farmbot-arduino-firmware/README.md

farmbot-arduino-firmware
==========================
This software is responsible for receiving G-Codes from the Raspberry Pi, executing them, and reporting back the results.

Technicals
==========================
Created with eclipseArduino V2 - For more details see http://www.baeyens.it/eclipse/


Development build instructions
==========================

**This firmware is automatically bundled into [FarmBot OS](https://github.com/FarmBot/farmbot_os).
The following instructions are for isolated Arduino development only.**

**NOTE:** We tag releases when they are stable. The latest version (on master) is not guaranteed to be stable.

See [releases](https://github.com/FarmBot/farmbot-arduino-firmware/releases) to find a stable release.

**OPTION A:** For less stable "edge" version:

```
git clone  https://github.com/FarmBot/farmbot-arduino-firmware
```

**OPTION B:** For stable release v6.4.2:

```
git clone -b 'v6.4.2' --single-branch  https://github.com/FarmBot/farmbot-arduino-firmware
```

Options for compiling and uploading:
 * [Arduino IDE](https://www.arduino.cc/en/main/software):
   * Open `farmbot-arduino-firmware/src/src.ino`.
   * Select the `Mega 2560` board in _Tools_ > _Board_.
   * Uncomment only the desired board in `src/Board.h`.
   * To compile and flash the firmware onto the device:
     * Connect a device via USB.
     * Select _Sketch_ > _Upload_ or click the _upload_ button.
   * To compile without flashing:
     * Select _Sketch_ > _Export compiled binary_.
     * The `.hex` file will save to the `src` directory.
 * Make (Linux)
   * [Download the Arduino 1.8.12 IDE](https://www.arduino.cc/download_handler.php?f=/arduino-1.8.12-linux64.tar.xz) and unpack to the `/home` directory.
   * `cd farmbot-arduino-firmware`
   * To compile:
     * `make`
     * `.hex` files for each board type will save to the `bin` directory.
 * VSCode
   * Set Arduino path and board type.
   * To compile and flash the firmware onto the device:
     * Connect a device via USB.
     * Select _Arduino: Upload_.

Software overview
=================

All files are in `/src`

`src.ino` contains the setup() and main loop(). This is the main sequence:

```
     +--------------------------+
     |farmbot_arduino_controller|
     +-----------+--------------+
                 v
     +--------------------------+
     |Command                   |
     +-----------+--------------+
                 v
     +--------------------------+
     |GCodeProcessor            |
     +-----------+--------------+
                 v
     +--------------------------+
     |***Handler                |
     +-------+-----------+------+
             |           |
             |           |
             v           v
      +--------+   +-----------+
      |Movement|   | PinControl|
      +--------+   +-----------+

```

Board Feature Overview
======================
| board             | kit          | pin encoders | SPI encoders | SPI motors | SPI stall detection |
|:----------------- |:------------ |:------------:|:------------:|:----------:|:-------------------:|
| RAMPS_V14         | Genesis v1.2 |      x       |              |            |                     |
| FARMDUINO_V10     | Genesis v1.3 |      x       |              |            |                     |
| FARMDUINO_V14     | Genesis v1.4 |              |      x       |            |                     |
| FARMDUINO_V30     | Genesis v1.5 |              |      x       |     x      |                     |
| FARMDUINO_EXP_V20 | Express v1.0 |              |              |     x      |          x          |

Codes used for communication
============================

IMPORTANT
---------

Farmbot will NOT move until the configuration has been approved.
To approve manually, send 'F22 P2 V1 Q0'

To move, use the command 'G00 X0 Y0 Z0 Q0' where you type in the coordinates just after X, Y and Z.

G-Codes
-------

### Codes sent to the arduino

Code type|Number|Parameters|Function
---------|------|----------|--------
_G_      |      |          |_G-Code, the codes working the same as a 3D printer_
G        |00    |X Y Z A B C|Move to location at given speed for axis (don't have to be a straight line), in absolute coordinates
G        |01    |X Y Z A B C|Move to location on a straight line (not implemented)
G        |28    |          |Move home all axis (Z, Y, X axis order)
_F_      |      |          |_Farm commands, commands specially added for FarmBot_
F        |01    |T         |Dose amount of water using time in millisecond (not implemented)
F        |02    |N         |Dose amount of water using flow meter that measures pulses (not implemented)
F        |09    |          |Reset emergency stop
F        |11    |          |Home X axis (find 0, 3 attempts) __*__
F        |12    |          |Home Y axis (find 0, 3 attempts) __*__
F        |13    |          |Home Z axis (find 0, 3 attempts) __*__
F        |14    |          |Calibrate X axis (measure length + find 0) __*__
F        |15    |          |Calibrate Y axis (measure length + find 0) __*__
F        |16    |          |Calibrate Z axis (measure length + find 0) __*__
F        |20    |          |List all parameters and value
F        |21    |P         |Read parameter
F        |22    |P V       |Write parameter
F        |23    |P V       |Update parameter (during calibration)
F        |31    |P         |Read status (not enabled)
F        |32    |P V       |Write status (not enabled)
F        |41    |P V M     |Set a value V on an arduino pin in mode M (digital=0/analog=1)
F        |42    |P M       |Read a value from an arduino pin P in mode M (digital=0/analog=1)
F        |43    |P M       |Set the I/O mode M (input=0/output=1) of a pin P in arduino
F        |44    |P V W T M |Set the value V on an arduino pin P, wait for time T in milliseconds, set value W on the arduino pin P in mode M (digital=0/analog=1)
F        |51    |E P V     |Set a value on the tool mount with I2C (not implemented)
F        |52    |E P       |Read value from the tool mount with I2C (not implemented)
F        |61    |P V       |Set the servo on the pin P (only pins 4, 5, 6, and 11) to the requested angle V
F        |81    |          |Report end stop
F        |82    |          |Report current position
F        |83    |          |Report software version
F        |84    |X Y Z     |Set axis current position to zero (yes=1/no=0)
E        |      |          |Emergency stop

__*__ Requires the use of encoders or end stops.

### Codes received from the arduino

Code type|Number|Parameters       |Function
---------|------|-----------------|--------
_R_      |      |                 |_Report messages_
R        |00    |                 |Idle
R        |01    |                 |Current command started
R        |02    |                 |Current command finished successfully
R        |03    |V                |Current command finished with error
R        |04    |                 |Current command running
R        |05    |X Y Z            |Report motor/axis state
R        |06    |X Y Z            |Report calibration state during execution
R        |07    |                 |Retry movement
R        |08    |                 |Command echo
R        |09    |                 |Command invalid
R        |11    |                 |X axis homing complete
R        |12    |                 |Y axis homing complete
R        |13    |                 |Z axis homing complete
R        |15    | X               |Firmware used a different X coordinate than given in move command
R        |16    | Y               |Firmware used a different Y coordinate than given in move command
R        |17    | Z               |Firmware used a different Z coordinate than given in move command
R        |20    |                 |Report all paramaters complete
R        |21    |P V              |Report parameter value
R        |23    |P V              |Report updated parameter (during calibration)
R        |31    |P V              |Report status value (not enabled)
R        |41    |P V              |Report pin value
R        |71    |                 |X axis timeout
R        |72    |                 |Y axis timeout
R        |73    |                 |Z axis timeout
R        |81    |XA XB YA YB ZA ZB|Report end stops
R        |82    |X Y Z            |Report current position
R        |83    |                 |Report software version
R        |84    |X Y Z            |Report encoder position scaled
R        |85    |X Y Z            |Report encoder position raw
R        |87    |                 |Emergency lock
R        |88    |                 |No config (see [configuration approval](#important))
R        |89    |X Y Z            |Report axis motor load (TMC2130) (not enabled)
R        |99    |                 |Debug message

Error codes (R03)
-----------------

Value |Description
------|------------
0     |No error
1     |Emergency stop
2     |Timeout
3     |Stall detected
4     |Calibration error
14    |Invalid command
15    |No config

Axis states (R05)
-----------------

The state is reported for each axis individually, using the prefix X, Y or Z

Value |Description
------|------------
0     |Idle
1     |Starting motor
2     |Accelerating
3     |Cruising
4     |Decelerating
5     |Stopping motor
6     |Crawling

Calibration states (R06)
------------------------

The status for calibration is also reported for the axis that is calibrating

Value |Description
------|------------
0     |Idle
1     |Moving to home
2     |Moving to end

Parameters for commands
-----------------------

Parameters|Description            |Unit of Measurement
----------|-----------------------|-------------------
X         |X movement             |millimeters
Y         |Y movement             |millimeters
Z         |Z movement             |millimeters
A         |X speed                |steps/second
B         |Y speed                |steps/second
C         |Z speed                |steps/second
Q         |Queue number           |#
T         |Time                   |seconds
N         |Number                 |#
P         |Parameter/pin number   |#
V         |Value number           |#
W         |Secondary value        |#
E         |Element (in tool mount)|#
M         |Mode (set pin mode)    |0 = output / 1 = input
M         |Mode (read/write)      |0 = digital / 1 = analog
XA        |End stop 1 on x axis   |0/1
XB        |End stop 2 on x axis   |0/1
YA        |End stop 1 on y axis   |0/1
YB        |End stop 2 on y axis   |0/1
ZA        |End stop 1 on z axis   |0/1
ZB        |End stop 2 on z axis   |0/1

Arduino parameter numbers
------------------------

ID  | Name                              | Unit      | Notes
----| ----------------------------------| ----------| ---------------------------------------
2   | PARAM_CONFIG_OK                   | 0 / 1     | 
3   | PARAM_USE_EEPROM                  | 0 / 1     | 
4   | PARAM_E_STOP_ON_MOV_ERR           | 0 / 1     | 
5   | PARAM_MOV_NR_RETRY                | integer   | 
11  | MOVEMENT_TIMEOUT_X                | seconds   | 
12  | MOVEMENT_TIMEOUT_Y                | seconds   | 
13  | MOVEMENT_TIMEOUT_Z                | seconds   | 
15  | MOVEMENT_KEEP_ACTIVE_X            | 0 / 1     | 
16  | MOVEMENT_KEEP_ACTIVE_Y            | 0 / 1     | 
17  | MOVEMENT_KEEP_ACTIVE_Z            | 0 / 1     | 
18  | MOVEMENT_HOME_AT_BOOT_X           | 0 / 1     | 
19  | MOVEMENT_HOME_AT_BOOT_Y           | 0 / 1     | 
20  | MOVEMENT_HOME_AT_BOOT_Z           | 0 / 1     | 
21  | MOVEMENT_INVERT_ENDPOINTS_X       | 0 / 1     | switch ends
22  | MOVEMENT_INVERT_ENDPOINTS_Y       | 0 / 1     | switch ends
23  | MOVEMENT_INVERT_ENDPOINTS_Z       | 0 / 1     | switch ends
25  | MOVEMENT_ENABLE_ENDPOINTS_X       | 0 / 1     | 
26  | MOVEMENT_ENABLE_ENDPOINTS_Y       | 0 / 1     | 
27  | MOVEMENT_ENABLE_ENDPOINTS_Z       | 0 / 1     | 
31  | MOVEMENT_INVERT_MOTOR_X           | 0 / 1     | 
32  | MOVEMENT_INVERT_MOTOR_Y           | 0 / 1     | 
33  | MOVEMENT_INVERT_MOTOR_Z           | 0 / 1     | 
36  | MOVEMENT_SECONDARY_MOTOR_X        | 0 / 1     | 
37  | MOVEMENT_SECONDARY_MOTOR_INVERT_X | 0 / 1     | 
41  | MOVEMENT_STEPS_ACC_DEC_X          | steps     | 
42  | MOVEMENT_STEPS_ACC_DEC_Y          | steps     | 
43  | MOVEMENT_STEPS_ACC_DEC_Z          | steps     | 
45  | MOVEMENT_STOP_AT_HOME_X           | 0 / 1     | 
46  | MOVEMENT_STOP_AT_HOME_Y           | 0 / 1     | 
47  | MOVEMENT_STOP_AT_HOME_Z           | 0 / 1     | 
51  | MOVEMENT_HOME_UP_X                | 0 / 1     | 
52  | MOVEMENT_HOME_UP_Y                | 0 / 1     | 
53  | MOVEMENT_HOME_UP_Z                | 0 / 1     | 
55  | MOVEMENT_STEP_PER_MM_X            | steps     | 
56  | MOVEMENT_STEP_PER_MM_Y            | steps     | 
57  | MOVEMENT_STEP_PER_MM_Z            | steps     | 
61  | MOVEMENT_MIN_SPD_X                | steps/s   | 
62  | MOVEMENT_MIN_SPD_Y                | steps/s   | 
63  | MOVEMENT_MIN_SPD_Z                | steps/s   | 
65  | MOVEMENT_HOME_SPD_X               | steps/s   | 
66  | MOVEMENT_HOME_SPD_Y               | steps/s   | 
67  | MOVEMENT_HOME_SPD_Z               | steps/s   | 
71  | MOVEMENT_MAX_SPD_X                | steps/s   | 
72  | MOVEMENT_MAX_SPD_Y                | steps/s   | 
73  | MOVEMENT_MAX_SPD_Z                | steps/s   | 
75  | MOVEMENT_INVERT_2_ENDPOINTS_X     | 0 / 1     | switch NO and NC
76  | MOVEMENT_INVERT_2_ENDPOINTS_Y     | 0 / 1     | switch NO and NC
77  | MOVEMENT_INVERT_2_ENDPOINTS_Z     | 0 / 1     | switch NO and NC
81  | MOVEMENT_MOTOR_CURRENT_X          | milliamps | TMC2130 only
82  | MOVEMENT_MOTOR_CURRENT_Y          | milliamps | TMC2130 only
83  | MOVEMENT_MOTOR_CURRENT_Z          | milliamps | TMC2130 only
85  | MOVEMENT_STALL_SENSITIVITY_X      | integer   | Express only
86  | MOVEMENT_STALL_SENSITIVITY_Y      | integer   | Express only
87  | MOVEMENT_STALL_SENSITIVITY_Z      | integer   | Express only
91  | MOVEMENT_MICROSTEPS_X             | integer   | TMC2130 only
92  | MOVEMENT_MICROSTEPS_Y             | integer   | TMC2130 only
93  | MOVEMENT_MICROSTEPS_Z             | integer   | TMC2130 only
101 | ENCODER_ENABLED_X                 | 0 / 1     | enables stall detection on Express
102 | ENCODER_ENABLED_Y                 | 0 / 1     | enables stall detection on Express
103 | ENCODER_ENABLED_Z                 | 0 / 1     | enables stall detection on Express
105 | ENCODER_TYPE_X                    | 0         | differential channels disabled
106 | ENCODER_TYPE_Y                    | 0         | differential channels disabled
107 | ENCODER_TYPE_Z                    | 0         | differential channels disabled
111 | ENCODER_MISSED_STEPS_MAX_X        | steps     | 
112 | ENCODER_MISSED_STEPS_MAX_Y        | steps     | 
113 | ENCODER_MISSED_STEPS_MAX_Z        | steps     | 
115 | ENCODER_SCALING_X                 | integer   | `10000*motor/encoder` (except Express)
116 | ENCODER_SCALING_Y                 | integer   | `10000*motor/encoder` (except Express)
117 | ENCODER_SCALING_Z                 | integer   | `10000*motor/encoder` (except Express)
121 | ENCODER_MISSED_STEPS_DECAY_X      | steps     | 1-99
122 | ENCODER_MISSED_STEPS_DECAY_Y      | steps     | 1-99
123 | ENCODER_MISSED_STEPS_DECAY_Z      | steps     | 1-99
125 | ENCODER_USE_FOR_POS_X             | 0 / 1     | except Express
126 | ENCODER_USE_FOR_POS_Y             | 0 / 1     | except Express
127 | ENCODER_USE_FOR_POS_Z             | 0 / 1     | except Express
131 | ENCODER_INVERT_X                  | 0 / 1     | except Express
132 | ENCODER_INVERT_Y                  | 0 / 1     | except Express
133 | ENCODER_INVERT_Z                  | 0 / 1     | except Express
141 | MOVEMENT_AXIS_NR_STEPS_X          | steps     | 0 = limit disabled
142 | MOVEMENT_AXIS_NR_STEPS_Y          | steps     | 0 = limit disabled
143 | MOVEMENT_AXIS_NR_STEPS_Z          | steps     | 0 = limit disabled
145 | MOVEMENT_STOP_AT_MAX_X            | 0 / 1     | 
146 | MOVEMENT_STOP_AT_MAX_Y            | 0 / 1     | 
147 | MOVEMENT_STOP_AT_MAX_Z            | 0 / 1     | 
201 | PIN_GUARD_1_PIN_NR                | integer   | 
202 | PIN_GUARD_1_TIME_OUT              | seconds   | 
203 | PIN_GUARD_1_ACTIVE_STATE          | 0 / 1     | 
205 | PIN_GUARD_2_PIN_NR                | integer   | 
206 | PIN_GUARD_2_TIME_OUT              | seconds   | 
207 | PIN_GUARD_2_ACTIVE_STATE          | 0 / 1     | 
211 | PIN_GUARD_3_PIN_NR                | integer   | 
212 | PIN_GUARD_3_TIME_OUT              | seconds   | 
213 | PIN_GUARD_3_ACTIVE_STATE          | 0 / 1     | 
215 | PIN_GUARD_4_PIN_NR                | integer   | 
216 | PIN_GUARD_4_TIME_OUT              | seconds   | 
217 | PIN_GUARD_4_ACTIVE_STATE          | 0 / 1     | 
221 | PIN_GUARD_5_PIN_NR                | integer   | 
222 | PIN_GUARD_5_TIME_OUT              | seconds   | 
223 | PIN_GUARD_5_ACTIVE_STATE          | 0 / 1     | 

Pin Numbering
-------------

### RAMPS 1.4 (for other boards, see [/src/pins.h](/src/pins.h))

Tag              |Pin Nr|Comment
-----------------|------|-------
X_STEP_PIN       |  54  | X axis step signal
X_DIR_PIN        |  55  | X axis direction choice
X_ENABLE_PIN     |  38  | X axis enable
X_MIN_PIN        |   3  | X axis end stop at home position
X_MAX_PIN        |   2  | X axis end stop at far position
X_ENCDR_A        |  16  | X axis encoder A channel
X_ENCDR_B        |  17  | X axis encoder B channel
X_ENCDR_A_Q      |  31  | X axis encoder A channel for quarature (not implemented)
X_ENCDR_B_Q      |  33  | X axis encoder B channel for quarature (not implemented)
Y_STEP_PIN       |  60  | Y axis step signal
Y_DIR_PIN        |  61  | Y axis direction choice
Y_ENABLE_PIN     |  56  | Y axis enable
Y_MIN_PIN        |  14  | Y axis end stop at home position
Y_MAX_PIN        |  15  | Y axis end stop at far position
Y_ENCDR_A        |  23  | Y axis encoder A channel
Y_ENCDR_B        |  25  | Y axis encoder B channel
Y_ENCDR_A_Q      |  35  | Y axis encoder A channel for quarature (not implemented)
Y_ENCDR_B_Q      |  37  | Y axis encoder B channel for quarature (not implemented)
Z_STEP_PIN       |  46  | Z axis step signal
Z_DIR_PIN        |  48  | Z axis direction choice
Z_ENABLE_PIN     |  62  | Z axis enable
Z_MIN_PIN        |  18  | Z axis end stop at home position
Z_MAX_PIN        |  19  | Z axis end stop at far position
Z_ENCDR_A        |  27  | Z axis encoder A channel
Z_ENCDR_B        |  29  | Z axis encoder B channel
Z_ENCDR_A_Q      |  39  | Z axis encoder A channel for quarature (not implemented)
Z_ENCDR_B_Q      |  41  | Z axis encoder B channel for quarature (not implemented)
LED_PIN          |  13  | on board LED
FAN_PIN          |   9  | RAMPS board fan pin
HEATER_0_PIN     |  10  | RAMPS board heating pin 0
HEATER_1_PIN     |   8  | RAMPS board heating pin 1
SERVO_0_PIN      |   4  | Servo motor 0 signal pin
SERVO_1_PIN      |   5  | Servo motor 1 signal pin
SERVO_2_PIN      |   6  | Servo motor 2 signal pin
SERVO_3_PIN      |  11  | Servo motor 3 signal pin
-												Update README.md
											
										
										
											2020-01-30 10:42:08 -07:00
+								farmbot-arduino-firmware
-												Initial commit

											
										
										
											2014-05-04 15:52:02 -06:00
+								==========================
-												fix table formatting in README.md
											
										
										
											2017-03-17 19:03:32 -06:00
+								This software is responsible for receiving G-Codes from the Raspberry Pi, executing them, and reporting back the results.
-												Readme enhance
											
										
										
											2014-05-05 16:26:08 -06:00
 								Technicals
 								==========================
 								Created with eclipseArduino V2 - For more details see http://www.baeyens.it/eclipse/
-												Update README.md
											
										
										
											2014-05-22 15:28:56 -06:00
-												Update README.md
											
										
										
											2014-07-16 13:10:20 -06:00
-												Update README.md dev build instructions
											
										
										
											2020-01-30 10:59:47 -07:00
+								Development build instructions
-												Update README.md
											
										
										
											2014-05-22 15:28:56 -06:00
+								==========================
-												Update README.md
											
										
										
											2020-01-30 10:42:08 -07:00
 								**This firmware is automatically bundled into [FarmBot OS](https://github.com/FarmBot/farmbot_os).
 								The following instructions are for isolated Arduino development only.**
-												Stable release installation instructions

Borrowed the instructions for git cloning the stable release from the farmbot-raspberry-pi-controller README.
											
										
										
											2016-08-02 01:46:29 -06:00
+								**NOTE:** We tag releases when they are stable. The latest version (on master) is not guaranteed to be stable.
 								See [releases](https://github.com/FarmBot/farmbot-arduino-firmware/releases) to find a stable release.
 								**OPTION A:** For less stable "edge" version:
 								```
 								git clone  https://github.com/FarmBot/farmbot-arduino-firmware
 								```
-												Update README.md
											
										
										
											2020-01-30 10:42:08 -07:00
+								**OPTION B:** For stable release v6.4.2:
-												Stable release installation instructions

Borrowed the instructions for git cloning the stable release from the farmbot-raspberry-pi-controller README.
											
										
										
											2016-08-02 01:46:29 -06:00
 								```
-												Update README.md
											
										
										
											2020-01-30 10:42:08 -07:00
+								git clone -b 'v6.4.2' --single-branch  https://github.com/FarmBot/farmbot-arduino-firmware
-												Stable release installation instructions

Borrowed the instructions for git cloning the stable release from the farmbot-raspberry-pi-controller README.
											
										
										
											2016-08-02 01:46:29 -06:00
+								```
-												Updated README in response to support email.

Some users were unaware that they needed to clone the firmware repo and cd into it before running ino tool. This is a clarification.
											
										
										
											2015-08-28 09:14:40 -06:00
-												Update README.md
											
										
										
											2020-01-30 09:08:22 -07:00
+								Options for compiling and uploading:
 								 * [Arduino IDE](https://www.arduino.cc/en/main/software):
 								   * Open `farmbot-arduino-firmware/src/src.ino`.
-												Update README.md
											
										
										
											2020-01-30 10:42:08 -07:00
+								   * Select the `Mega 2560` board in _Tools_ > _Board_.
 								   * Uncomment only the desired board in `src/Board.h`.
-												Update README.md
											
										
										
											2020-01-30 09:08:22 -07:00
+								   * To compile and flash the firmware onto the device:
 								     * Connect a device via USB.
-												Update README.md
											
										
										
											2020-01-30 10:42:08 -07:00
+								     * Select _Sketch_ > _Upload_ or click the _upload_ button.
-												Update README.md
											
										
										
											2020-01-30 09:08:22 -07:00
+								   * To compile without flashing:
-												Update README.md
											
										
										
											2020-01-30 10:42:08 -07:00
+								     * Select _Sketch_ > _Export compiled binary_.
-												Update README.md
											
										
										
											2020-01-30 09:08:22 -07:00
+								     * The `.hex` file will save to the `src` directory.
-												Update README.md dev build instructions
											
										
										
											2020-01-30 10:59:47 -07:00
+								 * Make (Linux)
-												upgrade to Arduino 1.8.12

											
										
										
											2020-05-15 13:39:25 -06:00
+								   * [Download the Arduino 1.8.12 IDE](https://www.arduino.cc/download_handler.php?f=/arduino-1.8.12-linux64.tar.xz) and unpack to the `/home` directory.
-												Update README.md
											
										
										
											2020-01-30 10:42:08 -07:00
+								   * `cd farmbot-arduino-firmware`
-												Update README.md dev build instructions
											
										
										
											2020-01-30 10:59:47 -07:00
+								   * To compile:
 								     * `make`
 								     * `.hex` files for each board type will save to the `bin` directory.
-												Update README.md
											
										
										
											2020-01-30 10:42:08 -07:00
+								 * VSCode
 								   * Set Arduino path and board type.
 								   * To compile and flash the firmware onto the device:
 								     * Connect a device via USB.
 								     * Select _Arduino: Upload_.
-												Update README.md
											
										
										
											2014-10-19 12:17:49 -06:00
 								Software overview
 								=================
-												fix table formatting in README.md
											
										
										
											2017-03-17 19:03:32 -06:00
+								All files are in `/src`
-												Update README.md
											
										
										
											2014-10-19 12:17:49 -06:00
-												Update README.md
											
										
										
											2020-02-13 11:16:10 -07:00
+								`src.ino` contains the setup() and main loop(). This is the main sequence:
-												Update README.md
											
										
										
											2014-10-19 12:17:49 -06:00
 								```
 								     +--------------------------+
 								     |farmbot_arduino_controller|
 								     +-----------+--------------+
 								                 v
 								     +--------------------------+
 								     |Command                   |
 								     +-----------+--------------+
 								                 v
 								     +--------------------------+
 								     |GCodeProcessor            |
 								     +-----------+--------------+
 								                 v
 								     +--------------------------+
 								     |***Handler                |
 								     +-------+-----------+------+
 								             |           |
-												Update README.md
											
										
										
											2020-01-30 09:08:22 -07:00
+								             |           |
 								             v           v
 								      +--------+   +-----------+
 								      |Movement|   | PinControl|
 								      +--------+   +-----------+
-												Update README.md
											
										
										
											2014-10-19 12:17:49 -06:00
 								```
-												update readme

											
										
										
											2014-10-19 05:49:37 -06:00
-												Update README.md
											
										
										
											2020-02-13 11:16:10 -07:00
+								Board Feature Overview
 								======================
 								| board             | kit          | pin encoders | SPI encoders | SPI motors | SPI stall detection |
 								|:----------------- |:------------ |:------------:|:------------:|:----------:|:-------------------:|
 								| RAMPS_V14         | Genesis v1.2 |      x       |              |            |                     |
 								| FARMDUINO_V10     | Genesis v1.3 |      x       |              |            |                     |
 								| FARMDUINO_V14     | Genesis v1.4 |              |      x       |            |                     |
 								| FARMDUINO_V30     | Genesis v1.5 |              |      x       |     x      |                     |
 								| FARMDUINO_EXP_V20 | Express v1.0 |              |              |     x      |          x          |
-												update readme

											
										
										
											2014-10-19 05:49:37 -06:00
+								Codes used for communication
 								============================
-												Update README.md
											
										
										
											2020-02-13 11:16:10 -07:00
+								IMPORTANT
 								---------
-												Update README.md
											
										
										
											2016-08-28 10:15:12 -06:00
-												Update README.md
											
										
										
											2020-02-13 11:16:10 -07:00
+								Farmbot will NOT move until the configuration has been approved.
 								To approve manually, send 'F22 P2 V1 Q0'
-												Update README.md
											
										
										
											2017-08-07 18:51:15 -06:00
-												Update README.md
											
										
										
											2020-02-13 11:16:10 -07:00
+								To move, use the command 'G00 X0 Y0 Z0 Q0' where you type in the coordinates just after X, Y and Z.
-												Update README.md
											
										
										
											2016-08-28 10:15:12 -06:00
-												update readme

											
										
										
											2014-10-19 05:49:37 -06:00
+								G-Codes
 								-------
-												fix table formatting in README.md
											
										
										
											2017-03-17 19:03:32 -06:00
+								### Codes sent to the arduino
-												update readme

											
										
										
											2014-10-19 05:49:37 -06:00
 								Code type|Number|Parameters|Function
 								---------|------|----------|--------
-												Update README.md
											
										
										
											2017-11-20 13:14:42 -07:00
+								_G_      |      |          |_G-Code, the codes working the same as a 3D printer_
-												update GCODE reference
											
										
										
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+								G        |00    |X Y Z A B C|Move to location at given speed for axis (don't have to be a straight line), in absolute coordinates
 								G        |01    |X Y Z A B C|Move to location on a straight line (not implemented)
 								G        |28    |          |Move home all axis (Z, Y, X axis order)
-												Update README.md
											
										
										
											2017-11-20 13:14:42 -07:00
+								_F_      |      |          |_Farm commands, commands specially added for FarmBot_
 								F        |01    |T         |Dose amount of water using time in millisecond (not implemented)
 								F        |02    |N         |Dose amount of water using flow meter that measures pulses (not implemented)
-												Update README.md
											
										
										
											2017-05-07 14:27:24 -06:00
+								F        |09    |          |Reset emergency stop
-												update GCODE reference
											
										
										
											2020-02-19 16:00:29 -07:00
+								F        |11    |          |Home X axis (find 0, 3 attempts) __*__
 								F        |12    |          |Home Y axis (find 0, 3 attempts) __*__
 								F        |13    |          |Home Z axis (find 0, 3 attempts) __*__
-												clarify homing/calibration behavior in README
											
										
										
											2017-12-18 18:50:41 -07:00
+								F        |14    |          |Calibrate X axis (measure length + find 0) __*__
 								F        |15    |          |Calibrate Y axis (measure length + find 0) __*__
 								F        |16    |          |Calibrate Z axis (measure length + find 0) __*__
-												Update README.md
											
										
										
											2016-02-06 13:48:24 -07:00
+								F        |20    |          |List all parameters and value
-												update readme

											
										
										
											2014-10-19 05:49:37 -06:00
+								F        |21    |P         |Read parameter
 								F        |22    |P V       |Write parameter
 								F        |23    |P V       |Update parameter (during calibration)
-												update GCODE reference
											
										
										
											2020-02-19 16:00:29 -07:00
+								F        |31    |P         |Read status (not enabled)
 								F        |32    |P V       |Write status (not enabled)
-												Update README.md
											
										
										
											2016-05-12 06:39:30 -06:00
+								F        |41    |P V M     |Set a value V on an arduino pin in mode M (digital=0/analog=1)
 								F        |42    |P M       |Read a value from an arduino pin P in mode M (digital=0/analog=1)
-												Formatting update

											
										
										
											2017-04-19 08:12:12 -06:00
+								F        |43    |P M       |Set the I/O mode M (input=0/output=1) of a pin P in arduino
-												Update README.md

Added `arduino` to `apt-get install`. Without it (or prior install), one receives the following error:
```bash
~/farmbot-arduino-firmware $ ino build
Searching for Board description file (boards.txt) ... FAILED
Board description file (boards.txt) not found. Searched in following places: 
  - /usr/local/share/arduino/hardware/**
  - /usr/share/arduino/hardware/**
```

Also, miscellaneous spelling improvements.
											
										
										
											2016-08-08 23:05:22 -06:00
+								F        |44    |P V W T M |Set the value V on an arduino pin P, wait for time T in milliseconds, set value W on the arduino pin P in mode M (digital=0/analog=1)
-												Update README.md
											
										
										
											2016-05-12 06:39:30 -06:00
+								F        |51    |E P V     |Set a value on the tool mount with I2C (not implemented)
 								F        |52    |E P       |Read value from the tool mount with I2C (not implemented)
-												Update README.md
											
										
										
											2020-01-30 09:08:22 -07:00
+								F        |61    |P V       |Set the servo on the pin P (only pins 4, 5, 6, and 11) to the requested angle V
-												update readme

											
										
										
											2014-10-19 05:49:37 -06:00
+								F        |81    |          |Report end stop
 								F        |82    |          |Report current position
-												Update README.md
											
										
										
											2017-09-04 23:22:14 -06:00
+								F        |83    |          |Report software version
-												clarify homing/calibration behavior in README
											
										
										
											2017-12-18 18:50:41 -07:00
+								F        |84    |X Y Z     |Set axis current position to zero (yes=1/no=0)
-												Update README.md
											
										
										
											2017-09-04 23:22:14 -06:00
+								E        |      |          |Emergency stop
-												fix table formatting in README.md
											
										
										
											2017-03-17 19:03:32 -06:00
-												clarify homing/calibration behavior in README
											
										
										
											2017-12-18 18:50:41 -07:00
+								__*__ Requires the use of encoders or end stops.
-												fix table formatting in README.md
											
										
										
											2017-03-17 19:03:32 -06:00
+								### Codes received from the arduino
-												Update README.md
											
										
										
											2017-11-20 13:14:42 -07:00
+								Code type|Number|Parameters       |Function
-												Update docs with new codes

											
										
										
											2017-04-25 08:31:54 -06:00
+								---------|------|-----------------|--------
-												Update README.md
											
										
										
											2017-11-20 13:14:42 -07:00
+								_R_      |      |                 |_Report messages_
-												Update README.md
											
										
										
											2017-08-07 18:51:15 -06:00
+								R        |00    |                 |Idle
-												Update docs with new codes

											
										
										
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+								R        |01    |                 |Current command started
 								R        |02    |                 |Current command finished successfully
-												Update README.md
											
										
										
											2019-12-11 16:13:14 -07:00
+								R        |03    |V                |Current command finished with error
-												Update docs with new codes

											
										
										
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+								R        |04    |                 |Current command running
-												Update README.md
											
										
										
											2017-10-06 14:33:23 -06:00
+								R        |05    |X Y Z            |Report motor/axis state
 								R        |06    |X Y Z            |Report calibration state during execution
-												Update README.md
											
										
										
											2017-07-08 15:56:16 -06:00
+								R        |07    |                 |Retry movement
-												Update README.md
											
										
										
											2017-07-31 08:28:55 -06:00
+								R        |08    |                 |Command echo
-												Update README.md
											
										
										
											2017-07-31 14:10:26 -06:00
+								R        |09    |                 |Command invalid
-												update README: response codes for axis homing
											
										
										
											2017-11-11 11:22:16 -07:00
+								R        |11    |                 |X axis homing complete
 								R        |12    |                 |Y axis homing complete
 								R        |13    |                 |Z axis homing complete
-												Update README.md
											
										
										
											2018-03-29 13:55:33 -06:00
+								R        |15    | X               |Firmware used a different X coordinate than given in move command
 								R        |16    | Y               |Firmware used a different Y coordinate than given in move command
 								R        |17    | Z               |Firmware used a different Z coordinate than given in move command
-												Add R20 to readme

											
										
										
											2017-04-26 15:55:29 -06:00
+								R        |20    |                 |Report all paramaters complete
-												Update docs with new codes

											
										
										
											2017-04-25 08:31:54 -06:00
+								R        |21    |P V              |Report parameter value
-												Update README.md
											
										
										
											2017-11-20 13:14:42 -07:00
+								R        |23    |P V              |Report updated parameter (during calibration)
-												update GCODE reference
											
										
										
											2020-02-19 16:00:29 -07:00
+								R        |31    |P V              |Report status value (not enabled)
-												Update docs with new codes

											
										
										
											2017-04-25 08:31:54 -06:00
+								R        |41    |P V              |Report pin value
-												add new response codes to README
											
										
										
											2018-02-26 11:55:06 -07:00
+								R        |71    |                 |X axis timeout
 								R        |72    |                 |Y axis timeout
 								R        |73    |                 |Z axis timeout
-												Update README.md
											
										
										
											2017-10-06 14:33:23 -06:00
+								R        |81    |XA XB YA YB ZA ZB|Report end stops
-												Update README.md
											
										
										
											2017-05-07 14:27:24 -06:00
+								R        |82    |X Y Z            |Report current position
-												Update README.md
											
										
										
											2017-10-06 14:33:23 -06:00
+								R        |83    |                 |Report software version
-												Update README.md
											
										
										
											2017-05-07 14:27:24 -06:00
+								R        |84    |X Y Z            |Report encoder position scaled
 								R        |85    |X Y Z            |Report encoder position raw
-												Update README.md
											
										
										
											2017-08-07 18:51:15 -06:00
+								R        |87    |                 |Emergency lock
-												add new response codes to README
											
										
										
											2018-02-26 11:55:06 -07:00
+								R        |88    |                 |No config (see [configuration approval](#important))
-												update GCODE reference
											
										
										
											2020-02-19 16:00:29 -07:00
+								R        |89    |X Y Z            |Report axis motor load (TMC2130) (not enabled)
-												Update README.md
											
										
										
											2017-10-06 14:33:23 -06:00
+								R        |99    |                 |Debug message
-												update readme

											
										
										
											2014-10-19 05:49:37 -06:00
-												Update README.md
											
										
										
											2019-12-11 16:13:14 -07:00
+								Error codes (R03)
 								-----------------
 								Value |Description
 								------|------------
 |No error
 |Emergency stop
 |Timeout
 |Stall detected
-												honor timeouts during calibration

											
										
										
											2020-02-12 18:39:40 -07:00
+|Calibration error
-												Update README.md
											
										
										
											2019-12-11 16:13:14 -07:00
+|Invalid command
-												update and fix builds

											
										
										
											2020-02-06 10:40:30 -07:00
+|No config
-												Update README.md
											
										
										
											2019-12-11 16:13:14 -07:00
-												Update README.md
											
										
										
											2016-02-06 13:48:24 -07:00
+								Axis states (R05)
 								-----------------
 								The state is reported for each axis individually, using the prefix X, Y or Z
 								Value |Description
 								------|------------
 |Idle
 |Starting motor
 |Accelerating
 |Cruising
 |Decelerating
 |Stopping motor
 |Crawling
 								Calibration states (R06)
 								------------------------
 								The status for calibration is also reported for the axis that is calibrating
 								Value |Description
 								------|------------
 |Idle
 |Moving to home
 |Moving to end
-												update readme

											
										
										
											2014-10-19 05:49:37 -06:00
 								Parameters for commands
 								-----------------------
 								Parameters|Description            |Unit of Measurement
 								----------|-----------------------|-------------------
-												Update README.md
											
										
										
											2017-10-06 14:33:23 -06:00
+								X         |X movement             |millimeters
 								Y         |Y movement             |millimeters
 								Z         |Z movement             |millimeters
 								A         |X speed                |steps/second
 								B         |Y speed                |steps/second
 								C         |Z speed                |steps/second
-												Update README.md
											
										
										
											2017-03-30 14:06:43 -06:00
+								Q         |Queue number           |#
-												update readme

											
										
										
											2014-10-19 05:49:37 -06:00
+								T         |Time                   |seconds
-												Update README.md
											
										
										
											2017-10-06 14:33:23 -06:00
+								N         |Number                 |#
-												update readme

											
										
										
											2014-10-19 05:49:37 -06:00
+								P         |Parameter/pin number   |#
 								V         |Value number           |#
 								W         |Secondary value        |#
 								E         |Element (in tool mount)|#
-												Update README.md
											
										
										
											2014-10-21 05:58:08 -06:00
+								M         |Mode (set pin mode)    |0 = output / 1 = input
-												Update README.md
											
										
										
											2014-10-21 06:31:57 -06:00
+								M         |Mode (read/write)      |0 = digital / 1 = analog
-												Update README.md
											
										
										
											2015-03-25 15:20:40 -06:00
+								XA        |End stop 1 on x axis   |0/1
 								XB        |End stop 2 on x axis   |0/1
 								YA        |End stop 1 on y axis   |0/1
 								YB        |End stop 2 on y axis   |0/1
 								ZA        |End stop 1 on z axis   |0/1
 								ZB        |End stop 2 on z axis   |0/1
-												update readme

											
										
										
											2014-10-19 05:49:37 -06:00
-												Update README.md

Added `arduino` to `apt-get install`. Without it (or prior install), one receives the following error:
```bash
~/farmbot-arduino-firmware $ ino build
Searching for Board description file (boards.txt) ... FAILED
Board description file (boards.txt) not found. Searched in following places: 
  - /usr/local/share/arduino/hardware/**
  - /usr/share/arduino/hardware/**
```

Also, miscellaneous spelling improvements.
											
										
										
											2016-08-08 23:05:22 -06:00
+								Arduino parameter numbers
-												update readme

											
										
										
											2014-10-19 05:49:37 -06:00
+								------------------------
-												Update README.md
											
										
										
											2020-02-13 11:16:10 -07:00
+								ID  | Name                              | Unit      | Notes
 								----| ----------------------------------| ----------| ---------------------------------------
 | PARAM_CONFIG_OK                   | 0 / 1     |
 | PARAM_USE_EEPROM                  | 0 / 1     |
 | PARAM_E_STOP_ON_MOV_ERR           | 0 / 1     |
 | PARAM_MOV_NR_RETRY                | integer   |
 | MOVEMENT_TIMEOUT_X                | seconds   |
 | MOVEMENT_TIMEOUT_Y                | seconds   |
 | MOVEMENT_TIMEOUT_Z                | seconds   |
 | MOVEMENT_KEEP_ACTIVE_X            | 0 / 1     |
 | MOVEMENT_KEEP_ACTIVE_Y            | 0 / 1     |
 | MOVEMENT_KEEP_ACTIVE_Z            | 0 / 1     |
 | MOVEMENT_HOME_AT_BOOT_X           | 0 / 1     |
 | MOVEMENT_HOME_AT_BOOT_Y           | 0 / 1     |
 | MOVEMENT_HOME_AT_BOOT_Z           | 0 / 1     |
 | MOVEMENT_INVERT_ENDPOINTS_X       | 0 / 1     | switch ends
 | MOVEMENT_INVERT_ENDPOINTS_Y       | 0 / 1     | switch ends
 | MOVEMENT_INVERT_ENDPOINTS_Z       | 0 / 1     | switch ends
 | MOVEMENT_ENABLE_ENDPOINTS_X       | 0 / 1     |
 | MOVEMENT_ENABLE_ENDPOINTS_Y       | 0 / 1     |
 | MOVEMENT_ENABLE_ENDPOINTS_Z       | 0 / 1     |
 | MOVEMENT_INVERT_MOTOR_X           | 0 / 1     |
 | MOVEMENT_INVERT_MOTOR_Y           | 0 / 1     |
 | MOVEMENT_INVERT_MOTOR_Z           | 0 / 1     |
 | MOVEMENT_SECONDARY_MOTOR_X        | 0 / 1     |
 | MOVEMENT_SECONDARY_MOTOR_INVERT_X | 0 / 1     |
 | MOVEMENT_STEPS_ACC_DEC_X          | steps     |
 | MOVEMENT_STEPS_ACC_DEC_Y          | steps     |
 | MOVEMENT_STEPS_ACC_DEC_Z          | steps     |
 | MOVEMENT_STOP_AT_HOME_X           | 0 / 1     |
 | MOVEMENT_STOP_AT_HOME_Y           | 0 / 1     |
 | MOVEMENT_STOP_AT_HOME_Z           | 0 / 1     |
 | MOVEMENT_HOME_UP_X                | 0 / 1     |
 | MOVEMENT_HOME_UP_Y                | 0 / 1     |
 | MOVEMENT_HOME_UP_Z                | 0 / 1     |
 | MOVEMENT_STEP_PER_MM_X            | steps     |
 | MOVEMENT_STEP_PER_MM_Y            | steps     |
 | MOVEMENT_STEP_PER_MM_Z            | steps     |
 | MOVEMENT_MIN_SPD_X                | steps/s   |
 | MOVEMENT_MIN_SPD_Y                | steps/s   |
 | MOVEMENT_MIN_SPD_Z                | steps/s   |
 | MOVEMENT_HOME_SPD_X               | steps/s   |
 | MOVEMENT_HOME_SPD_Y               | steps/s   |
 | MOVEMENT_HOME_SPD_Z               | steps/s   |
 | MOVEMENT_MAX_SPD_X                | steps/s   |
 | MOVEMENT_MAX_SPD_Y                | steps/s   |
 | MOVEMENT_MAX_SPD_Z                | steps/s   |
 | MOVEMENT_INVERT_2_ENDPOINTS_X     | 0 / 1     | switch NO and NC
 | MOVEMENT_INVERT_2_ENDPOINTS_Y     | 0 / 1     | switch NO and NC
 | MOVEMENT_INVERT_2_ENDPOINTS_Z     | 0 / 1     | switch NO and NC
 | MOVEMENT_MOTOR_CURRENT_X          | milliamps | TMC2130 only
 | MOVEMENT_MOTOR_CURRENT_Y          | milliamps | TMC2130 only
 | MOVEMENT_MOTOR_CURRENT_Z          | milliamps | TMC2130 only
 | MOVEMENT_STALL_SENSITIVITY_X      | integer   | Express only
 | MOVEMENT_STALL_SENSITIVITY_Y      | integer   | Express only
 | MOVEMENT_STALL_SENSITIVITY_Z      | integer   | Express only
 | MOVEMENT_MICROSTEPS_X             | integer   | TMC2130 only
 | MOVEMENT_MICROSTEPS_Y             | integer   | TMC2130 only
 | MOVEMENT_MICROSTEPS_Z             | integer   | TMC2130 only
 | ENCODER_ENABLED_X                 | 0 / 1     | enables stall detection on Express
 | ENCODER_ENABLED_Y                 | 0 / 1     | enables stall detection on Express
 | ENCODER_ENABLED_Z                 | 0 / 1     | enables stall detection on Express
 | ENCODER_TYPE_X                    | 0         | differential channels disabled
 | ENCODER_TYPE_Y                    | 0         | differential channels disabled
 | ENCODER_TYPE_Z                    | 0         | differential channels disabled
 | ENCODER_MISSED_STEPS_MAX_X        | steps     |
 | ENCODER_MISSED_STEPS_MAX_Y        | steps     |
 | ENCODER_MISSED_STEPS_MAX_Z        | steps     |
 | ENCODER_SCALING_X                 | integer   | `10000*motor/encoder` (except Express)
 | ENCODER_SCALING_Y                 | integer   | `10000*motor/encoder` (except Express)
 | ENCODER_SCALING_Z                 | integer   | `10000*motor/encoder` (except Express)
 | ENCODER_MISSED_STEPS_DECAY_X      | steps     | 1-99
 | ENCODER_MISSED_STEPS_DECAY_Y      | steps     | 1-99
 | ENCODER_MISSED_STEPS_DECAY_Z      | steps     | 1-99
 | ENCODER_USE_FOR_POS_X             | 0 / 1     | except Express
 | ENCODER_USE_FOR_POS_Y             | 0 / 1     | except Express
 | ENCODER_USE_FOR_POS_Z             | 0 / 1     | except Express
 | ENCODER_INVERT_X                  | 0 / 1     | except Express
 | ENCODER_INVERT_Y                  | 0 / 1     | except Express
 | ENCODER_INVERT_Z                  | 0 / 1     | except Express
 | MOVEMENT_AXIS_NR_STEPS_X          | steps     | 0 = limit disabled
 | MOVEMENT_AXIS_NR_STEPS_Y          | steps     | 0 = limit disabled
 | MOVEMENT_AXIS_NR_STEPS_Z          | steps     | 0 = limit disabled
 | MOVEMENT_STOP_AT_MAX_X            | 0 / 1     |
 | MOVEMENT_STOP_AT_MAX_Y            | 0 / 1     |
 | MOVEMENT_STOP_AT_MAX_Z            | 0 / 1     |
 | PIN_GUARD_1_PIN_NR                | integer   |
 | PIN_GUARD_1_TIME_OUT              | seconds   |
 | PIN_GUARD_1_ACTIVE_STATE          | 0 / 1     |
 | PIN_GUARD_2_PIN_NR                | integer   |
 | PIN_GUARD_2_TIME_OUT              | seconds   |
 | PIN_GUARD_2_ACTIVE_STATE          | 0 / 1     |
 | PIN_GUARD_3_PIN_NR                | integer   |
 | PIN_GUARD_3_TIME_OUT              | seconds   |
 | PIN_GUARD_3_ACTIVE_STATE          | 0 / 1     |
 | PIN_GUARD_4_PIN_NR                | integer   |
 | PIN_GUARD_4_TIME_OUT              | seconds   |
 | PIN_GUARD_4_ACTIVE_STATE          | 0 / 1     |
 | PIN_GUARD_5_PIN_NR                | integer   |
 | PIN_GUARD_5_TIME_OUT              | seconds   |
 | PIN_GUARD_5_ACTIVE_STATE          | 0 / 1     |
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+								Pin Numbering
 								-------------
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+								### RAMPS 1.4 (for other boards, see [/src/pins.h](/src/pins.h))
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-												Update README.md
											
										
										
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+								Tag              |Pin Nr|Comment
 								-----------------|------|-------
 								X_STEP_PIN       |  54  | X axis step signal
 								X_DIR_PIN        |  55  | X axis direction choice
 								X_ENABLE_PIN     |  38  | X axis enable
 								X_MIN_PIN        |   3  | X axis end stop at home position
 								X_MAX_PIN        |   2  | X axis end stop at far position
 								X_ENCDR_A        |  16  | X axis encoder A channel
 								X_ENCDR_B        |  17  | X axis encoder B channel
 								X_ENCDR_A_Q      |  31  | X axis encoder A channel for quarature (not implemented)
 								X_ENCDR_B_Q      |  33  | X axis encoder B channel for quarature (not implemented)
 								Y_STEP_PIN       |  60  | Y axis step signal
 								Y_DIR_PIN        |  61  | Y axis direction choice
 								Y_ENABLE_PIN     |  56  | Y axis enable
 								Y_MIN_PIN        |  14  | Y axis end stop at home position
 								Y_MAX_PIN        |  15  | Y axis end stop at far position
 								Y_ENCDR_A        |  23  | Y axis encoder A channel
 								Y_ENCDR_B        |  25  | Y axis encoder B channel
 								Y_ENCDR_A_Q      |  35  | Y axis encoder A channel for quarature (not implemented)
 								Y_ENCDR_B_Q      |  37  | Y axis encoder B channel for quarature (not implemented)
 								Z_STEP_PIN       |  46  | Z axis step signal
 								Z_DIR_PIN        |  48  | Z axis direction choice
 								Z_ENABLE_PIN     |  62  | Z axis enable
 								Z_MIN_PIN        |  18  | Z axis end stop at home position
 								Z_MAX_PIN        |  19  | Z axis end stop at far position
 								Z_ENCDR_A        |  27  | Z axis encoder A channel
 								Z_ENCDR_B        |  29  | Z axis encoder B channel
 								Z_ENCDR_A_Q      |  39  | Z axis encoder A channel for quarature (not implemented)
 								Z_ENCDR_B_Q      |  41  | Z axis encoder B channel for quarature (not implemented)
 								LED_PIN          |  13  | on board LED
 								FAN_PIN          |   9  | RAMPS board fan pin
 								HEATER_0_PIN     |  10  | RAMPS board heating pin 0
 								HEATER_1_PIN     |   8  | RAMPS board heating pin 1
 								SERVO_0_PIN      |   4  | Servo motor 0 signal pin
 								SERVO_1_PIN      |   5  | Servo motor 1 signal pin
 								SERVO_2_PIN      |   6  | Servo motor 2 signal pin
 								SERVO_3_PIN      |  11  | Servo motor 3 signal pin