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update to version 1.3

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see version history
This commit is contained in:
cocktailyogi
2015-03-27 16:38:37 +01:00
parent 77f9c1dbdf
commit d8cc9bdccd
5 changed files with 81 additions and 22 deletions
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23
AccelStepper.cpp
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@@ -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)
{

63
AccelStepper.h
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@@ -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 <form action="https://www.paypal.com/cgi-bin/webscr" method="post"><input type="hidden" name="cmd" value="_donations" /> <input type="hidden" name="business" value="mikem@airspayce.com" /> <input type="hidden" name="lc" value="AU" /> <input type="hidden" name="item_name" value="Airspayce" /> <input type="hidden" name="item_number" value="AccelStepper" /> <input type="hidden" name="currency_code" value="USD" /> <input type="hidden" name="bn" value="PP-DonationsBF:btn_donateCC_LG.gif:NonHosted" /> <input type="image" alt="PayPal — The safer, easier way to pay online." name="submit" src="https://www.paypalobjects.com/en_AU/i/btn/btn_donateCC_LG.gif" /> <img alt="" src="https://www.paypalobjects.com/en_AU/i/scr/pixel.gif" width="1" height="1" border="0" /></form> \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.<br>
/// \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.<br>
/// \version 1.44 examples/DualMotorShield/DualMotorShield.ino examples/DualMotorShield/DualMotorShield.pde
/// was missing from the distribution.<br>
/// \version 1.45 Fixed a problem where if setAcceleration was not called, there was no default
/// acceleration. Reported by Michael Newman.<br>
/// \version 1.45 Fixed inaccuracy in acceleration rate by using Equation 15, suggested by Sebastian Gracki.<br>
/// Performance improvements in runSpeed suggested by Jaakko Fagerlund.<br>
/// \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.<br>
///
/// \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

6
EggDuino.ino
View File

@@ -24,17 +24,17 @@ Thanks to my wife and my daughter for their patience. :-)
#include <Servo.h>
#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

6
Functions.ino
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@@ -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

5
VersionHistory.txt
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@@ -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