Sternenlabor/EggDuino
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Update to Verisonn 1.2

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complete rework of Move-Algorithm, no position errors any more, complete
in integer math //it was the hell to debug it... ;-)
optimized timing of Ack-Answer
added command QP "Query Pen", untested, answer might be wrong 0 <--> 1?
optimized Init-String for EBBv13
optimized some variable types to enhance memory performance
changed enablePenMotor to 6 by default to match it to Spherebot
Electronics
changed default maxSpeeds from 1000 to 2000;
This commit is contained in:
cocktailyogi
2014-04-25 17:38:49 +02:00
parent 7852a828b9
commit 411a57627d
4 changed files with 137 additions and 73 deletions
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34
EggDuino.ino
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@@ -6,34 +6,35 @@ Thanks to my wife and my daughter for their patience. :-)
*/
// implemented Eggbot-Protocol-Version 2.1.0
// EBB-Command-Referenc, I sourced from: http://www.schmalzhaus.com/EBB/EBBCommands.html
// implemented Eggbot-Protocol-Version v13
// EBB-Command-Reference, I sourced from: http://www.schmalzhaus.com/EBB/EBBCommands.html
// no homing sequence, switch-on position of pen will be taken as reference point.
// No collision-detection!!
// Supported Servos: I do not know, I use Arduino Servo Lib with TG9e- standard servo.
// Note: Maximum-Speed in Inkscape is 1000 Steps/s. You could enter more, but then Pythonscript sends nonsense.
// EBB-Coordinates are coming in for 16th-Microstepmode. The Coordinate-Transforms are done in weired integer-math. Be careful, when you diecide to modify settings.
/* TODOs:
1 collision control via penMin/penMax
2 implement homing sequence via microswitch or optical device
3 implement hardware-button , EGGBOT-Guys call it "PRG-Button"
4 Replace Stepper Control ACCELSTEPPER --> DDS, interruptbased control to improve step-precision and smoothness.
*/
#include "AccelStepper.h" // nice lib from http://www.airspayce.com/mikem/arduino/AccelStepper/
#include "AccelStepper.h"
//#include "libs\AccelStepper.h" // nice lib from http://www.airspayce.com/mikem/arduino/AccelStepper/
#include <Servo.h>
#include "SerialCommand.h" //nice lib from Stefan Rado, https://github.com/kroimon/Arduino-SerialCommand
#define initSting "EBB 2.1.0+ Protocol emulated by Eggduino-Firmware V1.1"
#define initSting "EBBv13_and_above Protocol emulated by Eggduino-Firmware V1.2"
//Rotational Stepper
#define step1 11
#define dir1 10
#define enableRotMotor 9
#define rotMicrostep 8
#define rotMicrostep 8 //only 1,2,4,8,16 allowed, because of Integer-Math in this Sketch
//Pen Stepper
#define step2 8
#define dir2 7
#define enablePenMotor 5
#define penMicrostep 8
#define enablePenMotor 6
#define penMicrostep 8 //only 1,2,4,8,16 allowed, because of Integer-Math in this Sketch
//Servo
#define servoPin 3
@@ -42,19 +43,26 @@ Thanks to my wife and my daughter for their patience. :-)
AccelStepper penMotor(1, step2, dir2);
Servo penServo;
SerialCommand SCmd;
// Variables
// Variables... be careful, by messing around here, evrything has a reason and crossrelations...
int penMin=0;
int penMax=0;
int penUpPos=5; //can be overwritten from EBB-Command SC
int penDownPos=30; //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
float rotStepMode=16; //1/16 by default, can be changed by EBB protocol, used as correction factor
float penStepMode=16; //1/16 by default, can be changed by EBB protocol, used as correction factor
uint8_t rotStepMode=16; //1/16 by default, can be changed by EBB protocol, used as correction factor
uint8_t penStepMode=16; //1/16 by default, can be changed by EBB protocol, used as correction factor
long rotStepError=0;
long penStepError=0;
int penState=penUpPos;
uint32_t nodeCount=0;
unsigned int layer=0;
boolean prgButtonState=0;
int prgButtonState=0;
uint8_t rotStepCorrection = rotStepMode/rotMicrostep ; //devide EBB-Coordinates by this factor to get EGGduino-Steps
uint8_t penStepCorrection = penStepMode/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
void setup() {
Serial.begin(9600);