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+                    GNU GENERAL PUBLIC LICENSE
+                       Version 3, 29 June 2007
+
+ Copyright (C) 2007 Free Software Foundation, Inc. <https://fsf.org/>
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+THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY
+GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE
+USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF
+DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD
+PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS),
+EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF
+SUCH DAMAGES.
+
+  17. Interpretation of Sections 15 and 16.
+
+  If the disclaimer of warranty and limitation of liability provided
+above cannot be given local legal effect according to their terms,
+reviewing courts shall apply local law that most closely approximates
+an absolute waiver of all civil liability in connection with the
+Program, unless a warranty or assumption of liability accompanies a
+copy of the Program in return for a fee.
+
+                     END OF TERMS AND CONDITIONS
+
+            How to Apply These Terms to Your New Programs
+
+  If you develop a new program, and you want it to be of the greatest
+possible use to the public, the best way to achieve this is to make it
+free software which everyone can redistribute and change under these terms.
+
+  To do so, attach the following notices to the program.  It is safest
+to attach them to the start of each source file to most effectively
+state the exclusion of warranty; and each file should have at least
+the "copyright" line and a pointer to where the full notice is found.
+
+    <one line to give the program's name and a brief idea of what it does.>
+    Copyright (C) <year>  <name of author>
+
+    This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <https://www.gnu.org/licenses/>.
+
+Also add information on how to contact you by electronic and paper mail.
+
+  If the program does terminal interaction, make it output a short
+notice like this when it starts in an interactive mode:
+
+    <program>  Copyright (C) <year>  <name of author>
+    This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
+    This is free software, and you are welcome to redistribute it
+    under certain conditions; type `show c' for details.
+
+The hypothetical commands `show w' and `show c' should show the appropriate
+parts of the General Public License.  Of course, your program's commands
+might be different; for a GUI interface, you would use an "about box".
+
+  You should also get your employer (if you work as a programmer) or school,
+if any, to sign a "copyright disclaimer" for the program, if necessary.
+For more information on this, and how to apply and follow the GNU GPL, see
+<https://www.gnu.org/licenses/>.
+
+  The GNU General Public License does not permit incorporating your program
+into proprietary programs.  If your program is a subroutine library, you
+may consider it more useful to permit linking proprietary applications with
+the library.  If this is what you want to do, use the GNU Lesser General
+Public License instead of this License.  But first, please read
+<https://www.gnu.org/licenses/why-not-lgpl.html>.

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+#406 = EDGE_CURVE ( 'NONE', #32, #212, #7, .T. ) ;
+#407 = PRODUCT_DEFINITION_SHAPE ( 'NONE', 'NONE',  #374 ) ;
+#408 = CARTESIAN_POINT ( 'NONE',  ( -0.1001499999999999600, 0.003282923368344487800, -0.07167297553315775400 ) ) ;
+#409 = CARTESIAN_POINT ( 'NONE',  ( -0.1001499999999999600, 0.0000000000000000000, -0.07454864183873510800 ) ) ;
+#410 = AXIS2_PLACEMENT_3D ( 'NONE', #375, #191, #402 ) ;
+#411 = DIRECTION ( 'NONE',  ( 0.0000000000000000000, -1.000000000000000000, 0.0000000000000000000 ) ) ;
+#412 = ORIENTED_EDGE ( 'NONE', *, *, #79, .F. ) ;
+#413 = CARTESIAN_POINT ( 'NONE',  ( 0.0000000000000000000, 0.005000000000000083400, -0.1248499999999999900 ) ) ;
+#414 = CARTESIAN_POINT ( 'NONE',  ( -0.1001499999999999600, 2.000000000000000000, 0.06583312236253088800 ) ) ;
+#415 = EDGE_CURVE ( 'NONE', #341, #234, #14, .T. ) ;
+#416 = ADVANCED_FACE ( 'NONE', ( #353 ), #194, .T. ) ;
+#417 = CARTESIAN_POINT ( 'NONE',  ( 0.0000000000000000000, 0.005000000000000083400, 0.0000000000000000000 ) ) ;
+#418 = FACE_OUTER_BOUND ( 'NONE', #131, .T. ) ;
+ENDSEC;
+END-ISO-10303-21;

README.md

@@ -1,4 +1,15 @@
 # S4-P3-Projet
 PCB maker project
 
-[![Build Status](https://travis-ci.org/marc4492/S4-P3-Projet.svg?branch=master)](https://travis-ci.org/marc4492/S4-P3-Projet)
+[![Build Status](https://travis-ci.org/marc4492/S4-P3-Projet.svg?branch=master)](https://travis-ci.org/marc4492/S4-P3-Projet)
+
+This is a PCB maker device, it is use to create PCB from an image in black and white. Three software are include in this repo : 
+  - GCode Generator :
+      Create a GCode file form an image of the PCB
+  - Device communication :
+      Send a GCode file to the device
+      Manual control of the device
+  - GCode Interpreter :
+      Move motors from a GCode command
+
+For more documentation on each software read the README files in every directory.

devicecommunication/CommunicationMain.py

@@ -52,6 +52,8 @@ def sendAllLines(lines, timeoutCom):
 	for line in lines:
 		if not line == '\n':
 			sendWithAck(line, timeoutCom)
+			if line == 'G28':
+				sleep(1)
 
 def sendWithAck(gcodeCommand, timeoutCom):
 	global serial
@@ -73,10 +75,10 @@ def sendWithAck(gcodeCommand, timeoutCom):
 		elif received.startswith('-2'):
 			raise RuntimeError('Device error, please reset the device')
 		elif received.startswith('-1'):
-			raise RuntimeError('Command error')
+			raise RuntimeError('Command error : ' + gcodeCommand)
 		else:
 			commandTimeout += 1
-			if commandTimeout > timeoutCom * 10:
+			if commandTimeout > timeoutCom * 100:
 				raise RuntimeError('Command not executed')
 
 

devicesoftware/GcodeInterpreter/GcodeInterpreter.ino

@@ -1,46 +1,90 @@
 /*******************************************************************************
-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"
+#include "models.h"
 
 #if defined(__OPENCM904__)
   #define DEVICE_NAME "3"
 #elif defined(__OPENCR__)
   #define DEVICE_NAME ""
-#endif   
+#endif
 
 #define STRING_BUF_NUM 64
 #define MINTICK 0
 #define MAXTICK 1048575
-
-// 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;
@@ -61,45 +105,60 @@ const int emergencySwitchPin = 2; // intrupt pin
 
 // Homing variables
 bool homing = false;
+bool homingX = false;
+bool homingY = false;
+bool homingZ = false;
+int homingState = 0;
 
-const int homeOffsetX = 10*tickFromMm;
-const int homeOffsetY = 10*tickFromMm;
-const int homeOffsetZ = 10*tickFromMm;
+const int homeOffsetX = 28*tickFromMm;
+const int homeOffsetY = 19.5*tickFromMm;
+const int homeOffsetZ = 2.5*tickFromMm;
 
-// Fonctions prototypes : 
-void Begin(uint32_t baud);
-void Ping(int identification);
-void Scan();
-void Joint(uint8_t id, uint16_t goal);
-void Wheel(uint8_t id, int32_t goal);
-void Torque_on(uint8_t id);
-void Torque_off(uint8_t id);
-void Write(uint8_t id, uint32_t value, String commande);
-int32_t Read(uint8_t id, String commande);
-void Led(uint8_t id, bool state);
-void TorqueOffAll();
-void OffsetAxe(uint8_t id, int offset);
-void LimiteSwitch();
-int MovingTick(uint8_t id, int32_t value);
-int Homing();
-int HomingAxis(uint8_t id, int speed, int switchPin, int offset);
-uint8_t getIdFromChar(char letter);
+// Debounce timer variables
+bool isFalling = false;
+long debounceTimeFalling = 250;
+long lastTimeXFalling = 0;
+long lastTimeYFalling = 0;
+long lastTimeZFalling = 0;
+
+bool isRising = false;
+long debounceTimeRising = 250;
+long lastTimeXRising = 0;
+long lastTimeYRising = 0;
+long lastTimeZRising = 0;
+
+bool isXSwitchPress = false;
+bool isYSwitchPress = false;
+bool isZSwitchPress = false;
+
+// eStop
+bool isEmegencyState = false;
+bool ledX = false;
+bool ledY = false;
+bool ledZ = false;
+
+// Moving variables
+bool isMoving = false;
+bool currentMoveDone = false;
+bool hasFailed = false;
+int currentMove = 0;
+int nbsMovements = 0;
+int32_t currentPosition = 0;
+int32_t movingSpeed[] = { 75, 75 };
+MovingCommand commands[3];
 
-// Initialisation :
 void setup() 
 {
-
   // Initialisation des pins :
   pinMode(xSwitchPin, INPUT_PULLUP);
   pinMode(ySwitchPin, INPUT_PULLUP);
   pinMode(zSwitchPin, INPUT_PULLUP);
   pinMode(emergencySwitchPin, INPUT_PULLUP);
-  attachInterrupt(digitalPinToInterrupt(emergencySwitchPin), LimiteSwitch, RISING);
+  attachInterrupt(digitalPinToInterrupt(emergencySwitchPin), LimiteSwitch, CHANGE);
   
   Serial.begin(57600);
-  while(!Serial); // Open a Serial Monitor  
 
-    //Motor Initialisation Section :
+  //Motor Initialisation Section :
   Begin((uint32_t)57600);
   Ping(idX);
   Ping(idY);
@@ -124,18 +183,239 @@ void setup()
   dxl_wb.writeRegister(idY, 10, 1, &Y_REVERSE, &NULL_POINTER);
   dxl_wb.writeRegister(idZ, 10, 1, &Z_REVERSE, &NULL_POINTER);
 
+  Write(idX, movingSpeed[0], "Profile_Velocity");
+  Write(idY, movingSpeed[1], "Profile_Velocity");
+
   Torque_on(idX);
   Torque_on(idY);
   Torque_on(idZ);
+
+  resetMovingVariables();
 }
 
-// Main Program
 void loop() 
 {
+  if(isFalling)
+  {
+    if(digitalRead(xSwitchPin))
+    {
+      if(millis() - lastTimeXFalling > debounceTimeFalling)
+      {
+        lastTimeXFalling = millis();
+        isFalling = false;
+        isXSwitchPress = true;
+
+        // Insert what to do if the button is press (executed on change)
+        if(homingX)
+        {
+          homingX = false;
+          OffsetAxe(idX, homeOffsetX);
+          Torque_off(idX);
+          Write(idX, 4, OPERATING_MODE);
+          Torque_on(idX);
+          
+          currentMove = 0;
+          nbsMovements = 1;
+          commands[currentMove]._motorId = idX;
+          commands[currentMove]._goalPosition = 0;
+          isMoving = true;
+          Write(commands[currentMove]._motorId, commands[currentMove]._goalPosition, GOAL_POSITION); 
+        }
+        else
+        {
+          isEmegencyState = true;
+          ledX = true;
+        }
+      }
+    }
+    else
+    {
+      lastTimeXFalling = millis();
+      isXSwitchPress = false;
+    }
+
+    if(digitalRead(ySwitchPin))
+    {
+      if(millis() - lastTimeYFalling > debounceTimeFalling)
+      {
+        lastTimeYFalling = millis();
+        isFalling = false;
+        isYSwitchPress = true;
+
+        // Insert what to do if the button is press (executed on change)
+        if(homingY)
+        {
+          homingY = false;
+          OffsetAxe(idY, homeOffsetY);
+          Torque_off(idY);
+          Write(idY, 4, OPERATING_MODE);
+          Torque_on(idY);
+          
+          currentMove = 0;
+          nbsMovements = 1;
+          commands[currentMove]._motorId = idY;
+          commands[currentMove]._goalPosition = 0;
+          isMoving = true;
+          Write(commands[currentMove]._motorId, commands[currentMove]._goalPosition, GOAL_POSITION);
+        }
+        else
+        {
+          isEmegencyState = true;
+          ledY = true;
+        }
+      }
+    }
+    else
+    {
+      lastTimeYFalling = millis();
+      isYSwitchPress = false;
+    }
+
+    if(digitalRead(zSwitchPin))
+    {
+      if(millis() - lastTimeZFalling > debounceTimeFalling)
+      {
+        lastTimeZFalling = millis();
+        isFalling = false;
+        isZSwitchPress = true;
+        
+        // Insert what to do if the button is press (executed on change)
+        if(homingZ)
+        {
+          homingZ = false;
+          OffsetAxe(idZ, homeOffsetZ);
+          Torque_off(idZ);
+          Write(idZ, 4, OPERATING_MODE);
+          Torque_on(idZ);
+
+          currentMove = 0;
+          nbsMovements = 1;
+          commands[currentMove]._motorId = idZ;
+          commands[currentMove]._goalPosition = 0;
+          isMoving = true;          
+          Write(commands[currentMove]._motorId, commands[currentMove]._goalPosition, GOAL_POSITION);
+        }
+        else
+          {
+          isEmegencyState = true;
+          ledZ = true;
+        }
+      }
+    }
+    else
+    {
+      lastTimeZFalling = millis();
+      isZSwitchPress = false;
+    }
+
+    if(!digitalRead(xSwitchPin) && !digitalRead(ySwitchPin) && !digitalRead(zSwitchPin))
+      isFalling = false;
+  }
+
+  if(isRising)
+  {
+    if(!digitalRead(xSwitchPin))
+    {
+      if(millis() - lastTimeXRising > debounceTimeRising)
+      {
+        lastTimeXRising = millis();
+        isRising = false;
+        isXSwitchPress = false;
+        // Insert what to do if the button is release (executed on change)
+      }
+    }
+    else
+      lastTimeXRising = millis();
+
+    if(!digitalRead(ySwitchPin))
+    {
+      if(millis() - lastTimeYRising > debounceTimeRising)
+      {
+        lastTimeYRising = millis();
+        isRising = false;
+        isYSwitchPress = false;
+        // Insert what to do if the button is release (executed on change)
+      }
+    }
+    else
+      lastTimeYRising = millis();
+
+    if(!digitalRead(zSwitchPin))
+    {
+      if(millis() - lastTimeZRising > debounceTimeRising)
+      {
+        lastTimeZRising = millis();
+        isRising = false;
+        isZSwitchPress = false;
+        // Insert what to do if the button is release (executed on change)
+      }
+    }
+    else
+      lastTimeZRising = millis();
+
+    if(digitalRead(xSwitchPin) && digitalRead(ySwitchPin) && digitalRead(zSwitchPin))
+    {
+      isRising = false;
+    }
+  }
+
+  if(isMoving)
+  {
+    currentPosition = Read(commands[currentMove]._motorId, PRESENT_POSITION);
+    if(isInRange(currentPosition, commands[currentMove]._goalPosition, commands[currentMove]._motorId))
+    {
+      currentMoveDone = true;
+    }
+  }
+
+  if(isMoving && currentMoveDone)
+  {
+    if(currentMove+1 >= nbsMovements)
+    {
+      if(homing)
+      {
+        if(commands[currentMove]._motorId == idZ)
+        {
+          homingY = true;
+          HomingAxis(idY, -100);
+          homingState++;
+        }
+        else if(commands[currentMove]._motorId == idY)
+        {
+          homingX = true;
+          HomingAxis(idX, -100);
+          homingState++;
+        }
+        else if(commands[currentMove]._motorId == idX)
+        {
+          homingState++;
+          homing = false;
+          Serial.println(homingState == 3 ? "1" : "-1");
+          homingState = 0;
+
+          Write(idX, movingSpeed[0], "Profile_Velocity");
+          Write(idY, movingSpeed[1], "Profile_Velocity");
+        }
+        resetMovingVariables();
+      }
+      else
+      {
+        resetMovingVariables();
+        Serial.println("1");
+      }
+    }
+    else
+    {
+      currentMoveDone = false;
+      currentMove++;
+      Write(commands[currentMove]._motorId, commands[currentMove]._goalPosition, GOAL_POSITION);
+    }
+  }
+  
   if(isEmegencyState)
     setEmergency();
   
-  if (Serial.available())
+  if (!homing && !isMoving && Serial.available())
   {
     String read_string = Serial.readStringUntil('\n');
     if(!isEmegencyState)
@@ -155,35 +435,49 @@ void loop()
         }
       }
       words[wordIndex] = read_string.substring(start, read_string.length());
-      
-      Serial.println("2"); 
+      nbsMovements = wordIndex;
+      Serial.println("2");
 
       if(words[0] == "G0")
       {
-          for(int i = 1; i < wordIndex+1; i++)
-          {
-              if(words[i].length() > 1)
-              {
-                  float value = words[i].substring(1, words[i].length()).toFloat();
-                  uint8_t idMotor = getIdFromChar((char)words[i].charAt(0));
-                  if(idMotor == -1)
-                      Serial.println("-1");
-                  else
-                      statut[i] = MovingTick(idMotor, value*tickFromMm);
-              }
-              else
+        int i;
+        for(i = 1; i < wordIndex+1; i++)
+        {
+            if(words[i].length() > 1)
+            {
+                float value = words[i].substring(1, words[i].length()).toFloat();
+                uint8_t idMotor = getIdFromChar((char)words[i].charAt(0));
+                if(idMotor == -1)
+                {
                   Serial.println("-1");
-          }
-          if((statut[0] == 1 || statut[0] == 0) && (statut[1] == 1 || statut[1] == 0) && (statut[2] == 1|| statut[2] == 0)){
-              Serial.println("1");
-          }
-          else{
+                  break;
+                }
+                else
+                {
+                  commands[i-1]._motorId = idMotor;
+                  commands[i-1]._goalPosition = value*tickFromMm;
+                }
+            }
+            else
+            {
               Serial.println("-1");
-          }
+              break;
+            }
+        }
+        
+        if(i == wordIndex+1)
+        {
+          isMoving = true;
+          currentMove = 0;
+          Write(commands[currentMove]._motorId, commands[currentMove]._goalPosition, GOAL_POSITION);
+        }
       }
       
-      else if(words[0] == "G28"){
-        Serial.println(Homing());
+      else if(words[0] == "G28")
+      {
+        homing = true;
+        homingZ = true;
+        HomingAxis(idZ, -50);
       }
       else if(words[0] == "M18"){
           TorqueOffAll();
@@ -198,15 +492,8 @@ void loop()
 
           Serial.println("1");
       }
-      else if(words[0] == "M1")
+      else if(words[0] == "G90")
       {
-        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
@@ -233,87 +520,70 @@ uint8_t getIdFromChar(char letter)
         return -1;
 }
 
-int Homing()
+bool isInRange(int goal, int curPos, uint8_t id)
 {
-  int state = 0;
-  homing = true;
-  
-  state += HomingAxis(idZ, -50, xSwitchPin, homeOffsetZ);
-  state += HomingAxis(idY, -100, xSwitchPin, homeOffsetY);
-  state += HomingAxis(idX, -100, xSwitchPin, homeOffsetX);
-  
-  homing = false;
-  return state == 3 ? 1 : -1;
+  return (abs(goal - curPos) <= ACCEPTABLE_RANGE[id-idX]);
 }
 
-int HomingAxis(uint8_t id, int speed, int switchPin, int offset)
+void resetMovingVariables()
+{
+  isMoving = false;
+  currentMoveDone = false;
+  currentMove = 0;
+  nbsMovements = 0;
+  currentPosition = 0;
+  hasFailed = false;
+
+  for(int i = 0; i < 3; i++)
+  {
+    commands[i]._motorId = i+idX;
+    commands[i]._goalPosition = Read(i+idX, PRESENT_POSITION);
+  }
+}
+
+void HomingAxis(uint8_t id, int speed)
 {
   Torque_off(id);
   Write(id, 0, HOMING_OFFSET);
   Torque_on(id);
   Wheel(id, speed);
-  while(digitalRead(switchPin));
-  OffsetAxe(id, offset);
-  Write(id, 4, OPERATING_MODE);
-  return MovingTick(id, 0);
 }
 
 void OffsetAxe(uint8_t id, int offset){
   int32_t posPresent = Read(id, PRESENT_POSITION);
   int32_t homePosition = - posPresent - offset;
-  Torque_off(id); 
+  Torque_off(id);
+
+  if(id == idX && X_REVERSE)
+    homePosition *= -1;
+  else if(id == idY && Y_REVERSE)
+    homePosition *= -1;
+  else if(id == idZ && Z_REVERSE)
+    homePosition *= -1;
+  
   Write(id, homePosition, HOMING_OFFSET);
-}
-
-int MovingTick(uint8_t id, int32_t value){
-  int32_t CurrentPosition = Read(id, PRESENT_POSITION);
-  bool Forward = value > CurrentPosition;
-  
-  if((Forward && (CurrentPosition < MAXTICK)) || (!Forward && (CurrentPosition > MINTICK)))
-  {
-    Torque_on(id);
-    Write(id, value, GOAL_POSITION); 
-  }
-  else
-  {
-    Torque_off(id); 
-    return -1;
-  }
-  
-  if(Forward){
-    while(CurrentPosition < value-1  && !isEmegencyState){
-      CurrentPosition = Read(id, PRESENT_POSITION);
-      if(CurrentPosition >= MAXTICK && !homing){
-        Torque_off(id);
-        return -1;
-      }
-    }
-  }
-  else {
-    while(CurrentPosition > value+1 && !isEmegencyState){
-      CurrentPosition = Read(id, PRESENT_POSITION);
-      if(CurrentPosition <= MINTICK && !homing){
-        Torque_off(id);
-        return -1;
-      }
-    }
-  }
-
-  return 1;
+  Torque_on(id);
 }
 
 void LimiteSwitch(){
-  if(!homing){
-    isEmegencyState = true;
-  }
+  if(!digitalRead(emergencySwitchPin))
+    isRising = true;
+  else
+    isFalling = true;
 }
 
 void setEmergency()
 {
+  isMoving = false;
   TorqueOffAll();
-  Led(idX, !digitalRead(xSwitchPin));
-  Led(idY, !digitalRead(ySwitchPin)); 
-  Led(idZ, !digitalRead(zSwitchPin)); 
+  Led(idX, ledX);
+  Led(idY, ledY); 
+  Led(idZ, ledZ);
+}
+
+void changeMode(uint8_t id)
+{
+  Write(id, 4, OPERATING_MODE);
 }
 
 

devicesoftware/GcodeInterpreter/functions.h

@@ -0,0 +1,23 @@
+#ifndef FUNCTIONS_H
+#define FUNCTIONS_H
+
+void Begin(uint32_t baud);
+void Ping(int identification);
+void Scan();
+void Joint(uint8_t id, uint16_t goal);
+void Wheel(uint8_t id, int32_t goal);
+void Torque_on(uint8_t id);
+void Torque_off(uint8_t id);
+void Write(uint8_t id, uint32_t value, String commande);
+int32_t Read(uint8_t id, String commande);
+void Led(uint8_t id, bool state);
+void TorqueOffAll();
+void OffsetAxe(uint8_t id, int offset);
+void LimiteSwitch();
+void HomingAxis(uint8_t id, int speed);
+uint8_t getIdFromChar(char letter);
+bool isInRange(int curPos, int goal);
+void resetMovingVariables();
+void changeMode(uint8_t id);
+
+#endif

devicesoftware/GcodeInterpreter/models.h

@@ -0,0 +1,10 @@
+#ifndef MODELS_H
+#define MODELS_H
+
+typedef struct MovingCommand
+{
+  uint8_t _motorId = 0;
+  uint32_t _goalPosition = 0;
+};
+
+#endif

gcodeextractor/README.md

@@ -5,7 +5,7 @@ This program transforms a pcb drawing into a gcode.
 ## Getting started
 
 To use this program, you need to launch main.py with the proper parameters or launch UI.py in /UI/ and enter the parameters in the boxes.
-The PCB drawing your are using needs to be of format *.pbm ,
+The PCB drawing you are using needs to be of format *.pbm ,
 there are plenty of converters online to change your file format, such as [this converter we used](https://convertio.co/fr/pdf-pbm/).
 
 ### Prerequisites
@@ -15,25 +15,40 @@ You can use an IDE or cmd to launch the program or the UI.
 
 ### Using the program
 
-After downloading the project,
-You can launch UI.py in S4-P3-Projet/gcodeextractor/UI/ for the user interface of the program.
+After downloading the project, you can launch UI.py in S4-P3-Projet/gcodeextractor/UI/ for the user interface of the program.
 
 Enter the parameters in the proper boxes:
 
 ```
 - Pcb drawing file path you want to convert into gcode, this file needs to be of type *.pbm
 - Gcode file you want to save with the path where you want to save it.
-  If the file doesn't exist, a new file will be created, file type need to be *.gcode
-- If the pbm file is of type binary or ascii. To find the type, you can open the file in a text editor,
-  ascii files will start with P1 while binary with P4. Also, birary type will contain unreadable characters.
-- Width dimension of your pcb, units are entered later, 
-- Height dimension of your pcb, must be of the same units as width
+  If the file doesn't exist, a new file will be created, file type needs to be *.gcode
+- If the pbm file is of type binary or ASCII. To find the type, you can open the file in a text editor,
+  ASCII files will start with P1 while binary with P4. Also, binary type will contain unreadable characters.
+- Width of your pcb, units are entered later, 
+- Height of your pcb, it must be of the same units as the width
 - Radius of the tool you are using, units must be in mm.
 - Units type for the width and height
 ```
 Once all parameters are entered, you can click on the **execute program** button.
 If everything is good, you should read **SUCCESS** on the bottom of the UI, else and error code should appear.
 
+### Algorithms
+
+To convert a pcb image into a gcode, we first find where the tool will have to travel, in order to create the pcb. This is done in the path.py file. The pcb image is a matrix in which the connections are represented by 1's and the empty space by 0's, we use 2's to represent the tool's path. path.py has 3 functions, the first one (scanHorizontal) adds 2's on the left or the right of 1's if they are the beginning or end of a line, it adds a column of 2's the size of the tool's diameter at a tool's radius away from the 1. the second function (scanVertical) is similar but instead of looking and adding on the left or right side, it does on the up or down side. The third function (twoRemoving) removes 2's where there shouldn't be, by looking near the 1's and removing 2's that would make the tool touch the 1.
+
+We then create a sequence of coordinates for the tool to follow to cover all the path we just created. This is done in gcodeCreator.py. We create a sequence of straight lines only, circles or diagonals are a sum of straight lines. The sequence is created by the function *create sequence* that goes through all pixels in the image to find a 2 where the tool will start working. It starts the sequence by a set of coordinates (-1,-1), which means it is starting a new path, and a set of coordinates where the 2 is. Then it uses the function *findDirection* to seek for 2's nearby to find a direction where to travel. It will continue in this direction with the function *findEndOfLine* until it hits the last 2 of the line, adding its coordinates to the sequence, and then seek for another direction until it can't find any 2's. All the 2's covered by the sequence are changed by 3's so the algorithm never cover the same 2 twice. Once it comes to the end of a path, the algorithm will continue looking for 2's where to start paths from until it has looked through all the pixels of the image.
+
+The last file is GcodeBuilder.py, it transforms the sequence of point into a standard gcode file. It does so by changing the coordinates in pixels, into coordinates in mm according to the dimensions of the pcb. If the coordinates are (-1,-1), this means the sequence has finished a path and the tool should not be working until it gets to the next coordinates. The gcode file also starts with a header and ends with a footer to add some configurations and a homing.
+
+### Tests
+
+For path.py's function, we tested the three functions with small matrix of 0's and 1's and wrote the expected results manually to compare if the functions returned what we expected. We also tested if the algorithms would still work if it had to write or read out of bound of the image, which is verified in the algorithms. 
+
+The tests for GcodeCreator.py were made in a similar way, with small matrices of 0's and 2's and an expected sequence of coordinates to compare. We also tested if the algorithm had to read out of bound of the image.
+
+For GcodeBuilder.py, we created some coordinates sequences and a similar but simpler algorithm that would give us the resulting gcode. We compared the function's results with the simpler algorithm's results to see if they were the same. We also tested for different pixel sizes.
+
 ## Authors
 
 **Ian Lalonde** 

gcodeextractor/gcode/GcodeBuilder.py

@@ -24,12 +24,12 @@ def listToGCode(listIndex, pHeight, pWidth):
 		else:
 			gcodeCommand.append('G0 X' + str(round(coord.getX()*pWidth, 2)) + ' Y' + str(round(coord.getY()*pHeight, 2)))
 			if toolUp:
-				gcodeCommand.append('G0 Z3')
+				gcodeCommand.append('G0 Z10.5')
 				toolUp = False
 			
 	# FOOTER
 	gcodeCommand.append('\nG0 Z0')
-	gcodeCommand.append('G28')
+	gcodeCommand.append('G0 X0 Y0')
 	gcodeCommand.append('M18')
 	
 	return gcodeCommand

gcodeextractor/tests/gcode/test_listToGcode.py

@@ -52,10 +52,10 @@ class TestListToGCode(TestCase):
 
 def getExpected(coords, ySize, xSize):
 	header = ['G28', 'G90\n']
-	footer = ['\nG0 Z0', 'G28', 'M18']
+	footer = ['\nG0 Z0', 'G0 X0 Y0', 'M18']
 	
 	content = ['G0 X' + str(round(xSize * coords[0].getX(), 2)) + ' Y' + str(round(ySize * coords[0].getY(), 2)),
-	           'G0 Z3',
+	           'G0 Z10.5',
 	           ]
 	
 	for index, coord in enumerate(coords):
@@ -63,7 +63,7 @@ def getExpected(coords, ySize, xSize):
 			if coord.getX() != -1 and coord.getY() != -1:
 				content.append('G0 X' + str(xSize * coord.getX()) + ' Y' + str(ySize * coord.getY()))
 				if coords[index - 1].getX() == -1 and coords[index - 1].getX() == -1:
-					content.append('G0 Z3')
+					content.append('G0 Z10.5')
 			else:
 				content.append('G0 Z0')