Update README.md
Gabriel Burnworth
GitHub
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README.md
305
README.md
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@ -57,7 +57,7 @@ Software overview
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All files are in `/src`
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Farmbot_arduino_controller contains the setup() and main(). This is the main sequence:
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`src.ino` contains the setup() and main loop(). This is the main sequence:
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```
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+--------------------------+
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@ -84,52 +84,26 @@ Farmbot_arduino_controller contains the setup() and main(). This is the main seq
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```
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Board Feature Overview
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======================
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| board | kit | pin encoders | SPI encoders | SPI motors | SPI stall detection |
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|:----------------- |:------------ |:------------:|:------------:|:----------:|:-------------------:|
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| RAMPS_V14 | Genesis v1.2 | x | | | |
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| FARMDUINO_V10 | Genesis v1.3 | x | | | |
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| FARMDUINO_V14 | Genesis v1.4 | | x | | |
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| FARMDUINO_V30 | Genesis v1.5 | | x | x | |
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| FARMDUINO_EXP_V20 | Express v1.0 | | | x | x |
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Codes used for communication
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============================
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Pin Numbering
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-------------
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IMPORTANT
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---------
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### RAMPS 1.4 (for other boards, see [/src/pins.h](/src/pins.h))
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Tag |Pin Nr|Comment
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-----------------|------|-------
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X_STEP_PIN | 54 | X axis step signal
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X_DIR_PIN | 55 | X axis direction choice
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X_ENABLE_PIN | 38 | X axis enable
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X_MIN_PIN | 3 | X axis end stop at home position
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X_MAX_PIN | 2 | X axis end stop at far position
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X_ENCDR_A | 16 | X axis encoder A channel
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X_ENCDR_B | 17 | X axis encoder B channel
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X_ENCDR_A_Q | 31 | X axis encoder A channel for quarature (not implemented)
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X_ENCDR_B_Q | 33 | X axis encoder B channel for quarature (not implemented)
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Y_STEP_PIN | 60 | Y axis step signal
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Y_DIR_PIN | 61 | Y axis direction choice
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Y_ENABLE_PIN | 56 | Y axis enable
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Y_MIN_PIN | 14 | Y axis end stop at home position
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Y_MAX_PIN | 15 | Y axis end stop at far position
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Y_ENCDR_A | 23 | Y axis encoder A channel
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Y_ENCDR_B | 25 | Y axis encoder B channel
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Y_ENCDR_A_Q | 35 | Y axis encoder A channel for quarature (not implemented)
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Y_ENCDR_B_Q | 37 | Y axis encoder B channel for quarature (not implemented)
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Z_STEP_PIN | 46 | Z axis step signal
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Z_DIR_PIN | 48 | Z axis direction choice
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Z_ENABLE_PIN | 62 | Z axis enable
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Z_MIN_PIN | 18 | Z axis end stop at home position
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Z_MAX_PIN | 19 | Z axis end stop at far position
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Z_ENCDR_A | 27 | Z axis encoder A channel
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Z_ENCDR_B | 29 | Z axis encoder B channel
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Z_ENCDR_A_Q | 39 | Z axis encoder A channel for quarature (not implemented)
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Z_ENCDR_B_Q | 41 | Z axis encoder B channel for quarature (not implemented)
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LED_PIN | 13 | on board LED
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FAN_PIN | 9 | RAMPS board fan pin
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HEATER_0_PIN | 10 | RAMPS board heating pin 0
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HEATER_1_PIN | 8 | RAMPS board heating pin 1
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SERVO_0_PIN | 4 | Servo motor 0 signal pin
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SERVO_1_PIN | 5 | Servo motor 1 signal pin
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SERVO_2_PIN | 6 | Servo motor 2 signal pin
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SERVO_3_PIN | 11 | Servo motor 3 signal pin
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Farmbot will NOT move until the configuration has been approved.
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To approve manually, send 'F22 P2 V1 Q0'
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To move, use the command 'G00 X0 Y0 Z0 Q0' where you type in the coordinates just after X, Y and Z.
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G-Codes
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-------
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@ -281,112 +255,147 @@ ZB |End stop 2 on z axis |0/1
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Arduino parameter numbers
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------------------------
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ID | Name
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-----|----------------------------
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2 | PARAM_CONFIG_OK
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3 | PARAM_USE_EEPROM
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4 | PARAM_E_STOP_ON_MOV_ERR
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5 | PARAM_MOV_NR_RETRY
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11 | MOVEMENT_TIMEOUT_X
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12 | MOVEMENT_TIMEOUT_Y
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13 | MOVEMENT_TIMEOUT_Z
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15 | MOVEMENT_KEEP_ACTIVE_X
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16 | MOVEMENT_KEEP_ACTIVE_Y
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17 | MOVEMENT_KEEP_ACTIVE_Z
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18 | MOVEMENT_HOME_AT_BOOT_X
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19 | MOVEMENT_HOME_AT_BOOT_Y
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20 | MOVEMENT_HOME_AT_BOOT_Z
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21 | MOVEMENT_INVERT_ENDPOINTS_X
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22 | MOVEMENT_INVERT_ENDPOINTS_Y
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23 | MOVEMENT_INVERT_ENDPOINTS_Z
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25 | MOVEMENT_ENABLE_ENDPOINTS_X
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26 | MOVEMENT_ENABLE_ENDPOINTS_Y
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27 | MOVEMENT_ENABLE_ENDPOINTS_Z
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31 | MOVEMENT_INVERT_MOTOR_X
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32 | MOVEMENT_INVERT_MOTOR_Y
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33 | MOVEMENT_INVERT_MOTOR_Z
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36 | MOVEMENT_SECONDARY_MOTOR_X
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37 | MOVEMENT_SECONDARY_MOTOR_INVERT_X
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41 | MOVEMENT_STEPS_ACC_DEC_X
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42 | MOVEMENT_STEPS_ACC_DEC_Y
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43 | MOVEMENT_STEPS_ACC_DEC_Z
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45 | MOVEMENT_STOP_AT_HOME_X
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46 | MOVEMENT_STOP_AT_HOME_Y
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47 | MOVEMENT_STOP_AT_HOME_Z
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51 | MOVEMENT_HOME_UP_X
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52 | MOVEMENT_HOME_UP_Y
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53 | MOVEMENT_HOME_UP_Z
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55 | MOVEMENT_STEP_PER_MM_X
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56 | MOVEMENT_STEP_PER_MM_Y
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57 | MOVEMENT_STEP_PER_MM_Z
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61 | MOVEMENT_MIN_SPD_X
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62 | MOVEMENT_MIN_SPD_Y
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63 | MOVEMENT_MIN_SPD_Z
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65 | MOVEMENT_HOME_SPD_X
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66 | MOVEMENT_HOME_SPD_Y
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67 | MOVEMENT_HOME_SPD_Z
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71 | MOVEMENT_MAX_SPD_X
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72 | MOVEMENT_MAX_SPD_Y
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73 | MOVEMENT_MAX_SPD_Z
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75 | MOVEMENT_INVERT_2_ENDPOINTS_X
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76 | MOVEMENT_INVERT_2_ENDPOINTS_Y
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77 | MOVEMENT_INVERT_2_ENDPOINTS_Z
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81 | MOVEMENT_MOTOR_CURRENT_X
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82 | MOVEMENT_MOTOR_CURRENT_Y
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83 | MOVEMENT_MOTOR_CURRENT_Z
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85 | MOVEMENT_STALL_SENSITIVITY_X
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86 | MOVEMENT_STALL_SENSITIVITY_Y
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87 | MOVEMENT_STALL_SENSITIVITY_Z
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91 | MOVEMENT_MICROSTEPS_X
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92 | MOVEMENT_MICROSTEPS_Y
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93 | MOVEMENT_MICROSTEPS_Z
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101 | ENCODER_ENABLED_X
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102 | ENCODER_ENABLED_Y
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103 | ENCODER_ENABLED_Z
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105 | ENCODER_TYPE_X
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106 | ENCODER_TYPE_Y
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107 | ENCODER_TYPE_Z
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111 | ENCODER_MISSED_STEPS_MAX_X
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112 | ENCODER_MISSED_STEPS_MAX_Y
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113 | ENCODER_MISSED_STEPS_MAX_Z
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115 | ENCODER_SCALING_X
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116 | ENCODER_SCALING_Y
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117 | ENCODER_SCALING_Z
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121 | ENCODER_MISSED_STEPS_DECAY_X
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122 | ENCODER_MISSED_STEPS_DECAY_Y
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123 | ENCODER_MISSED_STEPS_DECAY_Z
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125 | ENCODER_USE_FOR_POS_X
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126 | ENCODER_USE_FOR_POS_Y
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127 | ENCODER_USE_FOR_POS_Z
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131 | ENCODER_INVERT_X
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132 | ENCODER_INVERT_Y
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133 | ENCODER_INVERT_Z
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141 | MOVEMENT_AXIS_NR_STEPS_X
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142 | MOVEMENT_AXIS_NR_STEPS_Y
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143 | MOVEMENT_AXIS_NR_STEPS_Z
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145 | MOVEMENT_STOP_AT_MAX_X
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146 | MOVEMENT_STOP_AT_MAX_Y
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147 | MOVEMENT_STOP_AT_MAX_Z
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201 | PIN_GUARD_1_PIN_NR
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202 | PIN_GUARD_1_TIME_OUT
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203 | PIN_GUARD_1_ACTIVE_STATE
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205 | PIN_GUARD_2_PIN_NR
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206 | PIN_GUARD_2_TIME_OUT
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207 | PIN_GUARD_2_ACTIVE_STATE
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211 | PIN_GUARD_3_PIN_NR
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212 | PIN_GUARD_3_TIME_OUT
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213 | PIN_GUARD_3_ACTIVE_STATE
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215 | PIN_GUARD_4_PIN_NR
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216 | PIN_GUARD_4_TIME_OUT
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217 | PIN_GUARD_4_ACTIVE_STATE
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221 | PIN_GUARD_5_PIN_NR
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222 | PIN_GUARD_5_TIME_OUT
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223 | PIN_GUARD_5_ACTIVE_STATE
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ID | Name | Unit | Notes
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----| ----------------------------------| ----------| ---------------------------------------
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2 | PARAM_CONFIG_OK | 0 / 1 |
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3 | PARAM_USE_EEPROM | 0 / 1 |
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4 | PARAM_E_STOP_ON_MOV_ERR | 0 / 1 |
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5 | PARAM_MOV_NR_RETRY | integer |
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11 | MOVEMENT_TIMEOUT_X | seconds |
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12 | MOVEMENT_TIMEOUT_Y | seconds |
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13 | MOVEMENT_TIMEOUT_Z | seconds |
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15 | MOVEMENT_KEEP_ACTIVE_X | 0 / 1 |
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16 | MOVEMENT_KEEP_ACTIVE_Y | 0 / 1 |
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17 | MOVEMENT_KEEP_ACTIVE_Z | 0 / 1 |
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18 | MOVEMENT_HOME_AT_BOOT_X | 0 / 1 |
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19 | MOVEMENT_HOME_AT_BOOT_Y | 0 / 1 |
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20 | MOVEMENT_HOME_AT_BOOT_Z | 0 / 1 |
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21 | MOVEMENT_INVERT_ENDPOINTS_X | 0 / 1 | switch ends
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22 | MOVEMENT_INVERT_ENDPOINTS_Y | 0 / 1 | switch ends
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23 | MOVEMENT_INVERT_ENDPOINTS_Z | 0 / 1 | switch ends
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25 | MOVEMENT_ENABLE_ENDPOINTS_X | 0 / 1 |
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26 | MOVEMENT_ENABLE_ENDPOINTS_Y | 0 / 1 |
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27 | MOVEMENT_ENABLE_ENDPOINTS_Z | 0 / 1 |
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31 | MOVEMENT_INVERT_MOTOR_X | 0 / 1 |
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32 | MOVEMENT_INVERT_MOTOR_Y | 0 / 1 |
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33 | MOVEMENT_INVERT_MOTOR_Z | 0 / 1 |
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36 | MOVEMENT_SECONDARY_MOTOR_X | 0 / 1 |
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37 | MOVEMENT_SECONDARY_MOTOR_INVERT_X | 0 / 1 |
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41 | MOVEMENT_STEPS_ACC_DEC_X | steps |
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42 | MOVEMENT_STEPS_ACC_DEC_Y | steps |
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43 | MOVEMENT_STEPS_ACC_DEC_Z | steps |
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45 | MOVEMENT_STOP_AT_HOME_X | 0 / 1 |
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46 | MOVEMENT_STOP_AT_HOME_Y | 0 / 1 |
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47 | MOVEMENT_STOP_AT_HOME_Z | 0 / 1 |
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51 | MOVEMENT_HOME_UP_X | 0 / 1 |
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52 | MOVEMENT_HOME_UP_Y | 0 / 1 |
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53 | MOVEMENT_HOME_UP_Z | 0 / 1 |
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55 | MOVEMENT_STEP_PER_MM_X | steps |
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56 | MOVEMENT_STEP_PER_MM_Y | steps |
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57 | MOVEMENT_STEP_PER_MM_Z | steps |
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61 | MOVEMENT_MIN_SPD_X | steps/s |
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62 | MOVEMENT_MIN_SPD_Y | steps/s |
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63 | MOVEMENT_MIN_SPD_Z | steps/s |
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65 | MOVEMENT_HOME_SPD_X | steps/s |
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66 | MOVEMENT_HOME_SPD_Y | steps/s |
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67 | MOVEMENT_HOME_SPD_Z | steps/s |
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71 | MOVEMENT_MAX_SPD_X | steps/s |
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72 | MOVEMENT_MAX_SPD_Y | steps/s |
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73 | MOVEMENT_MAX_SPD_Z | steps/s |
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75 | MOVEMENT_INVERT_2_ENDPOINTS_X | 0 / 1 | switch NO and NC
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76 | MOVEMENT_INVERT_2_ENDPOINTS_Y | 0 / 1 | switch NO and NC
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77 | MOVEMENT_INVERT_2_ENDPOINTS_Z | 0 / 1 | switch NO and NC
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81 | MOVEMENT_MOTOR_CURRENT_X | milliamps | TMC2130 only
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82 | MOVEMENT_MOTOR_CURRENT_Y | milliamps | TMC2130 only
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83 | MOVEMENT_MOTOR_CURRENT_Z | milliamps | TMC2130 only
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85 | MOVEMENT_STALL_SENSITIVITY_X | integer | Express only
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86 | MOVEMENT_STALL_SENSITIVITY_Y | integer | Express only
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87 | MOVEMENT_STALL_SENSITIVITY_Z | integer | Express only
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91 | MOVEMENT_MICROSTEPS_X | integer | TMC2130 only
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92 | MOVEMENT_MICROSTEPS_Y | integer | TMC2130 only
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93 | MOVEMENT_MICROSTEPS_Z | integer | TMC2130 only
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101 | ENCODER_ENABLED_X | 0 / 1 | enables stall detection on Express
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102 | ENCODER_ENABLED_Y | 0 / 1 | enables stall detection on Express
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103 | ENCODER_ENABLED_Z | 0 / 1 | enables stall detection on Express
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105 | ENCODER_TYPE_X | 0 | differential channels disabled
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106 | ENCODER_TYPE_Y | 0 | differential channels disabled
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107 | ENCODER_TYPE_Z | 0 | differential channels disabled
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111 | ENCODER_MISSED_STEPS_MAX_X | steps |
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112 | ENCODER_MISSED_STEPS_MAX_Y | steps |
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113 | ENCODER_MISSED_STEPS_MAX_Z | steps |
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115 | ENCODER_SCALING_X | integer | `10000*motor/encoder` (except Express)
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116 | ENCODER_SCALING_Y | integer | `10000*motor/encoder` (except Express)
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117 | ENCODER_SCALING_Z | integer | `10000*motor/encoder` (except Express)
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121 | ENCODER_MISSED_STEPS_DECAY_X | steps | 1-99
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122 | ENCODER_MISSED_STEPS_DECAY_Y | steps | 1-99
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123 | ENCODER_MISSED_STEPS_DECAY_Z | steps | 1-99
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125 | ENCODER_USE_FOR_POS_X | 0 / 1 | except Express
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126 | ENCODER_USE_FOR_POS_Y | 0 / 1 | except Express
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127 | ENCODER_USE_FOR_POS_Z | 0 / 1 | except Express
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131 | ENCODER_INVERT_X | 0 / 1 | except Express
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132 | ENCODER_INVERT_Y | 0 / 1 | except Express
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133 | ENCODER_INVERT_Z | 0 / 1 | except Express
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141 | MOVEMENT_AXIS_NR_STEPS_X | steps | 0 = limit disabled
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142 | MOVEMENT_AXIS_NR_STEPS_Y | steps | 0 = limit disabled
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143 | MOVEMENT_AXIS_NR_STEPS_Z | steps | 0 = limit disabled
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145 | MOVEMENT_STOP_AT_MAX_X | 0 / 1 |
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146 | MOVEMENT_STOP_AT_MAX_Y | 0 / 1 |
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147 | MOVEMENT_STOP_AT_MAX_Z | 0 / 1 |
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201 | PIN_GUARD_1_PIN_NR | integer |
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202 | PIN_GUARD_1_TIME_OUT | seconds |
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203 | PIN_GUARD_1_ACTIVE_STATE | 0 / 1 |
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205 | PIN_GUARD_2_PIN_NR | integer |
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206 | PIN_GUARD_2_TIME_OUT | seconds |
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207 | PIN_GUARD_2_ACTIVE_STATE | 0 / 1 |
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211 | PIN_GUARD_3_PIN_NR | integer |
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212 | PIN_GUARD_3_TIME_OUT | seconds |
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213 | PIN_GUARD_3_ACTIVE_STATE | 0 / 1 |
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215 | PIN_GUARD_4_PIN_NR | integer |
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216 | PIN_GUARD_4_TIME_OUT | seconds |
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217 | PIN_GUARD_4_ACTIVE_STATE | 0 / 1 |
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221 | PIN_GUARD_5_PIN_NR | integer |
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222 | PIN_GUARD_5_TIME_OUT | seconds |
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223 | PIN_GUARD_5_ACTIVE_STATE | 0 / 1 |
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IMPORTANT
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=========
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Pin Numbering
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-------------
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Farmbot will NOT move until the configuration has been approved.
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To approve manually, send 'F22 P2 V1 Q0'
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### RAMPS 1.4 (for other boards, see [/src/pins.h](/src/pins.h))
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To move, use the command 'G00 X0 Y0 Z0 Q0' where you type in the coordinates just after X, Y and Z.
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Tag |Pin Nr|Comment
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-----------------|------|-------
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X_STEP_PIN | 54 | X axis step signal
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X_DIR_PIN | 55 | X axis direction choice
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X_ENABLE_PIN | 38 | X axis enable
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X_MIN_PIN | 3 | X axis end stop at home position
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X_MAX_PIN | 2 | X axis end stop at far position
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X_ENCDR_A | 16 | X axis encoder A channel
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X_ENCDR_B | 17 | X axis encoder B channel
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X_ENCDR_A_Q | 31 | X axis encoder A channel for quarature (not implemented)
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X_ENCDR_B_Q | 33 | X axis encoder B channel for quarature (not implemented)
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Y_STEP_PIN | 60 | Y axis step signal
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Y_DIR_PIN | 61 | Y axis direction choice
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Y_ENABLE_PIN | 56 | Y axis enable
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Y_MIN_PIN | 14 | Y axis end stop at home position
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Y_MAX_PIN | 15 | Y axis end stop at far position
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Y_ENCDR_A | 23 | Y axis encoder A channel
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Y_ENCDR_B | 25 | Y axis encoder B channel
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Y_ENCDR_A_Q | 35 | Y axis encoder A channel for quarature (not implemented)
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Y_ENCDR_B_Q | 37 | Y axis encoder B channel for quarature (not implemented)
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Z_STEP_PIN | 46 | Z axis step signal
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Z_DIR_PIN | 48 | Z axis direction choice
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Z_ENABLE_PIN | 62 | Z axis enable
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Z_MIN_PIN | 18 | Z axis end stop at home position
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Z_MAX_PIN | 19 | Z axis end stop at far position
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Z_ENCDR_A | 27 | Z axis encoder A channel
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Z_ENCDR_B | 29 | Z axis encoder B channel
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Z_ENCDR_A_Q | 39 | Z axis encoder A channel for quarature (not implemented)
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Z_ENCDR_B_Q | 41 | Z axis encoder B channel for quarature (not implemented)
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LED_PIN | 13 | on board LED
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FAN_PIN | 9 | RAMPS board fan pin
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HEATER_0_PIN | 10 | RAMPS board heating pin 0
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HEATER_1_PIN | 8 | RAMPS board heating pin 1
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SERVO_0_PIN | 4 | Servo motor 0 signal pin
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SERVO_1_PIN | 5 | Servo motor 1 signal pin
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SERVO_2_PIN | 6 | Servo motor 2 signal pin
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SERVO_3_PIN | 11 | Servo motor 3 signal pin
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