Fixing indentation
This commit is contained in:
Bartosz Borkowski
122
EggDuino.ino
122
EggDuino.ino
@@ -1,10 +1,10 @@
|
||||
/* 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. :-)
|
||||
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
|
||||
@@ -15,9 +15,9 @@ Thanks to my wife and my daughter for their patience. :-)
|
||||
// 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
|
||||
*/
|
||||
1 collision control via penMin/penMax
|
||||
2 implement homing sequence via microswitch or optical device
|
||||
*/
|
||||
|
||||
#include "AccelStepper.h" // nice lib from http://www.airspayce.com/mikem/arduino/AccelStepper/
|
||||
#include <Servo.h>
|
||||
@@ -27,17 +27,17 @@ Thanks to my wife and my daughter for their patience. :-)
|
||||
|
||||
#define initSting "EBBv13_and_above Protocol emulated by Eggduino-Firmware V1.6"
|
||||
//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
|
||||
#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:
|
||||
#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
|
||||
#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
|
||||
|
||||
#define servoPin 3 //Servo
|
||||
#define servoPin 3 //Servo
|
||||
|
||||
// EXTRAFEATURES - UNCOMMENT TO USE THEM -------------------------------------------------------------------
|
||||
|
||||
@@ -47,47 +47,47 @@ Thanks to my wife and my daughter for their patience. :-)
|
||||
|
||||
//-----------------------------------------------------------------------------------------------------------
|
||||
|
||||
#define penUpPosEEAddress ((uint16_t *)0)
|
||||
#define penDownPosEEAddress ((uint16_t *)2)
|
||||
#define penUpPosEEAddress ((uint16_t *)0)
|
||||
#define penDownPosEEAddress ((uint16_t *)2)
|
||||
|
||||
//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
|
||||
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;
|
||||
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();
|
||||
Serial.begin(9600);
|
||||
makeComInterface();
|
||||
initHardware();
|
||||
}
|
||||
|
||||
void loop() {
|
||||
@@ -95,15 +95,15 @@ void loop() {
|
||||
|
||||
SCmd.readSerial();
|
||||
|
||||
#ifdef penToggleButton
|
||||
penToggle.check();
|
||||
#endif
|
||||
#ifdef penToggleButton
|
||||
penToggle.check();
|
||||
#endif
|
||||
|
||||
#ifdef motorsButton
|
||||
motorsToggle.check();
|
||||
#endif
|
||||
#ifdef motorsButton
|
||||
motorsToggle.check();
|
||||
#endif
|
||||
|
||||
#ifdef prgButton
|
||||
prgButtonToggle.check();
|
||||
#endif
|
||||
#ifdef prgButton
|
||||
prgButtonToggle.check();
|
||||
#endif
|
||||
}
|
||||
|
||||
332
Functions.ino
332
Functions.ino
@@ -1,22 +1,22 @@
|
||||
|
||||
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?")
|
||||
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?")
|
||||
}
|
||||
|
||||
void queryPen() {
|
||||
@@ -36,25 +36,25 @@ void queryButton() {
|
||||
}
|
||||
|
||||
void queryLayer() {
|
||||
Serial.print(String(layer) +"\r\n");
|
||||
sendAck();
|
||||
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();
|
||||
}
|
||||
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");
|
||||
Serial.print(String(nodeCount) +"\r\n");
|
||||
sendAck();
|
||||
|
||||
}
|
||||
@@ -83,79 +83,79 @@ void nodeCountDecrement() {
|
||||
}
|
||||
|
||||
void stepperMove() {
|
||||
uint16_t duration=0; //in ms
|
||||
int penStepsEBB=0; //Pen
|
||||
int rotStepsEBB=0; //Rot
|
||||
uint16_t duration=0; //in ms
|
||||
int penStepsEBB=0; //Pen
|
||||
int rotStepsEBB=0; //Rot
|
||||
|
||||
moveToDestination();
|
||||
moveToDestination();
|
||||
|
||||
if (!parseSMArgs(&duration, &penStepsEBB, &rotStepsEBB)) {
|
||||
sendError();
|
||||
return;
|
||||
}
|
||||
if (!parseSMArgs(&duration, &penStepsEBB, &rotStepsEBB)) {
|
||||
sendError();
|
||||
return;
|
||||
}
|
||||
|
||||
sendAck();
|
||||
sendAck();
|
||||
|
||||
if ( (penStepsEBB==0) && (rotStepsEBB==0) ) {
|
||||
delay(duration);
|
||||
return;
|
||||
}
|
||||
if ( (penStepsEBB==0) && (rotStepsEBB==0) ) {
|
||||
delay(duration);
|
||||
return;
|
||||
}
|
||||
|
||||
prepareMove(duration, penStepsEBB, rotStepsEBB);
|
||||
prepareMove(duration, penStepsEBB, rotStepsEBB);
|
||||
}
|
||||
|
||||
void setPen(){
|
||||
int cmd;
|
||||
int value;
|
||||
char *arg;
|
||||
int cmd;
|
||||
int value;
|
||||
char *arg;
|
||||
|
||||
moveToDestination();
|
||||
moveToDestination();
|
||||
|
||||
arg = SCmd.next();
|
||||
if (arg != NULL) {
|
||||
cmd = atoi(arg);
|
||||
switch (cmd) {
|
||||
case 0:
|
||||
penServo.write(penUpPos);
|
||||
penState=penUpPos;
|
||||
break;
|
||||
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;
|
||||
case 1:
|
||||
penServo.write(penDownPos);
|
||||
penState=penDownPos;
|
||||
break;
|
||||
|
||||
default:
|
||||
sendError();
|
||||
}
|
||||
}
|
||||
char *val;
|
||||
val = SCmd.next();
|
||||
if (val != NULL) {
|
||||
default:
|
||||
sendError();
|
||||
}
|
||||
}
|
||||
char *val;
|
||||
val = SCmd.next();
|
||||
if (val != NULL) {
|
||||
value = atoi(val);
|
||||
sendAck();
|
||||
delay(value);
|
||||
}
|
||||
if (val==NULL && arg !=NULL) {
|
||||
delay(value);
|
||||
}
|
||||
if (val==NULL && arg !=NULL) {
|
||||
sendAck();
|
||||
delay(500);
|
||||
}
|
||||
// Serial.println("delay");
|
||||
if (val==NULL && arg ==NULL)
|
||||
sendError();
|
||||
}
|
||||
// Serial.println("delay");
|
||||
if (val==NULL && arg ==NULL)
|
||||
sendError();
|
||||
}
|
||||
|
||||
void togglePen(){
|
||||
int value;
|
||||
char *arg;
|
||||
int value;
|
||||
char *arg;
|
||||
|
||||
moveToDestination();
|
||||
moveToDestination();
|
||||
|
||||
arg = SCmd.next();
|
||||
if (arg != NULL)
|
||||
value = atoi(arg);
|
||||
else
|
||||
value = 500;
|
||||
arg = SCmd.next();
|
||||
if (arg != NULL)
|
||||
value = atoi(arg);
|
||||
else
|
||||
value = 500;
|
||||
|
||||
doTogglePen();
|
||||
sendAck();
|
||||
@@ -163,102 +163,102 @@ void togglePen(){
|
||||
}
|
||||
|
||||
void doTogglePen() {
|
||||
if (penState==penUpPos) {
|
||||
penServo.write(penDownPos);
|
||||
penState=penDownPos;
|
||||
} else {
|
||||
penServo.write(penUpPos);
|
||||
penState=penUpPos;
|
||||
}
|
||||
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();
|
||||
}
|
||||
}
|
||||
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();
|
||||
}
|
||||
}
|
||||
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");
|
||||
Serial.print(initSting);
|
||||
Serial.print("\r\n");
|
||||
}
|
||||
|
||||
void unrecognized(const char *command){
|
||||
sendError();
|
||||
sendError();
|
||||
}
|
||||
|
||||
void ignore(){
|
||||
sendAck();
|
||||
sendAck();
|
||||
}
|
||||
|
||||
@@ -1,33 +1,33 @@
|
||||
void initHardware(){
|
||||
// enable eeprom wait in avr/eeprom.h functions
|
||||
SPMCSR &= ~SELFPRGEN;
|
||||
// enable eeprom wait in avr/eeprom.h functions
|
||||
SPMCSR &= ~SELFPRGEN;
|
||||
|
||||
loadPenPosFromEE();
|
||||
loadPenPosFromEE();
|
||||
|
||||
pinMode(enableRotMotor, OUTPUT);
|
||||
pinMode(enablePenMotor, OUTPUT);
|
||||
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);
|
||||
rotMotor.setMaxSpeed(2000.0);
|
||||
rotMotor.setAcceleration(10000.0);
|
||||
penMotor.setMaxSpeed(2000.0);
|
||||
penMotor.setAcceleration(10000.0);
|
||||
motorsOff();
|
||||
penServo.attach(servoPin);
|
||||
penServo.write(penState);
|
||||
}
|
||||
|
||||
void inline loadPenPosFromEE() {
|
||||
penUpPos = eeprom_read_word(penUpPosEEAddress);
|
||||
penDownPos = eeprom_read_word(penDownPosEEAddress);
|
||||
penState = penUpPos;
|
||||
penUpPos = eeprom_read_word(penUpPosEEAddress);
|
||||
penDownPos = eeprom_read_word(penDownPosEEAddress);
|
||||
penState = penUpPos;
|
||||
}
|
||||
|
||||
void inline storePenUpPosInEE() {
|
||||
eeprom_update_word(penUpPosEEAddress, penUpPos);
|
||||
eeprom_update_word(penUpPosEEAddress, penUpPos);
|
||||
}
|
||||
|
||||
void inline storePenDownPosInEE() {
|
||||
eeprom_update_word(penDownPosEEAddress, penDownPos);
|
||||
eeprom_update_word(penDownPosEEAddress, penDownPos);
|
||||
}
|
||||
|
||||
void inline sendAck(){
|
||||
@@ -53,7 +53,7 @@ void motorsOn() {
|
||||
void toggleMotors() {
|
||||
if (motorsEnabled) {
|
||||
motorsOff();
|
||||
} else {
|
||||
} else {
|
||||
motorsOn();
|
||||
}
|
||||
}
|
||||
@@ -90,7 +90,7 @@ void prepareMove(uint16_t duration, int penStepsEBB, int rotStepsEBB) {
|
||||
rotMotor.setSpeed( abs( (float)rotStepsEBB * (float)1000 / (float)duration ) );
|
||||
penMotor.move(penStepsEBB);
|
||||
penMotor.setSpeed( abs( (float)penStepsEBB * (float)1000 / (float)duration ) );
|
||||
} else {
|
||||
} 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...
|
||||
|
||||
Reference in New Issue
Block a user