print-me-a-cookie

Software related to our food printing project

Links

• Sparkfun EasyDriver for the stepper motors, and the hookup guide
• Avr-Libc for the LibC implementation that Arduino makes use of

Available Arduino commands

• u pin microstep - set the microstep mode for a stepper motor
• p pin delta [speed init] - step for delta steps at a given speed
• m x y z [sx sy sz ix iy iz] - move in x/y/z at a given speed
• e delta [speed init] - extrude for delta steps at a given speed
• w [time] - wait for a specific amount of time (ms for lowercase, s for uppercase)
• l - list files in the sd card with their id
• o id - run the file corresponding to the given id

Each stepper motor can be stepped using its corresponding pin command such as

x 1000 10 # steps in x for 1000 steps every 10 time steps
y 1000 10 # steps in y for 1000 steps every 10 time steps
z -1000 1 # steps in z for 1000 reversed steps every time step

Path program

See Pathr.

TODO

• Convert move+steps into move+speed formulation
• Add acceleration profile function (change speed at start/end)
• Fix saccade in motor movement for complex paths