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stepper backlash compensation

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Signed-off-by: Stepan Usatyuk <usaatyuk@ustk.me>
This commit is contained in:
Stepan Usatiuk
2019-05-09 14:09:57 +03:00
parent 59cb3071fc
commit 40436f4e08
3 changed files with 36 additions and 11 deletions
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4
Firmware/EggbotWireless/include/Stepper.h
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@@ -10,15 +10,17 @@ class Stepper {
int pin4; int pin4;
int curStep = 1; int curStep = 1;
int remainingSteps; int remainingSteps;
int backlashSteps;
bool direction; bool direction;
void clockwise(); void clockwise();
void counterClockwise(); void counterClockwise();
public: public:
Stepper(int pin1, int pin2, int pin3, int pin4, int stepsPerRevolution); Stepper(int pin1, int pin2, int pin3, int pin4, int stepsPerRevolution, int backlashSteps);
void step(int steps); void step(int steps);
void rotate(float degrees); void rotate(float degrees);
void doStep(); void doStep();
bool finished();
}; };
#endif #endif

24
Firmware/EggbotWireless/src/Stepper.cpp
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@@ -115,12 +115,14 @@ void Stepper::counterClockwise() {
} }
} }
Stepper::Stepper(int pin1, int pin2, int pin3, int pin4, int stepsPerRevolution) Stepper::Stepper(int pin1, int pin2, int pin3, int pin4, int stepsPerRevolution,
int backlashSteps)
: pin1(pin1), : pin1(pin1),
pin2(pin2), pin2(pin2),
pin3(pin3), pin3(pin3),
pin4(pin4), pin4(pin4),
stepsPerRevolution(stepsPerRevolution) { stepsPerRevolution(stepsPerRevolution),
backlashSteps(backlashSteps) {
pinMode(pin1, OUTPUT); pinMode(pin1, OUTPUT);
pinMode(pin2, OUTPUT); pinMode(pin2, OUTPUT);
pinMode(pin3, OUTPUT); pinMode(pin3, OUTPUT);
@@ -128,8 +130,8 @@ Stepper::Stepper(int pin1, int pin2, int pin3, int pin4, int stepsPerRevolution)
} }
void Stepper::doStep() { void Stepper::doStep() {
if(remainingSteps > 0) { if (remainingSteps > 0) {
if(direction){ if (direction) {
clockwise(); clockwise();
} else { } else {
counterClockwise(); counterClockwise();
@@ -140,15 +142,25 @@ void Stepper::doStep() {
void Stepper::step(int steps) { void Stepper::step(int steps) {
if (steps > 0) { if (steps > 0) {
if (!direction) {
remainingSteps += backlashSteps;
}
direction = true; direction = true;
remainingSteps = steps; remainingSteps += steps;
} else { } else {
if (direction) {
remainingSteps += backlashSteps;
}
direction = false; direction = false;
remainingSteps = abs(steps); remainingSteps += abs(steps);
} }
} }
void Stepper::rotate(float degrees) { void Stepper::rotate(float degrees) {
int steps = (degrees * stepsPerRevolution) / 360; int steps = (degrees * stepsPerRevolution) / 360;
step(steps); step(steps);
}
bool Stepper::finished() {
return remainingSteps == 0;
} }

19
Firmware/EggbotWireless/src/main.cpp
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@@ -4,18 +4,29 @@
#include "StepperTimer.h" #include "StepperTimer.h"
#define STEPS_PER_REVOLUTION 4076 #define STEPS_PER_REVOLUTION 4076
#define BACKLASH_STEPS 40
#define RPM 6
Stepper eggStepper(D1, D2, D3, D4, STEPS_PER_REVOLUTION); Stepper eggStepper(D1, D2, D3, D4, STEPS_PER_REVOLUTION, BACKLASH_STEPS);
Stepper servoStepper(D5, D6, D7, D8, STEPS_PER_REVOLUTION); Stepper servoStepper(D5, D6, D7, D8, STEPS_PER_REVOLUTION, BACKLASH_STEPS);
Pen pen(D0, 180, 80); Pen pen(D0, 180, 80);
String inString;
void setup() { void setup() {
Serial.begin(115200); Serial.begin(115200);
stepperTimerSetStepper(0, &eggStepper); stepperTimerSetStepper(0, &eggStepper);
stepperTimerSetStepper(1, &servoStepper); stepperTimerSetStepper(1, &servoStepper);
stepperTimerInit(6, STEPS_PER_REVOLUTION); stepperTimerInit(RPM, STEPS_PER_REVOLUTION);
} }
void loop() { void loop() {
while (Serial.available() > 0) {
int inChar = Serial.read();
Serial.write(inChar);
if (inChar == '\n') {
inString = "";
}
}
} }