optimize images

Firmware/MotorControl/platformio.ini

@@ -22,18 +22,24 @@ board_hardware.oscillator = external
 board_hardware.uart = no_bootloader
 ; Brown-out detection
 board_hardware.bod = 2.7v
-
-; specify fuses because platformio burns wrong ones when uploading
-board_fuse.lfuse = 0xf7
-board_fuse.hfuse = 0xd7
-board_fuse.efuse = 0xfd
+build_unflags = -flto
 
 board_upload.speed = 115200
 
 monitor_speed = 9600
 
-upload_protocol = stk500
-upload_port = COM3
-upload_flags = -PCOM3
+; Custom upload procedure
+upload_protocol = custom
+; Avrdude upload flags
+upload_flags =
+  -C$PROJECT_PACKAGES_DIR/tool-avrdude/avrdude.conf
+  -p$BOARD_MCU
+  -PCOM3
+  -cstk500
+  -e
+; Avrdude upload command
+upload_command = avrdude $UPLOAD_FLAGS -U flash:w:$SOURCE:i
+
+
 
 lib_deps = 883 #Servo

Firmware/MotorControl/src/main.cpp

@@ -20,21 +20,21 @@ int calculateDelay(float rpm, int stepsPerRevolution) {
 }
 
 void adjustRPM() {
-    eggStepperRPM = curRPM;
-    servoStepperRPM = curRPM;
+    eggStepperDelay = calculateDelay(curRPM, STEPS_PER_REVOLUTION);
+    servoStepperDelay = calculateDelay(curRPM, STEPS_PER_REVOLUTION);
     if (needAdjust) {
         unsigned int stepsX = servoStepper.getRemainingSteps();
         unsigned int stepsY = eggStepper.getRemainingSteps();
         if (stepsX != 0 && stepsY != 0) {
             if (stepsX > stepsY) {
-                eggStepperRPM = (float)curRPM * (float)stepsY / (float)stepsX;
-            } else if (stepsY > stepsX) {
-                servoStepperRPM = (float)curRPM * (float)stepsX / (float)stepsY;
+                eggStepperDelay =
+                    (float)servoStepperDelay * (float)stepsX / (float)stepsY;
+            } else {
+                servoStepperDelay =
+                    (float)eggStepperDelay * (float)stepsY / (float)stepsX;
             }
         }
     }
-    eggStepperDelay = calculateDelay(eggStepperRPM, STEPS_PER_REVOLUTION);
-    servoStepperDelay = calculateDelay(servoStepperRPM, STEPS_PER_REVOLUTION);
 }
 
 Command command;
@@ -77,8 +77,6 @@ void requestEvent() {
 
     sts.toBytes(txBuffer);
     Wire.write(txBuffer, i2cStsBytes);
-
-    wdt_reset();
 }
 
 void execCommand(Command cmd) {
@@ -133,10 +131,11 @@ void setup() {
     OCR2A = 250;
     TCCR2A |= (1 << WGM20) | (1 << CS21);
     TIMSK2 |= (1 << OCIE2A);
-    wdt_enable(WDTO_8S);
+    wdt_enable(WDTO_500MS);
 }
 
 volatile unsigned int tick = 0;
+volatile bool newTick = false;
 void steppersRoutine() {
     if (tick % eggStepperDelay == 0) {
         eggStepper.doStep();
@@ -155,11 +154,31 @@ We use our own timer for more precise timings
  */
 ISR(TIMER2_COMPA_vect) {
     tick++;
-    steppersRoutine();
+    newTick = true;
 }
 
+volatile unsigned int tps = 0;
+volatile unsigned long long oldmillis = 0;
 void loop() {
     if (newCommand) {
         execCommand(command);
     }
+    if (newTick) {
+        steppersRoutine();
+        tps++;
+        newTick = false;
+    }
+    if (millis() - oldmillis > 1000) {
+        oldmillis = millis();
+        Serial.println(tps);
+        Serial.print(eggStepper.getRemainingSteps());
+        Serial.print(" ");
+        Serial.println(servoStepper.getRemainingSteps());
+        Serial.print(eggStepperDelay);
+        Serial.print(" ");
+        Serial.println(servoStepperDelay);
+
+        tps = 0;
+    }
+    wdt_reset();
 }

README.md

@@ -3,7 +3,7 @@ My attempt at making the ordinary egg-drawing robot a bit special, by ~adding a
 
 <img src="docs/assembled1.jpg" width="30%">
 <img src="docs/assembled2.jpg" width="30%">
-<img src="docs/disassembled.jpg" width="30%">
+<img src="docs/board2.jpg" width="30%">
 
 ## Known issues