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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
View File

@@ -10,15 +10,17 @@ class Stepper {
int pin4;
int curStep = 1;
int remainingSteps;
int backlashSteps;
bool direction;
void clockwise();
void counterClockwise();
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 rotate(float degrees);
void doStep();
bool finished();
};
#endif

24
Firmware/EggbotWireless/src/Stepper.cpp
View File

@@ -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),
pin2(pin2),
pin3(pin3),
pin4(pin4),
stepsPerRevolution(stepsPerRevolution) {
stepsPerRevolution(stepsPerRevolution),
backlashSteps(backlashSteps) {
pinMode(pin1, OUTPUT);
pinMode(pin2, OUTPUT);
pinMode(pin3, OUTPUT);
@@ -128,8 +130,8 @@ Stepper::Stepper(int pin1, int pin2, int pin3, int pin4, int stepsPerRevolution)
}
void Stepper::doStep() {
if(remainingSteps > 0) {
if(direction){
if (remainingSteps > 0) {
if (direction) {
clockwise();
} else {
counterClockwise();
@@ -140,11 +142,17 @@ void Stepper::doStep() {
void Stepper::step(int steps) {
if (steps > 0) {
if (!direction) {
remainingSteps += backlashSteps;
}
direction = true;
remainingSteps = steps;
remainingSteps += steps;
} else {
if (direction) {
remainingSteps += backlashSteps;
}
direction = false;
remainingSteps = abs(steps);
remainingSteps += abs(steps);
}
}
@@ -152,3 +160,7 @@ void Stepper::rotate(float degrees) {
int steps = (degrees * stepsPerRevolution) / 360;
step(steps);
}
bool Stepper::finished() {
return remainingSteps == 0;
}

19
Firmware/EggbotWireless/src/main.cpp
View File

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