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Add a header to explain the code
This commit is contained in:
Marc-Antoine Lafreniere
2019-04-10 20:49:54 -04:00
parent b878159a27
commit ea7f3906a6
1 changed files with 66 additions and 32 deletions
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96
devicesoftware/GcodeInterpreter/GcodeInterpreter.ino
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@@ -1,12 +1,56 @@
/*******************************************************************************
Titre : OpenCR
Date : 6 février 2019
Auteur : Maxime Desmarais-Laporte
Title : OpenCR
Date : April 10th 2019
Authors : Maxime Desmarais-Laporte and Marc-Antoine Lafreniere
Descritpion :
GCode interpretor, use in a PCB maker device.
The device has 3 limits switches (one for every axis) use for a homing of the device
These switches are attach to one interrupt and to 3 digital pins.
The interrupt was noizy so a filter is apply to the interrupt
Interrupt filter :
To filter the noize on the interrupt we use the digital pin connected to the NC of the switch
The filter simply looks if the digital pin is LOW for *debounceTimeFalling* time
If it stays LOW for the whole *debounceTimeFalling* then a flag is set to true
If it stays HIGH for the whole *debounceTimeRising* then a flag is set to false
GCode status :
G0 Xx Yy Zz Done
G28 Done
G90 Inactive
G91 Not implemeted
M18 Done
M112 Done
Commincations :
When a command is recived, "2" is printed to the Serial port
When the command is done executing, "1" is printed to the Serial port
If the command can't complete, "-1" is printed to the Serial port
If the device is in eStop mode, "-2" is printed to the Serial port on a commmand request
Electrical :
The 3 homing switches are connected the same way :
NC to a digital pin
NO to the interrupt
COM to the ground
Hence every digital and interrupt pin MUST be in INPUT_PULLUP
TODO :
Connect 2 switches on the other end of the X and Y axis as a fail-safe and add a filter if needed
Change some variable usage : at the moment everything works only if motors' ids are +1 between each (ex: x=9, y=10, z=11)
Specifications :
Baud for motors : 57600 b/s
Adress for motors : 11 and 12 and 13
Baud for motors : 57600 b/s
Dynamixel and OpenCR documentation :
http://emanual.robotis.com/docs/en/dxl/x/xm430-w350/
http://emanual.robotis.com/docs/en/parts/controller/opencr10/
*******************************************************************************/
#include <DynamixelWorkbench.h>
#include "functions.h"
@@ -21,29 +65,26 @@ Adress for motors : 11 and 12 and 13
#define STRING_BUF_NUM 64
#define MINTICK 0
#define MAXTICK 1048575
const int ACCEPTABLE_RANGE[3] = { 2, 2, 3 };
// 0 = not reverse, 1 = reverse
uint8_t X_REVERSE = 0;
uint8_t Y_REVERSE = 1;
uint8_t Z_REVERSE = 0;
const int ACCEPTABLE_RANGE[3] = { 2, 2, 4 };
const String HOMING_OFFSET = "Homing_Offset";
const String OPERATING_MODE = "Operating_Mode";
const String PRESENT_POSITION = "Present_Position";
const String GOAL_POSITION = "Goal_Position";
String cmd[STRING_BUF_NUM];
// 0 = not reverse, 1 = reverse
uint8_t X_REVERSE = 0;
uint8_t Y_REVERSE = 1;
uint8_t Z_REVERSE = 0;
// Dynamixel variables
DynamixelWorkbench dxl_wb;
String cmd[STRING_BUF_NUM];
uint8_t get_id[16];
uint8_t scan_cnt = 0;
uint8_t ping_cnt = 0;
const char *NULL_POINTER = NULL;
bool isEmegencyState = false;
// Motors Propertys :
uint8_t idX = 11;
uint8_t idY = 12;
@@ -69,8 +110,8 @@ bool homingY = false;
bool homingZ = false;
int homingState = 0;
const int homeOffsetX = /*28*/50*tickFromMm;
const int homeOffsetY = /*19.5*/50*tickFromMm;
const int homeOffsetX = 28*tickFromMm;
const int homeOffsetY = 19.5*tickFromMm;
const int homeOffsetZ = 2.5*tickFromMm;
// Debounce timer variables
@@ -91,6 +132,7 @@ bool isYSwitchPress = false;
bool isZSwitchPress = false;
// eStop
bool isEmegencyState = false;
bool ledX = false;
bool ledY = false;
bool ledZ = false;
@@ -105,7 +147,6 @@ int32_t currentPosition = 0;
int32_t movingSpeed[] = { 75, 75 };
MovingCommand commands[3];
// Initialisation :
void setup()
{
// Initialisation des pins :
@@ -152,7 +193,6 @@ void setup()
resetMovingVariables();
}
// Main Program
void loop()
{
if(isFalling)
@@ -165,6 +205,7 @@ void loop()
isFalling = false;
isXSwitchPress = true;
// Insert what to do if the button is press (executed on change)
if(homingX)
{
homingX = false;
@@ -201,6 +242,7 @@ void loop()
isFalling = false;
isYSwitchPress = true;
// Insert what to do if the button is press (executed on change)
if(homingY)
{
homingY = false;
@@ -237,6 +279,7 @@ void loop()
isFalling = false;
isZSwitchPress = true;
// Insert what to do if the button is press (executed on change)
if(homingZ)
{
homingZ = false;
@@ -278,6 +321,7 @@ void loop()
lastTimeXRising = millis();
isRising = false;
isXSwitchPress = false;
// Insert what to do if the button is release (executed on change)
}
}
else
@@ -290,6 +334,7 @@ void loop()
lastTimeYRising = millis();
isRising = false;
isYSwitchPress = false;
// Insert what to do if the button is release (executed on change)
}
}
else
@@ -302,6 +347,7 @@ void loop()
lastTimeZRising = millis();
isRising = false;
isZSwitchPress = false;
// Insert what to do if the button is release (executed on change)
}
}
else
@@ -446,17 +492,6 @@ void loop()
Serial.println("1");
}
else if(words[0] == "M1")
{
TorqueOffAll();
Write(idX, -Read(idX, PRESENT_POSITION), HOMING_OFFSET);
Write(idY, -Read(idY, PRESENT_POSITION), HOMING_OFFSET);
Write(idZ, -Read(idZ, PRESENT_POSITION), HOMING_OFFSET);
TorqueOnAll();
Serial.println("1");
}
else if(words[0] == "G90")
{
Serial.println("1");
@@ -549,7 +584,6 @@ void setEmergency()
void changeMode(uint8_t id)
{
Write(id, 4, OPERATING_MODE);
//Write(id, movingSpeed[id-idX], "Profile_Velocity");
}