Initial Release
Eggduino - Arduino Firmware for arduinobased Spherebot direct Integration in Inkscape
This commit is contained in:
cocktailyogi
328
Functions.ino
Normal file
328
Functions.ino
Normal file
@@ -0,0 +1,328 @@
|
||||
|
||||
void makeComInterface(){
|
||||
SCmd.addCommand("v",sendVersion); // Converts two arguments to integers and echos them back
|
||||
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("QB",queryButton); //preparation for "PRG" Button, actually gives fake answer,
|
||||
SCmd.setDefaultHandler(unrecognized); // Handler for command that isn't matched (says "What?")
|
||||
}
|
||||
|
||||
void queryButton() {
|
||||
Serial.print(String(prgButtonState) +"\r\n" + "OK\r\n");
|
||||
}
|
||||
|
||||
void queryLayer() {
|
||||
Serial.print(String(layer) +"\r\n" + "OK\r\n");
|
||||
}
|
||||
|
||||
void setLayer() {
|
||||
uint32_t value=0;
|
||||
char *arg1;
|
||||
arg1 = SCmd.next();
|
||||
if (arg1 != NULL) {
|
||||
value = atoi(arg1);
|
||||
layer=value;
|
||||
Serial.print("OK\r\n");
|
||||
}
|
||||
else
|
||||
Serial.print("unknown CMD\r\n");
|
||||
}
|
||||
|
||||
void queryNodeCount() {
|
||||
Serial.print(String(nodeCount) +"\r\n" + "OK\r\n");
|
||||
}
|
||||
|
||||
void setNodeCount() {
|
||||
uint32_t value=0;
|
||||
char *arg1;
|
||||
arg1 = SCmd.next();
|
||||
if (arg1 != NULL) {
|
||||
value = atoi(arg1);
|
||||
nodeCount=value;
|
||||
Serial.print("OK\r\n");
|
||||
}
|
||||
else
|
||||
Serial.print("unknown CMD\r\n");
|
||||
}
|
||||
|
||||
void nodeCountIncrement() {
|
||||
nodeCount=nodeCount++;
|
||||
Serial.print("OK\r\n");
|
||||
}
|
||||
|
||||
void nodeCountDecrement() {
|
||||
nodeCount=nodeCount--;
|
||||
Serial.print("OK\r\n");
|
||||
}
|
||||
|
||||
void stepperMove(){
|
||||
uint16_t duration=0; //in ms
|
||||
long penStepsEBB=0; //Pen
|
||||
long rotStepsEBB=0; //Rot
|
||||
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);
|
||||
Serial.print("OK\r\n");
|
||||
|
||||
if ( (penStepsEBB==0) && (rotStepsEBB==0) )
|
||||
delay(duration);
|
||||
|
||||
if ( (penStepsEBB!=0) || (rotStepsEBB!=0) ) {
|
||||
//Move-Code:
|
||||
digitalWrite(enableRotMotor, LOW) ;
|
||||
digitalWrite(enablePenMotor, LOW) ;
|
||||
long rotSteps = ((float) (rotMicrostep/rotStepMode)) * rotStepsEBB; //transform to local coordiantes
|
||||
long penSteps = ((float) (penMicrostep/penStepMode)) * penStepsEBB; //transform to local coordiantes
|
||||
float rotSpeed = (float) ( ((long) rotSteps * (long)1000) / (long) duration ) ;
|
||||
float penSpeed = (float) ( ((long) penSteps * (long)1000) / (long) duration ) ;
|
||||
rotMotor.move(rotSteps);
|
||||
rotMotor.setSpeed(rotSpeed);
|
||||
penMotor.move(penSteps);
|
||||
penMotor.setSpeed( penSpeed );
|
||||
while ( penMotor.distanceToGo() || rotMotor.distanceToGo() ) {
|
||||
penMotor.runSpeedToPosition();
|
||||
rotMotor.runSpeedToPosition();
|
||||
}
|
||||
//end Move-Code
|
||||
}
|
||||
}
|
||||
else
|
||||
Serial.print("unknown CMD\r\n");
|
||||
|
||||
}
|
||||
|
||||
|
||||
void setPen(){
|
||||
int cmd;
|
||||
int value;
|
||||
char *arg;
|
||||
arg = SCmd.next();
|
||||
if (arg != NULL) {
|
||||
cmd = atoi(arg);
|
||||
switch (cmd) {
|
||||
case 0:
|
||||
penServo.write(penUpPos);
|
||||
penState=penUpPos;
|
||||
Serial.print("OK\r\n");
|
||||
break;
|
||||
|
||||
case 1:
|
||||
penServo.write(penDownPos);
|
||||
penState=penDownPos;
|
||||
//Serial.println("case 1");
|
||||
Serial.print("OK\r\n");
|
||||
break;
|
||||
|
||||
default:
|
||||
Serial.print("unknown CMD");
|
||||
}
|
||||
}
|
||||
char *val;
|
||||
val = SCmd.next();
|
||||
if (val != NULL) {
|
||||
value = atoi(val);
|
||||
// Serial.println("delayvalue");
|
||||
delay(value);
|
||||
}
|
||||
if (val==NULL && arg !=NULL)
|
||||
delay(500);
|
||||
// Serial.println("delay");
|
||||
if (val==NULL && arg ==NULL)
|
||||
Serial.print("unknown CMD\r\n");
|
||||
}
|
||||
|
||||
void togglePen(){
|
||||
int value;
|
||||
char *arg;
|
||||
arg = SCmd.next();
|
||||
if (arg != NULL)
|
||||
value = atoi(arg);
|
||||
if (penState==penUpPos) {
|
||||
penServo.write(penDownPos);
|
||||
penState=penDownPos;
|
||||
Serial.print("OK\r\n");
|
||||
if (arg != NULL)
|
||||
delay(value);
|
||||
else
|
||||
delay(500);
|
||||
}
|
||||
else {
|
||||
penServo.write(penUpPos);
|
||||
penState=penUpPos;
|
||||
Serial.print("OK\r\n");
|
||||
if (arg != NULL)
|
||||
delay(value);
|
||||
else
|
||||
delay(500);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
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: digitalWrite(enableRotMotor, HIGH) ;
|
||||
digitalWrite(enablePenMotor, HIGH) ;
|
||||
Serial.print("OK\r\n");
|
||||
break;
|
||||
case 1: rotStepMode=16;
|
||||
penStepMode=16;
|
||||
digitalWrite(enableRotMotor, LOW) ;
|
||||
digitalWrite(enablePenMotor, LOW) ;
|
||||
Serial.print("OK\r\n");
|
||||
break;
|
||||
case 2: rotStepMode=8;
|
||||
penStepMode=8;
|
||||
digitalWrite(enableRotMotor, LOW) ;
|
||||
digitalWrite(enablePenMotor, LOW) ;
|
||||
Serial.print("OK\r\n");
|
||||
break;
|
||||
case 3: rotStepMode=4;
|
||||
penStepMode=4;
|
||||
digitalWrite(enableRotMotor, LOW) ;
|
||||
digitalWrite(enablePenMotor, LOW) ;
|
||||
Serial.print("OK\r\n");
|
||||
break;
|
||||
case 4: rotStepMode=2;
|
||||
penStepMode=2;
|
||||
digitalWrite(enableRotMotor, LOW) ;
|
||||
digitalWrite(enablePenMotor, LOW) ;
|
||||
Serial.print("OK\r\n");
|
||||
break;
|
||||
case 5: rotStepMode=1;
|
||||
penStepMode=1;
|
||||
digitalWrite(enableRotMotor, LOW) ;
|
||||
digitalWrite(enablePenMotor, LOW) ;
|
||||
Serial.print("OK\r\n");
|
||||
break;
|
||||
default:
|
||||
Serial.print("unknown CMD\r\n");
|
||||
}
|
||||
}
|
||||
//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: digitalWrite(enableRotMotor, HIGH) ;
|
||||
digitalWrite(enablePenMotor, HIGH) ;
|
||||
Serial.print("OK\r\n");
|
||||
break;
|
||||
case 1: rotStepMode=16;
|
||||
penStepMode=16;
|
||||
digitalWrite(enableRotMotor, LOW) ;
|
||||
digitalWrite(enablePenMotor, LOW) ;
|
||||
Serial.print("OK\r\n");
|
||||
break;
|
||||
case 2: rotStepMode=8;
|
||||
penStepMode=8;
|
||||
digitalWrite(enableRotMotor, LOW) ;
|
||||
digitalWrite(enablePenMotor, LOW) ;
|
||||
Serial.print("OK\r\n");
|
||||
break;
|
||||
case 3: rotStepMode=4;
|
||||
penStepMode=4;
|
||||
digitalWrite(enableRotMotor, LOW) ;
|
||||
digitalWrite(enablePenMotor, LOW) ;
|
||||
Serial.print("OK\r\n");
|
||||
break;
|
||||
case 4: rotStepMode=2;
|
||||
penStepMode=2;
|
||||
digitalWrite(enableRotMotor, LOW) ;
|
||||
digitalWrite(enablePenMotor, LOW) ;
|
||||
Serial.print("OK\r\n");
|
||||
break;
|
||||
case 5: rotStepMode=1;
|
||||
penStepMode=1;
|
||||
digitalWrite(enableRotMotor, LOW) ;
|
||||
digitalWrite(enablePenMotor, LOW) ;
|
||||
Serial.print("OK\r\n");
|
||||
break;
|
||||
|
||||
default:
|
||||
Serial.print("unknown CMD\r\n");
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
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) 94.18); // transformation from EBB to PWM-Stepper
|
||||
Serial.print("OK\r\n");
|
||||
break;
|
||||
case 5: penUpPos= (int)((float) (value-6000)/(float) 94.18); // transformation from EBB to PWM-Stepper
|
||||
Serial.print("OK\r\n");
|
||||
break;
|
||||
case 6: //rotMin=value; ignored
|
||||
Serial.print("OK\r\n");
|
||||
break;
|
||||
case 7: //rotMax=value; ignored
|
||||
Serial.print("OK\r\n");
|
||||
break;
|
||||
case 11: servoRateUp=value;
|
||||
Serial.print("OK\r\n");
|
||||
break;
|
||||
case 12: servoRateDown=value;
|
||||
Serial.print("OK\r\n");
|
||||
break;
|
||||
default:
|
||||
Serial.print("unknown CMD\r\n");
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void sendVersion(){
|
||||
Serial.print(initSting);
|
||||
Serial.print("\r\n");
|
||||
}
|
||||
|
||||
void unrecognized(const char *command){
|
||||
Serial.print("unknown CMD\r\n");
|
||||
}
|
||||
|
||||
void ignore(){
|
||||
Serial.print("OK\r\n");
|
||||
}
|
||||
Reference in New Issue
Block a user