411a57627d
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 added command QP "Query Pen", untested, answer might be wrong 0 <--> 1? optimized Init-String for EBBv13 optimized some variable types to enhance memory performance changed enablePenMotor to 6 by default to match it to Spherebot Electronics changed default maxSpeeds from 1000 to 2000;
76 lines
3.1 KiB
C++
76 lines
3.1 KiB
C++
/* Eggduino-Firmware by Joachim Cerny, 2014
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Thanks for the nice libs ACCELSTEPPER and SERIALCOMMAND, which made this project much easier.
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Thanks to the Eggbot-Team for such a funny and enjoable concept!
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Thanks to my wife and my daughter for their patience. :-)
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*/
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// implemented Eggbot-Protocol-Version v13
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// EBB-Command-Reference, I sourced from: http://www.schmalzhaus.com/EBB/EBBCommands.html
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// no homing sequence, switch-on position of pen will be taken as reference point.
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// No collision-detection!!
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// Supported Servos: I do not know, I use Arduino Servo Lib with TG9e- standard servo.
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// Note: Maximum-Speed in Inkscape is 1000 Steps/s. You could enter more, but then Pythonscript sends nonsense.
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// EBB-Coordinates are coming in for 16th-Microstepmode. The Coordinate-Transforms are done in weired integer-math. Be careful, when you diecide to modify settings.
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/* TODOs:
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1 collision control via penMin/penMax
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2 implement homing sequence via microswitch or optical device
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3 implement hardware-button , EGGBOT-Guys call it "PRG-Button"
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*/
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#include "AccelStepper.h"
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//#include "libs\AccelStepper.h" // nice lib from http://www.airspayce.com/mikem/arduino/AccelStepper/
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#include <Servo.h>
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#include "SerialCommand.h" //nice lib from Stefan Rado, https://github.com/kroimon/Arduino-SerialCommand
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#define initSting "EBBv13_and_above Protocol emulated by Eggduino-Firmware V1.2"
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//Rotational Stepper
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#define step1 11
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#define dir1 10
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#define enableRotMotor 9
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#define rotMicrostep 8 //only 1,2,4,8,16 allowed, because of Integer-Math in this Sketch
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//Pen Stepper
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#define step2 8
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#define dir2 7
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#define enablePenMotor 6
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#define penMicrostep 8 //only 1,2,4,8,16 allowed, because of Integer-Math in this Sketch
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//Servo
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#define servoPin 3
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//make Objects
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AccelStepper rotMotor(1, step1, dir1);
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AccelStepper penMotor(1, step2, dir2);
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Servo penServo;
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SerialCommand SCmd;
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// Variables... be careful, by messing around here, evrything has a reason and crossrelations...
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int penMin=0;
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int penMax=0;
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int penUpPos=5; //can be overwritten from EBB-Command SC
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int penDownPos=30; //can be overwritten from EBB-Command SC
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int servoRateUp=0; //from EBB-Protocol not implemented on machine-side
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int servoRateDown=0;//from EBB-Protocol not implemented on machine-side
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uint8_t rotStepMode=16; //1/16 by default, can be changed by EBB protocol, used as correction factor
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uint8_t penStepMode=16; //1/16 by default, can be changed by EBB protocol, used as correction factor
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long rotStepError=0;
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long penStepError=0;
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int penState=penUpPos;
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uint32_t nodeCount=0;
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unsigned int layer=0;
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int prgButtonState=0;
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uint8_t rotStepCorrection = rotStepMode/rotMicrostep ; //devide EBB-Coordinates by this factor to get EGGduino-Steps
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uint8_t penStepCorrection = penStepMode/penMicrostep ; //devide EBB-Coordinates by this factor to get EGGduino-Steps
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float rotSpeed=0;
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float penSpeed=0; // these are local variables for Function SteppermotorMove-Command, but for performance-reasons it will be initialized here
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void setup() {
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Serial.begin(9600);
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makeComInterface();
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initHardware();
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}
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void loop() {
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SCmd.readSerial();
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}
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