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Version 1.4

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This commit is contained in:
cocktailyogi
2015-03-29 11:38:26 +02:00
parent d8cc9bdccd
commit f4b7367399
4 changed files with 52 additions and 98 deletions
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125
Functions.ino
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@@ -15,7 +15,7 @@ void makeComInterface(){
SCmd.addCommand("SL",setLayer);
SCmd.addCommand("QL",queryLayer);
SCmd.addCommand("QP",queryPen);
SCmd.addCommand("QB",queryButton); //preparation for "PRG" Button, actually gives fake answer,
SCmd.addCommand("QB",queryButton); //"PRG" Button,
SCmd.setDefaultHandler(unrecognized); // Handler for command that isn't matched (says "What?")
}
@@ -31,6 +31,7 @@ void queryPen() {
void queryButton() {
Serial.print(String(prgButtonState) +"\r\n");
prgButtonState = 0;
sendAck();
}
@@ -110,33 +111,40 @@ void stepperMove(){
//Turn on Motors, if they are off....
digitalWrite(enableRotMotor, 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...
long penSteps = ( (long)penStepsEBB * 16 / penStepCorrection) + (long)penStepError;
int rotStepsToGo = (int) (rotSteps/16); //Calc Steps to go, which are possible on our machine
int penStepsToGo = (int) (penSteps/16);
rotStepError = (long)rotSteps - ((long) rotStepsToGo * (long)16); // calc Position-Error, if there is one
penStepError = (long)penSteps - ((long) penStepsToGo * (long)16);
long temp_rotSpeed = ((long)rotStepsToGo * (long)1000 / (long)duration ); // calc Speed in Integer Math
long temp_penSpeed = ((long)penStepsToGo * (long)1000 / (long)duration ) ;
if (temp_rotSpeed <0 ) //remove sign, there is no negative Speed....
temp_rotSpeed= -temp_rotSpeed;
if (temp_penSpeed <0 ) //remove sign, there is no negative Speed....
temp_penSpeed= -temp_penSpeed;
float rotSpeed= (float) temp_rotSpeed; // type cast
float penSpeed= (float) temp_penSpeed;
rotMotor.move(rotStepsToGo); // finally, let us set the target position...
rotMotor.setSpeed(rotSpeed); // and the Speed!
penMotor.move(penStepsToGo);
penMotor.setSpeed( penSpeed );
while ( penMotor.distanceToGo() || rotMotor.distanceToGo() ) {
if( (1 == rotStepCorrection) && (1 == penStepCorrection) ){ // if coordinatessystems are identical
//set Coordinates and Speed
rotMotor.move(rotStepsEBB);
rotMotor.setSpeed( abs( (float)rotStepsEBB * (float)1000 / (float)duration ) );
penMotor.move(penStepsEBB);
penMotor.setSpeed( abs( (float)penStepsEBB * (float)1000 / (float)duration ) );
}
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...
long penSteps = ( (long)penStepsEBB * 16 / penStepCorrection) + (long)penStepError;
int rotStepsToGo = (int) (rotSteps/16); //Calc Steps to go, which are possible on our machine
int penStepsToGo = (int) (penSteps/16);
rotStepError = (long)rotSteps - ((long) rotStepsToGo * (long)16); // calc Position-Error, if there is one
penStepError = (long)penSteps - ((long) penStepsToGo * (long)16);
long temp_rotSpeed = ((long)rotStepsToGo * (long)1000 / (long)duration ); // calc Speed in Integer Math
long temp_penSpeed = ((long)penStepsToGo * (long)1000 / (long)duration ) ;
float rotSpeed= (float) abs(temp_rotSpeed); // type cast
float penSpeed= (float) abs(temp_penSpeed);
//set Coordinates and Speed
rotMotor.move(rotStepsToGo); // finally, let us set the target position...
rotMotor.setSpeed(rotSpeed); // and the Speed!
penMotor.move(penStepsToGo);
penMotor.setSpeed( penSpeed );
}
//Start Move
while ( penMotor.distanceToGo() || rotMotor.distanceToGo() ) {
penMotor.runSpeedToPosition(); // Moving.... moving... moving....
rotMotor.runSpeedToPosition();
}
}
//################### Move-Code End ############################################################
sendAck(); //Mission completed
}
sendAck(); //report Mission completed
}
}
else
sendError();
@@ -229,41 +237,7 @@ void enableMotors(){
digitalWrite(enablePenMotor, HIGH) ;
sendAck();
break;
case 1: rotStepMode=16;
penStepMode=16;
digitalWrite(enableRotMotor, LOW) ;
digitalWrite(enablePenMotor, LOW) ;
sendAck();
break;
case 2: rotStepMode=8;
penStepMode=8;
rotStepCorrection = rotStepMode/rotMicrostep;
penStepCorrection = penStepMode/penMicrostep;
digitalWrite(enableRotMotor, LOW) ;
digitalWrite(enablePenMotor, LOW) ;
sendAck();
break;
case 3: rotStepMode=4;
penStepMode=4;
rotStepCorrection = rotStepMode/rotMicrostep;
penStepCorrection = penStepMode/penMicrostep;
digitalWrite(enableRotMotor, LOW) ;
digitalWrite(enablePenMotor, LOW) ;
sendAck();
break;
case 4: rotStepMode=2;
penStepMode=2;
rotStepCorrection = rotStepMode/rotMicrostep;
penStepCorrection = penStepMode/penMicrostep;
digitalWrite(enableRotMotor, LOW) ;
digitalWrite(enablePenMotor, LOW) ;
sendAck();
break;
case 5: rotStepMode=1;
penStepMode=1;
rotStepCorrection = rotStepMode/rotMicrostep;
penStepCorrection = penStepMode/penMicrostep;
digitalWrite(enableRotMotor, LOW) ;
case 1: digitalWrite(enableRotMotor, LOW) ;
digitalWrite(enablePenMotor, LOW) ;
sendAck();
break;
@@ -278,43 +252,16 @@ void enableMotors(){
digitalWrite(enablePenMotor, HIGH) ;
sendAck();
break;
case 1: rotStepMode=16;
penStepMode=16;
digitalWrite(enableRotMotor, LOW) ;
case 1: digitalWrite(enableRotMotor, LOW) ;
digitalWrite(enablePenMotor, LOW) ;
sendAck();
break;
case 2: rotStepMode=8;
penStepMode=8;
digitalWrite(enableRotMotor, LOW) ;
digitalWrite(enablePenMotor, LOW) ;
sendAck();
break;
case 3: rotStepMode=4;
penStepMode=4;
digitalWrite(enableRotMotor, LOW) ;
digitalWrite(enablePenMotor, LOW) ;
sendAck();
break;
case 4: rotStepMode=2;
penStepMode=2;
digitalWrite(enableRotMotor, LOW) ;
digitalWrite(enablePenMotor, LOW) ;
sendAck();
break;
case 5: rotStepMode=1;
penStepMode=1;
digitalWrite(enableRotMotor, LOW) ;
digitalWrite(enablePenMotor, LOW) ;
sendAck();
break;
default:
sendError();
}
}
}
void stepperModeConfigure(){
int cmd;