From d8cc9bdccd6a23f9823e73282c94273986ab9ff1 Mon Sep 17 00:00:00 2001 From: cocktailyogi Date: Fri, 27 Mar 2015 16:38:37 +0100 Subject: [PATCH] update to version 1.3 see version history --- AccelStepper.cpp | 23 +++++++++++------ AccelStepper.h | 63 +++++++++++++++++++++++++++++++++++++++------- EggDuino.ino | 6 ++--- Functions.ino | 6 ++--- VersionHistory.txt | 5 ++++ 5 files changed, 81 insertions(+), 22 deletions(-) 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