From d2d0ed0c3c32979f751fbf8041a9d28d6c9795a8 Mon Sep 17 00:00:00 2001 From: Stepan Usatiuk Date: Wed, 8 May 2019 22:24:17 +0300 Subject: [PATCH] Hello, PlatformIO! --- Firmware/EggbotWireless/.clang-format | 6 + Firmware/EggbotWireless/.gitignore | 8 ++ Firmware/EggbotWireless/.travis.yml | 67 +++++++++++ Firmware/EggbotWireless/include/Pen.h | 19 +++ Firmware/EggbotWireless/include/README | 39 ++++++ Firmware/EggbotWireless/include/Stepper.h | 22 ++++ Firmware/EggbotWireless/lib/README | 46 ++++++++ Firmware/EggbotWireless/platformio.ini | 14 +++ Firmware/EggbotWireless/src/Pen.cpp | 13 ++ Firmware/EggbotWireless/src/Stepper.cpp | 137 ++++++++++++++++++++++ Firmware/EggbotWireless/src/main.cpp | 16 +++ Firmware/EggbotWireless/test/README | 11 ++ 12 files changed, 398 insertions(+) create mode 100644 Firmware/EggbotWireless/.clang-format create mode 100644 Firmware/EggbotWireless/.gitignore create mode 100644 Firmware/EggbotWireless/.travis.yml create mode 100644 Firmware/EggbotWireless/include/Pen.h create mode 100644 Firmware/EggbotWireless/include/README create mode 100644 Firmware/EggbotWireless/include/Stepper.h create mode 100644 Firmware/EggbotWireless/lib/README create mode 100644 Firmware/EggbotWireless/platformio.ini create mode 100644 Firmware/EggbotWireless/src/Pen.cpp create mode 100644 Firmware/EggbotWireless/src/Stepper.cpp create mode 100644 Firmware/EggbotWireless/src/main.cpp create mode 100644 Firmware/EggbotWireless/test/README diff --git a/Firmware/EggbotWireless/.clang-format b/Firmware/EggbotWireless/.clang-format new file mode 100644 index 0000000..635c58f --- /dev/null +++ b/Firmware/EggbotWireless/.clang-format @@ -0,0 +1,6 @@ +--- +Language: Cpp +BasedOnStyle: Google +IndentWidth: 4 +... + diff --git a/Firmware/EggbotWireless/.gitignore b/Firmware/EggbotWireless/.gitignore new file mode 100644 index 0000000..9b13d3f --- /dev/null +++ b/Firmware/EggbotWireless/.gitignore @@ -0,0 +1,8 @@ +.pio +.pioenvs +.piolibdeps +.vscode/.browse.c_cpp.db* +.vscode/c_cpp_properties.json +.vscode/launch.json +.history +.vscode \ No newline at end of file diff --git a/Firmware/EggbotWireless/.travis.yml b/Firmware/EggbotWireless/.travis.yml new file mode 100644 index 0000000..7c486f1 --- /dev/null +++ b/Firmware/EggbotWireless/.travis.yml @@ -0,0 +1,67 @@ +# Continuous Integration (CI) is the practice, in software +# engineering, of merging all developer working copies with a shared mainline +# several times a day < https://docs.platformio.org/page/ci/index.html > +# +# Documentation: +# +# * Travis CI Embedded Builds with PlatformIO +# < https://docs.travis-ci.com/user/integration/platformio/ > +# +# * PlatformIO integration with Travis CI +# < https://docs.platformio.org/page/ci/travis.html > +# +# * User Guide for `platformio ci` command +# < https://docs.platformio.org/page/userguide/cmd_ci.html > +# +# +# Please choose one of the following templates (proposed below) and uncomment +# it (remove "# " before each line) or use own configuration according to the +# Travis CI documentation (see above). +# + + +# +# Template #1: General project. Test it using existing `platformio.ini`. +# + +# language: python +# python: +# - "2.7" +# +# sudo: false +# cache: +# directories: +# - "~/.platformio" +# +# install: +# - pip install -U platformio +# - platformio update +# +# script: +# - platformio run + + +# +# Template #2: The project is intended to be used as a library with examples. +# + +# language: python +# python: +# - "2.7" +# +# sudo: false +# cache: +# directories: +# - "~/.platformio" +# +# env: +# - PLATFORMIO_CI_SRC=path/to/test/file.c +# - PLATFORMIO_CI_SRC=examples/file.ino +# - PLATFORMIO_CI_SRC=path/to/test/directory +# +# install: +# - pip install -U platformio +# - platformio update +# +# script: +# - platformio ci --lib="." --board=ID_1 --board=ID_2 --board=ID_N diff --git a/Firmware/EggbotWireless/include/Pen.h b/Firmware/EggbotWireless/include/Pen.h new file mode 100644 index 0000000..dc0a5c2 --- /dev/null +++ b/Firmware/EggbotWireless/include/Pen.h @@ -0,0 +1,19 @@ +#include + +#ifndef PEN_H +#define PEN_H + +class Pen { + private: + int posEngaged; + int posDisengaged; + Servo servo; + + public: + Pen(int pin, int posEngaged, int posDisengaged); + void engage(); + void disengage(); + ~Pen(); +}; + +#endif \ No newline at end of file diff --git a/Firmware/EggbotWireless/include/README b/Firmware/EggbotWireless/include/README new file mode 100644 index 0000000..194dcd4 --- /dev/null +++ b/Firmware/EggbotWireless/include/README @@ -0,0 +1,39 @@ + +This directory is intended for project header files. + +A header file is a file containing C declarations and macro definitions +to be shared between several project source files. You request the use of a +header file in your project source file (C, C++, etc) located in `src` folder +by including it, with the C preprocessing directive `#include'. + +```src/main.c + +#include "header.h" + +int main (void) +{ + ... +} +``` + +Including a header file produces the same results as copying the header file +into each source file that needs it. Such copying would be time-consuming +and error-prone. With a header file, the related declarations appear +in only one place. If they need to be changed, they can be changed in one +place, and programs that include the header file will automatically use the +new version when next recompiled. The header file eliminates the labor of +finding and changing all the copies as well as the risk that a failure to +find one copy will result in inconsistencies within a program. + +In C, the usual convention is to give header files names that end with `.h'. +It is most portable to use only letters, digits, dashes, and underscores in +header file names, and at most one dot. + +Read more about using header files in official GCC documentation: + +* Include Syntax +* Include Operation +* Once-Only Headers +* Computed Includes + +https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html diff --git a/Firmware/EggbotWireless/include/Stepper.h b/Firmware/EggbotWireless/include/Stepper.h new file mode 100644 index 0000000..94537c6 --- /dev/null +++ b/Firmware/EggbotWireless/include/Stepper.h @@ -0,0 +1,22 @@ +#ifndef STEPPER_H +#define STEPPER_H + +class Stepper { + private: + unsigned int stepsPerRevolution; + int pin1; + int pin2; + int pin3; + int pin4; + int speedDelay; + void clockwise(); + void counterClockwise(); + + public: + Stepper(int pin1, int pin2, int pin3, int pin4, int stepsPerRevolution, int rpm); + ~Stepper(); + void step(int steps); + void move(float degrees); +}; + +#endif \ No newline at end of file diff --git a/Firmware/EggbotWireless/lib/README b/Firmware/EggbotWireless/lib/README new file mode 100644 index 0000000..6debab1 --- /dev/null +++ b/Firmware/EggbotWireless/lib/README @@ -0,0 +1,46 @@ + +This directory is intended for project specific (private) libraries. +PlatformIO will compile them to static libraries and link into executable file. + +The source code of each library should be placed in a an own separate directory +("lib/your_library_name/[here are source files]"). + +For example, see a structure of the following two libraries `Foo` and `Bar`: + +|--lib +| | +| |--Bar +| | |--docs +| | |--examples +| | |--src +| | |- Bar.c +| | |- Bar.h +| | |- library.json (optional, custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html +| | +| |--Foo +| | |- Foo.c +| | |- Foo.h +| | +| |- README --> THIS FILE +| +|- platformio.ini +|--src + |- main.c + +and a contents of `src/main.c`: +``` +#include +#include + +int main (void) +{ + ... +} + +``` + +PlatformIO Library Dependency Finder will find automatically dependent +libraries scanning project source files. + +More information about PlatformIO Library Dependency Finder +- https://docs.platformio.org/page/librarymanager/ldf.html diff --git a/Firmware/EggbotWireless/platformio.ini b/Firmware/EggbotWireless/platformio.ini new file mode 100644 index 0000000..4fa4a6d --- /dev/null +++ b/Firmware/EggbotWireless/platformio.ini @@ -0,0 +1,14 @@ +; PlatformIO Project Configuration File +; +; Build options: build flags, source filter +; Upload options: custom upload port, speed and extra flags +; Library options: dependencies, extra library storages +; Advanced options: extra scripting +; +; Please visit documentation for the other options and examples +; https://docs.platformio.org/page/projectconf.html + +[env:d1_mini] +platform = espressif8266 +board = d1_mini +framework = arduino diff --git a/Firmware/EggbotWireless/src/Pen.cpp b/Firmware/EggbotWireless/src/Pen.cpp new file mode 100644 index 0000000..efc0eae --- /dev/null +++ b/Firmware/EggbotWireless/src/Pen.cpp @@ -0,0 +1,13 @@ +#include +#include "Pen.h" + +Pen::Pen(int pin, int posEngaged, int posDisengaged) + : posEngaged(posEngaged), posDisengaged(posDisengaged) { + servo.attach(pin); +} + +void Pen::engage() { servo.write(posEngaged); } + +void Pen::disengage() { servo.write(posDisengaged); } + +Pen::~Pen() {} diff --git a/Firmware/EggbotWireless/src/Stepper.cpp b/Firmware/EggbotWireless/src/Stepper.cpp new file mode 100644 index 0000000..b2d74f1 --- /dev/null +++ b/Firmware/EggbotWireless/src/Stepper.cpp @@ -0,0 +1,137 @@ +#include "Stepper.h" +#include + +void Stepper::clockwise() { + digitalWrite(pin4, HIGH); + digitalWrite(pin3, LOW); + digitalWrite(pin2, LOW); + digitalWrite(pin1, LOW); + delay(speedDelay); + + digitalWrite(pin4, HIGH); + digitalWrite(pin3, HIGH); + digitalWrite(pin2, LOW); + digitalWrite(pin1, LOW); + delay(speedDelay); + + digitalWrite(pin4, LOW); + digitalWrite(pin3, HIGH); + digitalWrite(pin2, LOW); + digitalWrite(pin1, LOW); + delay(speedDelay); + + digitalWrite(pin4, LOW); + digitalWrite(pin3, HIGH); + digitalWrite(pin2, HIGH); + digitalWrite(pin1, LOW); + delay(speedDelay); + + digitalWrite(pin4, LOW); + digitalWrite(pin3, LOW); + digitalWrite(pin2, HIGH); + digitalWrite(pin1, LOW); + delay(speedDelay); + + digitalWrite(pin4, LOW); + digitalWrite(pin3, LOW); + digitalWrite(pin2, HIGH); + digitalWrite(pin1, HIGH); + delay(speedDelay); + + digitalWrite(pin4, LOW); + digitalWrite(pin3, LOW); + digitalWrite(pin2, LOW); + digitalWrite(pin1, HIGH); + delay(speedDelay); + + digitalWrite(pin4, HIGH); + digitalWrite(pin3, LOW); + digitalWrite(pin2, LOW); + digitalWrite(pin1, HIGH); + delay(speedDelay); +} + +void Stepper::counterClockwise() { + digitalWrite(pin1, HIGH); + digitalWrite(pin2, LOW); + digitalWrite(pin3, LOW); + digitalWrite(pin4, LOW); + delay(speedDelay); + + digitalWrite(pin1, HIGH); + digitalWrite(pin2, HIGH); + digitalWrite(pin3, LOW); + digitalWrite(pin4, LOW); + delay(speedDelay); + + digitalWrite(pin1, LOW); + digitalWrite(pin2, HIGH); + digitalWrite(pin3, LOW); + digitalWrite(pin4, LOW); + delay(speedDelay); + + digitalWrite(pin1, LOW); + digitalWrite(pin2, HIGH); + digitalWrite(pin3, HIGH); + digitalWrite(pin4, LOW); + delay(speedDelay); + + digitalWrite(pin1, LOW); + digitalWrite(pin2, LOW); + digitalWrite(pin3, HIGH); + digitalWrite(pin4, LOW); + delay(speedDelay); + + digitalWrite(pin1, LOW); + digitalWrite(pin2, LOW); + digitalWrite(pin3, HIGH); + digitalWrite(pin4, HIGH); + delay(speedDelay); + + digitalWrite(pin1, LOW); + digitalWrite(pin2, LOW); + digitalWrite(pin3, LOW); + digitalWrite(pin4, HIGH); + delay(speedDelay); + + digitalWrite(pin1, HIGH); + digitalWrite(pin2, LOW); + digitalWrite(pin3, LOW); + digitalWrite(pin4, HIGH); + delay(speedDelay); +} + +Stepper::Stepper(int pin1, int pin2, int pin3, int pin4, int stepsPerRevolution, + int rpm) + : pin1(pin1), + pin2(pin2), + pin3(pin3), + pin4(pin4), + stepsPerRevolution(stepsPerRevolution) { + pinMode(pin1, OUTPUT); + pinMode(pin2, OUTPUT); + pinMode(pin3, OUTPUT); + pinMode(pin4, OUTPUT); + + speedDelay = 60 * 1000 / (rpm * stepsPerRevolution); +} +Stepper::~Stepper() {} + +void Stepper::step(int steps) { + int halfsteps = steps / 8; + if (halfsteps > 0) { + for (int i = 0; i < halfsteps; i++) { + clockwise(); + } + } else if (halfsteps < 0) { + halfsteps = abs(halfsteps); + for (int i = 0; i < halfsteps; i++) { + counterClockwise(); + } + } +} + +void Stepper::move(float degrees) { + int steps = (degrees * stepsPerRevolution) / 360; + step(steps); +} \ No newline at end of file diff --git a/Firmware/EggbotWireless/src/main.cpp b/Firmware/EggbotWireless/src/main.cpp new file mode 100644 index 0000000..53a9efd --- /dev/null +++ b/Firmware/EggbotWireless/src/main.cpp @@ -0,0 +1,16 @@ +#include +#include "Stepper.h" +#include "Pen.h" + +Stepper eggStepper(D1, D2, D3, D4, 4076, 6); +Stepper servoStepper(D5, D6, D7, D8, 4076, 6); +Pen pen(D0, 180, 80); + +void setup() { + Serial.begin(115200); +} + +void loop() { + Serial.print("Hello!\n"); + delay(1000); +} \ No newline at end of file diff --git a/Firmware/EggbotWireless/test/README b/Firmware/EggbotWireless/test/README new file mode 100644 index 0000000..df5066e --- /dev/null +++ b/Firmware/EggbotWireless/test/README @@ -0,0 +1,11 @@ + +This directory is intended for PIO Unit Testing and project tests. + +Unit Testing is a software testing method by which individual units of +source code, sets of one or more MCU program modules together with associated +control data, usage procedures, and operating procedures, are tested to +determine whether they are fit for use. Unit testing finds problems early +in the development cycle. + +More information about PIO Unit Testing: +- https://docs.platformio.org/page/plus/unit-testing.html