Sternenlabor/EggDuino
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Converted to platformio

Browse Source
This commit is contained in:
Holger Weber
2026-01-31 15:49:55 +01:00
parent a0cdc5a0e0
commit aa35075bd2
11 changed files with 126 additions and 50 deletions
Download Patch File Download Diff File Expand all files Collapse all files

266
src/Functions.cpp Normal file
View File

@@ -0,0 +1,266 @@
#include "EggDuino.h"
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");
sendAck();
prgButtonState = 0;
}
void queryLayer() {
Serial.print(String(layer) +"\r\n");
sendAck();
}
void setLayer() {
uint32_t value=0;
char *arg1;
arg1 = SCmd.next();
if (arg1 != NULL) {
value = atoi(arg1);
layer=value;
sendAck();
}
else
sendError();
}
void queryNodeCount() {
Serial.print(String(nodeCount) +"\r\n");
sendAck();
}
void setNodeCount() {
uint32_t value=0;
char *arg1;
arg1 = SCmd.next();
if (arg1 != NULL) {
value = atoi(arg1);
nodeCount=value;
sendAck();
}
else
sendError();
}
void nodeCountIncrement() {
nodeCount=nodeCount++;
sendAck();
}
void nodeCountDecrement() {
nodeCount=nodeCount--;
sendAck();
}
void stepperMove() {
uint16_t duration=0; //in ms
int penStepsEBB=0; //Pen
int rotStepsEBB=0; //Rot
moveToDestination();
if (!parseSMArgs(&duration, &penStepsEBB, &rotStepsEBB)) {
sendError();
return;
}
sendAck();
if ( (penStepsEBB==0) && (rotStepsEBB==0) ) {
delay(duration);
return;
}
prepareMove(duration, penStepsEBB, rotStepsEBB);
}
void setPen(){
int cmd;
int value;
char *arg;
moveToDestination();
arg = SCmd.next();
if (arg != NULL) {
cmd = atoi(arg);
switch (cmd) {
case 0:
penServo.write(penUpPos);
penState=penUpPos;
break;
case 1:
penServo.write(penDownPos);
penState=penDownPos;
break;
default:
sendError();
}
}
char *val;
val = SCmd.next();
if (val != NULL) {
value = atoi(val);
sendAck();
delay(value);
}
if (val==NULL && arg !=NULL) {
sendAck();
delay(500);
}
// Serial.println("delay");
if (val==NULL && arg ==NULL)
sendError();
}
void togglePen(){
int value;
char *arg;
moveToDestination();
arg = SCmd.next();
if (arg != NULL)
value = atoi(arg);
else
value = 500;
doTogglePen();
sendAck();
delay(value);
}
void doTogglePen() {
if (penState==penUpPos) {
penServo.write(penDownPos);
penState=penDownPos;
} else {
penServo.write(penUpPos);
penState=penUpPos;
}
}
void enableMotors(){
int cmd;
int value;
char *arg;
char *val;
arg = SCmd.next();
if (arg != NULL)
cmd = atoi(arg);
val = SCmd.next();
if (val != NULL)
value = atoi(val);
//values parsed
if ((arg != NULL) && (val == NULL)){
switch (cmd) {
case 0: motorsOff();
sendAck();
break;
case 1: motorsOn();
sendAck();
break;
default:
sendError();
}
}
//the following implementaion is a little bit cheated, because i did not know, how to implement different values for first and second argument.
if ((arg != NULL) && (val != NULL)){
switch (value) {
case 0: motorsOff();
sendAck();
break;
case 1: motorsOn();
sendAck();
break;
default:
sendError();
}
}
}
void stepperModeConfigure(){
int cmd;
int value;
char *arg;
arg = SCmd.next();
if (arg != NULL)
cmd = atoi(arg);
char *val;
val = SCmd.next();
if (val != NULL)
value = atoi(val);
if ((arg != NULL) && (val != NULL)){
switch (cmd) {
case 4: penDownPos= (int) ((float) (value-6000)/(float) 133.3); // transformation from EBB to PWM-Servo
storePenDownPosInEE();
sendAck();
break;
case 5: penUpPos= (int)((float) (value-6000)/(float) 133.3); // transformation from EBB to PWM-Servo
storePenUpPosInEE();
sendAck();
break;
case 6: //rotMin=value; ignored
sendAck();
break;
case 7: //rotMax=value; ignored
sendAck();
break;
case 11: servoRateUp=value;
sendAck();
break;
case 12: servoRateDown=value;
sendAck();
break;
default:
sendError();
}
}
}
void sendVersion(){
Serial.print(initSting);
Serial.print("\r\n");
}
void unrecognized(const char *command){
sendError();
}
void ignore(){
sendAck();
}
void makeComInterface(){
SCmd.addCommand("v",sendVersion);
SCmd.addCommand("EM",enableMotors);
SCmd.addCommand("SC",stepperModeConfigure);
SCmd.addCommand("SP",setPen);
SCmd.addCommand("SM",stepperMove);
SCmd.addCommand("SE",ignore);
SCmd.addCommand("TP",togglePen);
SCmd.addCommand("PO",ignore); //Engraver command, not implemented, gives fake answer
SCmd.addCommand("NI",nodeCountIncrement);
SCmd.addCommand("ND",nodeCountDecrement);
SCmd.addCommand("SN",setNodeCount);
SCmd.addCommand("QN",queryNodeCount);
SCmd.addCommand("SL",setLayer);
SCmd.addCommand("QL",queryLayer);
SCmd.addCommand("QP",queryPen);
SCmd.addCommand("QB",queryButton); //"PRG" Button,
SCmd.setDefaultHandler(unrecognized); // Handler for command that isn't matched (says "What?")
}

139
src/Helper_Functions.cpp Normal file
View File

@@ -0,0 +1,139 @@
#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;
}

88
src/main.cpp Normal file
View File

@@ -0,0 +1,88 @@
/* Eggduino-Firmware by Joachim Cerny, 2014
Thanks for the nice libs ACCELSTEPPER and SERIALCOMMAND, which made this project much easier.
Thanks to the Eggbot-Team for such a funny and enjoable concept!
Thanks to my wife and my daughter for their patience. :-)
*/
// 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
*/
#include "EggDuino.h"
// EXTRAFEATURES - UNCOMMENT TO USE THEM -------------------------------------------------------------------
// #define prgButton 2 // PRG button
// #define penToggleButton 12 // pen up/down button
// #define motorsButton 4 // motors enable button
//-----------------------------------------------------------------------------------------------------------
//make Objects
AccelStepper rotMotor(1, step1, dir1);
AccelStepper penMotor(1, step2, dir2);
Servo penServo;
SerialCommand SCmd;
//create Buttons
#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
int penDownPos=20; //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
long rotStepError=0;
long penStepError=0;
int penState=penUpPos;
uint32_t nodeCount=0;
unsigned int layer=0;
boolean prgButtonState=0;
uint8_t rotStepCorrection = 16/rotMicrostep ; //devide EBB-Coordinates by this factor to get EGGduino-Steps
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;
void setup() {
Serial.begin(9600);
makeComInterface();
initHardware();
}
void loop() {
moveOneStep();
SCmd.readSerial();
#ifdef penToggleButton
penToggle.check();
#endif
#ifdef motorsButton
motorsToggle.check();
#endif
#ifdef prgButton
prgButtonToggle.check();
#endif
}