Sternenlabor/EggDuino
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Removed unused variables.

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This commit is contained in:
Holger Weber
2026-02-21 15:43:09 +01:00
parent c1bc52c5a3
commit 556c7888de
5 changed files with 87 additions and 123 deletions
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32
include/EggDuino.h
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@@ -65,28 +65,22 @@ extern FastAccelStepperEngine g_stepEngine;
extern FastAccelStepper *g_pStepperRotate; extern FastAccelStepper *g_pStepperRotate;
extern FastAccelStepper *g_pStepperPen; extern FastAccelStepper *g_pStepperPen;
// extern FastAccelStepper rotMotor;
// extern FastAccelStepper penMotor;
extern Servo penServo; extern Servo penServo;
extern SerialCommand SCmd; extern SerialCommand SCmd;
extern int penMin; extern int g_iPenUpPos;
extern int penMax; extern int g_iPenDownPos;
extern int g_iPEN_UP_POS; extern int g_iServoRateUp;
extern int g_iPEN_DOWN_POS; extern int g_iServoRateDown;
extern int servoRateUp; extern long g_iRotStepError;
extern int servoRateDown; extern long g_iPenStepError;
extern long rotStepError; extern int g_iPenState;
extern long penStepError; extern uint32_t g_uiNodeCount;
extern int penState; extern unsigned int g_uiLayer;
extern uint32_t nodeCount; extern boolean g_bPrgButtonState;
extern unsigned int layer; extern float fROT_STEP_CORRECTION;
extern boolean prgButtonState; extern float fPEN_STEP_CORRECTION;
extern uint8_t rotStepCorrection; extern boolean g_bMotorsEnabled;
extern uint8_t penStepCorrection;
extern float rotSpeed;
extern float penSpeed;
extern boolean motorsEnabled;
extern ConfigParameter configParameters[]; extern ConfigParameter configParameters[];
extern const size_t configParameterCount; extern const size_t configParameterCount;

4
src/Config_Web.cpp
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@@ -188,7 +188,7 @@ async function pollLogs() {
return; return;
} }
Log(String("Config gespeichert: penUpPos=") + g_iPEN_UP_POS + ", penDownPos=" + g_iPEN_DOWN_POS); Log(String("Config gespeichert: penUpPos=") + g_iPenUpPos + ", penDownPos=" + g_iPenDownPos);
server.send(200, "application/json", buildConfigJson()); server.send(200, "application/json", buildConfigJson());
} }
@@ -273,7 +273,7 @@ bool loadConfigFromFile()
param->description = item["description"].as<String>(); param->description = item["description"].as<String>();
} }
} }
Log(String("Config geladen: penUpPos=") + g_iPEN_UP_POS + ", penDownPos=" + g_iPEN_DOWN_POS); Log(String("Config geladen: penUpPos=") + g_iPenUpPos + ", penDownPos=" + g_iPenDownPos);
return true; return true;
} }

61
src/Functions.cpp
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@@ -2,8 +2,9 @@
void queryPen() void queryPen()
{ {
Log(__FUNCTION__);
char state; char state;
if (penState == g_iPEN_UP_POS) if (g_iPenState == g_iPenUpPos)
state = '1'; state = '1';
else else
state = '0'; state = '0';
@@ -13,26 +14,28 @@ void queryPen()
void queryButton() void queryButton()
{ {
Serial.print(String(prgButtonState) + "\r\n"); Serial.print(String(g_bPrgButtonState) + "\r\n");
sendAck(); sendAck();
prgButtonState = 0; g_bPrgButtonState = 0;
} }
void queryLayer() void queryLayer()
{ {
Serial.print(String(layer) + "\r\n"); Log(__FUNCTION__);
Serial.print(String(g_uiLayer) + "\r\n");
sendAck(); sendAck();
} }
void setLayer() void setLayer()
{ {
Log(__FUNCTION__);
uint32_t value = 0; uint32_t value = 0;
char *arg1; char *arg1;
arg1 = SCmd.next(); arg1 = SCmd.next();
if (arg1 != NULL) if (arg1 != NULL)
{ {
value = atoi(arg1); value = atoi(arg1);
layer = value; g_uiLayer = value;
sendAck(); sendAck();
} }
else else
@@ -41,19 +44,20 @@ void setLayer()
void queryNodeCount() void queryNodeCount()
{ {
Serial.print(String(nodeCount) + "\r\n"); Serial.print(String(g_uiNodeCount) + "\r\n");
sendAck(); sendAck();
} }
void setNodeCount() void setNodeCount()
{ {
Log(__FUNCTION__);
uint32_t value = 0; uint32_t value = 0;
char *arg1; char *arg1;
arg1 = SCmd.next(); arg1 = SCmd.next();
if (arg1 != NULL) if (arg1 != NULL)
{ {
value = atoi(arg1); value = atoi(arg1);
nodeCount = value; g_uiNodeCount = value;
sendAck(); sendAck();
} }
else else
@@ -62,18 +66,19 @@ void setNodeCount()
void nodeCountIncrement() void nodeCountIncrement()
{ {
nodeCount = nodeCount++; g_uiNodeCount = g_uiNodeCount++;
sendAck(); sendAck();
} }
void nodeCountDecrement() void nodeCountDecrement()
{ {
nodeCount = nodeCount--; g_uiNodeCount = g_uiNodeCount--;
sendAck(); sendAck();
} }
void stepperMove() void stepperMove()
{ {
Log(__FUNCTION__);
uint16_t duration = 0; // in ms uint16_t duration = 0; // in ms
int penStepsEBB = 0; // Pen int penStepsEBB = 0; // Pen
int rotStepsEBB = 0; // Rot int rotStepsEBB = 0; // Rot
@@ -99,6 +104,7 @@ void stepperMove()
void setPen() void setPen()
{ {
Log(__FUNCTION__);
int cmd; int cmd;
int value; int value;
char *arg; char *arg;
@@ -113,17 +119,11 @@ void setPen()
switch (cmd) switch (cmd)
{ {
case 0: case 0:
penServo.write(g_iPEN_UP_POS); penServo.write(g_iPenUpPos);
penState = g_iPEN_UP_POS;
sprintf(cstrMsg, "PEN down: %d", g_iPEN_UP_POS);
Log(cstrMsg);
break; break;
case 1: case 1:
penServo.write(g_iPEN_DOWN_POS); penServo.write(g_iPenDownPos);
penState = g_iPEN_DOWN_POS;
sprintf(cstrMsg, "PEN up: %d", g_iPEN_DOWN_POS);
Log(cstrMsg);
break; break;
default: default:
@@ -150,6 +150,7 @@ void setPen()
void togglePen() void togglePen()
{ {
Log(__FUNCTION__);
int value; int value;
char *arg; char *arg;
@@ -168,20 +169,22 @@ void togglePen()
void doTogglePen() void doTogglePen()
{ {
if (penState == g_iPEN_UP_POS) Log(__FUNCTION__);
if (g_iPenState == g_iPenUpPos)
{ {
penServo.write(g_iPEN_DOWN_POS); penServo.write(g_iPenDownPos);
penState = g_iPEN_DOWN_POS; g_iPenState = g_iPenDownPos;
} }
else else
{ {
penServo.write(g_iPEN_UP_POS); penServo.write(g_iPenUpPos);
penState = g_iPEN_UP_POS; g_iPenState = g_iPenUpPos;
} }
} }
void enableMotors() void enableMotors()
{ {
Log(__FUNCTION__);
int cmd; int cmd;
int value; int value;
char *arg; char *arg;
@@ -230,6 +233,7 @@ void enableMotors()
void stepperModeConfigure() void stepperModeConfigure()
{ {
Log(__FUNCTION__);
int cmd; int cmd;
int value; int value;
char *arg; char *arg;
@@ -245,14 +249,12 @@ void stepperModeConfigure()
switch (cmd) switch (cmd)
{ {
case 4: case 4:
g_iPEN_DOWN_POS = (int)((float)(value - 6000) / (float)133.3); // transformation from EBB to PWM-Servo g_iPenDownPos = (int)((float)(value - 6000) / (float)133.3); // transformation from EBB to PWM-Servo
Log(String("SC set PEN_DOWN_POS -> ") + g_iPEN_DOWN_POS + " (raw " + value + ")");
storePenDownPosInEE(); storePenDownPosInEE();
sendAck(); sendAck();
break; break;
case 5: case 5:
g_iPEN_UP_POS = (int)((float)(value - 6000) / (float)133.3); // transformation from EBB to PWM-Servo g_iPenUpPos = (int)((float)(value - 6000) / (float)133.3); // transformation from EBB to PWM-Servo
Log(String("SC set PEN_UP_POS -> ") + g_iPEN_UP_POS + " (raw " + value + ")");
storePenUpPosInEE(); storePenUpPosInEE();
sendAck(); sendAck();
break; break;
@@ -263,11 +265,11 @@ void stepperModeConfigure()
sendAck(); sendAck();
break; break;
case 11: case 11:
servoRateUp = value; g_iServoRateUp = value;
sendAck(); sendAck();
break; break;
case 12: case 12:
servoRateDown = value; g_iServoRateDown = value;
sendAck(); sendAck();
break; break;
default: default:
@@ -278,17 +280,20 @@ void stepperModeConfigure()
void sendVersion() void sendVersion()
{ {
Log(__FUNCTION__);
Serial.print(initSting); Serial.print(initSting);
Serial.print("\r\n"); Serial.print("\r\n");
} }
void unrecognized(const char *command) void unrecognized(const char *command)
{ {
Log(__FUNCTION__);
sendError(); sendError();
} }
void ignore() void ignore()
{ {
Log(__FUNCTION__);
sendAck(); sendAck();
} }

75
src/Helper_Functions.cpp
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@@ -4,10 +4,10 @@ void initHardware()
{ {
if (!initConfigStore()) if (!initConfigStore())
{ {
g_iPEN_UP_POS = 5; g_iPenUpPos = 5;
g_iPEN_DOWN_POS = 20; g_iPenDownPos = 20;
} }
penState = g_iPEN_UP_POS; g_iPenState = g_iPenUpPos;
g_stepEngine.init(); g_stepEngine.init();
g_pStepperRotate = g_stepEngine.stepperConnectToPin(step1); g_pStepperRotate = g_stepEngine.stepperConnectToPin(step1);
@@ -36,7 +36,7 @@ void initHardware()
motorsOff(); motorsOff();
penServo.attach(servoPin); penServo.attach(servoPin);
penServo.write(penState); penServo.write(g_iPenState);
} }
void storePenUpPosInEE() void storePenUpPosInEE()
@@ -51,35 +51,36 @@ void storePenDownPosInEE()
void sendAck() void sendAck()
{ {
Log(__FUNCTION__);
Serial.print("OK\r\n"); Serial.print("OK\r\n");
} }
void sendError() void sendError()
{ {
Log(__FUNCTION__);
Serial.print("unknown CMD\r\n"); Serial.print("unknown CMD\r\n");
} }
void motorsOff() void motorsOff()
{ {
// digitalWrite(enableRotMotor, HIGH); Log(__FUNCTION__);
// digitalWrite(enablePenMotor, HIGH);
g_pStepperPen->disableOutputs(); g_pStepperPen->disableOutputs();
g_pStepperRotate->disableOutputs(); g_pStepperRotate->disableOutputs();
motorsEnabled = 0; g_bMotorsEnabled = 0;
} }
void motorsOn() void motorsOn()
{ {
// digitalWrite(enableRotMotor, LOW) ; Log(__FUNCTION__);
// digitalWrite(enablePenMotor, LOW) ;
g_pStepperPen->enableOutputs(); g_pStepperPen->enableOutputs();
g_pStepperRotate->enableOutputs(); g_pStepperRotate->enableOutputs();
motorsEnabled = 1; g_bMotorsEnabled = 1;
} }
void toggleMotors() void toggleMotors()
{ {
if (motorsEnabled) Log(__FUNCTION__);
if (g_bMotorsEnabled)
{ {
motorsOff(); motorsOff();
} }
@@ -117,36 +118,18 @@ 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)
{ {
if (!motorsEnabled) if (!g_bMotorsEnabled)
{ {
motorsOn(); motorsOn();
} }
if (duration == 0)
{
duration = 1;
}
if (penStepCorrection == 0) if ((1 == fROT_STEP_CORRECTION) && (1 == fPEN_STEP_CORRECTION))
{
penStepCorrection = 1;
}
if (rotStepCorrection == 0)
{
rotStepCorrection = 1;
}
if ((1 == rotStepCorrection) && (1 == penStepCorrection))
{ // if coordinatessystems are identical { // if coordinatessystems are identical
// set Coordinates and Speed // set Coordinates and Speed
// rotMotor.move(rotStepsEBB);
// rotMotor.setSpeed(abs((float)rotStepsEBB * (float)1000 / (float)duration));
g_pStepperRotate->move(rotStepsEBB); g_pStepperRotate->move(rotStepsEBB);
g_pStepperRotate->setSpeedInTicks(abs((float)rotStepsEBB * (float)1000 / (float)duration)); g_pStepperRotate->setSpeedInTicks(abs((float)rotStepsEBB * (float)1000 / (float)duration));
// penMotor.move(penStepsEBB);
// penMotor.setSpeed(abs((float)penStepsEBB * (float)1000 / (float)duration));
g_pStepperPen->move(penStepsEBB); g_pStepperPen->move(penStepsEBB);
g_pStepperPen->setSpeedInTicks(abs((float)penStepsEBB * (float)1000 / (float)duration)); g_pStepperPen->setSpeedInTicks(abs((float)penStepsEBB * (float)1000 / (float)duration));
} }
@@ -154,14 +137,14 @@ void prepareMove(uint16_t duration, int penStepsEBB, int rotStepsEBB)
{ {
// 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
// This make thinks here really complicated, but floating point-math kills performance and memory, believe me... I tried... // 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 rotSteps = ((long)rotStepsEBB * 16 / fROT_STEP_CORRECTION) + (long)g_iRotStepError; // correct incoming EBB-Steps to our microstep-Setting and multiply by 16 to avoid floatingpoint...
long penSteps = ((long)penStepsEBB * 16 / penStepCorrection) + (long)penStepError; long penSteps = ((long)penStepsEBB * 16 / fPEN_STEP_CORRECTION) + (long)g_iPenStepError;
int rotStepsToGo = (int)(rotSteps / 16); // Calc Steps to go, which are possible on our machine int rotStepsToGo = (int)(rotSteps / 16); // Calc Steps to go, which are possible on our machine
int penStepsToGo = (int)(penSteps / 16); int penStepsToGo = (int)(penSteps / 16);
rotStepError = (long)rotSteps - ((long)rotStepsToGo * (long)16); // calc Position-Error, if there is one g_iRotStepError = (long)rotSteps - ((long)rotStepsToGo * (long)16); // calc Position-Error, if there is one
penStepError = (long)penSteps - ((long)penStepsToGo * (long)16); g_iPenStepError = (long)penSteps - ((long)penStepsToGo * (long)16);
long temp_rotSpeed = ((long)rotStepsToGo * (long)1000 / (long)duration); // calc Speed in Integer Math long temp_rotSpeed = ((long)rotStepsToGo * (long)1000 / (long)duration); // calc Speed in Integer Math
long temp_penSpeed = ((long)penStepsToGo * (long)1000 / (long)duration); long temp_penSpeed = ((long)penStepsToGo * (long)1000 / (long)duration);
@@ -170,13 +153,9 @@ void prepareMove(uint16_t duration, int penStepsEBB, int rotStepsEBB)
float penSpeed = (float)abs(temp_penSpeed); float penSpeed = (float)abs(temp_penSpeed);
// set Coordinates and Speed // set Coordinates and Speed
// rotMotor.move(rotStepsToGo); // finally, let us set the target position...
// rotMotor.setSpeed(rotSpeed); // and the Speed!
g_pStepperRotate->move(rotStepsToGo); g_pStepperRotate->move(rotStepsToGo);
g_pStepperRotate->setSpeedInTicks(rotSpeed); g_pStepperRotate->setSpeedInTicks(rotSpeed);
// penMotor.move(penStepsToGo);
// penMotor.setSpeed(penSpeed);
g_pStepperPen->move(penStepsToGo); g_pStepperPen->move(penStepsToGo);
g_pStepperPen->setSpeedInTicks(penSpeed); g_pStepperPen->setSpeedInTicks(penSpeed);
} }
@@ -184,27 +163,15 @@ void prepareMove(uint16_t duration, int penStepsEBB, int rotStepsEBB)
void moveOneStep() void moveOneStep()
{ {
while (g_pStepperPen->isRunning() || g_pStepperRotate->isRunning()) while (g_pStepperPen->isRunning() || g_pStepperRotate->isRunning());
;
// if (penMotor.distanceToGo() || rotMotor.distanceToGo())
// {
// penMotor.runSpeedToPosition(); // Moving.... moving... moving....
// rotMotor.runSpeedToPosition();
// }
} }
void moveToDestination() void moveToDestination()
{ {
while (g_pStepperPen->isRunning() || g_pStepperRotate->isRunning()) while (g_pStepperPen->isRunning() || g_pStepperRotate->isRunning());
;
// while (penMotor.distanceToGo() || rotMotor.distanceToGo())
// {
// penMotor.runSpeedToPosition(); // Moving.... moving... moving....
// rotMotor.runSpeedToPosition();
// }
} }
void setprgButtonState() void setprgButtonState()
{ {
prgButtonState = 1; g_bPrgButtonState = 1;
} }

38
src/main.cpp
View File

@@ -34,8 +34,6 @@ FastAccelStepper *g_pStepperRotate = NULL;
FastAccelStepper *g_pStepperPen = NULL; FastAccelStepper *g_pStepperPen = NULL;
// make Objects // make Objects
// FastAccelStepper rotMotor(FastAccelStepper::DRIVER, step1, dir1);
// FastAccelStepper penMotor(FastAccelStepper::DRIVER, step2, dir2);
Servo penServo; Servo penServo;
SerialCommand SCmd; SerialCommand SCmd;
@@ -49,29 +47,28 @@ Button penToggle(penToggleButton, doTogglePen);
#ifdef motorsButton #ifdef motorsButton
Button motorsToggle(motorsButton, toggleMotors); Button motorsToggle(motorsButton, toggleMotors);
#endif #endif
// Variables... be careful, by messing around here, everything has a reason and crossrelations... // Variables... be careful, by messing around here, everything has a reason and crossrelations...
int penMin = 0; int g_iPenUpPos = 5; // can be overwritten from EBB-Command SC
int penMax = 0; int g_iPenDownPos = 20; // can be overwritten from EBB-Command SC
int g_iPEN_UP_POS = 5; // can be overwritten from EBB-Command SC int g_iServoRateUp = 0; // from EBB-Protocol not implemented on machine-side
int g_iPEN_DOWN_POS = 20; // can be overwritten from EBB-Command SC int g_iServoRateDown = 0; // from EBB-Protocol not implemented on machine-side
int servoRateUp = 0; // from EBB-Protocol not implemented on machine-side long g_iRotStepError = 0;
int servoRateDown = 0; // from EBB-Protocol not implemented on machine-side long g_iPenStepError = 0;
long rotStepError = 0; int g_iPenState = g_iPenUpPos;
long penStepError = 0; uint32_t g_uiNodeCount = 0;
int penState = g_iPEN_UP_POS; unsigned int g_uiLayer = 0;
uint32_t nodeCount = 0; boolean g_bPrgButtonState = 0;
unsigned int layer = 0; float fROT_STEP_CORRECTION = 16.0 / rotMicrostep; // devide EBB-Coordinates by this factor to get EGGduino-Steps
boolean prgButtonState = 0; float fPEN_STEP_CORRECTION = 16.0 / penMicrostep; // devide EBB-Coordinates by this factor to get EGGduino-Steps
uint8_t rotStepCorrection = 16 / rotMicrostep; // devide EBB-Coordinates by this factor to get EGGduino-Steps boolean g_bMotorsEnabled = 0;
uint8_t penStepCorrection = 16 / 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
boolean motorsEnabled = 0;
// Stepper Test // Stepper Test
#ifdef TEST
// #define dirPinStepper 16 // #define dirPinStepper 16
// #define enablePinStepper 12 // #define enablePinStepper 12
// #define stepPinStepper 26 // #define stepPinStepper 26
#endif
void setup() void setup()
{ {
@@ -135,10 +132,11 @@ void loop()
} }
Log("Alive"); Log("Alive");
} }
#endif #else
// moveOneStep(); // moveOneStep();
SCmd.readSerial(); SCmd.readSerial();
handleWebInterface(); handleWebInterface();
#endif
#ifdef penToggleButton #ifdef penToggleButton
penToggle.check(); penToggle.check();