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use floats to parse gcode

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Signed-off-by: Stepan Usatyuk <usaatyuk@ustk.me>
This commit is contained in:
Stepan Usatiuk
2019-05-09 23:24:24 +03:00
parent 054e8962ee
commit 8717e6fe66
6 changed files with 34 additions and 15 deletions
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13
Firmware/EggbotWireless/include/EggConstants.h Normal file
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@@ -0,0 +1,13 @@
#ifndef EGG_H
#define EGG_H
#define PI 3.14
#define EGG_DIA 35
#define Y_DEGREES_PER_MM 360 / (PI * EGG_DIA)
#define X_LIMIT 70
#define EGG_LENGTH 50
#define X_DEGREES_PER_MM X_LIMIT / EGG_LENGTH
#endif

2
Firmware/EggbotWireless/include/GCodeParser.h
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@@ -15,6 +15,6 @@ enum bcAxis {
Z = 3, Z = 3,
}; };
int *parseGCode(String gcode); float *parseGCode(String gcode);
#endif #endif

6
Firmware/EggbotWireless/include/Stepper.h
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@@ -11,6 +11,7 @@ class Stepper {
int curStep = 1; int curStep = 1;
int remainingSteps; int remainingSteps;
int backlashSteps; int backlashSteps;
float degreesPerMM;
bool direction; bool direction;
void clockwise(); void clockwise();
void counterClockwise(); void counterClockwise();
@@ -20,9 +21,10 @@ class Stepper {
int limit; int limit;
public: public:
Stepper(int pin1, int pin2, int pin3, int pin4, int stepsPerRevolution, int backlashSteps, int limit); Stepper(int pin1, int pin2, int pin3, int pin4, int stepsPerRevolution, int backlashSteps, int limit, float degreesPerMM);
void rotate(float degrees); void rotate(float degrees);
void moveTo(float degrees); void rotateTo(float degrees);
void moveTo(float dist);
void setPos(float degrees); void setPos(float degrees);
float getDist(float degrees); float getDist(float degrees);
void doStep(); void doStep();

6
Firmware/EggbotWireless/src/GCodeParser.cpp
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@@ -1,9 +1,9 @@
#include "GCodeParser.h" #include "GCodeParser.h"
#include <Arduino.h> #include <Arduino.h>
int bytecode[4] = {-1, -1, -1, -1}; float bytecode[4] = {-1, -1, -1, -1};
int* parseGCode(String gcode) { float* parseGCode(String gcode) {
char commandStringIn[50]; char commandStringIn[50];
char commandString[50]; char commandString[50];
@@ -22,7 +22,7 @@ int* parseGCode(String gcode) {
char args[45]; char args[45];
strncpy(args, &commandString[4], 45); strncpy(args, &commandString[4], 45);
if (strcmp(command, "G01") == 0) { if (strcmp(command, "G01") == 0 || strcmp(command, "G00") == 0) {
bytecode[0] = G01; bytecode[0] = G01;
char split_args[3][40]; char split_args[3][40];

13
Firmware/EggbotWireless/src/Stepper.cpp
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@@ -116,14 +116,15 @@ 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, int limit) int backlashSteps, int limit, float degreesPerMM)
: pin1(pin1), : pin1(pin1),
pin2(pin2), pin2(pin2),
pin3(pin3), pin3(pin3),
pin4(pin4), pin4(pin4),
stepsPerRevolution(stepsPerRevolution), stepsPerRevolution(stepsPerRevolution),
backlashSteps(backlashSteps), backlashSteps(backlashSteps),
limit(limit) { limit(limit),
degreesPerMM(degreesPerMM) {
pinMode(pin1, OUTPUT); pinMode(pin1, OUTPUT);
pinMode(pin2, OUTPUT); pinMode(pin2, OUTPUT);
pinMode(pin3, OUTPUT); pinMode(pin3, OUTPUT);
@@ -191,14 +192,16 @@ float Stepper::getDist(float degrees) {
return abs(mod - pos); return abs(mod - pos);
} }
void Stepper::moveTo(float degrees) { void Stepper::rotateTo(float degrees) {
float mod = fmod(degrees, 360); float mod = fmod(degrees, 360);
rotate(mod - pos); rotate(mod - pos);
} }
void Stepper::setPos(float degrees) { void Stepper::moveTo(float dist) {
pos = degrees; rotateTo(dist * degreesPerMM);
} }
void Stepper::setPos(float degrees) { pos = degrees; }
bool Stepper::finished() { return remainingSteps == 0; } bool Stepper::finished() { return remainingSteps == 0; }
float Stepper::getPos() { return pos; } float Stepper::getPos() { return pos; }

9
Firmware/EggbotWireless/src/main.cpp
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@@ -4,13 +4,14 @@
#include "Pen.h" #include "Pen.h"
#include "Stepper.h" #include "Stepper.h"
#include "StepperTimer.h" #include "StepperTimer.h"
#include "EggConstants.h"
#define STEPS_PER_REVOLUTION 4076 #define STEPS_PER_REVOLUTION 4076
#define BACKLASH_STEPS 40
int RPM = 4; int RPM = 4;
Stepper eggStepper(D1, D2, D3, D4, STEPS_PER_REVOLUTION, BACKLASH_STEPS, 0); Stepper eggStepper(D1, D2, D3, D4, STEPS_PER_REVOLUTION, 10, 0, Y_DEGREES_PER_MM);
Stepper servoStepper(D5, D6, D7, D8, -STEPS_PER_REVOLUTION, BACKLASH_STEPS, 70); Stepper servoStepper(D5, D6, D7, D8, -STEPS_PER_REVOLUTION, 10, X_LIMIT, X_DEGREES_PER_MM);
Pen pen(D0, 100, 170); Pen pen(D0, 100, 170);
StepperTimer eggStepperTimer(RPM, STEPS_PER_REVOLUTION); StepperTimer eggStepperTimer(RPM, STEPS_PER_REVOLUTION);
@@ -19,7 +20,7 @@ StepperTimer servoStepperTimer(RPM, STEPS_PER_REVOLUTION);
String inString; String inString;
void execCommand(int *command) { void execCommand(float *command) {
if (command[0] == G01) { if (command[0] == G01) {
if (command[X] != -1 && command[Y] != -1) { if (command[X] != -1 && command[Y] != -1) {
float distX = servoStepper.getDist(command[X]); float distX = servoStepper.getDist(command[X]);