Major update

imported some improvements from user "bartebor"
- fixed some timing issues
- added button-support via #ifdefine
- worked on penarm-shaking-bug
- restructured some codesegments

EggDuino.ino

@@ -18,44 +18,55 @@ Thanks to my wife and my daughter for their patience. :-)
 1	collision control via penMin/penMax
 2	implement homing sequence via microswitch or optical device
 */
-#include "AccelStepper.h"
+
-//#include "libs\AccelStepper.h" // nice lib from http://www.airspayce.com/mikem/arduino/AccelStepper/
+#include "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
 #include <avr/eeprom.h>
+#include "button.h"
 
-#define initSting "EBBv13_and_above Protocol emulated by Eggduino-Firmware V1.4"
+#define initSting "EBBv13_and_above Protocol emulated by Eggduino-Firmware V1.6"
-//Rotational Stepper
+//Rotational Stepper:
   #define step1 11
   #define dir1 10
   #define enableRotMotor 9
   #define rotMicrostep 16  //MicrostepMode, only 1,2,4,8,16 allowed, because of Integer-Math in this Sketch
-//Pen Stepper
+//Pen Stepper:
   #define step2 8
   #define dir2 7
   #define enablePenMotor 6
   #define penMicrostep 16 //MicrostepMode, only 1,2,4,8,16 allowed, because of Integer-Math in this Sketch
-//Servo
+
-  #define servoPin 3
+  #define servoPin 3 //Servo
-// PRG button
+  
-  #define prgButton 2
+// EXTRAFEATURES - UNCOMMENT TO USE THEM -------------------------------------------------------------------
-// pen up/down button
+
-  #define penToggleButton 12
+// #define prgButton 2 // PRG button
-// motors enable button
+// #define penToggleButton 12 // pen up/down button
-  #define motorsButton 4
+// #define motorsButton 4 // motors enable button
+
+// #define CommandSMQB
+//-----------------------------------------------------------------------------------------------------------
 
   #define penUpPosEEAddress ((uint16_t *)0)
   #define penDownPosEEAddress ((uint16_t *)2)
 
-  #define debounceDelay 50
-
 //make Objects
   AccelStepper rotMotor(1, step1, dir1);
   AccelStepper penMotor(1, step2, dir2);
   Servo penServo; 
   SerialCommand SCmd;
-  
+  //create Buttons
-// Variables... be careful, by messing around here, evrything has a reason and crossrelations...
+	#ifdef prgButton
+		Button prgButtonToggle(prgButton, setprgButtonState);
+	#endif
+	#ifdef penToggleButton
+		Button penToggle(penToggleButton, doTogglePen);
+	#endif
+	#ifdef motorsButton
+		Button motorsToggle(motorsButton, toggleMotors);
+  	#endif
+// Variables... be careful, by messing around here, everything has a reason and crossrelations...
   int penMin=0;
   int penMax=0;
   int penUpPos=5;  //can be overwritten from EBB-Command SC
@@ -72,45 +83,7 @@ Thanks to my wife and my daughter for their patience. :-)
   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
-  int motorsEnabled = 0;
+  boolean motorsEnabled = 0;
-
-  typedef void (*ActionCb)(void);
-
-  class Button {
-    public:
-	Button(byte p, ActionCb a): debounce(0), state(1), lastState(1), action(a), pin(p) {};
-
-        void check() {
-          byte b = digitalRead(pin);
-          long t = millis();
-
-          if (b != lastState) {
-            debounce = t;
-          }
-
-          if ((t - debounce) > debounceDelay) {
-            if (b != state) {
-              state = b;
-
-            if (!state) {
-              (*action)();
-            }
-          }
-        }
-
-        lastState = b;
-      }
-
-    private:
-	long debounce;
-	byte state:1;
-	byte lastState:1;
-        byte pin;
-        ActionCb action;
-  };
-
-  Button penToggle(penToggleButton, doTogglePen);
-  Button motorsToggle(motorsButton, toggleMotors);
  
 void setup() {   
     Serial.begin(9600);
@@ -119,9 +92,22 @@ void setup() {
 }
 
 void loop() {
+	if ( penMotor.distanceToGo() || rotMotor.distanceToGo() ) {
+		penMotor.runSpeedToPosition(); // Moving.... moving... moving....
+		rotMotor.runSpeedToPosition();
+	}
+	
 	SCmd.readSerial();
+	
+	#ifdef penToggleButton
 	   penToggle.check();
+	#endif
+	
+	#ifdef motorsButton
 		motorsToggle.check();
-     if( 0 == digitalRead(prgButton))
+	#endif
-	prgButtonState = 1;
+	
+	#ifdef prgButton
+		prgButtonToggle.check();
+	#endif
 }

Functions.ino

@@ -5,7 +5,9 @@ void makeComInterface(){
   SCmd.addCommand("SC",stepperModeConfigure);
   SCmd.addCommand("SP",setPen);
   SCmd.addCommand("SM",stepperMove);
+  #ifdef CommandSMQB
 	  SCmd.addCommand("SMQB",stepperMoveQueryButton); // composite function enabling smooth movement
+  #endif
   SCmd.addCommand("SE",ignore);
   SCmd.addCommand("TP",togglePen);
   SCmd.addCommand("PO",ignore);    //Engraver command, not implemented, gives fake answer
@@ -32,8 +34,8 @@ void queryPen() {
 
 void queryButton() {
 	Serial.print(String(prgButtonState) +"\r\n");
-	prgButtonState = 0;
 	sendAck();
+	prgButtonState = 0;
 }
   
 void queryLayer() {
@@ -87,23 +89,30 @@ void stepperMove() {
   uint16_t duration=0; //in ms
   int penStepsEBB=0; //Pen
   int rotStepsEBB=0; //Rot
+  while ( penMotor.distanceToGo() || rotMotor.distanceToGo() ) {
+	  		penMotor.runSpeedToPosition(); // Moving.... moving... moving....
+	  		rotMotor.runSpeedToPosition();
+  }
 
   if (!parseSMArgs(&duration, &penStepsEBB, &rotStepsEBB)) {
     sendError();
     return;
   }
 
+  sendAck();
+  
   if ( (penStepsEBB==0) && (rotStepsEBB==0) ) {
     delay(duration);
-    sendAck();
+    //sendAck();
     return;
   }
 
   doMove(duration, penStepsEBB, rotStepsEBB);
-  sendAck();
+  //sendAck();
 }
 
-void stepperMoveQueryButton() {
+#ifdef CommandSMQB
+	void stepperMoveQueryButton() {
 	  uint16_t duration=0; //in ms
 	  int penStepsEBB=0; //Pen
 	  int rotStepsEBB=0; //Rot
@@ -122,74 +131,18 @@ void stepperMoveQueryButton() {
 	  // sending ACK before actual move to allow buffering 
 	  queryButton();
 	  doMove(duration, penStepsEBB, rotStepsEBB);
-}
-
-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) {
+#endif
-     *penStepsEBB = atoi(arg2);
-     arg3 = SCmd.next();
-  }
-  if (arg3 != NULL) {
-     *rotStepsEBB = atoi(arg3);
 
-     return true;
-  }  
-
-  return false;
-}
-
-void doMove(uint16_t duration, int penStepsEBB, int rotStepsEBB) {
-  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 );
-  }
-
-  while ( penMotor.distanceToGo() || rotMotor.distanceToGo() ) { 
-    penMotor.runSpeedToPosition(); // Moving.... moving... moving....
-    rotMotor.runSpeedToPosition();
-  }
-}
 
 void setPen(){
   int cmd;
   int value;
   char *arg;
+    while ( penMotor.distanceToGo() || rotMotor.distanceToGo() ) {
+	    penMotor.runSpeedToPosition(); // Moving.... moving... moving....
+	    rotMotor.runSpeedToPosition();
+    }
   arg = SCmd.next(); 
   if (arg != NULL) {
       cmd = atoi(arg);
@@ -202,7 +155,6 @@ void setPen(){
 		  case 1:
 		  penServo.write(penDownPos);
 		  penState=penDownPos;
-		  //Serial.println("case 1");
 		  break;
 		  
 		  default:
@@ -213,13 +165,13 @@ void setPen(){
   val = SCmd.next(); 
   if (val != NULL) {
 		value = atoi(val);
-		//  Serial.println("delayvalue");
+		sendAck();
 	    delay(value);
-		  sendAck();
   }
-  if (val==NULL && arg !=NULL)  
+  if (val==NULL && arg !=NULL)  {
-			delay(500);
 		sendAck();
+		delay(500);
+  }
 		//	Serial.println("delay");
   if (val==NULL && arg ==NULL)
 			sendError();
@@ -228,6 +180,10 @@ void setPen(){
 void togglePen(){
   int value;
   char *arg;
+    while ( penMotor.distanceToGo() || rotMotor.distanceToGo() ) {
+				penMotor.runSpeedToPosition(); // Moving.... moving... moving....
+				rotMotor.runSpeedToPosition();
+    }
   arg = SCmd.next(); 
   if (arg != NULL) 
       value = atoi(arg);
@@ -235,9 +191,8 @@ void togglePen(){
       value = 500;
 
 	doTogglePen();
-
-  delay(value);
 	sendAck();
+	delay(value); 
 }
 
 void doTogglePen() {
@@ -289,26 +244,6 @@ void enableMotors(){
   }
 }
 
-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();
-  }
-}
-
 void stepperModeConfigure(){
   int cmd;
   int value;

Helper_Functions.ino

@@ -6,9 +6,18 @@ void initHardware(){
 
   pinMode(enableRotMotor, OUTPUT); 
   pinMode(enablePenMotor, OUTPUT);  
+  
+  	#ifdef prgButton
 		pinMode(prgButton, INPUT_PULLUP);
+  	#endif
+	  
+	#ifdef penToggleButton
 		pinMode(penToggleButton, INPUT_PULLUP);
+	#endif
+	
+	#ifdef motorsButton
 		pinMode(motorsButton, INPUT_PULLUP);
+	#endif
 
   rotMotor.setMaxSpeed(2000.0);
   rotMotor.setAcceleration(10000.0);
@@ -41,3 +50,90 @@ void inline 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 doMove(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 );
+	}
+/*
+	while ( penMotor.distanceToGo() || rotMotor.distanceToGo() ) {
+		penMotor.runSpeedToPosition(); // Moving.... moving... moving....
+		rotMotor.runSpeedToPosition();
+	}
+	*/
+}
+
+void setprgButtonState(){
+	prgButtonState = 1;
+}

README.md

@@ -3,7 +3,7 @@ Eggduino
 
 Arduino Firmware for Eggbot / Spherebot with Inkscape-Integration
 
-Version 1.4s
+Version 1.6
 tested with Inkscape Portable 0.91, Eggbot Extension and patched eggbot.py
 
 Regards: Eggduino-Firmware by Joachim Cerny, 2015
@@ -17,6 +17,7 @@ Features:
 - No collision-detection!!
 - Supported Servos: At least one type ;-) I use Arduino Servo-Lib with TG9e- standard servo.
 - Full Arduino-Compatible. I used an Arduino Uno
+- Button-support (3 buttons)
 
 Tested and fully functional with Inkscape.
 

VersionHistory.txt

@@ -1,3 +1,10 @@
+05.05.2015 v1.6
+imported some improvements from user "bartebor"
+fixed some timing issues
+added button-support via #ifdefine
+worked on penarm-shaking-bug
+restructured some codesegments
+
 29.03.2015 v1.4
 added prototype for PRG-Button support. somebody has to test it. Connect pushbutton between Pin2 und GND.
 disabled ccordinate transform for 16-microstepping, because Inkscape sends in 16-microstepping, as well.

button.h

@@ -0,0 +1,59 @@
+/* 
+* button.h
+*
+* Created: 04.05.2015 21:38:42
+* Author: Yogi
+*/
+
+
+#ifndef __BUTTON_H__
+#define __BUTTON_H__
+
+#include <Arduino.h>
+
+#define debounceDelay 50
+
+typedef void (*ActionCb)(void);
+
+class Button
+{
+	
+private:
+	long debounce;
+	byte state:1;
+	byte lastState:1;
+	byte pin;
+	ActionCb action;
+	Button( const Button &c );
+	Button& operator=( const Button &c );
+	
+public:
+	
+	Button(byte p, ActionCb a): debounce(0), state(1), lastState(1), action(a), pin(p) {} ;
+	void check() {
+		byte b = digitalRead(pin);
+		long t = millis();
+
+		if (b != lastState) {
+			debounce = t;
+		}
+
+		if ((t - debounce) > debounceDelay) {
+			if (b != state) {
+				state = b;
+
+				if (!state) {
+					(*action)();
+				}
+			}
+		}
+
+		lastState = b;
+	};
+
+
+
+}; //button
+
+#endif //__BUTTON_H__
+