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EggDuino.ino

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+/* 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 2.1.0
+// EBB-Command-Referenc, 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.
+
+/* TODOs:
+1	collision control via penMin/penMax
+2	implement homing sequence via microswitch or optical device
+3	implement hardware-button , EGGBOT-Guys call it "PRG-Button"
+4	Replace Stepper Control ACCELSTEPPER --> DDS, interruptbased control to improve step-precision and smoothness.
+*/
+
+#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
+
+#define initSting "EBB 2.1.0+ Protocol emulated by Eggduino-Firmware V1.0"
+//Rotational Stepper
+  #define step1 11
+  #define dir1 10
+  #define enableRotMotor 9
+  #define rotMicrostep 8
+//Pen Stepper
+  #define step2 8
+  #define dir2 7
+  #define enablePenMotor 5
+  #define penMicrostep 8
+//Servo
+  #define servoPin 3
+
+//make Objects
+  AccelStepper rotMotor(1, step1, dir1);
+  AccelStepper penMotor(1, step2, dir2);
+  Servo penServo; 
+  SerialCommand SCmd;
+// Variables
+  int penMin=0;
+  int penMax=0;
+  int penUpPos=5;  //can be overwritten from EBB-Command SC
+  int penDownPos=30; //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
+  float rotStepMode=16; //1/16 by default, can be changed by EBB protocol, used as correction factor
+  float penStepMode=16; //1/16 by default, can be changed by EBB protocol, used as correction factor
+  int penState=penUpPos;
+  uint32_t nodeCount=0;
+  unsigned int layer=0;
+  boolean prgButtonState=0;
+
+void setup() {   
+    Serial.begin(9600);
+    makeComInterface();
+    initHardware();
+}
+
+void loop() {
+     SCmd.readSerial();  
+}