Skip to content
Snippets Groups Projects
Commit c19e834e authored by Quentin Bolsee's avatar Quentin Bolsee
Browse files

Edit cane_control.ino

parent 3925f9df
Branches main
No related tags found
No related merge requests found
Show whitespace changes
Inline Side-by-side
code/cane_control/cane_control.ino
+ 131
− 63
View file @ c19e834e
......@@ -2,6 +2,8 @@
#include <AccelStepper.h>
#include <Adafruit_SSD1306.h>
//#define DRYRUN
#define PIN_STEP1 28
#define PIN_DIR1 29
#define PIN_STEP2 26
......@@ -11,6 +13,8 @@
#define PIN_ENC_B 4
#define READ_FAST(pin) ((sio_hw->gpio_in & (1 << pin)) > 0)
#define T_DEBOUNCE 100
#define SCREEN_WIDTH 128 // OLED display width, in pixels
#define SCREEN_HEIGHT 64 // OLED display height, in pixels
......@@ -21,21 +25,25 @@
#define SCREEN_ADDRESS 0x3C ///< See datasheet for Address; 0x3D for 128x64, 0x3C for 128x32
#define SERIAL_BAUD_RATE 115200
#define RUN_CURRENT_PERCENT 80
#define STALL_GUARD_THRESHOLD 70
#define HOMING_VELOCITY 400
#define RUN_CURRENT_PERCENT 85
#define STALL_GUARD_THRESHOLD 90
#define HOMING_VELOCITY 200
#define MOVE_SPEED1 1200
#define MOVE_ACC1 2000
#define MOVE_SPEED 800
#define MOVE_ACC 1200
#define MOVE_SPEED2 350
#define MOVE_ACC2 600
#define MICROSTEPS 4
#define MICROSTEPS_PER_TURN (200L*MICROSTEPS)
#define MICROSTEPS_PER_TURN1 (57*200L*MICROSTEPS/11)
#define MICROSTEPS_PER_TURN2 (200L*MICROSTEPS)
#define ANGLE_INIT 16
#define ANGLE_READY 340
#define STATE_MENU 0
#define STATE_COCKING 1
#define STATE_ARMING 1
#define STATE_FEEDING 2
int machine_state = STATE_MENU;
......@@ -47,8 +55,8 @@ Adafruit_SSD1306 display(SCREEN_WIDTH, SCREEN_HEIGHT, &Wire, OLED_RESET);
AccelStepper stepper1(AccelStepper::DRIVER, PIN_STEP1, PIN_DIR1);
AccelStepper stepper2(AccelStepper::DRIVER, PIN_STEP2, PIN_DIR2);
TMC2209 stepper_driver1;
TMC2209 stepper_driver2;
TMC2209 stepper1_driver;
TMC2209 stepper2_driver;
int state_now = 0b00;
int state_prev = 0b00;
......@@ -59,17 +67,17 @@ float length = 5.00;
int counter = 0;
int cutting = false;
bool update_screen = true;
bool refresh_screen = true;
int k = 0;
long int length_to_step(float d) {
// 1 inch per revolution
return MICROSTEPS_PER_TURN * d / 3.14159;
return MICROSTEPS_PER_TURN1 * d / M_PI;
}
long int angle_to_step(int angle) {
return 2 * MICROSTEPS_PER_TURN * angle / 360;
return MICROSTEPS_PER_TURN2 * angle / 360;
}
inline void update_knob() {
......@@ -89,7 +97,7 @@ inline void update_knob() {
length = LENGTH_MIN;
}
}
update_screen = true;
refresh_screen = true;
}
state_prev = state_now;
}
......@@ -100,32 +108,28 @@ void pin_AB_change() {
}
void homing() {
stepper_driver2.moveAtVelocity(-HOMING_VELOCITY);
delay(200);
stepper_driver2.moveAtVelocity(HOMING_VELOCITY);
stepper2_driver.moveAtVelocity(HOMING_VELOCITY);
delay(100);
bool done = false;
while (!done) {
uint16_t stall_guard_result = stepper_driver2.getStallGuardResult();
uint16_t stall_guard_result = stepper2_driver.getStallGuardResult();
done = stall_guard_result < STALL_GUARD_THRESHOLD;
Serial.println(stall_guard_result);
}
stepper_driver2.moveAtVelocity(0);
stepper_driver2.enable();
stepper2_driver.moveAtVelocity(0);
delay(100);
stepper2_driver.enable();
stepper2.moveTo(angle_to_step(ANGLE_INIT));
stepper2.runToPosition();
stepper2.setCurrentPosition(0);
stepper2.moveTo(angle_to_step(ANGLE_READY));
stepper2.runToPosition();
}
void setup() {
Serial.begin(0);
delay(2000);
pinMode(PIN_ENC_A, INPUT);
pinMode(PIN_ENC_B, INPUT);
pinMode(PIN_BTN, INPUT_PULLUP);
delay(1000);
display.begin(SSD1306_SWITCHCAPVCC, SCREEN_ADDRESS);
display.setTextSize(1); // Normal 1:1 pixel scale
......@@ -135,91 +139,140 @@ void setup() {
display.clearDisplay();
display.cp437(true);
stepper_driver1.setup(serial_stream, SERIAL_BAUD_RATE, TMC2209::SERIAL_ADDRESS_1);
stepper_driver1.setRunCurrent(RUN_CURRENT_PERCENT);
stepper_driver1.setMicrostepsPerStep(MICROSTEPS);
#ifndef DRYRUN
stepper1_driver.setup(serial_stream, SERIAL_BAUD_RATE, TMC2209::SERIAL_ADDRESS_1);
stepper1_driver.setRunCurrent(RUN_CURRENT_PERCENT);
stepper1_driver.setHoldCurrent(RUN_CURRENT_PERCENT);
stepper1_driver.setMicrostepsPerStep(MICROSTEPS);
delay(50);
stepper_driver2.setup(serial_stream, SERIAL_BAUD_RATE, TMC2209::SERIAL_ADDRESS_0);
stepper_driver2.setRunCurrent(RUN_CURRENT_PERCENT);
stepper_driver2.setMicrostepsPerStep(MICROSTEPS);
stepper_driver2.enable();
delay(50);
stepper2_driver.setup(serial_stream, SERIAL_BAUD_RATE, TMC2209::SERIAL_ADDRESS_0);
stepper2_driver.setRunCurrent(RUN_CURRENT_PERCENT);
stepper2_driver.setHoldCurrent(RUN_CURRENT_PERCENT);
stepper2_driver.setMicrostepsPerStep(MICROSTEPS);
stepper2_driver.enable();
display.clearDisplay();
display.setCursor(0, 0);
display.print("Homing...");
display.display();
#endif
stepper1.setMaxSpeed(MOVE_SPEED);
stepper1.setAcceleration(MOVE_ACC);
stepper1.setMaxSpeed(MOVE_SPEED1);
stepper1.setAcceleration(MOVE_ACC1);
stepper1.setPinsInverted(true);
stepper2.setMaxSpeed(MOVE_SPEED);
stepper2.setAcceleration(MOVE_ACC);
stepper2.setMaxSpeed(MOVE_SPEED2);
stepper2.setAcceleration(MOVE_ACC2);
#ifndef DRYRUN
homing();
#endif
state_now = READ_FAST(PIN_ENC_A) | (READ_FAST(PIN_ENC_B) << 1);
state_prev = state_now;
// encoder
pinMode(PIN_ENC_A, INPUT);
pinMode(PIN_ENC_B, INPUT);
pinMode(PIN_BTN, INPUT_PULLUP);
attachInterrupt(digitalPinToInterrupt(PIN_ENC_A), pin_AB_change, CHANGE);
attachInterrupt(digitalPinToInterrupt(PIN_ENC_B), pin_AB_change, CHANGE);
}
void loop() {
static int btn_pressed = false;
int btn_pressed_now = !digitalRead(PIN_BTN);
bool just_pressed = btn_pressed_now && !btn_pressed;
static int btn_pressed_prev = false;
static int machine_state_prev = machine_state;
static bool init = false;
static unsigned long t_last_changed = 0;
static unsigned long dt_debounce = T_DEBOUNCE;
bool just_pressed = false;
int btn_pressed = btn_pressed_prev;
if (dt_debounce < T_DEBOUNCE) {
dt_debounce = millis() - t_last_changed;
} else {
btn_pressed = !digitalRead(PIN_BTN);
just_pressed = btn_pressed && !btn_pressed_prev;
if (btn_pressed != btn_pressed_prev) {
t_last_changed = millis();
dt_debounce = 0;
}
}
stepper1.run();
stepper2.run();
switch machine_state {
machine_state_prev = machine_state;
switch (machine_state) {
case STATE_MENU:
if (just_pressed) {
// prepare
machine_state = STATE_COCKING;
stepper_driver1.enable();
stepper1.setCurrentPosition(0);
#ifndef DRYRUN
stepper1_driver.enable();
#endif
stepper2.moveTo(angle_to_step(ANGLE_READY));
update_screen = true;
if (stepper2.distanceToGo() == 0) {
machine_state = STATE_FEEDING;
stepper1.moveTo(length_to_step(length));
} else {
machine_state = STATE_ARMING;
}
}
break;
case STATE_COCKING:
case STATE_ARMING:
if (just_pressed) {
machine_state = STATE_MENU;
stepper_driver1.disable();
update_screen = true;
stepper1.stop();
#ifndef DRYRUN
stepper1_driver.disable();
#endif
} else if (!stepper2.isRunning()) {
machine_state = STATE_FEEDING;
stepper1.moveTo(lengt_to_step(length));
stepper1.moveTo(length_to_step(length));
}
break;
case STATE_FEEDING:
if (just_pressed) {
machine_state = STATE_MENU;
stepper_driver1.disable();
update_screen = true;
stepper1.stop();
#ifndef DRYRUN
stepper1_driver.disable();
#endif
} else if (!stepper1.isRunning()) {
// chop!
// CHOP!
display.clearDisplay();
display.setCursor(0, 0);
display.printf("Length: %8.2f in\n", length);
display.setCursor(0, 16);
display.printf("Counter: %7d cuts\n", counter);
display.setCursor(4, 50);
display.println("CHOP!");
display.display();
stepper2.moveTo(angle_to_step(360));
stepper2.runToPosition();
stepper2.setCurrentPosition(0);
counter++;
update_screen = true;
// prepare
machine_state = STATE_COCKING;
machine_state = STATE_ARMING;
stepper1.setCurrentPosition(0);
stepper2.moveTo(angle_to_step(ANGLE_READY));
}
break;
}
if (update_screen) {
update_screen = false;
refresh_screen |= machine_state_prev != machine_state;
if (refresh_screen) {
refresh_screen = false;
display.clearDisplay();
display.setCursor(0, 0);
display.printf("Length: %8.2f in\n", length);
......@@ -228,11 +281,26 @@ void loop() {
display.printf("Counter: %7d cuts\n", counter);
display.setCursor(0, 40);
display.println(cutting ? "RUNNING..." : "STOPPED");
switch (machine_state) {
case STATE_MENU:
display.println("STOPPED");
display.setCursor(0, 56);
display.println("[ press to START ]");
break;
case STATE_ARMING:
display.println("ARMING...");
display.setCursor(0, 56);
display.println(cutting ? "[ press to stop ]" : "[ press to start ]");
display.println("[ press to STOP ]");
break;
case STATE_FEEDING:
display.println("FEEDING...");
display.setCursor(0, 56);
display.println("[ press to STOP ]");
break;
}
display.display();
}
btn_pressed = btn_pressed_now;
machine_state_prev = machine_state;
btn_pressed_prev = btn_pressed;
}
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Please register or to comment