stepus53/EggbotWireless
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some adjustments to stepper control mechanism

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This commit is contained in:
Stepan Usatiuk
2019-05-28 18:39:53 +03:00
parent 3ce647b2ab
commit 8b067426a1
4 changed files with 30 additions and 15 deletions
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2
Firmware/EggbotWireless/platformio.ini
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@@ -14,3 +14,5 @@ board = d1_mini
framework = arduino framework = arduino
monitor_speed = 115200 monitor_speed = 115200
board_build.f_cpu = 160000000L board_build.f_cpu = 160000000L
upload_port=/dev/ttyUSB0

6
Firmware/EggbotWireless/src/main.cpp
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@@ -68,13 +68,19 @@ void loop() {
if (inChar == '\n') { if (inChar == '\n') {
inString.trim(); inString.trim();
sendCommand(parseGCode(inString)); sendCommand(parseGCode(inString));
unsigned long reqTime = millis();
while (waitingForNext) { while (waitingForNext) {
while (!Wire.available()) { while (!Wire.available()) {
if (millis() - reqTime > 500) {
Wire.requestFrom(8, 1);
reqTime = millis();
}
} }
int response = Wire.read(); int response = Wire.read();
if (response == WAIT) { if (response == WAIT) {
delay(1); delay(1);
Wire.requestFrom(8, 1); Wire.requestFrom(8, 1);
reqTime = millis();
} else if (response == NEXT) { } else if (response == NEXT) {
Serial.println("OK"); Serial.println("OK");
waitingForNext = false; waitingForNext = false;

6
Firmware/MotorControl/include/Globals.h
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@@ -21,12 +21,10 @@ Stepper servoStepper(28, 29, -STEPS_PER_REVOLUTION, X_LIMIT,
Pen pen(23, 100, 180); Pen pen(23, 100, 180);
float eggStepperDelay; unsigned int eggStepperDelay;
float servoStepperDelay; unsigned int servoStepperDelay;
float eggStepperRPM; float eggStepperRPM;
float servoStepperRPM; float servoStepperRPM;
bool needAdjust;
#endif #endif

21
Firmware/MotorControl/src/main.cpp
View File

@@ -5,9 +5,11 @@
#include "common/Commands.h" #include "common/Commands.h"
int curRPM = DEF_RPM; int curRPM = DEF_RPM;
int adjustDelay = 10; int adjustDelay = 100;
bool needAdjust;
bool moving;
float calculateDelay(float rpm, int stepsPerRevolution) { int calculateDelay(float rpm, int stepsPerRevolution) {
return ((float)1000 * (float)60) / (rpm * (float)stepsPerRevolution); return ((float)1000 * (float)60) / (rpm * (float)stepsPerRevolution);
} }
@@ -78,6 +80,7 @@ void requestEvent() {
void execCommand(float *command) { void execCommand(float *command) {
executing = true; executing = true;
moving = false;
if (command[0] == G01 || command[0] == G00) { if (command[0] == G01 || command[0] == G00) {
if (command[0] == G01) { if (command[0] == G01) {
needAdjust = true; needAdjust = true;
@@ -104,6 +107,8 @@ void execCommand(float *command) {
adjustRPM(); adjustRPM();
moving = true;
return; return;
} }
} }
@@ -117,22 +122,26 @@ void setup() {
Serial.println("Hello!"); Serial.println("Hello!");
eggStepperRPM = servoStepperRPM = curRPM; eggStepperRPM = servoStepperRPM = curRPM;
OCR2 = 250; OCR2 = 250;
TCCR2 |= (1 << WGM12) | (1 << CS22); TCCR2 |= (1 << WGM20) | (1 << CS22);
TIMSK |= (1 << OCIE2); TIMSK |= (1 << OCIE2);
sei(); sei();
servoStepper.setPos(X_LIMIT); servoStepper.setPos(X_LIMIT);
pen.init(); pen.init();
} }
unsigned int ms = 0;
ISR(TIMER2_COMP_vect) { ISR(TIMER2_COMP_vect) {
unsigned long ms = millis(); ms++;
if (fmod(ms, eggStepperDelay) < 1) { if (moving) {
if (ms % eggStepperDelay == 0) {
eggStepper.doStep(); eggStepper.doStep();
} }
if (fmod(ms, servoStepperDelay) < 1) { if (ms % servoStepperDelay == 0) {
servoStepper.doStep(); servoStepper.doStep();
} }
} }
}
void updateExecution() { void updateExecution() {
if (eggStepper.getRemainingSteps() == 0 && if (eggStepper.getRemainingSteps() == 0 &&