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Moved to ESP32 and added webinterface for PenConfiguration.

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Not working and removed:
- AccelStepper: Move to FastAccelStepper for ESP32
- Servo: Changed to ESP32 - check if that is ok
- Serial Comm Interface now at 115200 -> change back to 9600 later
This commit is contained in:
Holger Weber
2026-02-08 21:44:06 +01:00
parent cf4c2c6b64
commit 50430b050e
5 changed files with 364 additions and 38 deletions
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139
src/Helper_Functions.cpp
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@@ -1,139 +0,0 @@
#include "EggDuino.h"
inline void loadPenPosFromEE() {
penUpPos = eeprom_read_word(penUpPosEEAddress);
penDownPos = eeprom_read_word(penDownPosEEAddress);
penState = penUpPos;
}
void initHardware(){
// enable eeprom wait in avr/eeprom.h functions
SPMCSR &= ~SELFPRGEN;
loadPenPosFromEE();
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() {
eeprom_update_word(penUpPosEEAddress, penUpPos);
}
void storePenDownPosInEE() {
eeprom_update_word(penDownPosEEAddress, penDownPos);
}
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;
}