
g_stepEngine.init(); g_stepEngine.init();
g_pStepperRotate = g_stepEngine.stepperConnectToPin(step1); g_pStepperRotate = g_stepEngine.stepperConnectToPin(g_iRotStepPin);
if (g_pStepperRotate) if (g_pStepperRotate)
{ {
// rotMotor.setMaxSpeed(2000.0); // rotMotor.setMaxSpeed(2000.0);
// rotMotor.setAcceleration(10000.0); // rotMotor.setAcceleration(10000.0);
g_pStepperRotate->setDirectionPin(dir1); g_pStepperRotate->setDirectionPin(g_iRotDirPin);
g_pStepperRotate->setEnablePin(enableRotMotor); g_pStepperRotate->setEnablePin(g_iRotEnablePin);
g_pStepperRotate->setAcceleration(10000); g_pStepperRotate->setAcceleration(10000);
g_pStepperRotate->setAutoEnable(false); g_pStepperRotate->setAutoEnable(false);
} }
// Stepper pen init // Stepper pen init
g_pStepperPen = g_stepEngine.stepperConnectToPin(step2); g_pStepperPen = g_stepEngine.stepperConnectToPin(g_iPenStepPin);
if (g_pStepperPen) if (g_pStepperPen)
{ {
// penMotor.setMaxSpeed(2000.0); // penMotor.setMaxSpeed(2000.0);
// penMotor.setAcceleration(10000.0); // penMotor.setAcceleration(10000.0);
g_pStepperPen->setDirectionPin(dir2); g_pStepperPen->setDirectionPin(g_iPenDirPin);
g_pStepperPen->setEnablePin(enablePenMotor); g_pStepperPen->setEnablePin(g_iPenEnablePin);
g_pStepperPen->setAcceleration(10000); g_pStepperPen->setAcceleration(10000);
g_pStepperPen->setAutoEnable(false); g_pStepperPen->setAutoEnable(false);
} }
motorsOff(); motorsOff();
penServo.attach(servoPin); penServo.attach(g_iServoPin);
penServo.write(g_iPenState); penServo.write(g_iPenState);
} }
@@ -51,19 +66,19 @@ void storePenDownPosInEE()
void sendAck() void sendAck()
{ {
Log(__FUNCTION__); Log(__FUNCTION__);
Serial.print("OK\r\n"); Serial.print("OK\r\n");
} }
void sendError() void sendError()
{ {
Log(__FUNCTION__); Log(__FUNCTION__);
Serial.print("unknown CMD\r\n"); Serial.print("unknown CMD\r\n");
} }
void motorsOff() void motorsOff()
{ {
Log(__FUNCTION__); Log(__FUNCTION__);
g_pStepperPen->disableOutputs(); g_pStepperPen->disableOutputs();
g_pStepperRotate->disableOutputs(); g_pStepperRotate->disableOutputs();
g_bMotorsEnabled = 0; g_bMotorsEnabled = 0;
@@ -71,7 +86,7 @@ void motorsOff()
void motorsOn() void motorsOn()
{ {
Log(__FUNCTION__); Log(__FUNCTION__);
g_pStepperPen->enableOutputs(); g_pStepperPen->enableOutputs();
g_pStepperRotate->enableOutputs(); g_pStepperRotate->enableOutputs();
g_bMotorsEnabled = 1; g_bMotorsEnabled = 1;
@@ -79,7 +94,7 @@ void motorsOn()
void toggleMotors() void toggleMotors()
{ {
Log(__FUNCTION__); Log(__FUNCTION__);
if (g_bMotorsEnabled) if (g_bMotorsEnabled)
{ {
motorsOff(); motorsOff();
@@ -123,16 +138,15 @@ void prepareMove(uint16_t duration, int penStepsEBB, int rotStepsEBB)
motorsOn(); motorsOn();
} }
if ((1 == fROT_STEP_CORRECTION) && (1 == fPEN_STEP_CORRECTION))
{ // if coordinatessystems are identical
// set Coordinates and Speed
g_pStepperRotate->setSpeedInTicks(abs((float)rotStepsEBB * (float)1000 / (float)duration));
g_pStepperRotate->move(rotStepsEBB);
if ((1 == fROT_STEP_CORRECTION) && (1 == fPEN_STEP_CORRECTION)) g_pStepperPen->setSpeedInTicks(abs((float)penStepsEBB * (float)1000 / (float)duration));
{ // if coordinatessystems are identical g_pStepperPen->move(penStepsEBB);
// set Coordinates and Speed }
g_pStepperRotate->setSpeedInTicks(abs((float)rotStepsEBB * (float)1000 / (float)duration));
g_pStepperRotate->move(rotStepsEBB);
g_pStepperPen->setSpeedInTicks(abs((float)penStepsEBB * (float)1000 / (float)duration));
g_pStepperPen->move(penStepsEBB);
}
else else
{ {
// incoming EBB-Steps will be multiplied by 16, then Integer-maths is done, result will be divided by 16 // incoming EBB-Steps will be multiplied by 16, then Integer-maths is done, result will be divided by 16
@@ -150,25 +164,27 @@ void prepareMove(uint16_t duration, int penStepsEBB, int rotStepsEBB)
long temp_penSpeed = ((long)penStepsToGo * (long)1000 / (long)duration); long temp_penSpeed = ((long)penStepsToGo * (long)1000 / (long)duration);
float rotSpeed = (float)abs(temp_rotSpeed); // type cast float rotSpeed = (float)abs(temp_rotSpeed); // type cast
float penSpeed = (float)abs(temp_penSpeed); float penSpeed = (float)abs(temp_penSpeed);
// set Coordinates and Speed // set Coordinates and Speed
g_pStepperRotate->setSpeedInTicks(rotSpeed); g_pStepperRotate->setSpeedInTicks(rotSpeed);
g_pStepperRotate->move(rotStepsToGo); g_pStepperRotate->move(rotStepsToGo);
g_pStepperPen->setSpeedInTicks(penSpeed); g_pStepperPen->setSpeedInTicks(penSpeed);
g_pStepperPen->move(penStepsToGo); g_pStepperPen->move(penStepsToGo);
}
} }
}
void moveOneStep() void moveOneStep()
{ {
while (g_pStepperPen->isRunning() || g_pStepperRotate->isRunning()); while (g_pStepperPen->isRunning() || g_pStepperRotate->isRunning())
;
} }
void moveToDestination() void moveToDestination()
{ {
while (g_pStepperPen->isRunning() || g_pStepperRotate->isRunning()); while (g_pStepperPen->isRunning() || g_pStepperRotate->isRunning())
;
} }
void setprgButtonState() void setprgButtonState()

15
src/main.cpp
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@@ -59,9 +59,18 @@ int g_iPenState = g_iPenUpPos;
uint32_t g_uiNodeCount = 0; uint32_t g_uiNodeCount = 0;
unsigned int g_uiLayer = 0; unsigned int g_uiLayer = 0;
boolean g_bPrgButtonState = 0; boolean g_bPrgButtonState = 0;
float fROT_STEP_CORRECTION = 16.0 / rotMicrostep; // devide EBB-Coordinates by this factor to get EGGduino-Steps
float fPEN_STEP_CORRECTION = 16.0 / penMicrostep; // devide EBB-Coordinates by this factor to get EGGduino-Steps
boolean g_bMotorsEnabled = 0; boolean g_bMotorsEnabled = 0;
int g_iRotDirPin = kDefaultRotDirPin;
int g_iRotEnablePin = kDefaultRotEnablePin;
int g_iRotStepPin = kDefaultRotStepPin;
int g_iPenStepPin = kDefaultPenStepPin;
int g_iPenDirPin = kDefaultPenDirPin;
int g_iPenEnablePin = kDefaultPenEnablePin;
int g_iServoPin = kDefaultServoPin;
int g_iRotMicrostep = kDefaultRotMicrostep;
int g_iPenMicrostep = kDefaultPenMicrostep;
float fROT_STEP_CORRECTION = 16.0 / kDefaultRotMicrostep; // devide EBB-Coordinates by this factor to get EGGduino-Steps
float fPEN_STEP_CORRECTION = 16.0 / kDefaultPenMicrostep; // devide EBB-Coordinates by this factor to get EGGduino-Steps
// Stepper Test // Stepper Test
#ifdef TEST #ifdef TEST
@@ -75,9 +84,9 @@ void setup()
Serial.begin(115200); Serial.begin(115200);
Serial.println("Starting..."); Serial.println("Starting...");
Log("Starting..."); Log("Starting...");
startWebInterface();
makeComInterface(); makeComInterface();
initHardware(); initHardware();
startWebInterface();
} }
uint8_t g_uiState = 0; uint8_t g_uiState = 0;