77 lines
3.1 KiB
C++
77 lines
3.1 KiB
C++
/* Eggduino-Firmware by Joachim Cerny, 2014
|
|
|
|
Thanks for the nice libs ACCELSTEPPER and SERIALCOMMAND, which made this project much easier.
|
|
Thanks to the Eggbot-Team for such a funny and enjoable concept!
|
|
Thanks to my wife and my daughter for their patience. :-)
|
|
|
|
*/
|
|
|
|
// implemented Eggbot-Protocol-Version v13
|
|
// EBB-Command-Reference, I sourced from: http://www.schmalzhaus.com/EBB/EBBCommands.html
|
|
// no homing sequence, switch-on position of pen will be taken as reference point.
|
|
// No collision-detection!!
|
|
// Supported Servos: I do not know, I use Arduino Servo Lib with TG9e- standard servo.
|
|
// Note: Maximum-Speed in Inkscape is 1000 Steps/s. You could enter more, but then Pythonscript sends nonsense.
|
|
// 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.
|
|
|
|
/* TODOs:
|
|
1 collision control via penMin/penMax
|
|
2 implement homing sequence via microswitch or optical device
|
|
3 implement hardware-button , EGGBOT-Guys call it "PRG-Button"
|
|
*/
|
|
#include "AccelStepper.h"
|
|
//#include "libs\AccelStepper.h" // nice lib from http://www.airspayce.com/mikem/arduino/AccelStepper/
|
|
#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 V1.4"
|
|
//Rotational Stepper
|
|
#define step1 11
|
|
#define dir1 10
|
|
#define enableRotMotor 9
|
|
#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 16 //MicrostepMode, only 1,2,4,8,16 allowed, because of Integer-Math in this Sketch
|
|
//Servo
|
|
#define servoPin 3
|
|
#define PrgButton 2 //optional Pushbutton between Pin and Ground to use certain functions with Eggbot-Inkscape extension
|
|
|
|
//make Objects
|
|
AccelStepper rotMotor(1, step1, dir1);
|
|
AccelStepper penMotor(1, step2, dir2);
|
|
Servo penServo;
|
|
SerialCommand SCmd;
|
|
|
|
// Variables... be careful, by messing around here, evrything has a reason and crossrelations...
|
|
int penMin=0;
|
|
int penMax=0;
|
|
int penUpPos=5; //can be overwritten from EBB-Command SC
|
|
int penDownPos=20; //can be overwritten from EBB-Command SC
|
|
int servoRateUp=0; //from EBB-Protocol not implemented on machine-side
|
|
int servoRateDown=0;//from EBB-Protocol not implemented on machine-side
|
|
long rotStepError=0;
|
|
long penStepError=0;
|
|
int penState=penUpPos;
|
|
uint32_t nodeCount=0;
|
|
unsigned int layer=0;
|
|
boolean prgButtonState=0;
|
|
uint8_t rotStepCorrection = 16/rotMicrostep ; //devide EBB-Coordinates by this factor to get EGGduino-Steps
|
|
uint8_t penStepCorrection = 16/penMicrostep ; //devide EBB-Coordinates by this factor to get EGGduino-Steps
|
|
float rotSpeed=0;
|
|
float penSpeed=0; // these are local variables for Function SteppermotorMove-Command, but for performance-reasons it will be initialized here
|
|
|
|
void setup() {
|
|
Serial.begin(9600);
|
|
makeComInterface();
|
|
initHardware();
|
|
}
|
|
|
|
void loop() {
|
|
SCmd.readSerial();
|
|
if( 0 == digitalRead(PrgButton))
|
|
prgButtonState == 1;
|
|
}
|