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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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155
Functions.ino
View File

@@ -1,6 +1,6 @@
void makeComInterface(){
SCmd.addCommand("v",sendVersion); // Converts two arguments to integers and echos them back
SCmd.addCommand("v",sendVersion);
SCmd.addCommand("EM",enableMotors);
SCmd.addCommand("SC",stepperModeConfigure);
SCmd.addCommand("SP",setPen);
@@ -14,16 +14,29 @@ void makeComInterface(){
SCmd.addCommand("QN",queryNodeCount);
SCmd.addCommand("SL",setLayer);
SCmd.addCommand("QL",queryLayer);
SCmd.addCommand("QP",queryPen);
SCmd.addCommand("QB",queryButton); //preparation for "PRG" Button, actually gives fake answer,
SCmd.setDefaultHandler(unrecognized); // Handler for command that isn't matched (says "What?")
}
void queryPen() {
char state;
if (penState=penUpPos)
state='1';
else
state='0';
Serial.print(String(state)+"\r\n");
sendAck();
}
void queryButton() {
Serial.print(String(prgButtonState) +"\r\n" + "OK\r\n");
Serial.print(String(prgButtonState) +"\r\n");
sendAck();
}
void queryLayer() {
Serial.print(String(layer) +"\r\n" + "OK\r\n");
Serial.print(String(layer) +"\r\n");
sendAck();
}
void setLayer() {
@@ -33,14 +46,16 @@ void setLayer() {
if (arg1 != NULL) {
value = atoi(arg1);
layer=value;
Serial.print("OK\r\n");
sendAck();
}
else
Serial.print("unknown CMD\r\n");
sendError();
}
void queryNodeCount() {
Serial.print(String(nodeCount) +"\r\n" + "OK\r\n");
Serial.print(String(nodeCount) +"\r\n");
sendAck();
}
void setNodeCount() {
@@ -50,26 +65,26 @@ void setNodeCount() {
if (arg1 != NULL) {
value = atoi(arg1);
nodeCount=value;
Serial.print("OK\r\n");
sendAck();
}
else
Serial.print("unknown CMD\r\n");
sendError();
}
void nodeCountIncrement() {
nodeCount=nodeCount++;
Serial.print("OK\r\n");
sendAck();
}
void nodeCountDecrement() {
nodeCount=nodeCount--;
Serial.print("OK\r\n");
sendAck();
}
void stepperMove(){
uint16_t duration=0; //in ms
long penStepsEBB=0; //Pen
long rotStepsEBB=0; //Rot
int penStepsEBB=0; //Pen
int rotStepsEBB=0; //Rot
char *arg1;
char *arg2;
char *arg3;
@@ -84,32 +99,47 @@ void stepperMove(){
}
if (arg3 != NULL) {
rotStepsEBB = atoi(arg3);
Serial.print("OK\r\n");
//sendAck();
if ( (penStepsEBB==0) && (rotStepsEBB==0) )
if ( (penStepsEBB==0) && (rotStepsEBB==0) ) {
delay(duration);
sendAck();
}
if ( (penStepsEBB!=0) || (rotStepsEBB!=0) ) {
//Move-Code:
digitalWrite(enableRotMotor, LOW) ;
//################### Move-Code Start ############################################################
//Turn on Motors, if they are off....
digitalWrite(enableRotMotor, LOW) ;
digitalWrite(enablePenMotor, LOW) ;
long rotSteps = round( ((float) (rotMicrostep/rotStepMode)) * rotStepsEBB ); //transform to local coordiantes
long penSteps = round( ((float) (penMicrostep/penStepMode)) * penStepsEBB ); //transform to local coordiantes
float rotSpeed = (float) ( ((long) rotSteps * (long)1000) / (long) duration ) ;
float penSpeed = (float) ( ((long) penSteps * (long)1000) / (long) duration ) ;
rotMotor.move(rotSteps);
rotMotor.setSpeed(rotSpeed);
penMotor.move(penSteps);
//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 ) ;
if (temp_rotSpeed <0 ) //remove sign, there is no negative Speed....
temp_rotSpeed= -temp_rotSpeed;
if (temp_penSpeed <0 ) //remove sign, there is no negative Speed....
temp_penSpeed= -temp_penSpeed;
float rotSpeed= (float) temp_rotSpeed; // type cast
float penSpeed= (float) temp_penSpeed;
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();
penMotor.runSpeedToPosition(); // Moving.... moving... moving....
rotMotor.runSpeedToPosition();
}
//end Move-Code
}
//################### Move-Code End ############################################################
sendAck(); //Mission completed
}
}
else
Serial.print("unknown CMD\r\n");
sendError();
}
@@ -125,18 +155,16 @@ void setPen(){
case 0:
penServo.write(penUpPos);
penState=penUpPos;
Serial.print("OK\r\n");
break;
case 1:
penServo.write(penDownPos);
penState=penDownPos;
//Serial.println("case 1");
Serial.print("OK\r\n");
break;
default:
Serial.print("unknown CMD");
sendError();
}
}
char *val;
@@ -145,12 +173,14 @@ void setPen(){
value = atoi(val);
// Serial.println("delayvalue");
delay(value);
sendAck();
}
if (val==NULL && arg !=NULL)
delay(500);
sendAck();
// Serial.println("delay");
if (val==NULL && arg ==NULL)
Serial.print("unknown CMD\r\n");
sendError();
}
void togglePen(){
@@ -162,20 +192,21 @@ void togglePen(){
if (penState==penUpPos) {
penServo.write(penDownPos);
penState=penDownPos;
Serial.print("OK\r\n");
if (arg != NULL)
delay(value);
else
delay(500);
sendAck();
}
else {
penServo.write(penUpPos);
penState=penUpPos;
Serial.print("OK\r\n");
if (arg != NULL)
delay(value);
else
delay(500);
sendAck();
}
}
@@ -196,40 +227,48 @@ void enableMotors(){
switch (cmd) {
case 0: digitalWrite(enableRotMotor, HIGH) ;
digitalWrite(enablePenMotor, HIGH) ;
Serial.print("OK\r\n");
sendAck();
break;
case 1: rotStepMode=16;
penStepMode=16;
digitalWrite(enableRotMotor, LOW) ;
digitalWrite(enablePenMotor, LOW) ;
Serial.print("OK\r\n");
sendAck();
break;
case 2: rotStepMode=8;
penStepMode=8;
rotStepCorrection = rotStepMode/rotMicrostep;
penStepCorrection = penStepMode/penMicrostep;
digitalWrite(enableRotMotor, LOW) ;
digitalWrite(enablePenMotor, LOW) ;
Serial.print("OK\r\n");
sendAck();
break;
case 3: rotStepMode=4;
penStepMode=4;
rotStepCorrection = rotStepMode/rotMicrostep;
penStepCorrection = penStepMode/penMicrostep;
digitalWrite(enableRotMotor, LOW) ;
digitalWrite(enablePenMotor, LOW) ;
Serial.print("OK\r\n");
sendAck();
break;
case 4: rotStepMode=2;
penStepMode=2;
rotStepCorrection = rotStepMode/rotMicrostep;
penStepCorrection = penStepMode/penMicrostep;
digitalWrite(enableRotMotor, LOW) ;
digitalWrite(enablePenMotor, LOW) ;
Serial.print("OK\r\n");
sendAck();
break;
case 5: rotStepMode=1;
penStepMode=1;
rotStepCorrection = rotStepMode/rotMicrostep;
penStepCorrection = penStepMode/penMicrostep;
digitalWrite(enableRotMotor, LOW) ;
digitalWrite(enablePenMotor, LOW) ;
Serial.print("OK\r\n");
sendAck();
break;
default:
Serial.print("unknown CMD\r\n");
sendError();
}
}
//the following implementaion is a little bit cheated, because i did not know, how to implement different values for first and second argument.
@@ -237,41 +276,41 @@ void enableMotors(){
switch (value) {
case 0: digitalWrite(enableRotMotor, HIGH) ;
digitalWrite(enablePenMotor, HIGH) ;
Serial.print("OK\r\n");
sendAck();
break;
case 1: rotStepMode=16;
penStepMode=16;
digitalWrite(enableRotMotor, LOW) ;
digitalWrite(enablePenMotor, LOW) ;
Serial.print("OK\r\n");
sendAck();
break;
case 2: rotStepMode=8;
penStepMode=8;
digitalWrite(enableRotMotor, LOW) ;
digitalWrite(enablePenMotor, LOW) ;
Serial.print("OK\r\n");
sendAck();
break;
case 3: rotStepMode=4;
penStepMode=4;
digitalWrite(enableRotMotor, LOW) ;
digitalWrite(enablePenMotor, LOW) ;
Serial.print("OK\r\n");
sendAck();
break;
case 4: rotStepMode=2;
penStepMode=2;
digitalWrite(enableRotMotor, LOW) ;
digitalWrite(enablePenMotor, LOW) ;
Serial.print("OK\r\n");
sendAck();
break;
case 5: rotStepMode=1;
penStepMode=1;
digitalWrite(enableRotMotor, LOW) ;
digitalWrite(enablePenMotor, LOW) ;
Serial.print("OK\r\n");
sendAck();
break;
default:
Serial.print("unknown CMD\r\n");
sendError();
}
}
}
@@ -291,25 +330,25 @@ void stepperModeConfigure(){
if ((arg != NULL) && (val != NULL)){
switch (cmd) {
case 4: penDownPos= (int) ((float) (value-6000)/(float) 94.18); // transformation from EBB to PWM-Stepper
Serial.print("OK\r\n");
sendAck();
break;
case 5: penUpPos= (int)((float) (value-6000)/(float) 94.18); // transformation from EBB to PWM-Stepper
Serial.print("OK\r\n");
sendAck();
break;
case 6: //rotMin=value; ignored
Serial.print("OK\r\n");
sendAck();
break;
case 7: //rotMax=value; ignored
Serial.print("OK\r\n");
sendAck();
break;
case 11: servoRateUp=value;
Serial.print("OK\r\n");
sendAck();
break;
case 12: servoRateDown=value;
Serial.print("OK\r\n");
sendAck();
break;
default:
Serial.print("unknown CMD\r\n");
sendError();
}
}
}
@@ -320,9 +359,9 @@ void sendVersion(){
}
void unrecognized(const char *command){
Serial.print("unknown CMD\r\n");
sendError();
}
void ignore(){
Serial.print("OK\r\n");
sendAck();
}