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cleaning up still more bugs
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@i-make-robots
i-make-robots committed Aug 10, 2017
1 parent e38d3fa commit 483ce79
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Showing 3 changed files with 42 additions and 109 deletions.
3 changes: 0 additions & 3 deletions skycamFirmwareRUMBA/configure.h
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Original file line number Diff line number Diff line change
Expand Up @@ -115,9 +115,6 @@
#define MOTOR_5_ENABLE_PIN (39)
#define MOTOR_5_LIMIT_SWITCH_PIN (32)

#define NUM_SERVOS (1)
#define SERVO0_PIN (5)

#define LIMIT_SWITCH_PIN_LEFT (MOTOR_0_LIMIT_SWITCH_PIN)
#define LIMIT_SWITCH_PIN_RIGHT (MOTOR_1_LIMIT_SWITCH_PIN)

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19 changes: 7 additions & 12 deletions skycamFirmwareRUMBA/lcd.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -256,41 +256,36 @@ void LCD_drive_menu() {
void LCD_driveX() {
if(lcd_click_now) MENU_GOTO(LCD_drive_menu);

Vector3 offset=get_end_plus_offset();
if(lcd_turn) {
Vector3 offset=get_end_plus_offset();
line_safe(offset.x+lcd_turn,offset.y,offset.z,feed_rate);
}

lcd.setCursor( 0, 0); lcd.print('X'); LCD_print_float(posx);
lcd.setCursor( 0, 0); lcd.print('X'); LCD_print_float(offset.x);
}


void LCD_driveY() {
if(lcd_click_now) MENU_GOTO(LCD_drive_menu);

Vector3 offset=get_end_plus_offset();
if(lcd_turn) {
Vector3 offset=get_end_plus_offset();
line_safe(offset.x,offset.y+lcd_turn,offset.z,feed_rate);
}

lcd.setCursor( 0, 0); lcd.print('Y'); LCD_print_float(posy);
lcd.setCursor( 0, 0); lcd.print('Y'); LCD_print_float(offset.y);
}


void LCD_driveZ() {
if(lcd_click_now) MENU_GOTO(LCD_drive_menu);

Vector3 offset=get_end_plus_offset();
if(lcd_turn) {
// protect servo, don't drive beyond physical limits
Vector3 offset=get_end_plus_offset();
float newZ = offset.z + lcd_turn;
if(newZ<10) newZ=10;
if(newZ>170) newZ=170;
// move
line_safe(offset.x,offset.y,newZ,feed_rate);
line_safe(offset.x,offset.y,offset.z+lcd_turn,feed_rate);
}

lcd.setCursor( 0, 0); lcd.print('Z'); LCD_print_float(posz);
lcd.setCursor( 0, 0); lcd.print('Z'); LCD_print_float(offset.z);
}


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129 changes: 35 additions & 94 deletions skycamFirmwareRUMBA/motor.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,7 @@
//------------------------------------------------------------------------------
// INCLUDES
//------------------------------------------------------------------------------
#include "MServo.h"
#include "configure.h"


//------------------------------------------------------------------------------
Expand All @@ -26,8 +26,6 @@ volatile int last_segment=0;
int step_multiplier, nominal_step_multiplier;
unsigned short nominal_OCR1A;

Servo servos[NUM_SERVOS];

// used by timer1 to optimize interrupt inner loop
int steps_total;
int steps_taken;
Expand All @@ -46,18 +44,14 @@ int delta1;
int over1;
long global_steps_1;
int global_step_dir_1;
#if NUM_MOTORS>=4
int delta2;
int over2;
long global_steps_2;
int global_step_dir_2;
int delta3;
int over3;
long global_steps_3;
int global_step_dir_3;
#endif
#if NUM_MOTORS>=5
int delta4;
int over4;
long global_steps_4;
int global_step_dir_4;
#endif


const char *AxisLetters="XYZ";
Expand Down Expand Up @@ -105,18 +99,16 @@ void motor_setup() {
motors[1].dir_pin =MOTOR_1_DIR_PIN;
motors[1].enable_pin =MOTOR_1_ENABLE_PIN;
motors[1].limit_switch_pin=MOTOR_1_LIMIT_SWITCH_PIN;
#if NUM_MOTORS>=4
motors[3].step_pin =MOTOR_2_STEP_PIN;
motors[3].dir_pin =MOTOR_2_DIR_PIN;
motors[3].enable_pin =MOTOR_2_ENABLE_PIN;
motors[3].limit_switch_pin=MOTOR_2_LIMIT_SWITCH_PIN;
#endif
#if NUM_MOTORS>=5
motors[4].step_pin =MOTOR_3_STEP_PIN;
motors[4].dir_pin =MOTOR_3_DIR_PIN;
motors[4].enable_pin =MOTOR_3_ENABLE_PIN;
motors[4].limit_switch_pin=MOTOR_3_LIMIT_SWITCH_PIN;
#endif

motors[2].step_pin =MOTOR_2_STEP_PIN;
motors[2].dir_pin =MOTOR_2_DIR_PIN;
motors[2].enable_pin =MOTOR_2_ENABLE_PIN;
motors[2].limit_switch_pin=MOTOR_2_LIMIT_SWITCH_PIN;

motors[3].step_pin =MOTOR_3_STEP_PIN;
motors[3].dir_pin =MOTOR_3_DIR_PIN;
motors[3].enable_pin =MOTOR_3_ENABLE_PIN;
motors[3].limit_switch_pin=MOTOR_3_LIMIT_SWITCH_PIN;

int i;
for(i=0;i<NUM_MOTORS;++i) {
Expand All @@ -135,35 +127,14 @@ void motor_setup() {
memset(steps,0,NUM_MOTORS*sizeof(long));
motor_set_step_count(steps);

// setup servos
#if NUM_SERVOS>0
servos[0].attach(SERVO0_PIN);
#endif
#if NUM_SERVOS>1
servos[1].attach(SERVO1_PIN);
#endif
#if NUM_SERVOS>2
servos[2].attach(SERVO2_PIN);
#endif
#if NUM_SERVOS>3
servos[3].attach(SERVO3_PIN);
#endif
#if NUM_SERVOS>4
servos[4].attach(SERVO4_PIN);
#endif

current_segment=0;
last_segment=0;
Segment &old_seg = line_segments[get_prev_segment(last_segment)];
old_seg.a[0].step_count=0;
old_seg.a[1].step_count=0;
old_seg.a[2].step_count=0;
#if NUM_MOTORS>=4
old_seg.a[3].step_count=0;
#endif
#if NUM_MOTORS>=5
old_seg.a[4].step_count=0;
#endif

working_seg = NULL;

// disable global interrupts
Expand Down Expand Up @@ -387,20 +358,12 @@ void motor_set_step_count(long *a) {
old_seg.a[0].step_count=a[0];
old_seg.a[1].step_count=a[1];
old_seg.a[2].step_count=a[2];
#if NUM_MOTORS>=4
old_seg.a[3].step_count=a[3];
#endif
#if NUM_MOTORS>=5
old_seg.a[4].step_count=a[4];
#endif

global_steps_0=0;
global_steps_1=0;
#if NUM_MOTORS>=4
global_steps_2=0;
global_steps_3=0;
#endif
#if NUM_MOTORS>=5
global_steps_4=0;
#endif
}


Expand Down Expand Up @@ -481,9 +444,6 @@ ISR(TIMER1_COMPA_vect) {
global_step_dir_4 = (working_seg->a[4].dir==HIGH)?1:-1;
#endif

//move the z axis
servos[0].write(working_seg->a[2].step_count);

// set frequency to segment feed rate
nominal_OCR1A = calc_timer(working_seg->feed_rate_max);
nominal_step_multiplier = step_multiplier;
Expand Down Expand Up @@ -536,21 +496,16 @@ ISR(TIMER1_COMPA_vect) {
if(over1 > 0) {
digitalWrite(MOTOR_1_STEP_PIN,LOW);
}
// M2 is the servo Z axis
#if NUM_MOTORS>=4
// M2
over2 += delta2;
if(over2 > 0) {
digitalWrite(MOTOR_2_STEP_PIN,LOW);
}
// M3
over3 += delta3;
if(over3 > 0) {
digitalWrite(MOTOR_2_STEP_PIN,LOW);
}
#endif
#if NUM_MOTORS>=5
// M4
over4 += delta4;
if(over4 > 0) {
digitalWrite(MOTOR_3_STEP_PIN,LOW);
}
#endif
// now that the pins have had a moment to settle, do the second half of the steps.
// M0
if(over0 > 0) {
Expand All @@ -564,23 +519,18 @@ ISR(TIMER1_COMPA_vect) {
global_steps_1+=global_step_dir_1;
digitalWrite(MOTOR_1_STEP_PIN,HIGH);
}
// M2 is the servo Z axis
#if NUM_MOTORS>=4
// M2
if(over2 > 0) {
over2 -= steps_total;
global_steps_2+=global_step_dir_2;
digitalWrite(MOTOR_2_STEP_PIN,HIGH);
}
// M3
if(over3 > 0) {
over3 -= steps_total;
global_steps_3+=global_step_dir_3;
digitalWrite(MOTOR_2_STEP_PIN,HIGH);
}
#endif
#if NUM_MOTORS>=5
// M4
if(over4 > 0) {
over4 -= steps_total;
global_steps_4+=global_step_dir_4;
digitalWrite(MOTOR_3_STEP_PIN,HIGH);
}
#endif

// make a step
steps_taken++;
Expand Down Expand Up @@ -635,7 +585,7 @@ char segment_buffer_full() {

/**
* Uses bresenham's line algorithm to move both motors
* @param n NUM_MOTORS longs, one for each motor/servo
* @param n NUM_MOTORS longs, one for each motor
**/
void motor_line(long *n,float new_feed_rate) {
// get the next available spot in the segment buffer
Expand All @@ -660,20 +610,11 @@ void motor_line(long *n,float new_feed_rate) {
Serial.print(n1); Serial.print('\t');
Serial.print(n2); Serial.print('\n');
*/
new_seg.a[0].step_count = n[0];
new_seg.a[0].delta = n[0] - old_seg.a[0].step_count;
new_seg.a[1].step_count = n[1];
new_seg.a[1].delta = n[1] - old_seg.a[1].step_count;
new_seg.a[2].step_count = n[2];
new_seg.a[2].delta = n[2] - old_seg.a[2].step_count;
#if NUM_MOTORS>=4
new_seg.a[3].step_count = n[3];
new_seg.a[3].delta = n[3] - old_seg.a[3].step_count;
#endif
#if NUM_MOTORS>=5
new_seg.a[4].step_count = n[4];
new_seg.a[4].delta = n[4] - old_seg.a[4].step_count;
#endif
new_seg.a[0].step_count = n[0]; new_seg.a[0].delta = n[0] - old_seg.a[0].step_count;
new_seg.a[1].step_count = n[1]; new_seg.a[1].delta = n[1] - old_seg.a[1].step_count;
new_seg.a[2].step_count = n[2]; new_seg.a[2].delta = n[2] - old_seg.a[2].step_count;
new_seg.a[3].step_count = n[3]; new_seg.a[3].delta = n[3] - old_seg.a[3].step_count;

new_seg.feed_rate_max = new_feed_rate;
new_seg.busy=false;

Expand Down

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