diff --git a/AccelStepper.cpp b/AccelStepper.cpp
index 74868cc..29e6469 100644
--- a/AccelStepper.cpp
+++ b/AccelStepper.cpp
@@ -1,7 +1,7 @@
// AccelStepper.cpp
//
// Copyright (C) 2009-2013 Mike McCauley
-// $Id: AccelStepper.cpp,v 1.17 2013/08/02 01:53:21 mikem Exp mikem $
+// $Id: AccelStepper.cpp,v 1.19 2014/10/31 06:05:27 mikem Exp mikem $
#include "AccelStepper.h"
@@ -45,11 +45,10 @@ boolean AccelStepper::runSpeed()
return false;
unsigned long time = micros();
- // Gymnastics to detect wrapping of either the nextStepTime and/or the current time
unsigned long nextStepTime = _lastStepTime + _stepInterval;
+ // Gymnastics to detect wrapping of either the nextStepTime and/or the current time
if ( ((nextStepTime >= _lastStepTime) && ((time >= nextStepTime) || (time < _lastStepTime)))
|| ((nextStepTime < _lastStepTime) && ((time >= nextStepTime) && (time < _lastStepTime))))
-
{
if (_direction == DIRECTION_CW)
{
@@ -196,7 +195,7 @@ AccelStepper::AccelStepper(uint8_t interface, uint8_t pin1, uint8_t pin2, uint8_
_targetPos = 0;
_speed = 0.0;
_maxSpeed = 1.0;
- _acceleration = 1.0;
+ _acceleration = 0.0;
_sqrt_twoa = 1.0;
_stepInterval = 0;
_minPulseWidth = 1;
@@ -219,6 +218,8 @@ AccelStepper::AccelStepper(uint8_t interface, uint8_t pin1, uint8_t pin2, uint8_
_pinInverted[i] = 0;
if (enable)
enableOutputs();
+ // Some reasonable default
+ setAcceleration(1);
}
AccelStepper::AccelStepper(void (*forward)(), void (*backward)())
@@ -228,7 +229,7 @@ AccelStepper::AccelStepper(void (*forward)(), void (*backward)())
_targetPos = 0;
_speed = 0.0;
_maxSpeed = 1.0;
- _acceleration = 1.0;
+ _acceleration = 0.0;
_sqrt_twoa = 1.0;
_stepInterval = 0;
_minPulseWidth = 1;
@@ -251,6 +252,8 @@ AccelStepper::AccelStepper(void (*forward)(), void (*backward)())
int i;
for (i = 0; i < 4; i++)
_pinInverted[i] = 0;
+ // Some reasonable default
+ setAcceleration(1);
}
void AccelStepper::setMaxSpeed(float speed)
@@ -276,8 +279,8 @@ void AccelStepper::setAcceleration(float acceleration)
{
// Recompute _n per Equation 17
_n = _n * (_acceleration / acceleration);
- // New c0 per Equation 7
- _c0 = sqrt(2.0 / acceleration) * 1000000.0;
+ // New c0 per Equation 7, with correction per Equation 15
+ _c0 = 0.676 * sqrt(2.0 / acceleration) * 1000000.0; // Equation 15
_acceleration = acceleration;
computeNewSpeed();
}
@@ -347,6 +350,8 @@ void AccelStepper::setOutputPins(uint8_t mask)
uint8_t numpins = 2;
if (_interface == FULL4WIRE || _interface == HALF4WIRE)
numpins = 4;
+ else if (_interface == FULL3WIRE || _interface == HALF3WIRE)
+ numpins = 3;
uint8_t i;
for (i = 0; i < numpins; i++)
digitalWrite(_pin[i], (mask & (1 << i)) ? (HIGH ^ _pinInverted[i]) : (LOW ^ _pinInverted[i]));
@@ -545,6 +550,10 @@ void AccelStepper::enableOutputs()
pinMode(_pin[2], OUTPUT);
pinMode(_pin[3], OUTPUT);
}
+ else if (_interface == FULL3WIRE || _interface == HALF3WIRE)
+ {
+ pinMode(_pin[2], OUTPUT);
+ }
if (_enablePin != 0xff)
{
diff --git a/AccelStepper.h b/AccelStepper.h
index 618415e..26f9436 100644
--- a/AccelStepper.h
+++ b/AccelStepper.h
@@ -23,23 +23,28 @@
/// The latest version of this documentation can be downloaded from
/// http://www.airspayce.com/mikem/arduino/AccelStepper
/// The version of the package that this documentation refers to can be downloaded
-/// from http://www.airspayce.com/mikem/arduino/AccelStepper/AccelStepper-1.39.zip
+/// from http://www.airspayce.com/mikem/arduino/AccelStepper/AccelStepper-1.47.zip
///
/// Example Arduino programs are included to show the main modes of use.
///
/// You can also find online help and discussion at http://groups.google.com/group/accelstepper
/// Please use that group for all questions and discussions on this topic.
/// Do not contact the author directly, unless it is to discuss commercial licensing.
+/// Before asking a question or reporting a bug, please read http://www.catb.org/esr/faqs/smart-questions.html
///
/// Tested on Arduino Diecimila and Mega with arduino-0018 & arduino-0021
/// on OpenSuSE 11.1 and avr-libc-1.6.1-1.15,
/// cross-avr-binutils-2.19-9.1, cross-avr-gcc-4.1.3_20080612-26.5.
+/// Tested on Teensy http://www.pjrc.com/teensy including Teensy 3.1 built using Arduino IDE 1.0.5 with
+/// teensyduino addon 1.18 and later.
///
/// \par Installation
+///
/// Install in the usual way: unzip the distribution zip file to the libraries
/// sub-folder of your sketchbook.
///
/// \par Theory
+///
/// This code uses speed calculations as described in
/// "Generate stepper-motor speed profiles in real time" by David Austin
/// http://fab.cba.mit.edu/classes/MIT/961.09/projects/i0/Stepper_Motor_Speed_Profile.pdf
@@ -49,6 +54,23 @@
/// On subsequent steps, shorter step intervals are calculated based
/// on the previous step until max speed is achieved.
///
+/// \par Donations
+///
+/// This library is offered under a free GPL license for those who want to use it that way.
+/// We try hard to keep it up to date, fix bugs
+/// and to provide free support. If this library has helped you save time or money, please consider donating at
+/// http://www.airspayce.com or here:
+///
+/// \htmlonly \endhtmlonly
+///
+/// \par Trademarks
+///
+/// AccelStepper is a trademark of AirSpayce Pty Ltd. The AccelStepper mark was first used on April 26 2010 for
+/// international trade, and is used only in relation to motor control hardware and software.
+/// It is not to be confused with any other similar marks covering other goods and services.
+///
+/// \par Copyright
+///
/// This software is Copyright (C) 2010 Mike McCauley. Use is subject to license
/// conditions. The main licensing options available are GPL V2 or Commercial:
///
@@ -156,10 +178,26 @@
/// \version 1.38 run() function incorrectly always returned true. Updated function and doc so it returns true
/// if the motor is still running to the target position.
/// \version 1.39 Updated typos in keywords.txt, courtesey Jon Magill.
+/// \version 1.40 Updated documentation, including testing on Teensy 3.1
+/// \version 1.41 Fixed an error in the acceleration calculations, resulting in acceleration of haldf the intended value
+/// \version 1.42 Improved support for FULL3WIRE and HALF3WIRE output pins. These changes were in Yuri's original
+/// contribution but did not make it into production.
+/// \version 1.43 Added DualMotorShield example. Shows how to use AccelStepper to control 2 x 2 phase steppers using the
+/// Itead Studio Arduino Dual Stepper Motor Driver Shield model IM120417015.
+/// \version 1.44 examples/DualMotorShield/DualMotorShield.ino examples/DualMotorShield/DualMotorShield.pde
+/// was missing from the distribution.
+/// \version 1.45 Fixed a problem where if setAcceleration was not called, there was no default
+/// acceleration. Reported by Michael Newman.
+/// \version 1.45 Fixed inaccuracy in acceleration rate by using Equation 15, suggested by Sebastian Gracki.
+/// Performance improvements in runSpeed suggested by Jaakko Fagerlund.
+/// \version 1.46 Fixed error in documentation for runToPosition().
+/// Reinstated time calculations in runSpeed() since new version is reported
+/// not to work correctly under some circumstances. Reported by Oleg V Gavva.
+
///
/// \author Mike McCauley (mikem@airspayce.com) DO NOT CONTACT THE AUTHOR DIRECTLY: USE THE LISTS
// Copyright (C) 2009-2013 Mike McCauley
-// $Id: AccelStepper.h,v 1.19 2013/08/02 01:53:21 mikem Exp mikem $
+// $Id: AccelStepper.h,v 1.21 2014/10/31 06:05:30 mikem Exp mikem $
#ifndef AccelStepper_h
#define AccelStepper_h
@@ -196,7 +234,7 @@
/// Positions are specified by a signed long integer. At
/// construction time, the current position of the motor is consider to be 0. Positive
/// positions are clockwise from the initial position; negative positions are
-/// anticlockwise. The curent position can be altered for instance after
+/// anticlockwise. The current position can be altered for instance after
/// initialization positioning.
///
/// \par Caveats
@@ -252,16 +290,16 @@ public:
/// AccelStepper::HALF4WIRE (8) means a 4 wire half stepper (4 pins required)
/// Defaults to AccelStepper::FULL4WIRE (4) pins.
/// \param[in] pin1 Arduino digital pin number for motor pin 1. Defaults
- /// to pin 2. For a AccelStepper::DRIVER (pins==1),
+ /// to pin 2. For a AccelStepper::DRIVER (interface==1),
/// this is the Step input to the driver. Low to high transition means to step)
/// \param[in] pin2 Arduino digital pin number for motor pin 2. Defaults
- /// to pin 3. For a AccelStepper::DRIVER (pins==1),
+ /// to pin 3. For a AccelStepper::DRIVER (interface==1),
/// this is the Direction input the driver. High means forward.
/// \param[in] pin3 Arduino digital pin number for motor pin 3. Defaults
/// to pin 4.
/// \param[in] pin4 Arduino digital pin number for motor pin 4. Defaults
/// to pin 5.
- /// \param[in] enable If this is true (the default), enableOutpuys() will be called to enable
+ /// \param[in] enable If this is true (the default), enableOutputs() will be called to enable
/// the output pins at construction time.
AccelStepper(uint8_t interface = AccelStepper::FULL4WIRE, uint8_t pin1 = 2, uint8_t pin2 = 3, uint8_t pin3 = 4, uint8_t pin4 = 5, bool enable = true);
@@ -304,6 +342,7 @@ public:
/// Sets the maximum permitted speed. The run() function will accelerate
/// up to the speed set by this function.
+ /// Caution: the maximum speed achievable depends on your processor and clock speed.
/// \param[in] speed The desired maximum speed in steps per second. Must
/// be > 0. Caution: Speeds that exceed the maximum speed supported by the processor may
/// Result in non-linear accelerations and decelerations.
@@ -351,7 +390,7 @@ public:
/// happens to be right now.
void setCurrentPosition(long position);
- /// Moves the motor at the currently selected constant speed (forward or reverse)
+ /// Moves the motor (with acceleration/deceleration)
/// to the target position and blocks until it is at
/// position. Dont use this in event loops, since it blocks.
void runToPosition();
@@ -361,13 +400,14 @@ public:
/// \return true if it stepped
boolean runSpeedToPosition();
- /// Moves the motor to the new target position and blocks until it is at
+ /// Moves the motor (with acceleration/deceleration)
+ /// to the new target position and blocks until it is at
/// position. Dont use this in event loops, since it blocks.
/// \param[in] position The new target position.
void runToNewPosition(long position);
/// Sets a new target position that causes the stepper
- /// to stop as quickly as possible, using to the current speed and acceleration parameters.
+ /// to stop as quickly as possible, using the current speed and acceleration parameters.
void stop();
/// Disable motor pin outputs by setting them all LOW
@@ -618,4 +658,9 @@ private:
/// Shows how to use AccelStepper to control a 3-phase motor, such as a HDD spindle motor
/// using the Adafruit Motor Shield http://www.ladyada.net/make/mshield/index.html.
+/// @example DualMotorShield.pde
+/// Shows how to use AccelStepper to control 2 x 2 phase steppers using the
+/// Itead Studio Arduino Dual Stepper Motor Driver Shield
+/// model IM120417015
+
#endif
diff --git a/EggDuino.ino b/EggDuino.ino
index edc70fb..d02e81c 100644
--- a/EggDuino.ino
+++ b/EggDuino.ino
@@ -24,17 +24,17 @@ Thanks to my wife and my daughter for their patience. :-)
#include
#include "SerialCommand.h" //nice lib from Stefan Rado, https://github.com/kroimon/Arduino-SerialCommand
-#define initSting "EBBv13_and_above Protocol emulated by Eggduino-Firmware V1.2"
+#define initSting "EBBv13_and_above Protocol emulated by Eggduino-Firmware V1.3"
//Rotational Stepper
#define step1 11
#define dir1 10
#define enableRotMotor 9
- #define rotMicrostep 8 //only 1,2,4,8,16 allowed, because of Integer-Math in this Sketch
+ #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 8 //only 1,2,4,8,16 allowed, because of Integer-Math in this Sketch
+ #define penMicrostep 16 //MicrostepMode, only 1,2,4,8,16 allowed, because of Integer-Math in this Sketch
//Servo
#define servoPin 3
diff --git a/Functions.ino b/Functions.ino
index 61056ac..703fc77 100644
--- a/Functions.ino
+++ b/Functions.ino
@@ -109,7 +109,7 @@ void stepperMove(){
//################### Move-Code Start ############################################################
//Turn on Motors, if they are off....
digitalWrite(enableRotMotor, LOW) ;
- digitalWrite(enablePenMotor, LOW) ;
+ digitalWrite(enablePenMotor, LOW) ;
//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...
@@ -329,10 +329,10 @@ void stepperModeConfigure(){
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
+ case 4: penDownPos= (int) ((float) (value-6000)/(float) 133.3); // transformation from EBB to PWM-Servo
sendAck();
break;
- case 5: penUpPos= (int)((float) (value-6000)/(float) 94.18); // transformation from EBB to PWM-Stepper
+ case 5: penUpPos= (int)((float) (value-6000)/(float) 133.3); // transformation from EBB to PWM-Servo
sendAck();
break;
case 6: //rotMin=value; ignored
diff --git a/VersionHistory.txt b/VersionHistory.txt
index c83d002..24b5893 100644
--- a/VersionHistory.txt
+++ b/VersionHistory.txt
@@ -1,3 +1,8 @@
+26.03.2015 v1.3
+updated Accelstepper-Lib
+set Microstepping Factor 16 by default.
+fixed bug in Pen-position-transformation
+
23.04.2014 v1.2
complete rework of Move-Algorithm, no position errors any more, complete in integer math //it was the hell to debug it... ;-)
optimized timing of Ack-Answer