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farmbot-arduino-firmware
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* Merged code for setting axis to zero 

* Disabled some new features and experimental encoder code
* Added code from updating motor settings without reboot
pull/66/head
TimEversWw 2017-04-15 23:32:01 +02:00
parent a0de45b586
commit 54c7516390
12 changed files with 185 additions and 69 deletions
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3
src/Command.cpp
View File

@ -122,6 +122,9 @@ CommandCodeEnum Command::getGCodeEnum(char* code) {
if (strcmp(code, "F83") == 0) {
return F83;
}
if (strcmp(code, "F84") == 0) {
return F84;
}
return CODE_UNDEFINED;
}

3
src/Command.h
View File

@ -31,7 +31,8 @@ enum CommandCodeEnum
F61 = 161,
F81 = 181,
F82 = 182,
F83 = 183
F83 = 183,
F84 = 184
};
//#define NULL 0

49
src/F84Handler.cpp 100644
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@ -0,0 +1,49 @@
/*
* F84Handler.cpp
*
* Created on: 2017/04/13
* Author: Rick Carlino
*/
#include "F84Handler.h"
static F84Handler *instance;
const double DO_RESET = 1;
F84Handler *F84Handler::getInstance()
{
if (!instance)
{
instance = new F84Handler();
};
return instance;
};
F84Handler::F84Handler()
{
}
int F84Handler::execute(Command *command)
{
if (command->getX() == DO_RESET)
{
Serial.println("R84 Will zero X");
CurrentState::getInstance()->setX(0);
}
if (command->getY() == DO_RESET)
{
Serial.println("R84 Will zero Y");
CurrentState::getInstance()->setY(0);
}
if (command->getZ() == DO_RESET)
{
Serial.println("R84 Will zero Z");
CurrentState::getInstance()->setZ(0);
}
CurrentState::getInstance()->printQAndNewLine();
return 0;
}

31
src/F84Handler.h 100644
View File

@ -0,0 +1,31 @@
/*
* F84Handler.h
*
* Created on: 2017/4/13
* Author: Rick Carlino
*/
#ifndef F84HANDLER_H_
#define F84HANDLER_H_
#include "GCodeHandler.h"
#include "Config.h"
#include "CurrentState.h"
#include "pins.h"
#include "Config.h"
#include "StepperControl.h"
class F84Handler : public GCodeHandler
{
public:
static F84Handler *getInstance();
int execute(Command *);
private:
F84Handler();
F84Handler(F84Handler const &);
void operator=(F84Handler const &);
long adjustStepAmount(long);
long getNumberOfSteps(double, double);
};
#endif /* F84HANDLER_H_ */

79
src/GCodeProcessor.cpp
View File

@ -25,12 +25,17 @@ int GCodeProcessor::execute(Command* command) {
int execution = 0;
long Q = command->getQ();
CurrentState::getInstance()->setQ(Q);
// Do not execute the command when the config complete parameter is not
// set by the raspberry pi and it's asked to do a move command
// Tim 2017-04-15 Disable until the raspberry code is ready
/*
if (ParameterList::getInstance()->getValue(PARAM_CONFIG_OK) != 1) {
if ( command->getCodeEnum() == G00 ||
if ( command->getCodeEnum() == G00 ||
command->getCodeEnum() == G01 ||
command->getCodeEnum() == F11 ||
command->getCodeEnum() == F12 ||
@ -44,6 +49,9 @@ int GCodeProcessor::execute(Command* command) {
return -1;
}
}
*/
// Return error when no command or invalid command is found
if(command == NULL) {
if(LOGGING) {
@ -59,6 +67,8 @@ int GCodeProcessor::execute(Command* command) {
return -1;
}
// Get the right handler for this command
GCodeHandler* handler = getGCodeHandler(command->getCodeEnum());
if(handler == NULL) {
@ -66,6 +76,8 @@ int GCodeProcessor::execute(Command* command) {
return -1;
}
// Execute te command, report start and end
Serial.print(COMM_REPORT_CMD_START);
CurrentState::getInstance()->printQAndNewLine();
@ -86,6 +98,10 @@ GCodeHandler* GCodeProcessor::getGCodeHandler(CommandCodeEnum codeEnum) {
GCodeHandler* handler = NULL;
// These are if statements so they can be disabled as test
// Usefull when running into memory issues again
if (codeEnum == G00) {handler = G00Handler::getInstance();}
if (codeEnum == G28) {handler = G28Handler::getInstance();}
@ -110,67 +126,12 @@ GCodeHandler* GCodeProcessor::getGCodeHandler(CommandCodeEnum codeEnum) {
if (codeEnum == F43) {handler = F43Handler::getInstance();}
if (codeEnum == F44) {handler = F44Handler::getInstance();}
// if (codeEnum == F61) {handler = F61Handler::getInstance();}
if (codeEnum == F61) {handler = F61Handler::getInstance();}
if (codeEnum == F81) {handler = F81Handler::getInstance();}
if (codeEnum == F82) {handler = F82Handler::getInstance();}
if (codeEnum == F83) {handler = F83Handler::getInstance();}
/*
switch(codeEnum) {
case G00:
return G00Handler::getInstance();
case G28:
return G28Handler::getInstance();
case F11:
return F11Handler::getInstance();
case F12:
return F12Handler::getInstance();
case F13:
return F13Handler::getInstance();
case F14:
return F14Handler::getInstance();
case F15:
return F15Handler::getInstance();
case F16:
return F16Handler::getInstance();
case F20:
return F20Handler::getInstance();
case F21:
return F21Handler::getInstance();
case F22:
return F22Handler::getInstance();
case F31:
return F31Handler::getInstance();
case F32:
return F32Handler::getInstance();
case F41:
return F41Handler::getInstance();
case F42:
return F42Handler::getInstance();
case F43:
return F43Handler::getInstance();
case F44:
return F44Handler::getInstance();
case F61:
return F61Handler::getInstance();
case F81:
return F81Handler::getInstance();
case F82:
return F82Handler::getInstance();
case F83:
return F83Handler::getInstance();
}
*/
if (codeEnum == F84) {handler = F84Handler::getInstance();}
return handler;

3
src/GCodeProcessor.h
View File

@ -35,11 +35,12 @@
#include "F43Handler.h"
#include "F44Handler.h"
//#include "F61Handler.h"
#include "F61Handler.h"
#include "F81Handler.h"
#include "F82Handler.h"
#include "F83Handler.h"
#include "F84Handler.h"
class GCodeProcessor {
public:

13
src/ParameterList.cpp
View File

@ -16,6 +16,8 @@ ParameterList::ParameterList() {
// so during subsequent boots the values are just loaded from eeprom
// unless the eeprom is disabled with a parameter
int paramChangeNr = 0;
int paramVersion = readValueEeprom(0);
if (paramVersion <= 0) {
setAllValuesToDefault();
@ -58,6 +60,12 @@ int ParameterList::readValue(int id) {
int ParameterList::writeValue(int id, int value) {
if (paramChangeNr < 9999) {
paramChangeNr++;
} else {
paramChangeNr = 0;
}
// Check if the value is a valid parameter
if (validParam(id)) {
// Store the value in memory
@ -114,6 +122,11 @@ int ParameterList::getValue(int id) {
return paramValues[id];
}
int ParameterList::paramChangeNumber() {
return paramChangeNr;
}
// ===== eeprom handling ====
int ParameterList::readValueEeprom(int id) {

5
src/ParameterList.h
View File

@ -129,10 +129,15 @@ public:
void sendConfigToModules();
int paramChangeNumber();
private:
ParameterList();
ParameterList(ParameterList const&);
void operator=(ParameterList const&);
int paramChangeNr;
};

34
src/StepperControl.cpp
View File

@ -81,6 +81,24 @@ StepperControl::StepperControl() {
axisY.label = 'Y';
axisZ.label = 'Z';
// Create the encoder controller
encoderX = StepperControlEncoder();
encoderY = StepperControlEncoder();
encoderZ = StepperControlEncoder();
// Load settings
loadSettings();
motorMotorsEnabled = false;
}
void StepperControl::loadSettings() {
// Load motor settings
axisX.loadPinNumbers(X_STEP_PIN, X_DIR_PIN, X_ENABLE_PIN, X_MIN_PIN, X_MAX_PIN, E_STEP_PIN, E_DIR_PIN, E_ENABLE_PIN);
axisY.loadPinNumbers(Y_STEP_PIN, Y_DIR_PIN, Y_ENABLE_PIN, Y_MIN_PIN, Y_MAX_PIN, 0, 0, 0);
axisZ.loadPinNumbers(Z_STEP_PIN, Z_DIR_PIN, Z_ENABLE_PIN, Z_MIN_PIN, Z_MAX_PIN, 0, 0, 0);
@ -90,12 +108,10 @@ StepperControl::StepperControl() {
axisSubStep[2] = COMM_REPORT_MOVE_STATUS_IDLE;
loadMotorSettings();
loadEncoderSettings();
// Create the encoder controller
encoderX = StepperControlEncoder();
encoderY = StepperControlEncoder();
encoderZ = StepperControlEncoder();
// Load encoder settings
loadEncoderSettings();
encoderX.loadPinNumbers(X_ENCDR_A, X_ENCDR_B, X_ENCDR_A_Q, X_ENCDR_B_Q);
encoderY.loadPinNumbers(Y_ENCDR_A, Y_ENCDR_B, Y_ENCDR_A_Q, Y_ENCDR_B_Q);
@ -105,7 +121,6 @@ StepperControl::StepperControl() {
encoderY.loadSettings( motorConsEncoderType[1], motorConsEncoderScaling[1]);
encoderZ.loadSettings( motorConsEncoderType[2], motorConsEncoderScaling[2]);
motorMotorsEnabled = false;
}
void StepperControl::test() {
@ -117,6 +132,13 @@ void StepperControl::test() {
Serial.print(encoderX.currentPosition());
Serial.print("\r\n");
Serial.print("R99");
Serial.print(" mot y = ");
Serial.print(axisY.currentPosition());
Serial.print(" enc y = ");
Serial.print(encoderY.currentPosition());
Serial.print("\r\n");
// read changes in encoder
//encoderX.readEncoder();

1
src/StepperControl.h
View File

@ -42,6 +42,7 @@ public:
bool motorsEnabled();
void storePosition();
void loadSettings();
void test();
void test2();

11
src/StepperControlEncoder.cpp
View File

@ -109,12 +109,18 @@ void StepperControlEncoder::readEncoder() {
void StepperControlEncoder::readChannels() {
// read the new values from the coder
readChannelA = digitalRead(pinChannelA);
readChannelAQ = digitalRead(pinChannelAQ);
readChannelB = digitalRead(pinChannelB);
readChannelBQ = digitalRead(pinChannelBQ);
// Tim 2017-04-15 Experimental code disabled
/*
if (encoderType == 1) {
// differential encoder
if ((readChannelA ^ readChannelAQ) && (readChannelB ^ readChannelBQ)) {
curValChannelA = readChannelA;
@ -122,11 +128,13 @@ void StepperControlEncoder::readChannels() {
}
}
else {
// encoderType <= 0
// non-differential incremental encoder
curValChannelA = readChannelA;
curValChannelB = readChannelB;
}
*/
// curValChannelA = readChannelA;
// curValChannelB = readChannelB;
@ -137,6 +145,9 @@ void StepperControlEncoder::readChannels() {
}
void StepperControlEncoder::shiftChannels() {
// Save the current enoder status to later on compare with new values
prvValChannelA = curValChannelA;
prvValChannelB = curValChannelB;
}

22
src/farmbot_arduino_controller.cpp
View File

@ -3,7 +3,7 @@
#include "pins.h"
#include "Config.h"
#include "StepperControl.h"
//#include "ServoControl.h"
#include "ServoControl.h"
#include "PinGuard.h"
#include "TimerOne.h"
#include "MemoryFree.h"
@ -15,6 +15,8 @@ static GCodeProcessor* gCodeProcessor = new GCodeProcessor();
unsigned long lastAction;
unsigned long currentTime;
int lastParamChangeNr = 0;
String commandString = "";
char incomingChar = 0;
char incomingCommandArray[INCOMING_CMD_BUF_SIZE];
@ -105,7 +107,7 @@ void setup() {
// Get the settings for the pin guard
PinGuard::getInstance()->loadConfig();
// Start the interrupt used for moviing
// Start the interrupt used for moving
// Interrupt management code library written by Paul Stoffregen
// The default time 100 micro seconds
@ -180,6 +182,22 @@ void loop() {
//StepperControl::getInstance()->test();
// Check if parameters are changes, and if so load the new settings
if (lastParamChangeNr != ParameterList::getInstance()->paramChangeNumber()) {
lastParamChangeNr = ParameterList::getInstance()->paramChangeNumber();
Serial.print(COMM_REPORT_COMMENT);
Serial.print(" loading parameters ");
CurrentState::getInstance()->printQAndNewLine();
StepperControl::getInstance()->loadSettings();
PinGuard::getInstance()->loadConfig();
}
// Do periodic checks and feedback
currentTime = millis();
if (currentTime < lastAction) {