Repository: 20sffactory/community_robot_arm Branch: master Commit: 6c2f57390f01 Files: 226 Total size: 22.1 MB Directory structure: gitextract__dec3x8x/ ├── .gitattributes ├── Assembly & Control Guides/ │ ├── Marlin Guide/ │ │ └── marlin_calculator.html │ └── credits.txt ├── CAD Files/ │ ├── case_body.stl │ ├── case_bottom.stl │ ├── case_cablehole.stl │ ├── case_fangrill.stl │ ├── case_grill.stl │ ├── case_grill_duplicate.stl │ ├── case_resetbutton.stl │ ├── case_top.stl │ ├── case_usb.stl │ ├── dual_manipulator_support/ │ │ ├── main_body_dual.stl │ │ ├── main_body_dual_v2.stl │ │ ├── manipulator_dual.stl │ │ └── triplate_dual.stl │ ├── rail_stl/ │ │ ├── rail_2020.stl │ │ ├── rail_belt_holder.stl │ │ ├── rail_leg.stl │ │ ├── rail_motor_mount.stl │ │ ├── rail_pulley_mount.stl │ │ ├── rail_rod_fastener.stl │ │ ├── rail_rod_mount.stl │ │ ├── rail_slide_endstop.stl │ │ └── rail_slide_plate.stl │ ├── robot_arm upper_shank.stl │ ├── robot_arm.step │ ├── robot_arm_enclosure_v0.2.step │ ├── robot_arm_upper_shank_v2.stl │ ├── robot_belt_arm basering.stl │ ├── robot_belt_arm endstop.stl │ ├── robot_belt_arm gear_body.stl │ ├── robot_belt_arm leg.stl │ ├── robot_belt_arm lever.stl │ ├── robot_belt_arm lower_shank.stl │ ├── robot_belt_arm main_body.stl │ ├── robot_belt_arm main_body_v2.stl │ ├── robot_belt_arm manipulator.stl │ ├── robot_belt_arm pleuel.stl │ ├── robot_belt_arm pleuel_bend_lower.stl │ ├── robot_belt_arm pleuel_bend_upper.stl │ ├── robot_belt_arm rotategear.stl │ ├── robot_belt_arm socket.stl │ ├── robot_belt_arm socket_v2.stl │ ├── robot_belt_arm stabilizer.stl │ ├── robot_belt_arm triplate.stl │ ├── shank_calibrator/ │ │ ├── shank_calibrator_120mm.stl │ │ └── shank_calibrator_140mm.stl │ ├── shank_pleuel_140mm/ │ │ ├── lower_shank_140.stl │ │ ├── pleuel_140.stl │ │ ├── pleuel_bend_140.stl │ │ └── upper_shank_140.stl │ └── toolheads_stl/ │ ├── 28byj_cover_by_woutervanschaik/ │ │ ├── Cap.stl │ │ └── Cap.stp │ ├── 3dprint_extractor.stl │ ├── dragon_head.stl │ ├── gripper_stl_by_ftobler/ │ │ ├── gripperBase_by_ftobler.stl │ │ ├── gripperFinger_by_ftobler.stl │ │ ├── gripperHolePlateWithPenHolder_by_Leandro.stl │ │ ├── gripper_screw_secure.stl │ │ └── gripper_shaft.stl │ ├── pen_plotter.stl │ └── servo_gripper_stl_by_20sffactory/ │ ├── gripperFinger_by_ftobler.stl │ ├── gripper_screw_secure.stl │ ├── servo_gripperBase.stl │ ├── servo_gripperBaseWithPenHolder.stl │ └── servo_gripper_shaft.stl ├── LICENSE ├── README.md ├── arduino_firmware/ │ ├── config.h_samples/ │ │ └── config_sample_V0.61/ │ │ ├── 20sffactory_rail/ │ │ │ └── config.h │ │ └── ftobler_original/ │ │ └── config.h │ ├── robotArm_v0.31/ │ │ ├── RampsStepper.cpp │ │ ├── RampsStepper.h │ │ ├── byj_gripper.cpp │ │ ├── byj_gripper.h │ │ ├── command.cpp │ │ ├── command.h │ │ ├── config.h │ │ ├── endstop.cpp │ │ ├── endstop.h │ │ ├── equipment.cpp │ │ ├── equipment.h │ │ ├── fanControl.cpp │ │ ├── fanControl.h │ │ ├── interpolation.cpp │ │ ├── interpolation.h │ │ ├── logger.cpp │ │ ├── logger.h │ │ ├── pinout.h │ │ ├── queue.h │ │ ├── robotArm_v0.31.ino │ │ ├── robotGeometry.cpp │ │ └── robotGeometry.h │ ├── robotArm_v0.41/ │ │ ├── RampsStepper.cpp │ │ ├── RampsStepper.h │ │ ├── byj_gripper.cpp │ │ ├── byj_gripper.h │ │ ├── command.cpp │ │ ├── command.h │ │ ├── config.h │ │ ├── endstop.cpp │ │ ├── endstop.h │ │ ├── equipment.cpp │ │ ├── equipment.h │ │ ├── fanControl.cpp │ │ ├── fanControl.h │ │ ├── interpolation.cpp │ │ ├── interpolation.h │ │ ├── logger.cpp │ │ ├── logger.h │ │ ├── pinout.h │ │ ├── queue.h │ │ ├── robotArm_v0.41.ino │ │ ├── robotGeometry.cpp │ │ └── robotGeometry.h │ ├── robotArm_v0.51/ │ │ ├── RampsStepper.cpp │ │ ├── RampsStepper.h │ │ ├── byj_gripper.cpp │ │ ├── byj_gripper.h │ │ ├── command.cpp │ │ ├── command.h │ │ ├── config.h │ │ ├── endstop.cpp │ │ ├── endstop.h │ │ ├── equipment.cpp │ │ ├── equipment.h │ │ ├── fanControl.cpp │ │ ├── fanControl.h │ │ ├── interpolation.cpp │ │ ├── interpolation.h │ │ ├── logger.cpp │ │ ├── logger.h │ │ ├── pinout.h │ │ ├── queue.h │ │ ├── robotArm_v0.51.ino │ │ ├── robotGeometry.cpp │ │ ├── robotGeometry.h │ │ ├── servo_gripper.cpp │ │ └── servo_gripper.h │ ├── robotArm_v0.61/ │ │ ├── RampsStepper.cpp │ │ ├── RampsStepper.h │ │ ├── byj_gripper.cpp │ │ ├── byj_gripper.h │ │ ├── command.cpp │ │ ├── command.h │ │ ├── config.h │ │ ├── endstop.cpp │ │ ├── endstop.h │ │ ├── equipment.cpp │ │ ├── equipment.h │ │ ├── fanControl.cpp │ │ ├── fanControl.h │ │ ├── interpolation.cpp │ │ ├── interpolation.h │ │ ├── logger.cpp │ │ ├── logger.h │ │ ├── pinout.h │ │ ├── pinout_uno.h │ │ ├── queue.h │ │ ├── robotArm_v0.61.ino │ │ ├── robotGeometry.cpp │ │ ├── robotGeometry.h │ │ ├── servo_gripper.cpp │ │ └── servo_gripper.h │ ├── robotArm_v0.71/ │ │ ├── RampsStepper.cpp │ │ ├── RampsStepper.h │ │ ├── byj_gripper.cpp │ │ ├── byj_gripper.h │ │ ├── command.cpp │ │ ├── command.h │ │ ├── config.h │ │ ├── config_esp32.h │ │ ├── controller_ps4.cpp │ │ ├── controller_ps4.h │ │ ├── endstop.cpp │ │ ├── endstop.h │ │ ├── equipment.cpp │ │ ├── equipment.h │ │ ├── fanControl.cpp │ │ ├── fanControl.h │ │ ├── interpolation.cpp │ │ ├── interpolation.h │ │ ├── logger.cpp │ │ ├── logger.h │ │ ├── pinout/ │ │ │ ├── pinout.h │ │ │ ├── pinout_uno.h │ │ │ └── pinout_wemosD1R32.h │ │ ├── queue.h │ │ ├── robotArm_v0.71.ino │ │ ├── robotGeometry.cpp │ │ ├── robotGeometry.h │ │ ├── servo_gripper.cpp │ │ └── servo_gripper.h │ └── robotArm_v0.81/ │ ├── RampsStepper.cpp │ ├── RampsStepper.h │ ├── byj_gripper.cpp │ ├── byj_gripper.h │ ├── command.cpp │ ├── command.h │ ├── config.h │ ├── config_esp32.h │ ├── controller_ps4.cpp │ ├── controller_ps4.h │ ├── controller_wiimote.cpp │ ├── controller_wiimote.h │ ├── endstop.cpp │ ├── endstop.h │ ├── equipment.cpp │ ├── equipment.h │ ├── fanControl.cpp │ ├── fanControl.h │ ├── interpolation.cpp │ ├── interpolation.h │ ├── logger.cpp │ ├── logger.h │ ├── pinout/ │ │ ├── pinout.h │ │ ├── pinout_uno.h │ │ └── pinout_wemosD1R32.h │ ├── queue.h │ ├── robotArm_v0.81.ino │ ├── robotGeometry.cpp │ ├── robotGeometry.h │ ├── servo_gripper.cpp │ └── servo_gripper.h └── temp_codes/ ├── bot_pen_plotter_temp.stl └── consecutive_command.py ================================================ FILE CONTENTS ================================================ ================================================ FILE: .gitattributes ================================================ # Auto detect text files and perform LF normalization * text=auto ================================================ FILE: Assembly & Control Guides/Marlin Guide/marlin_calculator.html ================================================

20sffactory Firmware

"config.h" Settings

SHANK_LENGTH

END_EFFECTOR_OFFSET

STEPS_PER_REVO

MICROSTEPS

MOTOR_GEAR_TEETH

MAIN_GEAR_TEETH

X_HOME_STEPS

Y_HOME_STEPS

Z_HOME_STEPS

Marlin 2.0

"Configuration.h" Settings

ROBOT_ARM_2L

_LOW_SHANK

_HIGH_SHANK

_EE_OFFSET

_X_AT_ENDSTOP

_Y_AT_ENDSTOP

_Z_AT_ENDSTOP

DEFAULT_AXIS_STEPS_PER_UNIT
================================================ FILE: Assembly & Control Guides/credits.txt ================================================ Jan19: Firmware G28 Homing Improvements by Tehseen Hasan (repo) Feb19: Robot Controlled by Octoprint with Steps by Leo Yeung Apr19: Firmware M114 & G91 Functions by Stephen Remillard (repo) Apr19: Joystick Controls Demo by Stephen Remillard Jul19: Gripper Pressure Sensor by César Omar Aranda Aug19: NodeMCU Connectivity by Atul Yadav Sep19: Laser Cut Version by Jim Black Dec19: Cute Robot Eyes & Gripper Paperclip Hack by Nemi Rai Jan20: Robot Beer Opener by Gcodeprintr Feb20: Additional Wrist Axis & Gripper Sensor by Jurek Bohdanowicz May20: ROS Software Sharing by Sergio Inacio May20: Belt Gear on ftobler version Tutorial by Tehseen Hasan Jun20: Belt Drive & Full Design Revision with Guides by Leo Yeung (repo) Jul20: Robot Plotting on Tablet by Phuntsho Wangdi Jul20: Rail Implementation Demo by Februandi Jul20: Remix Build running on GRBL by Tiago Moreira Jul20: Gripper Design by Februandi Aug20: ‘config.h’ Parameters Consolidation by Leo Yeung (repo) Aug20: Robot Simulation on Rviz by 野田耕大郎 Aug20: Conveyor Belt Application by Trần Hậu Hiếu Sep20: Rail Implementation Demo by Muhamad Ikbal Wiguna Sep20: Robot Enclosure Design by Wouter van Schaik (repo) Sep20: Demo of Computer Vision by Tehseen Hasan Oct20: Firmware Rail E Axis Inclusion by Wouter van Schaik (repo) Oct20: Firmware Speed Curve Option with Guide by Leo Yeung (repo) Oct20: Rail E Axis Design with Cute Eyes ;-) by Leo Yeung (repo) Nov20: Robot as 3D Scanner by Gcodeprintr Nov20: Computer Vision Demo by Leo Yeung Nov20: Using YAT Software for Robot Controls by Tehseen Hasan (repo) Dec20: Lego Robot Operator Booth for fun by Leo Yeung Dec20: G2 & G3 Functionality by Leandro Loiacono Dec20: Using ‘Processing’ tool to Execute Robot Firmware by Huang Kai Jan21: Dual Manipulator Support & Shank Extension by Leo Yeung (repo) Jan21: G92 Function, Move Limit Checks by Leandro Loiacono (repo) Jan21: 28BYJ Driven by A4988 & Casing by Wouter van Schaik (repo) Jan21: Bot Driven by 32 Bit Arduino Due by Apiwat Sukjareoon Jan21: Robot Pen Plotting by Leandro Loiacono Jan21: Glow in the Dark Robot by Glenn Boullue Feb21: Robot Plotting Driven by Marlin by Daniel Formiga Feb21: Socket & Body (V2) Adjustable Belt Tension by Leo Yeung (repo) Feb21: ROS Dockerfile sharing (in progress) by Marco Strullato Feb21: 6 DOF Concept by Bryan Kelly Feb21: Marlin 2.0 Custom Integration by Leandro Loiacono (repo) Feb21: Marlin Guides & Parameters Calculator by Leo Yeung (repo) Feb21: Repeatability, Calliper, Loading Tests by Justin Hulbert Feb21: v0.41 Dual Shank Lengths by Leandro Loiacono (repo) Feb21: YAT Guide, V0.41 Guides by Leo Yeung (repo) Feb21: Blower Fan & Drivers Cooling Duct concept by Brian Lau Mar21: Dual Robots Pick-Drop Collaboration demo by Leo Yeung Mar21: ESP8266 Integration demo by Leandro Loiacono Mar21: Laser cutting with Marlin 2.0 demo by Leo Yeung Mar21: Drinks Distribution in Wedding by Februandi & Muhamad Ikbal Wiguna Mar21: Google Speech Recognition API demo by Leandro Loiacono Mar21: 3D Printing with Robot Arm Update by LH FabLab/3DJLed Mar21: GT2 Timing Belt Printed in TPU by Shravan Nanjunda Mar21: A4988 Gripper Firmware add-on by Wouter van Schaik Mar21: Aluminium Shanks & Gear Box Design by Alfred Abanto/Louie Henson Apr21: Firmware V0.51 with Servo Gripper Support by Leo Yeung (repo) Apr21: Additional Wrist Servo Actuator by Apiwat Sukjareoon Apr21: Using SKR 1.4 Turbo Controller Board by JChester Rayos Apr21: ESP32 Encoder Control demo with Codes by Riley Oblander Apr21: ESP32 Marlin demo by Ionel Ciobanuc May21: Uno CNC Controller Option with Guide by Leo Yeung (repo) May21: ESP32 PS4 Joystick Control demo & Payload Testing by Leo Yeung May21: Plotting & Laser demo in custom design by Hurtado Melendez Efren Jun21: Homing Timeout concept demo & summary by César Omar Aranda Jun21: Turbo Fan Robot Toolhead demo by 官師 Jun21: Firmware V0.71 ESP32 Support with Guides by Leo Yeung (repo) Jun21: Wii Remote Control demo by Leo Yeung Jun21: Terminal / Web Control project sharing (in ES) by César Omar Aranda Jun21: Marlin2.0 Laser by Vectric Aspire by Hurtado Melendez Efren Jul21: Robot Image Rendering in Blender with tutorial by Leo Yeung Jul21: Jetson Nano Face Track Initial Test by Vasco Eguren Jul21: Nano-ESP32 pyserial Error findings by Vasco Eguren & Leo Yeung Aug21: Marble Machine automation & MCU case attachment by Brian Lau Aug21: Robot Conveyor Microbit Huskylens System by 최조영 Aug21: Controller Enclosure Switch & Led mod by 최조영 Aug21: Firmware V0.81 Wiimote & Speed Multiplier by Leo Yeung (repo) Aug21: Kinect Controlled Painting Robot by Alfred Albanto Aug21: Upper Shank V2 Fix by Leo Yeung (repo) Aug21: Wiimote Y Freeze & Servo Pin Error identified by Pattanapong (repo) Sep21: Custom Rail Module with MCU attached by Pattanapong ================================================ FILE: CAD 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But first, please read . ================================================ FILE: README.md ================================================ # community_robot_arm [![IMAGE ALT TEXT HERE](https://img.youtube.com/vi/yh1NoQ2Z36A/0.jpg)](https://www.youtube.com/watch?v=yh1NoQ2Z36A) Community robot arm is an open source collaboration project participated by an online community of learners & developers. Clear background and documentation about the project is available [here](https://www.20sffactory.com/robot/about)
. It was developed based on the original design by [Florin Tobler](https://www.thingiverse.com/1718984)
with multiple rounds of open hardware & software modification. **REPOSITORY OF COMMUNITY ROBOT ARM** * arduino_firmware Version V0.81 (07Aug2021) - ESP32 (WEMOS D1R32) SUPPORT WITH WIIMOTE - ESP32 JOYSTICK ADJUSTABLE SPEED MULTIPLIER CONFIG * arduino_firmware Version V0.71 (13Jun2021) - ESP32 (WEMOS D1R32) SUPPORT WITH PS4 JOYSTICK OPTIOON - CUSTOM SPEED CURVE COMMAND - UNO OPTION WITH RAIL * arduino_firmware Version V0.61 (03May2021) - Arduino Uno Controller Option - Fixed Issue of G28 Homing for Original Ftobler without endstop * arduino_firmware Version V0.51 (03Apr2021) - Servo Gripper Option * arduino_firmware Version V0.41 (24Feb2021) - Different Lengths of Upper & Lower Shank Supported * arduino_firmware Version V0.31 (19JAN2021) Changes: - G92 Current Position Setting Option - M114 Endstop State Reporting - Limit Checking Move Overflow Prevention - Logger Functions * Arduino Firmware Version V0.21 (28OCT2020) Changes: - Speed Curve Configuration Choices: Flat, Arctan, Cosin - E Axis (Rail) Option enabled * CAD_files contains STL & STEP files [Facebook Group](https://www.facebook.com/groups/robotarm)
[Discord Group](https://discord.gg/W5GUR7eSru)
Graphical contents and CAD files are licensed under CC BY 4.0 License. Community Firmware is licensed under GNU-3.0 License. ================================================ FILE: arduino_firmware/config.h_samples/config_sample_V0.61/20sffactory_rail/config.h ================================================ #ifndef CONFIG_H_ #define CONFIG_H_ //SERIAL SETTINGS #define BAUD 115200 //MEGA2560 BY DEFAULT, SET TO true IF UNO & CNC SHILED USED TO DRIVE ROBOT #define USE_UNO false //ROBOT ARM LENGTH //#define SHANK_LENGTH 140.0 #define LOW_SHANK_LENGTH 140.0 #define HIGH_SHANK_LENGTH 140.0 #define END_EFFECTOR_OFFSET 54.0 // LENGTH FROM UPPER SHANK BEARING TO MIDPOINT OF END EFFECTOR IN MM //INITIAL INTERPOLATION SETTINGS // INITIAL_XYZ FORMS VERTICAL LOWER ARM & HORIZONTAL UPPER ARM IN 90 DEGREES #define INITIAL_X 0.0 // CARTESIAN COORDINATE X #define INITIAL_Y (HIGH_SHANK_LENGTH+END_EFFECTOR_OFFSET) // CARTESIAN COORDINATE Y #define INITIAL_Z LOW_SHANK_LENGTH // CARTESIAN COORDINATE Z #define INITIAL_E0 0.0 // RAIL STEPPER ENDSTOP POSITION // CALIBRATE HOME STEPS TO REACH DESIRED INITIAL_XYZ POSITIONS #define X_HOME_STEPS 1020 //765 //860 // STEPS FROM X_ENDSTOP TO INITIAL_XYZ FOR UPPER ARM #define Y_HOME_STEPS 1900 //1940 // STEPS FROM Y_ENDSTOP TO INITIAL_XYZ FOR LOWER ARM #define Z_HOME_STEPS 3640 // STEPS FROM Z_ENDSTOP TO INITIAL_XYZ FOR ROTATION CENTER #define E0_HOME_STEPS 0 // STEPS FROM E0_ENDSTOP TO INITIAL_E0 //HOMING SETTINGS: #define HOME_X_STEPPER true // "true" IF ENDSTOP IS INSTALLED #define HOME_Y_STEPPER true // "true" IF ENDSTOP IS INSTALLED #define HOME_Z_STEPPER true // "true" IF ENDSTOP IS INSTALLED #define HOME_E0_STEPPER true // "true" IF ENDSTOP IS INSTALLED #define HOME_ON_BOOT false // "true" IF HOMING REQUIRED AFTER POWER ON #define HOME_DWELL 1400 // INCREASE TO SLOW DOWN HOMING SPEED //STEPPER SETTINGS: #define MICROSTEPS 16 // MICROSTEPPING CONFIGURATION ON RAMPS1.4 #define STEPS_PER_REV 200 // NEMA17 STEPS PER REVOLUTION #define INVERSE_X_STEPPER true // CHANGE IF STEPPER MOVES OTHER WAY #define INVERSE_Y_STEPPER false // CHANGE IF STEPPER MOVES OTHER WAY #define INVERSE_Z_STEPPER true // CHANGE IF STEPPER MOVES OTHER WAY #define INVERSE_E0_STEPPER false // CHANGE IF STEPPER MOVES OTHER WAY //RAIL SETTINGS: #define RAIL true // E0 STEPPER USED AS RAIL. SET TO 'false' IF ROBOT ARM IS STATIONARY. #define STEPS_PER_MM_RAIL 80.0 // STEPS PER MM FOR RAIL MOTOR #define RAIL_LENGTH 200.0 // MAX LENGTH OF RAIL IN MM //ENDSTOP SETTINGS: #define X_MIN_INPUT 1 // OUTPUT VALUE WHEN SWITCH ACTIVATED #define Y_MIN_INPUT 1 // OUTPUT VALUE WHEN SWITCH ACTIVATED #define Z_MIN_INPUT 1 // OUTPUT VALUE WHEN SWITCH ACTIVATED #define E0_MIN_INPUT 1 // OUTPUT VALUE WHEN SWITCH ACTIVATED //GEAR RATIO SETTINGS #define MOTOR_GEAR_TEETH 20.0 // 20.0 FOR 20SFFACTORY BELT VERSION 9.0 FOR FTOBLER GEAR VERSION #define MAIN_GEAR_TEETH 90.0 // 90.0 FOR 20SFFACTORY BELT VERSION 32.0 FOR FTOBLER GEAR VERSION //EQUIPMENT SETTINGS #define LASER false // 12V LASER CONNECTED TO LASER_PIN #define PUMP false // 12V AIR PUMP CONNECTED TO PUMP_PIN #define FAN_DELAY 120 // FAN ON IN SECONDS //GRIPPER SETTINGS #define GRIPPER 0 //GRIPPER MOTOR IN USE // 0: 28BYJ-48 MICRO STEPPER MOTOR // 1: 9G SERVO OR MG996 SERVO EQUIVALENT //28BYJ GRIPPER SETTINGS #define BYJ_GRIP_STEPS 1200 //FTOBLER: 1200 //SERVO GRIPPER SETTINGS #define SERVO_GRIP_DEGREE 90.0 #define SERVO_UNGRIP_DEGREE 0.0 //COMMAND QUEUE SETTINGS #define QUEUE_SIZE 15 //PRINT REPLY SETTING #define PRINT_REPLY false // "true" TO PRINT MSG AFTER ONE COMMAND IS PROCESSED #define PRINT_REPLY_MSG "ok" // MSG SENT FOR USER'S POST PROCESSING WITH OTHER SOFTWARE //SPEED PROFILE SETTING #define SPEED_PROFILE 2 // OPTIONS BELOW //0: FLAT SPEED CURVE (CONSTANT SPEED PER MOVEMENT, SUITABLE FOR REALTIME CONTROL SOFTWARE) //1: ARCTAN APPROX (SLIGHT BELL CURVE ACCELERATION & DECELERATION) //2: COSIN APPROX (TOTAL BELL CURVE ACCEL FROM 0 & DECEL FROM 0, SUITABLE FOR PRESET COMMAND MOVEMENTS) //LOG SETTINGS #define LOG_LEVEL 2 //0: ERROR //1: INFO //2: DEBUG //MOVE LIMIT PARAMETERS #define Z_MIN -140.0 //MINIMUM Z HEIGHT OF TOOLHEAD TOUCHING GROUND #define Z_MAX (LOW_SHANK_LENGTH+30.0) //SHANK_LENGTH ADDING ARBITUARY NUMBER FOR Z_MAX #define SHANKS_MIN_ANGLE_COS 0.791436948 #define SHANKS_MAX_ANGLE_COS -0.774944489 #define R_MIN (sqrt((sq(LOW_SHANK_LENGTH) + sq(HIGH_SHANK_LENGTH)) - (2*LOW_SHANK_LENGTH*HIGH_SHANK_LENGTH*SHANKS_MIN_ANGLE_COS) )) #define R_MAX (sqrt((sq(LOW_SHANK_LENGTH) + sq(HIGH_SHANK_LENGTH)) - (2*LOW_SHANK_LENGTH*HIGH_SHANK_LENGTH*SHANKS_MAX_ANGLE_COS) )) #endif ================================================ FILE: arduino_firmware/config.h_samples/config_sample_V0.61/ftobler_original/config.h ================================================ #ifndef CONFIG_H_ #define CONFIG_H_ //SERIAL SETTINGS #define BAUD 115200 //MEGA2560 BY DEFAULT, SET TO true IF UNO & CNC SHILED USED TO DRIVE ROBOT #define USE_UNO false //ROBOT ARM LENGTH //#define SHANK_LENGTH 140.0 #define LOW_SHANK_LENGTH 120.0 #define HIGH_SHANK_LENGTH 120.0 #define END_EFFECTOR_OFFSET 54.0 // LENGTH FROM UPPER SHANK BEARING TO MIDPOINT OF END EFFECTOR IN MM //INITIAL INTERPOLATION SETTINGS // INITIAL_XYZ FORMS VERTICAL LOWER ARM & HORIZONTAL UPPER ARM IN 90 DEGREES #define INITIAL_X 0.0 // CARTESIAN COORDINATE X #define INITIAL_Y (HIGH_SHANK_LENGTH+END_EFFECTOR_OFFSET) // CARTESIAN COORDINATE Y #define INITIAL_Z LOW_SHANK_LENGTH // CARTESIAN COORDINATE Z #define INITIAL_E0 0.0 // RAIL STEPPER ENDSTOP POSITION // CALIBRATE HOME STEPS TO REACH DESIRED INITIAL_XYZ POSITIONS #define X_HOME_STEPS 1020 // STEPS FROM X_ENDSTOP TO INITIAL_XYZ FOR UPPER ARM #define Y_HOME_STEPS 1900 // STEPS FROM Y_ENDSTOP TO INITIAL_XYZ FOR LOWER ARM #define Z_HOME_STEPS 0 // STEPS FROM Z_ENDSTOP TO INITIAL_XYZ FOR ROTATION CENTER #define E0_HOME_STEPS 0 // STEPS FROM E0_ENDSTOP TO INITIAL_E0 //HOMING SETTINGS: #define HOME_X_STEPPER false // "true" IF ENDSTOP IS INSTALLED #define HOME_Y_STEPPER false // "true" IF ENDSTOP IS INSTALLED #define HOME_Z_STEPPER false // "true" IF ENDSTOP IS INSTALLED #define HOME_E0_STEPPER false // "true" IF ENDSTOP IS INSTALLED #define HOME_ON_BOOT false // "true" IF HOMING REQUIRED AFTER POWER ON #define HOME_DWELL 1400 // INCREASE TO SLOW DOWN HOMING SPEED //STEPPER SETTINGS: #define MICROSTEPS 16 // MICROSTEPPING CONFIGURATION ON RAMPS1.4 #define STEPS_PER_REV 200 // NEMA17 STEPS PER REVOLUTION #define INVERSE_X_STEPPER true // CHANGE IF STEPPER MOVES OTHER WAY #define INVERSE_Y_STEPPER false // CHANGE IF STEPPER MOVES OTHER WAY #define INVERSE_Z_STEPPER true // CHANGE IF STEPPER MOVES OTHER WAY #define INVERSE_E0_STEPPER false // CHANGE IF STEPPER MOVES OTHER WAY //RAIL SETTINGS: #define RAIL false // E0 STEPPER USED AS RAIL. SET TO 'false' IF ROBOT ARM IS STATIONARY. #define STEPS_PER_MM_RAIL 80.0 // STEPS PER MM FOR RAIL MOTOR #define RAIL_LENGTH 200.0 // MAX LENGTH OF RAIL IN MM //ENDSTOP SETTINGS: #define X_MIN_INPUT 1 // OUTPUT VALUE WHEN SWITCH ACTIVATED #define Y_MIN_INPUT 1 // OUTPUT VALUE WHEN SWITCH ACTIVATED #define Z_MIN_INPUT 1 // OUTPUT VALUE WHEN SWITCH ACTIVATED #define E0_MIN_INPUT 1 // OUTPUT VALUE WHEN SWITCH ACTIVATED //GEAR RATIO SETTINGS #define MOTOR_GEAR_TEETH 9.0 // 20.0 FOR 20SFFACTORY BELT VERSION 9.0 FOR FTOBLER GEAR VERSION #define MAIN_GEAR_TEETH 32.0 // 90.0 FOR 20SFFACTORY BELT VERSION 32.0 FOR FTOBLER GEAR VERSION //EQUIPMENT SETTINGS #define LASER false // 12V LASER CONNECTED TO LASER_PIN #define PUMP false // 12V AIR PUMP CONNECTED TO PUMP_PIN #define FAN_DELAY 120 // FAN ON IN SECONDS //GRIPPER SETTINGS #define GRIPPER 0 //GRIPPER MOTOR IN USE // 0: 28BYJ-48 MICRO STEPPER MOTOR // 1: 9G SERVO OR MG996 SERVO EQUIVALENT //28BYJ GRIPPER SETTINGS #define BYJ_GRIP_STEPS 1200 //FTOBLER: 1200 //SERVO GRIPPER SETTINGS #define SERVO_GRIP_DEGREE 90.0 #define SERVO_UNGRIP_DEGREE 0.0 //COMMAND QUEUE SETTINGS #define QUEUE_SIZE 15 //PRINT REPLY SETTING #define PRINT_REPLY false // "true" TO PRINT MSG AFTER ONE COMMAND IS PROCESSED #define PRINT_REPLY_MSG "ok" // MSG SENT FOR USER'S POST PROCESSING WITH OTHER SOFTWARE //SPEED PROFILE SETTING #define SPEED_PROFILE 2 // OPTIONS BELOW //0: FLAT SPEED CURVE (CONSTANT SPEED PER MOVEMENT, SUITABLE FOR REALTIME CONTROL SOFTWARE) //1: ARCTAN APPROX (SLIGHT BELL CURVE ACCELERATION & DECELERATION) //2: COSIN APPROX (TOTAL BELL CURVE ACCEL FROM 0 & DECEL FROM 0, SUITABLE FOR PRESET COMMAND MOVEMENTS) //LOG SETTINGS #define LOG_LEVEL 2 //0: ERROR //1: INFO //2: DEBUG //MOVE LIMIT PARAMETERS #define Z_MIN -120.0 //MINIMUM Z HEIGHT OF TOOLHEAD TOUCHING GROUND #define Z_MAX (LOW_SHANK_LENGTH+30.0) //SHANK_LENGTH ADDING ARBITUARY NUMBER FOR Z_MAX #define SHANKS_MIN_ANGLE_COS 0.791436948 #define SHANKS_MAX_ANGLE_COS -0.774944489 #define R_MIN (sqrt((sq(LOW_SHANK_LENGTH) + sq(HIGH_SHANK_LENGTH)) - (2*LOW_SHANK_LENGTH*HIGH_SHANK_LENGTH*SHANKS_MIN_ANGLE_COS) )) #define R_MAX (sqrt((sq(LOW_SHANK_LENGTH) + sq(HIGH_SHANK_LENGTH)) - (2*LOW_SHANK_LENGTH*HIGH_SHANK_LENGTH*SHANKS_MAX_ANGLE_COS) )) #endif ================================================ FILE: arduino_firmware/robotArm_v0.31/RampsStepper.cpp ================================================ #include "rampsStepper.h" #include "config.h" #include RampsStepper::RampsStepper(int aStepPin, int aDirPin, int aEnablePin, bool aInverse) { setReductionRatio(MAIN_GEAR_TEETH / MOTOR_GEAR_TEETH, MICROSTEPS * STEPS_PER_REV); stepPin = aStepPin; dirPin = aDirPin; enablePin = aEnablePin; inverse = aInverse; stepperStepPosition = 0; stepperStepTargetPosition; pinMode(stepPin, OUTPUT); pinMode(dirPin, OUTPUT); pinMode(enablePin, OUTPUT); enable(false); } void RampsStepper::enable(bool value) { digitalWrite(enablePin, !value); } bool RampsStepper::isOnPosition() const { return stepperStepPosition == stepperStepTargetPosition; } int RampsStepper::getPosition() const { return stepperStepPosition; } void RampsStepper::setPosition(int value) { stepperStepPosition = value; stepperStepTargetPosition = value; } void RampsStepper::stepToPosition(int value) { stepperStepTargetPosition = value; } void RampsStepper::stepToPositionMM(float mm, float steps_per_mm) { stepperStepTargetPosition = mm * steps_per_mm; } void RampsStepper::stepRelative(int value) { value += stepperStepPosition; stepToPosition(value); } float RampsStepper::getPositionRad() const { return stepperStepPosition / radToStepFactor; } void RampsStepper::setPositionRad(float rad) { setPosition(rad * radToStepFactor); } void RampsStepper::stepToPositionRad(float rad) { stepperStepTargetPosition = rad * radToStepFactor; } void RampsStepper::stepRelativeRad(float rad) { stepRelative(rad * radToStepFactor); } void RampsStepper::update() { while (stepperStepTargetPosition < stepperStepPosition) { digitalWrite(dirPin, !inverse); digitalWrite(stepPin, HIGH); digitalWrite(stepPin, LOW); stepperStepPosition--; } while (stepperStepTargetPosition > stepperStepPosition) { digitalWrite(dirPin, inverse); digitalWrite(stepPin, HIGH); digitalWrite(stepPin, LOW); stepperStepPosition++; } } void RampsStepper::setReductionRatio(float gearRatio, int stepsPerRev) { radToStepFactor = gearRatio * stepsPerRev / 2 / PI; }; ================================================ FILE: arduino_firmware/robotArm_v0.31/RampsStepper.h ================================================ #ifndef RAMPSSTEPPER_H_ #define RAMPSSTEPPER_H_ class RampsStepper { public: RampsStepper(int aStepPin, int aDirPin, int aEnablePin, bool aInverse); void enable(bool value = true); bool isOnPosition() const; int getPosition() const; void setPosition(int value); void stepToPosition(int value); void stepToPositionMM(float mm, float steps_per_mm); void stepRelative(int value); float getPositionRad() const; void setPositionRad(float rad); void stepToPositionRad(float rad); void stepRelativeRad(float rad); void update(); void setReductionRatio(float gearRatio, int stepsPerRev); private: int stepperStepTargetPosition; int stepperStepPosition; int stepPin; int dirPin; int enablePin; bool inverse; float radToStepFactor; }; #endif ================================================ FILE: arduino_firmware/robotArm_v0.31/byj_gripper.cpp ================================================ #include "byj_gripper.h" #include BYJ_Gripper::BYJ_Gripper(int pin0, int pin1, int pin2, int pin3, int steps){ grip_steps = steps; byj_pin_0 = pin0; byj_pin_1 = pin1; byj_pin_2 = pin2; byj_pin_3 = pin3; step_cycle = 0; pinMode(byj_pin_0, OUTPUT); pinMode(byj_pin_1, OUTPUT); pinMode(byj_pin_2, OUTPUT); pinMode(byj_pin_3, OUTPUT); } void BYJ_Gripper::cmdOn() { direction = true; for (int i = 1; i <= grip_steps; i++) { moveSteps(); delay(1); } } void BYJ_Gripper::cmdOff() { direction = false; for (int i = 1; i <= grip_steps; i++) { moveSteps(); delay(1); } } void BYJ_Gripper::setDirection(){ if (direction == true) { step_cycle++; } if (direction == false) { step_cycle--; } if (step_cycle > 7) { step_cycle = 0; } if (step_cycle < 0) { step_cycle = 7; } } void BYJ_Gripper::moveSteps() { switch (step_cycle) { case 0: digitalWrite(byj_pin_0, LOW); digitalWrite(byj_pin_1, LOW); digitalWrite(byj_pin_2, LOW); digitalWrite(byj_pin_3, HIGH); break; case 1: digitalWrite(byj_pin_0, LOW); digitalWrite(byj_pin_1, LOW); digitalWrite(byj_pin_2, HIGH); digitalWrite(byj_pin_3, HIGH); break; case 2: digitalWrite(byj_pin_0, LOW); digitalWrite(byj_pin_1, LOW); digitalWrite(byj_pin_2, HIGH); digitalWrite(byj_pin_3, LOW); break; case 3: digitalWrite(byj_pin_0, LOW); digitalWrite(byj_pin_1, HIGH); digitalWrite(byj_pin_2, HIGH); digitalWrite(byj_pin_3, LOW); break; case 4: digitalWrite(byj_pin_0, LOW); digitalWrite(byj_pin_1, HIGH); digitalWrite(byj_pin_2, LOW); digitalWrite(byj_pin_3, LOW); break; case 5: digitalWrite(byj_pin_0, HIGH); digitalWrite(byj_pin_1, HIGH); digitalWrite(byj_pin_2, LOW); digitalWrite(byj_pin_3, LOW); break; case 6: digitalWrite(byj_pin_0, HIGH); digitalWrite(byj_pin_1, LOW); digitalWrite(byj_pin_2, LOW); digitalWrite(byj_pin_3, LOW); break; case 7: digitalWrite(byj_pin_0, HIGH); digitalWrite(byj_pin_1, LOW); digitalWrite(byj_pin_2, LOW); digitalWrite(byj_pin_3, HIGH); break; default: digitalWrite(byj_pin_0, LOW); digitalWrite(byj_pin_1, LOW); digitalWrite(byj_pin_2, LOW); digitalWrite(byj_pin_3, LOW); break; } setDirection(); } ================================================ FILE: arduino_firmware/robotArm_v0.31/byj_gripper.h ================================================ #ifndef BYJ_GRIPPER_H_ #define BYJ_GRIPPER_H_ class BYJ_Gripper { public: BYJ_Gripper(int pin0, int pin1, int pin2, int pin3, int steps); void cmdOn(); void cmdOff(); private: bool direction; void moveSteps(); void setDirection(); int byj_pin_0; int byj_pin_1; int byj_pin_2; int byj_pin_3; int grip_steps; int step_cycle; }; #endif ================================================ FILE: arduino_firmware/robotArm_v0.31/command.cpp ================================================ #include "command.h" #include "logger.h" #include Command::Command() { //initialize Command to a zero-move value; new_command.valueX = NAN; new_command.valueY = NAN; new_command.valueZ = NAN; new_command.valueF = 0; new_command.valueE = NAN; new_command.valueS = 0; message = ""; isRelativeCoord = false; } bool Command::handleGcode() { if (Serial.available()) { char c = Serial.read(); if (c == '\n') { return false; } if (c == '\r') { bool b = processMessage(message); message = ""; return b; } else { message += c; } } return false; } bool Command::processMessage(String msg){ new_command.valueX = NAN; new_command.valueY = NAN; new_command.valueZ = NAN; new_command.valueE = NAN; new_command.valueF = 0; new_command.valueS = 0; msg.toUpperCase(); msg.replace(" ", ""); int active_index = 0; new_command.id = msg[active_index]; if((new_command.id != 'G') && (new_command.id != 'M')){ printErr(); return false; } active_index++; int temp_index = active_index; while (temp_index #include "interpolation.h" struct Cmd { char id; int num; float valueX; float valueY; float valueZ; float valueF; float valueE; float valueS; }; class Command { public: Command(); bool handleGcode(); bool processMessage(String msg); void value_segment(String msg_segment); Cmd getCmd() const; void cmdGetPosition(Point pos, Point pos_offset, float highRad, float lowRad, float rotRad); void cmdToRelative(); void cmdToAbsolute(); bool isRelativeCoord; Cmd new_command; private: String message; }; void cmdMove(Cmd(&cmd), Point pos, Point pos_offset, bool isRelativeCoord); void cmdDwell(Cmd(&cmd)); void printErr(); #endif ================================================ FILE: arduino_firmware/robotArm_v0.31/config.h ================================================ #ifndef CONFIG_H_ #define CONFIG_H_ //SERIAL SETTINGS #define BAUD 115200 //ROBOT ARM LENGTH #define SHANK_LENGTH 140.0 #define END_EFFECTOR_OFFSET 55.0 // LENGTH FROM UPPER SHANK BEARING TO MIDPOINT OF END EFFECTOR IN MM //INITIAL INTERPOLATION SETTINGS // INITIAL_XYZ FORMS VERTICAL LOWER ARM & HORIZONTAL UPPER ARM IN 90 DEGREES #define INITIAL_X 0.0 // CARTESIAN COORDINATE X #define INITIAL_Y (SHANK_LENGTH+END_EFFECTOR_OFFSET) // CARTESIAN COORDINATE Y #define INITIAL_Z SHANK_LENGTH // CARTESIAN COORDINATE Z #define INITIAL_E0 0.0 // RAIL STEPPER ENDSTOP POSITION // CALIBRATE HOME STEPS TO REACH DESIRED INITIAL_XYZ POSITIONS #define X_HOME_STEPS 765 //860 // STEPS FROM X_ENDSTOP TO INITIAL_XYZ FOR UPPER ARM #define Y_HOME_STEPS 1750 //1940 // STEPS FROM Y_ENDSTOP TO INITIAL_XYZ FOR LOWER ARM #define Z_HOME_STEPS 3721 // STEPS FROM Z_ENDSTOP TO INITIAL_XYZ FOR ROTATION CENTER #define E0_HOME_STEPS 0 // STEPS FROM E0_ENDSTOP TO INITIAL_E0 //HOMING SETTINGS: #define HOME_X_STEPPER true // "true" IF ENDSTOP IS INSTALLED #define HOME_Y_STEPPER true // "true" IF ENDSTOP IS INSTALLED #define HOME_Z_STEPPER true // "true" IF ENDSTOP IS INSTALLED #define HOME_E0_STEPPER true // "true" IF ENDSTOP IS INSTALLED #define HOME_ON_BOOT false // "true" IF HOMING REQUIRED AFTER POWER ON #define HOME_DWELL 1400 // INCREASE TO SLOW DOWN HOMING SPEED //STEPPER SETTINGS: #define MICROSTEPS 16 // MICROSTEPPING CONFIGURATION ON RAMPS1.4 #define STEPS_PER_REV 200 // NEMA17 STEPS PER REVOLUTION #define INVERSE_X_STEPPER true // CHANGE IF STEPPER MOVES OTHER WAY #define INVERSE_Y_STEPPER false // CHANGE IF STEPPER MOVES OTHER WAY #define INVERSE_Z_STEPPER true // CHANGE IF STEPPER MOVES OTHER WAY #define INVERSE_E0_STEPPER false // CHANGE IF STEPPER MOVES OTHER WAY //RAIL SETTINGS: #define RAIL true // E0 STEPPER USED AS RAIL. SET TO 'false' IF ROBOT ARM IS STATIONARY. #define STEPS_PER_MM_RAIL 80.0 // STEPS PER MM FOR RAIL MOTOR #define RAIL_LENGTH 200.0 // MAX LENGTH OF RAIL IN MM //ENDSTOP SETTINGS: #define X_MIN_INPUT 1 // OUTPUT VALUE WHEN SWITCH ACTIVATED #define Y_MIN_INPUT 1 // OUTPUT VALUE WHEN SWITCH ACTIVATED #define Z_MIN_INPUT 1 // OUTPUT VALUE WHEN SWITCH ACTIVATED #define E0_MIN_INPUT 1 // OUTPUT VALUE WHEN SWITCH ACTIVATED //GEAR RATIO SETTINGS #define MOTOR_GEAR_TEETH 20.0 // 20.0 FOR 20SFFACTORY BELT VERSION 9.0 FOR FTOBLER GEAR VERSION #define MAIN_GEAR_TEETH 90.0 // 90.0 FOR 20SFFACTORY BELT VERSION 32.0 FOR FTOBLER GEAR VERSION //EQUIPMENT SETTINGS #define LASER false // 12V LASER CONNECTED TO LASER_PIN #define PUMP false // 12V AIR PUMP CONNECTED TO PUMP_PIN #define FAN_DELAY 120 // FAN ON IN SECONDS //28BYJ GRIPPER SETTINGS #define GRIP_STEPS 1200 //FTOBLER: 1200 //COMMAND QUEUE SETTINGS #define QUEUE_SIZE 15 //PRINT REPLY SETTING #define PRINT_REPLY false // "true" TO PRINT MSG AFTER ONE COMMAND IS PROCESSED #define PRINT_REPLY_MSG "ok" // MSG SENT FOR USER'S POST PROCESSING WITH OTHER SOFTWARE //SPEED PROFILE SETTING #define SPEED_PROFILE 2 // OPTIONS BELOW //0: FLAT SPEED CURVE (CONSTANT SPEED PER MOVEMENT, SUITABLE FOR REALTIME CONTROL SOFTWARE) //1: ARCTAN APPROX (SLIGHT BELL CURVE ACCELERATION & DECELERATION) //2: COSIN APPROX (TOTAL BELL CURVE ACCEL FROM 0 & DECEL FROM 0, SUITABLE FOR PRESET COMMAND MOVEMENTS) //LOG SETTINGS #define LOG_LEVEL 2 //0: ERROR //1: INFO //2: DEBUG //MOVE LIMIT PARAMETERS #define Z_MIN -125.0 //MINIMUM Z HEIGHT OF TOOLHEAD TOUCHING GROUND #define Z_MAX (SHANK_LENGTH+30.0) //SHANK_LENGTH ADDING ARBITUARY NUMBER FOR Z_MAX #define R_MIN (SHANK_LENGTH * 0.85 + END_EFFECTOR_OFFSET) //INNER RADIUS MINIMUM. x0.85 APPROX OF LAW OF COSINES #define R_MAX (SHANK_LENGTH * 1.85 + END_EFFECTOR_OFFSET) //OUTTER RADIUS MAXIMUM. x1.85 APPROX OF LAW OF COSINES #endif ================================================ FILE: arduino_firmware/robotArm_v0.31/endstop.cpp ================================================ #include "endstop.h" #include Endstop::Endstop(int a_min_pin, int a_dir_pin, int a_step_pin, int a_en_pin, int a_switch_input, int a_step_offset, int a_home_dwell){ min_pin = a_min_pin; dir_pin = a_dir_pin; step_pin = a_step_pin; en_pin = a_en_pin; switch_input = a_switch_input; home_dwell = a_home_dwell; step_offset = a_step_offset; pinMode(min_pin, INPUT_PULLUP); } void Endstop::home(bool dir) { digitalWrite(en_pin, LOW); delayMicroseconds(5); if (dir==1){ digitalWrite(dir_pin, HIGH); } else { digitalWrite(dir_pin, LOW); } delayMicroseconds(5); bState = digitalRead(min_pin); while (bState != switch_input) { digitalWrite(step_pin, HIGH); digitalWrite(step_pin, LOW); delayMicroseconds(home_dwell); bState = digitalRead(min_pin); } homeOffset(dir); } void Endstop::homeOffset(bool dir){ if (dir==1){ digitalWrite(dir_pin, LOW); } else{ digitalWrite(dir_pin, HIGH); } delayMicroseconds(5); for (int i = 1; i <= step_offset; i++) { digitalWrite(step_pin, HIGH); digitalWrite(step_pin, LOW); delayMicroseconds(home_dwell); } } bool Endstop::state(){ bState = digitalRead(min_pin); return bState; } ================================================ FILE: arduino_firmware/robotArm_v0.31/endstop.h ================================================ #ifndef ENDSTOP_H_ #define ENDSTOP_H_ class Endstop { public: Endstop(int a_min_pin, int a_dir_pin, int a_step_pin, int a_en_pin, int a_switch_input, int a_step_offset, int a_home_dwell); void home(bool dir); bool state(); private: int min_pin; int dir_pin; int step_pin; int en_pin; int switch_input; int home_dwell; int step_offset; void homeOffset(bool dir); bool bState; }; #endif ================================================ FILE: arduino_firmware/robotArm_v0.31/equipment.cpp ================================================ #include "equipment.h" #include Equipment::Equipment(int equipment_pin){ pin = equipment_pin; pinMode(pin, OUTPUT); } void Equipment::cmdOn(){ digitalWrite(pin, HIGH); } void Equipment::cmdOff(){ digitalWrite(pin, LOW); } ================================================ FILE: arduino_firmware/robotArm_v0.31/equipment.h ================================================ #ifndef EQUIPMENT_H_ #define EQUIPMENT_H_ class Equipment { public: Equipment(int equipment_pin); void cmdOn(); void cmdOff(); private: int pin; }; #endif ================================================ FILE: arduino_firmware/robotArm_v0.31/fanControl.cpp ================================================ #include "fanControl.h" #include FanControl::FanControl(int aPin, int aFanDelay) { fan_delay = aFanDelay * 1000; nextShutdown = 0; pin = aPin; pinMode(pin , OUTPUT); digitalWrite(pin , LOW); state = false; } void FanControl::enable(bool value) { if (value) { state = true; digitalWrite(pin, HIGH); } else { disable(); } } void FanControl::disable() { state = false; nextShutdown = millis() + fan_delay; update(); } void FanControl::update() { if (!state) { if (millis() >= nextShutdown) { digitalWrite(pin, LOW); } } } ================================================ FILE: arduino_firmware/robotArm_v0.31/fanControl.h ================================================ #ifndef FANCONTROL_H_ #define FANCONTROL_H_ class FanControl { public: FanControl(int aPin, int aFanDelay); void enable(bool value = true); void disable(); void update(); private: bool state; int pin; long fan_delay; long nextShutdown; }; #endif ================================================ FILE: arduino_firmware/robotArm_v0.31/interpolation.cpp ================================================ #include "interpolation.h" #include "config.h" #include "queue.h" #include "logger.h" Interpolation::Interpolation(){ pos_offset.xmm = 0.0; pos_offset.ymm = 0.0; pos_offset.zmm = 0.0; pos_offset.emm = 0.0; } //G92 POSITION OFFSET FUNCTIONS void Interpolation::setPosOffset(float new_x, float new_y, float new_z, float new_e) { pos_offset.xmm = xPosmm - new_x; pos_offset.ymm = yPosmm - new_y; pos_offset.zmm = zPosmm - new_z; pos_offset.emm = ePosmm - new_e; Logger::logINFO("POSITION OFFSET: [X" + String(pos_offset.xmm) + " Y:" + String(pos_offset.ymm) + " Z:" + String(pos_offset.zmm) + " E:" + String(pos_offset.emm) + "]"); Logger::logINFO("CURRENT POSITION: [X:"+String(new_x)+" Y:"+String(new_y)+" Z:"+String(new_z)+" E:"+String(new_e)+"]"); } void Interpolation::resetPosOffset(){ pos_offset.xmm = 0.0; pos_offset.ymm = 0.0; pos_offset.zmm = 0.0; pos_offset.emm = 0.0; } Point Interpolation::getPosOffset() const { return pos_offset; } void Interpolation::setCurrentPos(float px, float py, float pz, float pe) { Point p; p.xmm = px; p.ymm = py; p.zmm = pz; p.emm = pe; setCurrentPos(p); } void Interpolation::setInterpolation(float px, float py, float pz, float pe, float v) { Point p; p.xmm = px; p.ymm = py; p.zmm = pz; p.emm = pe; setInterpolation(p, v); } void Interpolation::setInterpolation(float p1x, float p1y, float p1z, float p1e, float p2x, float p2y, float p2z, float p2e, float v) { Point p1; Point p2; p1.xmm = p1x; p1.ymm = p1y; p1.zmm = p1z; p1.emm = p1e; p2.xmm = p2x; p2.ymm = p2y; p2.zmm = p2z; p2.emm = p2e; setInterpolation(p1, p2, v); } void Interpolation::setInterpolation(Point p1, float v) { Point p0; p0.xmm = xStartmm + xDelta; p0.ymm = yStartmm + yDelta; p0.zmm = zStartmm + zDelta; p0.emm = eStartmm + eDelta; setInterpolation(p0, p1, v); } void Interpolation::setInterpolation(Point p0, Point p1, float av) { v = av; //mm/s float a = (p1.xmm - p0.xmm); float b = (p1.ymm - p0.ymm); float c = (p1.zmm - p0.zmm); float e = abs(p1.emm - p0.emm); float dist = sqrt(a*a + b*b + c*c); if (dist < e) { dist = e; } if (v < 5) { //includes 0 = default value v = sqrt(dist) * 10; //set a good value for v } if (v < 5) { v = 5; } tmul = v / dist; xStartmm = p0.xmm; yStartmm = p0.ymm; zStartmm = p0.zmm; eStartmm = p0.emm; xDelta = (p1.xmm - p0.xmm); yDelta = (p1.ymm - p0.ymm); zDelta = (p1.zmm - p0.zmm); eDelta = (p1.emm - p0.emm); state = 0; startTime = micros(); } void Interpolation::setCurrentPos(Point p) { xStartmm = p.xmm; yStartmm = p.ymm; zStartmm = p.zmm; eStartmm = p.emm; xDelta = 0; yDelta = 0; zDelta = 0; eDelta = 0; } void Interpolation::updateActualPosition() { if (state != 0) { return; } long microsek = micros(); float t = (microsek - startTime) / 1000000.0; float progress; switch (SPEED_PROFILE){ // FLAT SPEED CURVE case 0: progress = t * tmul; if (progress >= 1.0){ progress = 1.0; state = 1; } break; // ARCTAN APPROX case 1: progress = atan((PI * t * tmul) - (PI * 0.5)) * 0.5 + 0.5; if (progress >= 1.0) { progress = 1.0; state = 1; } break; // COSIN APPROX case 2: progress = -cos(t * tmul * PI) * 0.5 + 0.5; if ((t * tmul) >= 1.0) { progress = 1.0; state = 1; } break; } pos_tracker[X_AXIS] = xStartmm + progress * xDelta; pos_tracker[Y_AXIS] = yStartmm + progress * yDelta; pos_tracker[Z_AXIS] = zStartmm + progress * zDelta; pos_tracker[E_AXIS] = eStartmm + progress * eDelta; if(isAllowedPosition(pos_tracker)){ xPosmm = pos_tracker[X_AXIS]; yPosmm = pos_tracker[Y_AXIS]; zPosmm = pos_tracker[Z_AXIS]; ePosmm = pos_tracker[E_AXIS]; } else { pos_tracker[X_AXIS] = xPosmm; pos_tracker[Y_AXIS] = yPosmm; pos_tracker[Z_AXIS] = zPosmm; pos_tracker[E_AXIS] = ePosmm; state = 1; progress = 1.0; xStartmm = xPosmm; yStartmm = yPosmm; zStartmm = zPosmm; eStartmm = ePosmm; xDelta = 0; yDelta = 0; zDelta = 0; eDelta = 0; } //FOR DECIPHERING SPEED CURVE //Serial.print("xPosmm:"); //Serial.print(xPosmm); //Serial.print(" yPosmm:"); //Serial.print(yPosmm); //Serial.print(" zPosmm:"); //Serial.println(zPosmm); } bool Interpolation::isFinished() const { return state != 0; } float Interpolation::getXPosmm() const { return xPosmm; } float Interpolation::getYPosmm() const { return yPosmm; } float Interpolation::getZPosmm() const { return zPosmm; } float Interpolation::getEPosmm() const { return ePosmm; } Point Interpolation::getPosmm() const { Point p; p.xmm = xPosmm; p.ymm = yPosmm; p.zmm = zPosmm; p.emm = ePosmm; return p; } bool Interpolation::isAllowedPosition(float pos_tracker[4]) { float squaredPositionModule = pos_tracker[X_AXIS]*pos_tracker[X_AXIS] + pos_tracker[Y_AXIS]*pos_tracker[Y_AXIS] + pos_tracker[Z_AXIS]*pos_tracker[Z_AXIS]; if((squaredPositionModule <= R_MAX*R_MAX) && (squaredPositionModule >= R_MIN*R_MIN) && (pos_tracker[Z_AXIS]) >= Z_MIN && (pos_tracker[Z_AXIS]) <= Z_MAX && (pos_tracker[E_AXIS]) <= RAIL_LENGTH) { return true; } //Logger::logDEBUG("squaredPositionModule: " + String(squaredPositionModule) + ", R_MIN^2: " + String(R_MIN*R_MIN) + ", R_MAX^2: " + String(R_MAX*R_MAX)); Logger::logERROR("LIMIT REACHED: [X:" + String(pos_tracker[X_AXIS]) + " Y:" + String(pos_tracker[Y_AXIS]) + " Z:" + String(pos_tracker[Z_AXIS]) + " E:" + String(pos_tracker[E_AXIS]) + "]"); return false; } ================================================ FILE: arduino_firmware/robotArm_v0.31/interpolation.h ================================================ #ifndef INTERPOLATION_H_ #define INTERPOLATION_H_ #include #define X_AXIS 0 #define Y_AXIS 1 #define Z_AXIS 2 #define E_AXIS 3 struct Point { float xmm; float ymm; float zmm; float emm; }; class Interpolation { public: //void resetInterpolation(float px, float py, float pz); //void resetInterpolation(float p1x, float p1y, float p1z, float p2x, float p2y, float p2z); //void resetInterpolation(Point p0, Point p1); Interpolation(); void setCurrentPos(float px, float py, float pz, float pe); void setInterpolation(float px, float py, float pz, float pe, float v = 0); void setInterpolation(float p1x, float p1y, float p1z, float p1e, float p2x, float p2y, float p2z, float p2e, float av = 0); void setCurrentPos(Point p); void setInterpolation(Point p1, float v = 0); void setInterpolation(Point p0, Point p1, float v = 0); void updateActualPosition(); bool isFinished() const; float getXPosmm() const; float getYPosmm() const; float getZPosmm() const; float getEPosmm() const; Point getPosmm() const; bool isAllowedPosition(float pos_tracker[4]); void setPosOffset(float new_x, float new_y, float new_z, float new_e); void resetPosOffset(); Point getPosOffset() const; private: Point pos_offset; float pos_tracker[4]; byte state; long startTime; float xStartmm; float yStartmm; float zStartmm; float eStartmm; float xDelta; float yDelta; float zDelta; float eDelta; float xPosmm; float yPosmm; float zPosmm; float ePosmm; float v; float tmul; }; #endif ================================================ FILE: arduino_firmware/robotArm_v0.31/logger.cpp ================================================ #include "logger.h" #include "config.h" void Logger::log(String message, int level) { if(LOG_LEVEL >= level) { switch(level) { case LOG_ERROR: Serial.print("ERROR: "); break; case LOG_INFO: Serial.print("INFO: "); break; case LOG_DEBUG: Serial.print("DEBUG: "); break; } Serial.println(message); } } void Logger::logERROR(String message) { log(message, LOG_ERROR); } void Logger::logINFO(String message) { log(message, LOG_INFO); } void Logger::logDEBUG(String message) { log(message, LOG_DEBUG); } ================================================ FILE: arduino_firmware/robotArm_v0.31/logger.h ================================================ #ifndef LOGGER_H_ #define LOGGER_H_ #include #define LOG_ERROR 0 #define LOG_INFO 1 #define LOG_DEBUG 2 class Logger { public: static void log(String message, int level); static void logINFO(String message); static void logERROR(String message); static void logDEBUG(String message); }; #endif ================================================ FILE: arduino_firmware/robotArm_v0.31/pinout.h ================================================ #ifndef PINOUT_H_ #define PINOUT_H_ /* * pinout of RAMPS 1.4 * * source: http://reprap.org/wiki/RAMPS_1.4 */ //RAMPS 1.4 PINS #define X_STEP_PIN 54 #define X_DIR_PIN 55 #define X_ENABLE_PIN 38 #define X_MIN_PIN 3 #define X_MAX_PIN 2 #define Y_STEP_PIN 60 #define Y_DIR_PIN 61 #define Y_ENABLE_PIN 56 #define Y_MIN_PIN 14 #define Y_MAX_PIN 15 #define Z_STEP_PIN 46 #define Z_DIR_PIN 48 #define Z_ENABLE_PIN 62 #define Z_MIN_PIN 18 #define Z_MAX_PIN 19 #define E0_STEP_PIN 26 #define E0_DIR_PIN 28 #define E0_ENABLE_PIN 24 #define E0_MIN_PIN 20 #define E1_STEP_PIN 36 #define E1_DIR_PIN 34 #define E1_ENABLE_PIN 30 #define BYJ_PIN_0 40 #define BYJ_PIN_1 63 #define BYJ_PIN_2 59 #define BYJ_PIN_3 64 #define PUMP_PIN 8 #define LASER_PIN 10 #define LED_PIN 13 #define SDPOWER -1 #define SDSS 53 #define FAN_PIN 9 #define PS_ON_PIN 12 #define KILL_PIN -1 //#define HEATER_0_PIN 10 //#define HEATER_1_PIN 8 #define TEMP_0_PIN 13 // ANALOG NUMBERING #define TEMP_1_PIN 14 // ANALOG NUMBERING //RAMPS AUX-2 #endif ================================================ FILE: arduino_firmware/robotArm_v0.31/queue.h ================================================ #ifndef QUEUE_H_ #define QUEUE_H_ template class Queue { public: Queue(int alen); ~Queue(); bool push(Element elem); Element pop(); bool isFull() const; bool isEmpty() const; int getFreeSpace() const; int getMaxLength() const; inline int getUsedSpace() const; private: Queue(Queue& q); //copy const. Element* data; int len; int start; int count; }; template Queue::Queue(int alen) { data = new Element[alen]; len = alen; start = 0; count = 0; } template Queue::~Queue() { delete data; } template Queue::Queue(Queue& q) { //nothing ever is allowed to do something here } template bool Queue::push(Element elem) { data[(start + count++) % len] = elem; } template Element Queue::pop() { count--; int s = start; start = (start + 1) % len; return data[(s) % len]; } template bool Queue::isFull() const { return count >= len; } template bool Queue::isEmpty() const { return count <= 0; } template int Queue::getFreeSpace() const { return len - count; } template int Queue::getMaxLength() const { return len; } template int Queue::getUsedSpace() const { return count; } #endif ================================================ FILE: arduino_firmware/robotArm_v0.31/robotArm_v0.31.ino ================================================ //20SFFACTORY COMMUNITY ROBOT FIRMWARE v0.31 //WITH G92, M114, LOGGER, LIMIT_CHECK FUNCTIONS #include "config.h" #include "pinout.h" #include "logger.h" #include #include "robotGeometry.h" #include "interpolation.h" #include "fanControl.h" #include "rampsStepper.h" #include "queue.h" #include "command.h" #include "byj_gripper.h" #include "equipment.h" #include "endstop.h" //STEPPER OBJECTS RampsStepper stepperHigher(X_STEP_PIN, X_DIR_PIN, X_ENABLE_PIN, INVERSE_X_STEPPER); RampsStepper stepperLower(Y_STEP_PIN, Y_DIR_PIN, Y_ENABLE_PIN, INVERSE_Y_STEPPER); RampsStepper stepperRotate(Z_STEP_PIN, Z_DIR_PIN, Z_ENABLE_PIN, INVERSE_Z_STEPPER); //RAIL OBJECTS RampsStepper stepperRail(E0_STEP_PIN, E0_DIR_PIN, E0_ENABLE_PIN, INVERSE_E0_STEPPER); Endstop endstopE0(E0_MIN_PIN, E0_DIR_PIN, E0_STEP_PIN, E0_ENABLE_PIN, E0_MIN_INPUT, E0_HOME_STEPS, HOME_DWELL); //ENDSTOP OBJECTS Endstop endstopX(X_MIN_PIN, X_DIR_PIN, X_STEP_PIN, X_ENABLE_PIN, X_MIN_INPUT, X_HOME_STEPS, HOME_DWELL); Endstop endstopY(Y_MIN_PIN, Y_DIR_PIN, Y_STEP_PIN, Y_ENABLE_PIN, Y_MIN_INPUT, Y_HOME_STEPS, HOME_DWELL); Endstop endstopZ(Z_MIN_PIN, Z_DIR_PIN, Z_STEP_PIN, Z_ENABLE_PIN, Z_MIN_INPUT, Z_HOME_STEPS, HOME_DWELL); //EQUIPMENT OBJECTS BYJ_Gripper byj_gripper(BYJ_PIN_0, BYJ_PIN_1, BYJ_PIN_2, BYJ_PIN_3, GRIP_STEPS); Equipment laser(LASER_PIN); Equipment pump(PUMP_PIN); Equipment led(LED_PIN); FanControl fan(FAN_PIN, FAN_DELAY); //EXECUTION & COMMAND OBJECTS RobotGeometry geometry(END_EFFECTOR_OFFSET, SHANK_LENGTH); Interpolation interpolator; Queue queue(QUEUE_SIZE); Command command; void setup() { Serial.begin(BAUD); stepperHigher.setPositionRad(PI / 2.0); // 90° stepperLower.setPositionRad(0); // 0° stepperRotate.setPositionRad(0); // 0° stepperRail.setPosition(0); if (HOME_ON_BOOT) { //HOME DURING SETUP() IF HOME_ON_BOOT ENABLED homeSequence(); Logger::logINFO("ROBOT ONLINE"); } else { setStepperEnable(false); //ROBOT ADJUSTABLE BY HAND AFTER TURNING ON if (HOME_X_STEPPER && HOME_Y_STEPPER && !HOME_Z_STEPPER){ Logger::logINFO("ROBOT ONLINE"); Logger::logINFO("ROTATE ROBOT TO FACE FRONT CENTRE & SEND G28 TO CALIBRATE"); } if (HOME_X_STEPPER && HOME_Y_STEPPER && HOME_Z_STEPPER){ Logger::logINFO("ROBOT ONLINE"); Logger::logINFO("SEND G28 TO CALIBRATE"); } if (!HOME_X_STEPPER && !HOME_Y_STEPPER){ Logger::logINFO("ROBOT ONLINE"); Logger::logINFO("HOME ROBOT MANUALLY & SEND G28 TO CALIBRATE"); } } interpolator.setInterpolation(INITIAL_X, INITIAL_Y, INITIAL_Z, INITIAL_E0, INITIAL_X, INITIAL_Y, INITIAL_Z, INITIAL_E0); } void loop() { interpolator.updateActualPosition(); geometry.set(interpolator.getXPosmm(), interpolator.getYPosmm(), interpolator.getZPosmm()); stepperRotate.stepToPositionRad(geometry.getRotRad()); stepperLower.stepToPositionRad(geometry.getLowRad()); stepperHigher.stepToPositionRad(geometry.getHighRad()); if (RAIL){ stepperRail.stepToPositionMM(interpolator.getEPosmm(), STEPS_PER_MM_RAIL); } stepperRotate.update(); stepperLower.update(); stepperHigher.update(); if (RAIL){ stepperRail.update(); } fan.update(); if (!queue.isFull()) { if (command.handleGcode()) { queue.push(command.getCmd()); } } if ((!queue.isEmpty()) && interpolator.isFinished()) { executeCommand(queue.pop()); if (PRINT_REPLY) {Serial.println(PRINT_REPLY_MSG);} } if (millis() % 500 < 250) { led.cmdOn(); } else { led.cmdOff(); } } void executeCommand(Cmd cmd) { if (cmd.id == -1) { printErr(); return; } if (cmd.id == 'G') { switch (cmd.num) { case 0: case 1: fan.enable(true); Point posoffset; posoffset = interpolator.getPosOffset(); cmdMove(cmd, interpolator.getPosmm(), posoffset, command.isRelativeCoord); interpolator.setInterpolation(cmd.valueX, cmd.valueY, cmd.valueZ, cmd.valueE, cmd.valueF); Logger::logINFO("LINEAR MOVE: X" + String(cmd.valueX-posoffset.xmm) + " Y" + String(cmd.valueY-posoffset.ymm) + " Z" + String(cmd.valueZ-posoffset.zmm) + " E" + String(cmd.valueE-posoffset.emm)); break; case 4: cmdDwell(cmd); break; case 28: homeSequence(); break; case 90: command.cmdToAbsolute(); break; // ABSOLUTE COORDINATE MODE case 91: command.cmdToRelative(); break; // RELATIVE COORDINATE MODE case 92: interpolator.resetPosOffset(); cmdMove(cmd, interpolator.getPosmm(), interpolator.getPosOffset(), false); interpolator.setPosOffset(cmd.valueX, cmd.valueY, cmd.valueZ, cmd.valueE); break; default: printErr(); } } else if (cmd.id == 'M') { switch (cmd.num) { case 1: pump.cmdOn(); break; case 2: pump.cmdOff(); break; case 3: byj_gripper.cmdOn(); break; case 5: byj_gripper.cmdOff(); break; case 6: laser.cmdOn(); break; case 7: laser.cmdOff(); break; case 17: setStepperEnable(true); break; case 18: setStepperEnable(false); break; case 106: fan.enable(true); break; case 107: fan.enable(false); break; case 114: command.cmdGetPosition(interpolator.getPosmm(), interpolator.getPosOffset(), stepperHigher.getPosition(), stepperLower.getPosition(), stepperRotate.getPosition()); break;// Return the current positions of all axis case 119: Logger::logINFO("ENDSTOP STATE: [UPPER_SHANK(X):"+String(endstopX.state())+" LOWER_SHANK(Y):"+String(endstopY.state())+" ROTATE_GEAR(Z):"+String(endstopZ.state())+"]"); break; default: printErr(); } } else { printErr(); } } void setStepperEnable(bool enable){ stepperRotate.enable(enable); stepperLower.enable(enable); stepperHigher.enable(enable); if(RAIL){ stepperRail.enable(enable); } fan.enable(enable); } void homeSequence(){ setStepperEnable(false); fan.enable(true); if (HOME_Y_STEPPER){ endstopY.home(!INVERSE_Y_STEPPER); //INDICATE STEPPER HOMING DIRECTION } if (HOME_X_STEPPER){ endstopX.home(!INVERSE_X_STEPPER); //INDICATE STEPPER HOMING DIRECTION } if (HOME_Z_STEPPER){ endstopZ.home(INVERSE_Z_STEPPER); //INDICATE STEPPER HOMING DIRECDTION } if (RAIL){ if (HOME_E0_STEPPER){ endstopE0.home(!INVERSE_E0_STEPPER); // } } interpolator.setInterpolation(INITIAL_X, INITIAL_Y, INITIAL_Z, INITIAL_E0, INITIAL_X, INITIAL_Y, INITIAL_Z, INITIAL_E0); Logger::logINFO("HOMING COMPLETE"); } ================================================ FILE: arduino_firmware/robotArm_v0.31/robotGeometry.cpp ================================================ #include "robotGeometry.h" #include #include RobotGeometry::RobotGeometry(float a_ee_offset, float a_shank_length) { ee_offset = a_ee_offset; shank_length = a_shank_length; } void RobotGeometry::set(float axmm, float aymm, float azmm) { xmm = axmm; ymm = aymm; zmm = azmm; calculateGrad(); } float RobotGeometry::getXmm() const { return xmm; } float RobotGeometry::getYmm() const { return ymm; } float RobotGeometry::getZmm() const { return zmm; } float RobotGeometry::getRotRad() const { return rot; } float RobotGeometry::getLowRad() const { return low; } float RobotGeometry::getHighRad() const { return high; } void RobotGeometry::calculateGrad() { float rrot = sqrt((xmm * xmm) + (ymm * ymm)) - ee_offset; //radius from Top View float rrot_ee = rrot + ee_offset; float rside = sqrt((rrot * rrot) + (zmm * zmm)); //radius from Side View. Use rrot instead of ymm..for everything rot = asin(xmm / rrot_ee); high = acos((rside * 0.5) / shank_length) * 2.0; //Angle of Lower Stepper Motor (asin()=Angle To Gripper) if (zmm > 0) { low = asin(rrot / rside) + ((PI - high) / 2.0) - (PI / 2.0); } else { low = PI - asin(rrot / rside) + ((PI - high) / 2.0) - (PI / 2.0); } //correct higher Angle as it is mechanically bounded width lower Motor high = high + low; } ================================================ FILE: arduino_firmware/robotArm_v0.31/robotGeometry.h ================================================ #ifndef ROBOTGEOMETRY_H_ #define ROBOTGEOMETRY_H_ class RobotGeometry { public: RobotGeometry(float a_ee_offset, float a_shank_length); void set(float axmm, float aymm, float azmm); float getXmm() const; float getYmm() const; float getZmm() const; float getRotRad() const; float getLowRad() const; float getHighRad() const; private: void calculateGrad(); float ee_offset; float shank_length; float xmm; float ymm; float zmm; float rot; float low; float high; }; #endif ================================================ FILE: arduino_firmware/robotArm_v0.41/RampsStepper.cpp ================================================ #include "RampsStepper.h" #include "config.h" #include RampsStepper::RampsStepper(int aStepPin, int aDirPin, int aEnablePin, bool aInverse) { setReductionRatio(MAIN_GEAR_TEETH / MOTOR_GEAR_TEETH, MICROSTEPS * STEPS_PER_REV); stepPin = aStepPin; dirPin = aDirPin; enablePin = aEnablePin; inverse = aInverse; stepperStepPosition = 0; stepperStepTargetPosition; pinMode(stepPin, OUTPUT); pinMode(dirPin, OUTPUT); pinMode(enablePin, OUTPUT); enable(false); } void RampsStepper::enable(bool value) { digitalWrite(enablePin, !value); } bool RampsStepper::isOnPosition() const { return stepperStepPosition == stepperStepTargetPosition; } int RampsStepper::getPosition() const { return stepperStepPosition; } void RampsStepper::setPosition(int value) { stepperStepPosition = value; stepperStepTargetPosition = value; } void RampsStepper::stepToPosition(int value) { stepperStepTargetPosition = value; } void RampsStepper::stepToPositionMM(float mm, float steps_per_mm) { stepperStepTargetPosition = mm * steps_per_mm; } void RampsStepper::stepRelative(int value) { value += stepperStepPosition; stepToPosition(value); } float RampsStepper::getPositionRad() const { return stepperStepPosition / radToStepFactor; } void RampsStepper::setPositionRad(float rad) { setPosition(rad * radToStepFactor); } void RampsStepper::stepToPositionRad(float rad) { stepperStepTargetPosition = rad * radToStepFactor; } void RampsStepper::stepRelativeRad(float rad) { stepRelative(rad * radToStepFactor); } void RampsStepper::update() { while (stepperStepTargetPosition < stepperStepPosition) { digitalWrite(dirPin, !inverse); digitalWrite(stepPin, HIGH); digitalWrite(stepPin, LOW); stepperStepPosition--; } while (stepperStepTargetPosition > stepperStepPosition) { digitalWrite(dirPin, inverse); digitalWrite(stepPin, HIGH); digitalWrite(stepPin, LOW); stepperStepPosition++; } } void RampsStepper::setReductionRatio(float gearRatio, int stepsPerRev) { radToStepFactor = gearRatio * stepsPerRev / 2 / PI; }; ================================================ FILE: arduino_firmware/robotArm_v0.41/RampsStepper.h ================================================ #ifndef RAMPSSTEPPER_H_ #define RAMPSSTEPPER_H_ class RampsStepper { public: RampsStepper(int aStepPin, int aDirPin, int aEnablePin, bool aInverse); void enable(bool value = true); bool isOnPosition() const; int getPosition() const; void setPosition(int value); void stepToPosition(int value); void stepToPositionMM(float mm, float steps_per_mm); void stepRelative(int value); float getPositionRad() const; void setPositionRad(float rad); void stepToPositionRad(float rad); void stepRelativeRad(float rad); void update(); void setReductionRatio(float gearRatio, int stepsPerRev); private: int stepperStepTargetPosition; int stepperStepPosition; int stepPin; int dirPin; int enablePin; bool inverse; float radToStepFactor; }; #endif ================================================ FILE: arduino_firmware/robotArm_v0.41/byj_gripper.cpp ================================================ #include "byj_gripper.h" #include BYJ_Gripper::BYJ_Gripper(int pin0, int pin1, int pin2, int pin3, int steps){ grip_steps = steps; byj_pin_0 = pin0; byj_pin_1 = pin1; byj_pin_2 = pin2; byj_pin_3 = pin3; step_cycle = 0; pinMode(byj_pin_0, OUTPUT); pinMode(byj_pin_1, OUTPUT); pinMode(byj_pin_2, OUTPUT); pinMode(byj_pin_3, OUTPUT); } void BYJ_Gripper::cmdOn() { direction = true; for (int i = 1; i <= grip_steps; i++) { moveSteps(); delay(1); } } void BYJ_Gripper::cmdOff() { direction = false; for (int i = 1; i <= grip_steps; i++) { moveSteps(); delay(1); } } void BYJ_Gripper::setDirection(){ if (direction == true) { step_cycle++; } if (direction == false) { step_cycle--; } if (step_cycle > 7) { step_cycle = 0; } if (step_cycle < 0) { step_cycle = 7; } } void BYJ_Gripper::moveSteps() { switch (step_cycle) { case 0: digitalWrite(byj_pin_0, LOW); digitalWrite(byj_pin_1, LOW); digitalWrite(byj_pin_2, LOW); digitalWrite(byj_pin_3, HIGH); break; case 1: digitalWrite(byj_pin_0, LOW); digitalWrite(byj_pin_1, LOW); digitalWrite(byj_pin_2, HIGH); digitalWrite(byj_pin_3, HIGH); break; case 2: digitalWrite(byj_pin_0, LOW); digitalWrite(byj_pin_1, LOW); digitalWrite(byj_pin_2, HIGH); digitalWrite(byj_pin_3, LOW); break; case 3: digitalWrite(byj_pin_0, LOW); digitalWrite(byj_pin_1, HIGH); digitalWrite(byj_pin_2, HIGH); digitalWrite(byj_pin_3, LOW); break; case 4: digitalWrite(byj_pin_0, LOW); digitalWrite(byj_pin_1, HIGH); digitalWrite(byj_pin_2, LOW); digitalWrite(byj_pin_3, LOW); break; case 5: digitalWrite(byj_pin_0, HIGH); digitalWrite(byj_pin_1, HIGH); digitalWrite(byj_pin_2, LOW); digitalWrite(byj_pin_3, LOW); break; case 6: digitalWrite(byj_pin_0, HIGH); digitalWrite(byj_pin_1, LOW); digitalWrite(byj_pin_2, LOW); digitalWrite(byj_pin_3, LOW); break; case 7: digitalWrite(byj_pin_0, HIGH); digitalWrite(byj_pin_1, LOW); digitalWrite(byj_pin_2, LOW); digitalWrite(byj_pin_3, HIGH); break; default: digitalWrite(byj_pin_0, LOW); digitalWrite(byj_pin_1, LOW); digitalWrite(byj_pin_2, LOW); digitalWrite(byj_pin_3, LOW); break; } setDirection(); } ================================================ FILE: arduino_firmware/robotArm_v0.41/byj_gripper.h ================================================ #ifndef BYJ_GRIPPER_H_ #define BYJ_GRIPPER_H_ class BYJ_Gripper { public: BYJ_Gripper(int pin0, int pin1, int pin2, int pin3, int steps); void cmdOn(); void cmdOff(); private: bool direction; void moveSteps(); void setDirection(); int byj_pin_0; int byj_pin_1; int byj_pin_2; int byj_pin_3; int grip_steps; int step_cycle; }; #endif ================================================ FILE: arduino_firmware/robotArm_v0.41/command.cpp ================================================ #include "command.h" #include "logger.h" #include Command::Command() { //initialize Command to a zero-move value; new_command.valueX = NAN; new_command.valueY = NAN; new_command.valueZ = NAN; new_command.valueF = 0; new_command.valueE = NAN; new_command.valueS = 0; message = ""; isRelativeCoord = false; } bool Command::handleGcode() { if (Serial.available()) { char c = Serial.read(); if (c == '\n') { return false; } if (c == '\r') { bool b = processMessage(message); message = ""; return b; } else { message += c; } } return false; } bool Command::processMessage(String msg){ new_command.valueX = NAN; new_command.valueY = NAN; new_command.valueZ = NAN; new_command.valueE = NAN; new_command.valueF = 0; new_command.valueS = 0; msg.toUpperCase(); msg.replace(" ", ""); int active_index = 0; new_command.id = msg[active_index]; if((new_command.id != 'G') && (new_command.id != 'M')){ printErr(); return false; } active_index++; int temp_index = active_index; while (temp_index #include "interpolation.h" struct Cmd { char id; int num; float valueX; float valueY; float valueZ; float valueF; float valueE; float valueS; }; class Command { public: Command(); bool handleGcode(); bool processMessage(String msg); void value_segment(String msg_segment); Cmd getCmd() const; void cmdGetPosition(Point pos, Point pos_offset, float highRad, float lowRad, float rotRad); void cmdToRelative(); void cmdToAbsolute(); bool isRelativeCoord; Cmd new_command; private: String message; }; void cmdMove(Cmd(&cmd), Point pos, Point pos_offset, bool isRelativeCoord); void cmdDwell(Cmd(&cmd)); void printErr(); #endif ================================================ FILE: arduino_firmware/robotArm_v0.41/config.h ================================================ #ifndef CONFIG_H_ #define CONFIG_H_ //SERIAL SETTINGS #define BAUD 115200 //ROBOT ARM LENGTH //#define SHANK_LENGTH 140.0 #define LOW_SHANK_LENGTH 140.0 #define HIGH_SHANK_LENGTH 140.0 #define END_EFFECTOR_OFFSET 55.0 // LENGTH FROM UPPER SHANK BEARING TO MIDPOINT OF END EFFECTOR IN MM //INITIAL INTERPOLATION SETTINGS // INITIAL_XYZ FORMS VERTICAL LOWER ARM & HORIZONTAL UPPER ARM IN 90 DEGREES #define INITIAL_X 0.0 // CARTESIAN COORDINATE X #define INITIAL_Y (HIGH_SHANK_LENGTH+END_EFFECTOR_OFFSET) // CARTESIAN COORDINATE Y #define INITIAL_Z LOW_SHANK_LENGTH // CARTESIAN COORDINATE Z #define INITIAL_E0 0.0 // RAIL STEPPER ENDSTOP POSITION // CALIBRATE HOME STEPS TO REACH DESIRED INITIAL_XYZ POSITIONS #define X_HOME_STEPS 765 //765 //860 // STEPS FROM X_ENDSTOP TO INITIAL_XYZ FOR UPPER ARM #define Y_HOME_STEPS 1940 //1940 // STEPS FROM Y_ENDSTOP TO INITIAL_XYZ FOR LOWER ARM #define Z_HOME_STEPS 3600 // STEPS FROM Z_ENDSTOP TO INITIAL_XYZ FOR ROTATION CENTER #define E0_HOME_STEPS 0 // STEPS FROM E0_ENDSTOP TO INITIAL_E0 //HOMING SETTINGS: #define HOME_X_STEPPER true // "true" IF ENDSTOP IS INSTALLED #define HOME_Y_STEPPER true // "true" IF ENDSTOP IS INSTALLED #define HOME_Z_STEPPER true // "true" IF ENDSTOP IS INSTALLED #define HOME_E0_STEPPER true // "true" IF ENDSTOP IS INSTALLED #define HOME_ON_BOOT false // "true" IF HOMING REQUIRED AFTER POWER ON #define HOME_DWELL 1400 // INCREASE TO SLOW DOWN HOMING SPEED //STEPPER SETTINGS: #define MICROSTEPS 16 // MICROSTEPPING CONFIGURATION ON RAMPS1.4 #define STEPS_PER_REV 200 // NEMA17 STEPS PER REVOLUTION #define INVERSE_X_STEPPER true // CHANGE IF STEPPER MOVES OTHER WAY #define INVERSE_Y_STEPPER false // CHANGE IF STEPPER MOVES OTHER WAY #define INVERSE_Z_STEPPER true // CHANGE IF STEPPER MOVES OTHER WAY #define INVERSE_E0_STEPPER false // CHANGE IF STEPPER MOVES OTHER WAY //RAIL SETTINGS: #define RAIL true // E0 STEPPER USED AS RAIL. SET TO 'false' IF ROBOT ARM IS STATIONARY. #define STEPS_PER_MM_RAIL 80.0 // STEPS PER MM FOR RAIL MOTOR #define RAIL_LENGTH 200.0 // MAX LENGTH OF RAIL IN MM //ENDSTOP SETTINGS: #define X_MIN_INPUT 1 // OUTPUT VALUE WHEN SWITCH ACTIVATED #define Y_MIN_INPUT 1 // OUTPUT VALUE WHEN SWITCH ACTIVATED #define Z_MIN_INPUT 1 // OUTPUT VALUE WHEN SWITCH ACTIVATED #define E0_MIN_INPUT 1 // OUTPUT VALUE WHEN SWITCH ACTIVATED //GEAR RATIO SETTINGS #define MOTOR_GEAR_TEETH 20.0 // 20.0 FOR 20SFFACTORY BELT VERSION 9.0 FOR FTOBLER GEAR VERSION #define MAIN_GEAR_TEETH 90.0 // 90.0 FOR 20SFFACTORY BELT VERSION 32.0 FOR FTOBLER GEAR VERSION //EQUIPMENT SETTINGS #define LASER false // 12V LASER CONNECTED TO LASER_PIN #define PUMP false // 12V AIR PUMP CONNECTED TO PUMP_PIN #define FAN_DELAY 120 // FAN ON IN SECONDS //28BYJ GRIPPER SETTINGS #define GRIP_STEPS 1200 //FTOBLER: 1200 //COMMAND QUEUE SETTINGS #define QUEUE_SIZE 15 //PRINT REPLY SETTING #define PRINT_REPLY false // "true" TO PRINT MSG AFTER ONE COMMAND IS PROCESSED #define PRINT_REPLY_MSG "ok" // MSG SENT FOR USER'S POST PROCESSING WITH OTHER SOFTWARE //SPEED PROFILE SETTING #define SPEED_PROFILE 2 // OPTIONS BELOW //0: FLAT SPEED CURVE (CONSTANT SPEED PER MOVEMENT, SUITABLE FOR REALTIME CONTROL SOFTWARE) //1: ARCTAN APPROX (SLIGHT BELL CURVE ACCELERATION & DECELERATION) //2: COSIN APPROX (TOTAL BELL CURVE ACCEL FROM 0 & DECEL FROM 0, SUITABLE FOR PRESET COMMAND MOVEMENTS) //LOG SETTINGS #define LOG_LEVEL 2 //0: ERROR //1: INFO //2: DEBUG //MOVE LIMIT PARAMETERS #define Z_MIN -125.0 //MINIMUM Z HEIGHT OF TOOLHEAD TOUCHING GROUND #define Z_MAX (LOW_SHANK_LENGTH+30.0) //SHANK_LENGTH ADDING ARBITUARY NUMBER FOR Z_MAX #define SHANKS_MIN_ANGLE_COS 0.791436948 #define SHANKS_MAX_ANGLE_COS -0.774944489 #define R_MIN (sqrt((sq(LOW_SHANK_LENGTH) + sq(HIGH_SHANK_LENGTH)) - (2*LOW_SHANK_LENGTH*HIGH_SHANK_LENGTH*SHANKS_MIN_ANGLE_COS) )) #define R_MAX (sqrt((sq(LOW_SHANK_LENGTH) + sq(HIGH_SHANK_LENGTH)) - (2*LOW_SHANK_LENGTH*HIGH_SHANK_LENGTH*SHANKS_MAX_ANGLE_COS) )) #endif ================================================ FILE: arduino_firmware/robotArm_v0.41/endstop.cpp ================================================ #include "endstop.h" #include Endstop::Endstop(int a_min_pin, int a_dir_pin, int a_step_pin, int a_en_pin, int a_switch_input, int a_step_offset, int a_home_dwell){ min_pin = a_min_pin; dir_pin = a_dir_pin; step_pin = a_step_pin; en_pin = a_en_pin; switch_input = a_switch_input; home_dwell = a_home_dwell; step_offset = a_step_offset; pinMode(min_pin, INPUT_PULLUP); } void Endstop::home(bool dir) { digitalWrite(en_pin, LOW); delayMicroseconds(5); if (dir==1){ digitalWrite(dir_pin, HIGH); } else { digitalWrite(dir_pin, LOW); } delayMicroseconds(5); bState = digitalRead(min_pin); while (bState != switch_input) { digitalWrite(step_pin, HIGH); digitalWrite(step_pin, LOW); delayMicroseconds(home_dwell); bState = digitalRead(min_pin); } homeOffset(dir); } void Endstop::homeOffset(bool dir){ if (dir==1){ digitalWrite(dir_pin, LOW); } else{ digitalWrite(dir_pin, HIGH); } delayMicroseconds(5); for (int i = 1; i <= step_offset; i++) { digitalWrite(step_pin, HIGH); digitalWrite(step_pin, LOW); delayMicroseconds(home_dwell); } } bool Endstop::state(){ bState = digitalRead(min_pin); return bState; } ================================================ FILE: arduino_firmware/robotArm_v0.41/endstop.h ================================================ #ifndef ENDSTOP_H_ #define ENDSTOP_H_ class Endstop { public: Endstop(int a_min_pin, int a_dir_pin, int a_step_pin, int a_en_pin, int a_switch_input, int a_step_offset, int a_home_dwell); void home(bool dir); bool state(); private: int min_pin; int dir_pin; int step_pin; int en_pin; int switch_input; int home_dwell; int step_offset; void homeOffset(bool dir); bool bState; }; #endif ================================================ FILE: arduino_firmware/robotArm_v0.41/equipment.cpp ================================================ #include "equipment.h" #include Equipment::Equipment(int equipment_pin){ pin = equipment_pin; pinMode(pin, OUTPUT); } void Equipment::cmdOn(){ digitalWrite(pin, HIGH); } void Equipment::cmdOff(){ digitalWrite(pin, LOW); } ================================================ FILE: arduino_firmware/robotArm_v0.41/equipment.h ================================================ #ifndef EQUIPMENT_H_ #define EQUIPMENT_H_ class Equipment { public: Equipment(int equipment_pin); void cmdOn(); void cmdOff(); private: int pin; }; #endif ================================================ FILE: arduino_firmware/robotArm_v0.41/fanControl.cpp ================================================ #include "fanControl.h" #include FanControl::FanControl(int aPin, int aFanDelay) { fan_delay = aFanDelay * 1000; nextShutdown = 0; pin = aPin; pinMode(pin , OUTPUT); digitalWrite(pin , LOW); state = false; } void FanControl::enable(bool value) { if (value) { state = true; digitalWrite(pin, HIGH); } else { disable(); } } void FanControl::disable() { state = false; nextShutdown = millis() + fan_delay; update(); } void FanControl::update() { if (!state) { if (millis() >= nextShutdown) { digitalWrite(pin, LOW); } } } ================================================ FILE: arduino_firmware/robotArm_v0.41/fanControl.h ================================================ #ifndef FANCONTROL_H_ #define FANCONTROL_H_ class FanControl { public: FanControl(int aPin, int aFanDelay); void enable(bool value = true); void disable(); void update(); private: bool state; int pin; long fan_delay; long nextShutdown; }; #endif ================================================ FILE: arduino_firmware/robotArm_v0.41/interpolation.cpp ================================================ #include "interpolation.h" #include "config.h" #include "queue.h" #include "logger.h" Interpolation::Interpolation(){ pos_offset.xmm = 0.0; pos_offset.ymm = 0.0; pos_offset.zmm = 0.0; pos_offset.emm = 0.0; } //G92 POSITION OFFSET FUNCTIONS void Interpolation::setPosOffset(float new_x, float new_y, float new_z, float new_e) { pos_offset.xmm = xPosmm - new_x; pos_offset.ymm = yPosmm - new_y; pos_offset.zmm = zPosmm - new_z; pos_offset.emm = ePosmm - new_e; Logger::logINFO("POSITION OFFSET: [X" + String(pos_offset.xmm) + " Y:" + String(pos_offset.ymm) + " Z:" + String(pos_offset.zmm) + " E:" + String(pos_offset.emm) + "]"); Logger::logINFO("CURRENT POSITION: [X:"+String(new_x)+" Y:"+String(new_y)+" Z:"+String(new_z)+" E:"+String(new_e)+"]"); } void Interpolation::resetPosOffset(){ pos_offset.xmm = 0.0; pos_offset.ymm = 0.0; pos_offset.zmm = 0.0; pos_offset.emm = 0.0; } Point Interpolation::getPosOffset() const { return pos_offset; } void Interpolation::setCurrentPos(float px, float py, float pz, float pe) { Point p; p.xmm = px; p.ymm = py; p.zmm = pz; p.emm = pe; setCurrentPos(p); } void Interpolation::setInterpolation(float px, float py, float pz, float pe, float v) { Point p; p.xmm = px; p.ymm = py; p.zmm = pz; p.emm = pe; setInterpolation(p, v); } void Interpolation::setInterpolation(float p1x, float p1y, float p1z, float p1e, float p2x, float p2y, float p2z, float p2e, float v) { Point p1; Point p2; p1.xmm = p1x; p1.ymm = p1y; p1.zmm = p1z; p1.emm = p1e; p2.xmm = p2x; p2.ymm = p2y; p2.zmm = p2z; p2.emm = p2e; setInterpolation(p1, p2, v); } void Interpolation::setInterpolation(Point p1, float v) { Point p0; p0.xmm = xStartmm + xDelta; p0.ymm = yStartmm + yDelta; p0.zmm = zStartmm + zDelta; p0.emm = eStartmm + eDelta; setInterpolation(p0, p1, v); } void Interpolation::setInterpolation(Point p0, Point p1, float av) { v = av; //mm/s float a = (p1.xmm - p0.xmm); float b = (p1.ymm - p0.ymm); float c = (p1.zmm - p0.zmm); float e = abs(p1.emm - p0.emm); float dist = sqrt(a*a + b*b + c*c); if (dist < e) { dist = e; } if (v < 5) { //includes 0 = default value v = sqrt(dist) * 10; //set a good value for v } if (v < 5) { v = 5; } tmul = v / dist; xStartmm = p0.xmm; yStartmm = p0.ymm; zStartmm = p0.zmm; eStartmm = p0.emm; xDelta = (p1.xmm - p0.xmm); yDelta = (p1.ymm - p0.ymm); zDelta = (p1.zmm - p0.zmm); eDelta = (p1.emm - p0.emm); state = 0; startTime = micros(); } void Interpolation::setCurrentPos(Point p) { xStartmm = p.xmm; yStartmm = p.ymm; zStartmm = p.zmm; eStartmm = p.emm; xDelta = 0; yDelta = 0; zDelta = 0; eDelta = 0; } void Interpolation::updateActualPosition() { if (state != 0) { return; } long microsek = micros(); float t = (microsek - startTime) / 1000000.0; float progress; switch (SPEED_PROFILE){ // FLAT SPEED CURVE case 0: progress = t * tmul; if (progress >= 1.0){ progress = 1.0; state = 1; } break; // ARCTAN APPROX case 1: progress = atan((PI * t * tmul) - (PI * 0.5)) * 0.5 + 0.5; if (progress >= 1.0) { progress = 1.0; state = 1; } break; // COSIN APPROX case 2: progress = -cos(t * tmul * PI) * 0.5 + 0.5; if ((t * tmul) >= 1.0) { progress = 1.0; state = 1; } break; } pos_tracker[X_AXIS] = xStartmm + progress * xDelta; pos_tracker[Y_AXIS] = yStartmm + progress * yDelta; pos_tracker[Z_AXIS] = zStartmm + progress * zDelta; pos_tracker[E_AXIS] = eStartmm + progress * eDelta; if(isAllowedPosition(pos_tracker)){ xPosmm = pos_tracker[X_AXIS]; yPosmm = pos_tracker[Y_AXIS]; zPosmm = pos_tracker[Z_AXIS]; ePosmm = pos_tracker[E_AXIS]; } else { pos_tracker[X_AXIS] = xPosmm; pos_tracker[Y_AXIS] = yPosmm; pos_tracker[Z_AXIS] = zPosmm; pos_tracker[E_AXIS] = ePosmm; state = 1; progress = 1.0; xStartmm = xPosmm; yStartmm = yPosmm; zStartmm = zPosmm; eStartmm = ePosmm; xDelta = 0; yDelta = 0; zDelta = 0; eDelta = 0; } //FOR DECIPHERING SPEED CURVE //Serial.print("xPosmm:"); //Serial.print(xPosmm); //Serial.print(" yPosmm:"); //Serial.print(yPosmm); //Serial.print(" zPosmm:"); //Serial.println(zPosmm); } bool Interpolation::isFinished() const { return state != 0; } float Interpolation::getXPosmm() const { return xPosmm; } float Interpolation::getYPosmm() const { return yPosmm; } float Interpolation::getZPosmm() const { return zPosmm; } float Interpolation::getEPosmm() const { return ePosmm; } Point Interpolation::getPosmm() const { Point p; p.xmm = xPosmm; p.ymm = yPosmm; p.zmm = zPosmm; p.emm = ePosmm; return p; } bool Interpolation::isAllowedPosition(float pos_tracker[4]) { float rrot_ee = hypot(pos_tracker[X_AXIS], pos_tracker[Y_AXIS]); float rrot = rrot_ee - END_EFFECTOR_OFFSET; float rrot_x = rrot * (pos_tracker[Y_AXIS] / rrot_ee); float rrot_y = rrot * (pos_tracker[X_AXIS] / rrot_ee); float squaredPositionModule = sq(rrot_x) + sq(rrot_y) + sq(pos_tracker[Z_AXIS]); bool retVal = ( squaredPositionModule <= sq(R_MAX) && squaredPositionModule >= sq(R_MIN) && pos_tracker[Z_AXIS] >= Z_MIN && pos_tracker[Z_AXIS] <= Z_MAX && pos_tracker[E_AXIS] <= RAIL_LENGTH ); if(!retVal) { Logger::logERROR("LIMIT REACHED: [X:" + String(pos_tracker[X_AXIS]) + " Y:" + String(pos_tracker[Y_AXIS]) + " Z:" + String(pos_tracker[Z_AXIS]) + " E:" + String(pos_tracker[E_AXIS]) + "]"); } return retVal; } ================================================ FILE: arduino_firmware/robotArm_v0.41/interpolation.h ================================================ #ifndef INTERPOLATION_H_ #define INTERPOLATION_H_ #include #define X_AXIS 0 #define Y_AXIS 1 #define Z_AXIS 2 #define E_AXIS 3 struct Point { float xmm; float ymm; float zmm; float emm; }; class Interpolation { public: //void resetInterpolation(float px, float py, float pz); //void resetInterpolation(float p1x, float p1y, float p1z, float p2x, float p2y, float p2z); //void resetInterpolation(Point p0, Point p1); Interpolation(); void setCurrentPos(float px, float py, float pz, float pe); void setInterpolation(float px, float py, float pz, float pe, float v = 0); void setInterpolation(float p1x, float p1y, float p1z, float p1e, float p2x, float p2y, float p2z, float p2e, float av = 0); void setCurrentPos(Point p); void setInterpolation(Point p1, float v = 0); void setInterpolation(Point p0, Point p1, float v = 0); void updateActualPosition(); bool isFinished() const; float getXPosmm() const; float getYPosmm() const; float getZPosmm() const; float getEPosmm() const; Point getPosmm() const; bool isAllowedPosition(float pos_tracker[4]); void setPosOffset(float new_x, float new_y, float new_z, float new_e); void resetPosOffset(); Point getPosOffset() const; private: Point pos_offset; float pos_tracker[4]; byte state; long startTime; float xStartmm; float yStartmm; float zStartmm; float eStartmm; float xDelta; float yDelta; float zDelta; float eDelta; float xPosmm; float yPosmm; float zPosmm; float ePosmm; float v; float tmul; }; #endif ================================================ FILE: arduino_firmware/robotArm_v0.41/logger.cpp ================================================ #include "logger.h" #include "config.h" void Logger::log(String message, int level) { if(LOG_LEVEL >= level) { switch(level) { case LOG_ERROR: Serial.print("ERROR: "); break; case LOG_INFO: Serial.print("INFO: "); break; case LOG_DEBUG: Serial.print("DEBUG: "); break; } Serial.println(message); } } void Logger::logERROR(String message) { log(message, LOG_ERROR); } void Logger::logINFO(String message) { log(message, LOG_INFO); } void Logger::logDEBUG(String message) { log(message, LOG_DEBUG); } ================================================ FILE: arduino_firmware/robotArm_v0.41/logger.h ================================================ #ifndef LOGGER_H_ #define LOGGER_H_ #include #define LOG_ERROR 0 #define LOG_INFO 1 #define LOG_DEBUG 2 class Logger { public: static void log(String message, int level); static void logINFO(String message); static void logERROR(String message); static void logDEBUG(String message); }; #endif ================================================ FILE: arduino_firmware/robotArm_v0.41/pinout.h ================================================ #ifndef PINOUT_H_ #define PINOUT_H_ /* * pinout of RAMPS 1.4 * * source: http://reprap.org/wiki/RAMPS_1.4 */ //RAMPS 1.4 PINS #define X_STEP_PIN 54 #define X_DIR_PIN 55 #define X_ENABLE_PIN 38 #define X_MIN_PIN 3 #define X_MAX_PIN 2 #define Y_STEP_PIN 60 #define Y_DIR_PIN 61 #define Y_ENABLE_PIN 56 #define Y_MIN_PIN 14 #define Y_MAX_PIN 15 #define Z_STEP_PIN 46 #define Z_DIR_PIN 48 #define Z_ENABLE_PIN 62 #define Z_MIN_PIN 18 #define Z_MAX_PIN 19 #define E0_STEP_PIN 26 #define E0_DIR_PIN 28 #define E0_ENABLE_PIN 24 #define E0_MIN_PIN 20 #define E1_STEP_PIN 36 #define E1_DIR_PIN 34 #define E1_ENABLE_PIN 30 #define BYJ_PIN_0 40 #define BYJ_PIN_1 63 #define BYJ_PIN_2 59 #define BYJ_PIN_3 64 #define PUMP_PIN 8 #define LASER_PIN 10 #define LED_PIN 13 #define SDPOWER -1 #define SDSS 53 #define FAN_PIN 9 #define PS_ON_PIN 12 #define KILL_PIN -1 //#define HEATER_0_PIN 10 //#define HEATER_1_PIN 8 #define TEMP_0_PIN 13 // ANALOG NUMBERING #define TEMP_1_PIN 14 // ANALOG NUMBERING //RAMPS AUX-2 #endif ================================================ FILE: arduino_firmware/robotArm_v0.41/queue.h ================================================ #ifndef QUEUE_H_ #define QUEUE_H_ template class Queue { public: Queue(int alen); ~Queue(); bool push(Element elem); Element pop(); bool isFull() const; bool isEmpty() const; int getFreeSpace() const; int getMaxLength() const; inline int getUsedSpace() const; private: Queue(Queue& q); //copy const. Element* data; int len; int start; int count; }; template Queue::Queue(int alen) { data = new Element[alen]; len = alen; start = 0; count = 0; } template Queue::~Queue() { delete data; } template Queue::Queue(Queue& q) { //nothing ever is allowed to do something here } template bool Queue::push(Element elem) { data[(start + count++) % len] = elem; } template Element Queue::pop() { count--; int s = start; start = (start + 1) % len; return data[(s) % len]; } template bool Queue::isFull() const { return count >= len; } template bool Queue::isEmpty() const { return count <= 0; } template int Queue::getFreeSpace() const { return len - count; } template int Queue::getMaxLength() const { return len; } template int Queue::getUsedSpace() const { return count; } #endif ================================================ FILE: arduino_firmware/robotArm_v0.41/robotArm_v0.41.ino ================================================ //20SFFACTORY COMMUNITY ROBOT FIRMWARE v0.41 //V0.31 WITH G92, M114, LOGGER, LIMIT_CHECK FUNCTIONS //V0.41 WITH DUAL SHANK LENGTH SUPPORT #include "config.h" #include "pinout.h" #include "logger.h" #include #include "robotGeometry.h" #include "interpolation.h" #include "fanControl.h" #include "RampsStepper.h" #include "queue.h" #include "command.h" #include "byj_gripper.h" #include "equipment.h" #include "endstop.h" //STEPPER OBJECTS RampsStepper stepperHigher(X_STEP_PIN, X_DIR_PIN, X_ENABLE_PIN, INVERSE_X_STEPPER); RampsStepper stepperLower(Y_STEP_PIN, Y_DIR_PIN, Y_ENABLE_PIN, INVERSE_Y_STEPPER); RampsStepper stepperRotate(Z_STEP_PIN, Z_DIR_PIN, Z_ENABLE_PIN, INVERSE_Z_STEPPER); //RAIL OBJECTS RampsStepper stepperRail(E0_STEP_PIN, E0_DIR_PIN, E0_ENABLE_PIN, INVERSE_E0_STEPPER); Endstop endstopE0(E0_MIN_PIN, E0_DIR_PIN, E0_STEP_PIN, E0_ENABLE_PIN, E0_MIN_INPUT, E0_HOME_STEPS, HOME_DWELL); //ENDSTOP OBJECTS Endstop endstopX(X_MIN_PIN, X_DIR_PIN, X_STEP_PIN, X_ENABLE_PIN, X_MIN_INPUT, X_HOME_STEPS, HOME_DWELL); Endstop endstopY(Y_MIN_PIN, Y_DIR_PIN, Y_STEP_PIN, Y_ENABLE_PIN, Y_MIN_INPUT, Y_HOME_STEPS, HOME_DWELL); Endstop endstopZ(Z_MIN_PIN, Z_DIR_PIN, Z_STEP_PIN, Z_ENABLE_PIN, Z_MIN_INPUT, Z_HOME_STEPS, HOME_DWELL); //EQUIPMENT OBJECTS BYJ_Gripper byj_gripper(BYJ_PIN_0, BYJ_PIN_1, BYJ_PIN_2, BYJ_PIN_3, GRIP_STEPS); Equipment laser(LASER_PIN); Equipment pump(PUMP_PIN); Equipment led(LED_PIN); FanControl fan(FAN_PIN, FAN_DELAY); //EXECUTION & COMMAND OBJECTS RobotGeometry geometry(END_EFFECTOR_OFFSET, LOW_SHANK_LENGTH, HIGH_SHANK_LENGTH); Interpolation interpolator; Queue queue(QUEUE_SIZE); Command command; void setup() { Serial.begin(BAUD); stepperHigher.setPositionRad(PI / 2.0); // 90° stepperLower.setPositionRad(0); // 0° stepperRotate.setPositionRad(0); // 0° stepperRail.setPosition(0); if (HOME_ON_BOOT) { //HOME DURING SETUP() IF HOME_ON_BOOT ENABLED homeSequence(); Logger::logINFO("ROBOT ONLINE"); } else { setStepperEnable(false); //ROBOT ADJUSTABLE BY HAND AFTER TURNING ON if (HOME_X_STEPPER && HOME_Y_STEPPER && !HOME_Z_STEPPER){ Logger::logINFO("ROBOT ONLINE"); Logger::logINFO("ROTATE ROBOT TO FACE FRONT CENTRE & SEND G28 TO CALIBRATE"); } if (HOME_X_STEPPER && HOME_Y_STEPPER && HOME_Z_STEPPER){ Logger::logINFO("ROBOT ONLINE"); Logger::logINFO("SEND G28 TO CALIBRATE"); } if (!HOME_X_STEPPER && !HOME_Y_STEPPER){ Logger::logINFO("ROBOT ONLINE"); Logger::logINFO("HOME ROBOT MANUALLY & SEND G28 TO CALIBRATE"); } } interpolator.setInterpolation(INITIAL_X, INITIAL_Y, INITIAL_Z, INITIAL_E0, INITIAL_X, INITIAL_Y, INITIAL_Z, INITIAL_E0); } void loop() { interpolator.updateActualPosition(); geometry.set(interpolator.getXPosmm(), interpolator.getYPosmm(), interpolator.getZPosmm()); stepperRotate.stepToPositionRad(geometry.getRotRad()); stepperLower.stepToPositionRad(geometry.getLowRad()); stepperHigher.stepToPositionRad(geometry.getHighRad()); if (RAIL){ stepperRail.stepToPositionMM(interpolator.getEPosmm(), STEPS_PER_MM_RAIL); } stepperRotate.update(); stepperLower.update(); stepperHigher.update(); if (RAIL){ stepperRail.update(); } fan.update(); if (!queue.isFull()) { if (command.handleGcode()) { queue.push(command.getCmd()); } } if ((!queue.isEmpty()) && interpolator.isFinished()) { executeCommand(queue.pop()); if (PRINT_REPLY) {Serial.println(PRINT_REPLY_MSG);} } if (millis() % 500 < 250) { led.cmdOn(); } else { led.cmdOff(); } } void executeCommand(Cmd cmd) { if (cmd.id == -1) { printErr(); return; } if (cmd.id == 'G') { switch (cmd.num) { case 0: case 1: fan.enable(true); Point posoffset; posoffset = interpolator.getPosOffset(); cmdMove(cmd, interpolator.getPosmm(), posoffset, command.isRelativeCoord); interpolator.setInterpolation(cmd.valueX, cmd.valueY, cmd.valueZ, cmd.valueE, cmd.valueF); Logger::logINFO("LINEAR MOVE: X" + String(cmd.valueX-posoffset.xmm) + " Y" + String(cmd.valueY-posoffset.ymm) + " Z" + String(cmd.valueZ-posoffset.zmm) + " E" + String(cmd.valueE-posoffset.emm)); break; case 4: cmdDwell(cmd); break; case 28: homeSequence(); break; case 90: command.cmdToAbsolute(); break; // ABSOLUTE COORDINATE MODE case 91: command.cmdToRelative(); break; // RELATIVE COORDINATE MODE case 92: interpolator.resetPosOffset(); cmdMove(cmd, interpolator.getPosmm(), interpolator.getPosOffset(), false); interpolator.setPosOffset(cmd.valueX, cmd.valueY, cmd.valueZ, cmd.valueE); break; default: printErr(); } } else if (cmd.id == 'M') { switch (cmd.num) { case 1: pump.cmdOn(); break; case 2: pump.cmdOff(); break; case 3: byj_gripper.cmdOn(); break; case 5: byj_gripper.cmdOff(); break; case 6: laser.cmdOn(); break; case 7: laser.cmdOff(); break; case 17: setStepperEnable(true); break; case 18: setStepperEnable(false); break; case 106: fan.enable(true); break; case 107: fan.enable(false); break; case 114: command.cmdGetPosition(interpolator.getPosmm(), interpolator.getPosOffset(), stepperHigher.getPosition(), stepperLower.getPosition(), stepperRotate.getPosition()); break;// Return the current positions of all axis case 119: Logger::logINFO("ENDSTOP STATE: [UPPER_SHANK(X):"+String(endstopX.state())+" LOWER_SHANK(Y):"+String(endstopY.state())+" ROTATE_GEAR(Z):"+String(endstopZ.state())+"]"); break; default: printErr(); } } else { printErr(); } } void setStepperEnable(bool enable){ stepperRotate.enable(enable); stepperLower.enable(enable); stepperHigher.enable(enable); if(RAIL){ stepperRail.enable(enable); } fan.enable(enable); } void homeSequence(){ setStepperEnable(false); fan.enable(true); if (HOME_Y_STEPPER){ endstopY.home(!INVERSE_Y_STEPPER); //INDICATE STEPPER HOMING DIRECTION } if (HOME_X_STEPPER){ endstopX.home(!INVERSE_X_STEPPER); //INDICATE STEPPER HOMING DIRECTION } if (HOME_Z_STEPPER){ endstopZ.home(INVERSE_Z_STEPPER); //INDICATE STEPPER HOMING DIRECDTION } if (RAIL){ if (HOME_E0_STEPPER){ endstopE0.home(!INVERSE_E0_STEPPER); // } } interpolator.setInterpolation(INITIAL_X, INITIAL_Y, INITIAL_Z, INITIAL_E0, INITIAL_X, INITIAL_Y, INITIAL_Z, INITIAL_E0); Logger::logINFO("HOMING COMPLETE"); } ================================================ FILE: arduino_firmware/robotArm_v0.41/robotGeometry.cpp ================================================ #include "robotGeometry.h" #include #include RobotGeometry::RobotGeometry(float a_ee_offset, float a_low_shank_length, float a_high_shank_length) { ee_offset = a_ee_offset; low_shank_length = a_low_shank_length; high_shank_length = a_high_shank_length; } void RobotGeometry::set(float axmm, float aymm, float azmm) { xmm = axmm; ymm = aymm; zmm = azmm; calculateGrad(); } float RobotGeometry::getXmm() const { return xmm; } float RobotGeometry::getYmm() const { return ymm; } float RobotGeometry::getZmm() const { return zmm; } float RobotGeometry::getRotRad() const { return rot; } float RobotGeometry::getLowRad() const { return low; } float RobotGeometry::getHighRad() const { return high; } void RobotGeometry::calculateGrad() { float rrot_ee = hypot(xmm, ymm); float rrot = rrot_ee - ee_offset; //radius from Top View float rside = hypot(rrot, zmm); //radius from Side View. Use rrot instead of ymm..for everything float rside_2 = sq(rside); float low_2 = sq(low_shank_length); float high_2 = sq(high_shank_length); rot = asin(xmm / rrot_ee); high = PI - acos((low_2 + high_2 - rside_2) / (2 * low_shank_length * high_shank_length)); //Angle of Lower Stepper Motor (asin()=Angle To Gripper) if (zmm > 0) { low = acos(zmm / rside) - acos((low_2 - high_2 + rside_2) / (2 * low_shank_length * rside)); } else { low = PI - asin(rrot / rside) - acos((low_2 - high_2 + rside_2) / (2 * low_shank_length * rside)); } high = high + low; } ================================================ FILE: arduino_firmware/robotArm_v0.41/robotGeometry.h ================================================ #ifndef ROBOTGEOMETRY_H_ #define ROBOTGEOMETRY_H_ class RobotGeometry { public: RobotGeometry(float a_ee_offset, float a_low_shank_length, float a_high_length); void set(float axmm, float aymm, float azmm); float getXmm() const; float getYmm() const; float getZmm() const; float getRotRad() const; float getLowRad() const; float getHighRad() const; private: void calculateGrad(); float ee_offset; float low_shank_length; float high_shank_length; float xmm; float ymm; float zmm; float rot; float low; float high; }; #endif ================================================ FILE: arduino_firmware/robotArm_v0.51/RampsStepper.cpp ================================================ #include "RampsStepper.h" #include "config.h" #include RampsStepper::RampsStepper(int aStepPin, int aDirPin, int aEnablePin, bool aInverse) { setReductionRatio(MAIN_GEAR_TEETH / MOTOR_GEAR_TEETH, MICROSTEPS * STEPS_PER_REV); stepPin = aStepPin; dirPin = aDirPin; enablePin = aEnablePin; inverse = aInverse; stepperStepPosition = 0; stepperStepTargetPosition; pinMode(stepPin, OUTPUT); pinMode(dirPin, OUTPUT); pinMode(enablePin, OUTPUT); enable(false); } void RampsStepper::enable(bool value) { digitalWrite(enablePin, !value); } bool RampsStepper::isOnPosition() const { return stepperStepPosition == stepperStepTargetPosition; } int RampsStepper::getPosition() const { return stepperStepPosition; } void RampsStepper::setPosition(int value) { stepperStepPosition = value; stepperStepTargetPosition = value; } void RampsStepper::stepToPosition(int value) { stepperStepTargetPosition = value; } void RampsStepper::stepToPositionMM(float mm, float steps_per_mm) { stepperStepTargetPosition = mm * steps_per_mm; } void RampsStepper::stepRelative(int value) { value += stepperStepPosition; stepToPosition(value); } float RampsStepper::getPositionRad() const { return stepperStepPosition / radToStepFactor; } void RampsStepper::setPositionRad(float rad) { setPosition(rad * radToStepFactor); } void RampsStepper::stepToPositionRad(float rad) { stepperStepTargetPosition = rad * radToStepFactor; } void RampsStepper::stepRelativeRad(float rad) { stepRelative(rad * radToStepFactor); } void RampsStepper::update() { while (stepperStepTargetPosition < stepperStepPosition) { digitalWrite(dirPin, !inverse); digitalWrite(stepPin, HIGH); digitalWrite(stepPin, LOW); stepperStepPosition--; } while (stepperStepTargetPosition > stepperStepPosition) { digitalWrite(dirPin, inverse); digitalWrite(stepPin, HIGH); digitalWrite(stepPin, LOW); stepperStepPosition++; } } void RampsStepper::setReductionRatio(float gearRatio, int stepsPerRev) { radToStepFactor = gearRatio * stepsPerRev / 2 / PI; }; ================================================ FILE: arduino_firmware/robotArm_v0.51/RampsStepper.h ================================================ #ifndef RAMPSSTEPPER_H_ #define RAMPSSTEPPER_H_ class RampsStepper { public: RampsStepper(int aStepPin, int aDirPin, int aEnablePin, bool aInverse); void enable(bool value = true); bool isOnPosition() const; int getPosition() const; void setPosition(int value); void stepToPosition(int value); void stepToPositionMM(float mm, float steps_per_mm); void stepRelative(int value); float getPositionRad() const; void setPositionRad(float rad); void stepToPositionRad(float rad); void stepRelativeRad(float rad); void update(); void setReductionRatio(float gearRatio, int stepsPerRev); private: int stepperStepTargetPosition; int stepperStepPosition; int stepPin; int dirPin; int enablePin; bool inverse; float radToStepFactor; }; #endif ================================================ FILE: arduino_firmware/robotArm_v0.51/byj_gripper.cpp ================================================ #include "byj_gripper.h" #include BYJ_Gripper::BYJ_Gripper(int pin0, int pin1, int pin2, int pin3, int steps){ grip_steps = steps; byj_pin_0 = pin0; byj_pin_1 = pin1; byj_pin_2 = pin2; byj_pin_3 = pin3; step_cycle = 0; pinMode(byj_pin_0, OUTPUT); pinMode(byj_pin_1, OUTPUT); pinMode(byj_pin_2, OUTPUT); pinMode(byj_pin_3, OUTPUT); } void BYJ_Gripper::cmdOn() { direction = true; for (int i = 1; i <= grip_steps; i++) { moveSteps(); delay(1); } } void BYJ_Gripper::cmdOff() { direction = false; for (int i = 1; i <= grip_steps; i++) { moveSteps(); delay(1); } } void BYJ_Gripper::setDirection(){ if (direction == true) { step_cycle++; } if (direction == false) { step_cycle--; } if (step_cycle > 7) { step_cycle = 0; } if (step_cycle < 0) { step_cycle = 7; } } void BYJ_Gripper::moveSteps() { switch (step_cycle) { case 0: digitalWrite(byj_pin_0, LOW); digitalWrite(byj_pin_1, LOW); digitalWrite(byj_pin_2, LOW); digitalWrite(byj_pin_3, HIGH); break; case 1: digitalWrite(byj_pin_0, LOW); digitalWrite(byj_pin_1, LOW); digitalWrite(byj_pin_2, HIGH); digitalWrite(byj_pin_3, HIGH); break; case 2: digitalWrite(byj_pin_0, LOW); digitalWrite(byj_pin_1, LOW); digitalWrite(byj_pin_2, HIGH); digitalWrite(byj_pin_3, LOW); break; case 3: digitalWrite(byj_pin_0, LOW); digitalWrite(byj_pin_1, HIGH); digitalWrite(byj_pin_2, HIGH); digitalWrite(byj_pin_3, LOW); break; case 4: digitalWrite(byj_pin_0, LOW); digitalWrite(byj_pin_1, HIGH); digitalWrite(byj_pin_2, LOW); digitalWrite(byj_pin_3, LOW); break; case 5: digitalWrite(byj_pin_0, HIGH); digitalWrite(byj_pin_1, HIGH); digitalWrite(byj_pin_2, LOW); digitalWrite(byj_pin_3, LOW); break; case 6: digitalWrite(byj_pin_0, HIGH); digitalWrite(byj_pin_1, LOW); digitalWrite(byj_pin_2, LOW); digitalWrite(byj_pin_3, LOW); break; case 7: digitalWrite(byj_pin_0, HIGH); digitalWrite(byj_pin_1, LOW); digitalWrite(byj_pin_2, LOW); digitalWrite(byj_pin_3, HIGH); break; default: digitalWrite(byj_pin_0, LOW); digitalWrite(byj_pin_1, LOW); digitalWrite(byj_pin_2, LOW); digitalWrite(byj_pin_3, LOW); break; } setDirection(); } ================================================ FILE: arduino_firmware/robotArm_v0.51/byj_gripper.h ================================================ #ifndef BYJ_GRIPPER_H_ #define BYJ_GRIPPER_H_ class BYJ_Gripper { public: BYJ_Gripper(int pin0, int pin1, int pin2, int pin3, int steps); void cmdOn(); void cmdOff(); private: bool direction; void moveSteps(); void setDirection(); int byj_pin_0; int byj_pin_1; int byj_pin_2; int byj_pin_3; int grip_steps; int step_cycle; }; #endif ================================================ FILE: arduino_firmware/robotArm_v0.51/command.cpp ================================================ #include "command.h" #include "logger.h" #include Command::Command() { //initialize Command to a zero-move value; new_command.valueX = NAN; new_command.valueY = NAN; new_command.valueZ = NAN; new_command.valueF = 0; new_command.valueE = NAN; new_command.valueS = 0; message = ""; isRelativeCoord = false; } bool Command::handleGcode() { if (Serial.available()) { char c = Serial.read(); if (c == '\n') { return false; } if (c == '\r') { bool b = processMessage(message); message = ""; return b; } else { message += c; } } return false; } bool Command::processMessage(String msg){ new_command.valueX = NAN; new_command.valueY = NAN; new_command.valueZ = NAN; new_command.valueE = NAN; new_command.valueF = 0; new_command.valueS = 0; msg.toUpperCase(); msg.replace(" ", ""); int active_index = 0; new_command.id = msg[active_index]; if((new_command.id != 'G') && (new_command.id != 'M')){ printErr(); return false; } active_index++; int temp_index = active_index; while (temp_index #include "interpolation.h" struct Cmd { char id; int num; float valueX; float valueY; float valueZ; float valueF; float valueE; float valueS; }; class Command { public: Command(); bool handleGcode(); bool processMessage(String msg); void value_segment(String msg_segment); Cmd getCmd() const; void cmdGetPosition(Point pos, Point pos_offset, float highRad, float lowRad, float rotRad); void cmdToRelative(); void cmdToAbsolute(); bool isRelativeCoord; Cmd new_command; private: String message; }; void cmdMove(Cmd(&cmd), Point pos, Point pos_offset, bool isRelativeCoord); void cmdDwell(Cmd(&cmd)); void printErr(); #endif ================================================ FILE: arduino_firmware/robotArm_v0.51/config.h ================================================ #ifndef CONFIG_H_ #define CONFIG_H_ //SERIAL SETTINGS #define BAUD 115200 //ROBOT ARM LENGTH //#define SHANK_LENGTH 140.0 #define LOW_SHANK_LENGTH 120.0 #define HIGH_SHANK_LENGTH 120.0 #define END_EFFECTOR_OFFSET 54.0 // LENGTH FROM UPPER SHANK BEARING TO MIDPOINT OF END EFFECTOR IN MM //INITIAL INTERPOLATION SETTINGS // INITIAL_XYZ FORMS VERTICAL LOWER ARM & HORIZONTAL UPPER ARM IN 90 DEGREES #define INITIAL_X 0.0 // CARTESIAN COORDINATE X #define INITIAL_Y (HIGH_SHANK_LENGTH+END_EFFECTOR_OFFSET) // CARTESIAN COORDINATE Y #define INITIAL_Z LOW_SHANK_LENGTH // CARTESIAN COORDINATE Z #define INITIAL_E0 0.0 // RAIL STEPPER ENDSTOP POSITION // CALIBRATE HOME STEPS TO REACH DESIRED INITIAL_XYZ POSITIONS #define X_HOME_STEPS 820 //765 //860 // STEPS FROM X_ENDSTOP TO INITIAL_XYZ FOR UPPER ARM #define Y_HOME_STEPS 1850 //1940 // STEPS FROM Y_ENDSTOP TO INITIAL_XYZ FOR LOWER ARM #define Z_HOME_STEPS 3600 // STEPS FROM Z_ENDSTOP TO INITIAL_XYZ FOR ROTATION CENTER #define E0_HOME_STEPS 0 // STEPS FROM E0_ENDSTOP TO INITIAL_E0 //HOMING SETTINGS: #define HOME_X_STEPPER true // "true" IF ENDSTOP IS INSTALLED #define HOME_Y_STEPPER true // "true" IF ENDSTOP IS INSTALLED #define HOME_Z_STEPPER true // "true" IF ENDSTOP IS INSTALLED #define HOME_E0_STEPPER true // "true" IF ENDSTOP IS INSTALLED #define HOME_ON_BOOT false // "true" IF HOMING REQUIRED AFTER POWER ON #define HOME_DWELL 1400 // INCREASE TO SLOW DOWN HOMING SPEED //STEPPER SETTINGS: #define MICROSTEPS 16 // MICROSTEPPING CONFIGURATION ON RAMPS1.4 #define STEPS_PER_REV 200 // NEMA17 STEPS PER REVOLUTION #define INVERSE_X_STEPPER true // CHANGE IF STEPPER MOVES OTHER WAY #define INVERSE_Y_STEPPER false // CHANGE IF STEPPER MOVES OTHER WAY #define INVERSE_Z_STEPPER true // CHANGE IF STEPPER MOVES OTHER WAY #define INVERSE_E0_STEPPER false // CHANGE IF STEPPER MOVES OTHER WAY //RAIL SETTINGS: #define RAIL true // E0 STEPPER USED AS RAIL. SET TO 'false' IF ROBOT ARM IS STATIONARY. #define STEPS_PER_MM_RAIL 80.0 // STEPS PER MM FOR RAIL MOTOR #define RAIL_LENGTH 200.0 // MAX LENGTH OF RAIL IN MM //ENDSTOP SETTINGS: #define X_MIN_INPUT 1 // OUTPUT VALUE WHEN SWITCH ACTIVATED #define Y_MIN_INPUT 1 // OUTPUT VALUE WHEN SWITCH ACTIVATED #define Z_MIN_INPUT 1 // OUTPUT VALUE WHEN SWITCH ACTIVATED #define E0_MIN_INPUT 1 // OUTPUT VALUE WHEN SWITCH ACTIVATED //GEAR RATIO SETTINGS #define MOTOR_GEAR_TEETH 20.0 // 20.0 FOR 20SFFACTORY BELT VERSION 9.0 FOR FTOBLER GEAR VERSION #define MAIN_GEAR_TEETH 90.0 // 90.0 FOR 20SFFACTORY BELT VERSION 32.0 FOR FTOBLER GEAR VERSION //EQUIPMENT SETTINGS #define LASER false // 12V LASER CONNECTED TO LASER_PIN #define PUMP false // 12V AIR PUMP CONNECTED TO PUMP_PIN #define FAN_DELAY 120 // FAN ON IN SECONDS //GRIPPER SETTINGS #define GRIPPER 1 //GRIPPER MOTOR IN USE // 0: 28BYJ-48 MICRO STEPPER MOTOR // 1: 9G SERVO OR MG996 SERVO EQUIVALENT //28BYJ GRIPPER SETTINGS #define BYJ_GRIP_STEPS 1200 //FTOBLER: 1200 //SERVO GRIPPER SETTINGS #define SERVO_GRIP_DEGREE 90.0 #define SERVO_UNGRIP_DEGREE 0.0 //COMMAND QUEUE SETTINGS #define QUEUE_SIZE 15 //PRINT REPLY SETTING #define PRINT_REPLY false // "true" TO PRINT MSG AFTER ONE COMMAND IS PROCESSED #define PRINT_REPLY_MSG "ok" // MSG SENT FOR USER'S POST PROCESSING WITH OTHER SOFTWARE //SPEED PROFILE SETTING #define SPEED_PROFILE 2 // OPTIONS BELOW //0: FLAT SPEED CURVE (CONSTANT SPEED PER MOVEMENT, SUITABLE FOR REALTIME CONTROL SOFTWARE) //1: ARCTAN APPROX (SLIGHT BELL CURVE ACCELERATION & DECELERATION) //2: COSIN APPROX (TOTAL BELL CURVE ACCEL FROM 0 & DECEL FROM 0, SUITABLE FOR PRESET COMMAND MOVEMENTS) //LOG SETTINGS #define LOG_LEVEL 2 //0: ERROR //1: INFO //2: DEBUG //MOVE LIMIT PARAMETERS #define Z_MIN -140.0 //MINIMUM Z HEIGHT OF TOOLHEAD TOUCHING GROUND #define Z_MAX (LOW_SHANK_LENGTH+30.0) //SHANK_LENGTH ADDING ARBITUARY NUMBER FOR Z_MAX #define SHANKS_MIN_ANGLE_COS 0.791436948 #define SHANKS_MAX_ANGLE_COS -0.774944489 #define R_MIN (sqrt((sq(LOW_SHANK_LENGTH) + sq(HIGH_SHANK_LENGTH)) - (2*LOW_SHANK_LENGTH*HIGH_SHANK_LENGTH*SHANKS_MIN_ANGLE_COS) )) #define R_MAX (sqrt((sq(LOW_SHANK_LENGTH) + sq(HIGH_SHANK_LENGTH)) - (2*LOW_SHANK_LENGTH*HIGH_SHANK_LENGTH*SHANKS_MAX_ANGLE_COS) )) #endif ================================================ FILE: arduino_firmware/robotArm_v0.51/endstop.cpp ================================================ #include "endstop.h" #include Endstop::Endstop(int a_min_pin, int a_dir_pin, int a_step_pin, int a_en_pin, int a_switch_input, int a_step_offset, int a_home_dwell){ min_pin = a_min_pin; dir_pin = a_dir_pin; step_pin = a_step_pin; en_pin = a_en_pin; switch_input = a_switch_input; home_dwell = a_home_dwell; step_offset = a_step_offset; pinMode(min_pin, INPUT_PULLUP); } void Endstop::home(bool dir) { digitalWrite(en_pin, LOW); delayMicroseconds(5); if (dir==1){ digitalWrite(dir_pin, HIGH); } else { digitalWrite(dir_pin, LOW); } delayMicroseconds(5); bState = digitalRead(min_pin); while (bState != switch_input) { digitalWrite(step_pin, HIGH); digitalWrite(step_pin, LOW); delayMicroseconds(home_dwell); bState = digitalRead(min_pin); } homeOffset(dir); } void Endstop::homeOffset(bool dir){ if (dir==1){ digitalWrite(dir_pin, LOW); } else{ digitalWrite(dir_pin, HIGH); } delayMicroseconds(5); for (int i = 1; i <= step_offset; i++) { digitalWrite(step_pin, HIGH); digitalWrite(step_pin, LOW); delayMicroseconds(home_dwell); } } bool Endstop::state(){ bState = digitalRead(min_pin); return bState; } ================================================ FILE: arduino_firmware/robotArm_v0.51/endstop.h ================================================ #ifndef ENDSTOP_H_ #define ENDSTOP_H_ class Endstop { public: Endstop(int a_min_pin, int a_dir_pin, int a_step_pin, int a_en_pin, int a_switch_input, int a_step_offset, int a_home_dwell); void home(bool dir); bool state(); private: int min_pin; int dir_pin; int step_pin; int en_pin; int switch_input; int home_dwell; int step_offset; void homeOffset(bool dir); bool bState; }; #endif ================================================ FILE: arduino_firmware/robotArm_v0.51/equipment.cpp ================================================ #include "equipment.h" #include Equipment::Equipment(int equipment_pin){ pin = equipment_pin; pinMode(pin, OUTPUT); } void Equipment::cmdOn(){ digitalWrite(pin, HIGH); } void Equipment::cmdOff(){ digitalWrite(pin, LOW); } ================================================ FILE: arduino_firmware/robotArm_v0.51/equipment.h ================================================ #ifndef EQUIPMENT_H_ #define EQUIPMENT_H_ class Equipment { public: Equipment(int equipment_pin); void cmdOn(); void cmdOff(); private: int pin; }; #endif ================================================ FILE: arduino_firmware/robotArm_v0.51/fanControl.cpp ================================================ #include "fanControl.h" #include FanControl::FanControl(int aPin, int aFanDelay) { fan_delay = aFanDelay * 1000; nextShutdown = 0; pin = aPin; pinMode(pin , OUTPUT); digitalWrite(pin , LOW); state = false; } void FanControl::enable(bool value) { if (value) { state = true; digitalWrite(pin, HIGH); } else { disable(); } } void FanControl::disable() { state = false; nextShutdown = millis() + fan_delay; update(); } void FanControl::update() { if (!state) { if (millis() >= nextShutdown) { digitalWrite(pin, LOW); } } } ================================================ FILE: arduino_firmware/robotArm_v0.51/fanControl.h ================================================ #ifndef FANCONTROL_H_ #define FANCONTROL_H_ class FanControl { public: FanControl(int aPin, int aFanDelay); void enable(bool value = true); void disable(); void update(); private: bool state; int pin; long fan_delay; long nextShutdown; }; #endif ================================================ FILE: arduino_firmware/robotArm_v0.51/interpolation.cpp ================================================ #include "interpolation.h" #include "config.h" #include "queue.h" #include "logger.h" Interpolation::Interpolation(){ pos_offset.xmm = 0.0; pos_offset.ymm = 0.0; pos_offset.zmm = 0.0; pos_offset.emm = 0.0; } //G92 POSITION OFFSET FUNCTIONS void Interpolation::setPosOffset(float new_x, float new_y, float new_z, float new_e) { pos_offset.xmm = xPosmm - new_x; pos_offset.ymm = yPosmm - new_y; pos_offset.zmm = zPosmm - new_z; pos_offset.emm = ePosmm - new_e; Logger::logINFO("POSITION OFFSET: [X" + String(pos_offset.xmm) + " Y:" + String(pos_offset.ymm) + " Z:" + String(pos_offset.zmm) + " E:" + String(pos_offset.emm) + "]"); Logger::logINFO("CURRENT POSITION: [X:"+String(new_x)+" Y:"+String(new_y)+" Z:"+String(new_z)+" E:"+String(new_e)+"]"); } void Interpolation::resetPosOffset(){ pos_offset.xmm = 0.0; pos_offset.ymm = 0.0; pos_offset.zmm = 0.0; pos_offset.emm = 0.0; } Point Interpolation::getPosOffset() const { return pos_offset; } void Interpolation::setCurrentPos(float px, float py, float pz, float pe) { Point p; p.xmm = px; p.ymm = py; p.zmm = pz; p.emm = pe; setCurrentPos(p); } void Interpolation::setInterpolation(float px, float py, float pz, float pe, float v) { Point p; p.xmm = px; p.ymm = py; p.zmm = pz; p.emm = pe; setInterpolation(p, v); } void Interpolation::setInterpolation(float p1x, float p1y, float p1z, float p1e, float p2x, float p2y, float p2z, float p2e, float v) { Point p1; Point p2; p1.xmm = p1x; p1.ymm = p1y; p1.zmm = p1z; p1.emm = p1e; p2.xmm = p2x; p2.ymm = p2y; p2.zmm = p2z; p2.emm = p2e; setInterpolation(p1, p2, v); } void Interpolation::setInterpolation(Point p1, float v) { Point p0; p0.xmm = xStartmm + xDelta; p0.ymm = yStartmm + yDelta; p0.zmm = zStartmm + zDelta; p0.emm = eStartmm + eDelta; setInterpolation(p0, p1, v); } void Interpolation::setInterpolation(Point p0, Point p1, float av) { v = av; //mm/s float a = (p1.xmm - p0.xmm); float b = (p1.ymm - p0.ymm); float c = (p1.zmm - p0.zmm); float e = abs(p1.emm - p0.emm); float dist = sqrt(a*a + b*b + c*c); if (dist < e) { dist = e; } if (v < 5) { //includes 0 = default value v = sqrt(dist) * 10; //set a good value for v } if (v < 5) { v = 5; } tmul = v / dist; xStartmm = p0.xmm; yStartmm = p0.ymm; zStartmm = p0.zmm; eStartmm = p0.emm; xDelta = (p1.xmm - p0.xmm); yDelta = (p1.ymm - p0.ymm); zDelta = (p1.zmm - p0.zmm); eDelta = (p1.emm - p0.emm); state = 0; startTime = micros(); } void Interpolation::setCurrentPos(Point p) { xStartmm = p.xmm; yStartmm = p.ymm; zStartmm = p.zmm; eStartmm = p.emm; xDelta = 0; yDelta = 0; zDelta = 0; eDelta = 0; } void Interpolation::updateActualPosition() { if (state != 0) { return; } long microsek = micros(); float t = (microsek - startTime) / 1000000.0; float progress; switch (SPEED_PROFILE){ // FLAT SPEED CURVE case 0: progress = t * tmul; if (progress >= 1.0){ progress = 1.0; state = 1; } break; // ARCTAN APPROX case 1: progress = atan((PI * t * tmul) - (PI * 0.5)) * 0.5 + 0.5; if (progress >= 1.0) { progress = 1.0; state = 1; } break; // COSIN APPROX case 2: progress = -cos(t * tmul * PI) * 0.5 + 0.5; if ((t * tmul) >= 1.0) { progress = 1.0; state = 1; } break; } pos_tracker[X_AXIS] = xStartmm + progress * xDelta; pos_tracker[Y_AXIS] = yStartmm + progress * yDelta; pos_tracker[Z_AXIS] = zStartmm + progress * zDelta; pos_tracker[E_AXIS] = eStartmm + progress * eDelta; if(isAllowedPosition(pos_tracker)){ xPosmm = pos_tracker[X_AXIS]; yPosmm = pos_tracker[Y_AXIS]; zPosmm = pos_tracker[Z_AXIS]; ePosmm = pos_tracker[E_AXIS]; } else { pos_tracker[X_AXIS] = xPosmm; pos_tracker[Y_AXIS] = yPosmm; pos_tracker[Z_AXIS] = zPosmm; pos_tracker[E_AXIS] = ePosmm; state = 1; progress = 1.0; xStartmm = xPosmm; yStartmm = yPosmm; zStartmm = zPosmm; eStartmm = ePosmm; xDelta = 0; yDelta = 0; zDelta = 0; eDelta = 0; } //FOR DECIPHERING SPEED CURVE //Serial.print("xPosmm:"); //Serial.print(xPosmm); //Serial.print(" yPosmm:"); //Serial.print(yPosmm); //Serial.print(" zPosmm:"); //Serial.println(zPosmm); } bool Interpolation::isFinished() const { return state != 0; } float Interpolation::getXPosmm() const { return xPosmm; } float Interpolation::getYPosmm() const { return yPosmm; } float Interpolation::getZPosmm() const { return zPosmm; } float Interpolation::getEPosmm() const { return ePosmm; } Point Interpolation::getPosmm() const { Point p; p.xmm = xPosmm; p.ymm = yPosmm; p.zmm = zPosmm; p.emm = ePosmm; return p; } bool Interpolation::isAllowedPosition(float pos_tracker[4]) { float rrot_ee = hypot(pos_tracker[X_AXIS], pos_tracker[Y_AXIS]); float rrot = rrot_ee - END_EFFECTOR_OFFSET; float rrot_x = rrot * (pos_tracker[Y_AXIS] / rrot_ee); float rrot_y = rrot * (pos_tracker[X_AXIS] / rrot_ee); float squaredPositionModule = sq(rrot_x) + sq(rrot_y) + sq(pos_tracker[Z_AXIS]); bool retVal = ( squaredPositionModule <= sq(R_MAX) && squaredPositionModule >= sq(R_MIN) && pos_tracker[Z_AXIS] >= Z_MIN && pos_tracker[Z_AXIS] <= Z_MAX && pos_tracker[E_AXIS] <= RAIL_LENGTH ); if(!retVal) { Logger::logERROR("LIMIT REACHED: [X:" + String(pos_tracker[X_AXIS]) + " Y:" + String(pos_tracker[Y_AXIS]) + " Z:" + String(pos_tracker[Z_AXIS]) + " E:" + String(pos_tracker[E_AXIS]) + "]"); } return retVal; } ================================================ FILE: arduino_firmware/robotArm_v0.51/interpolation.h ================================================ #ifndef INTERPOLATION_H_ #define INTERPOLATION_H_ #include #define X_AXIS 0 #define Y_AXIS 1 #define Z_AXIS 2 #define E_AXIS 3 struct Point { float xmm; float ymm; float zmm; float emm; }; class Interpolation { public: //void resetInterpolation(float px, float py, float pz); //void resetInterpolation(float p1x, float p1y, float p1z, float p2x, float p2y, float p2z); //void resetInterpolation(Point p0, Point p1); Interpolation(); void setCurrentPos(float px, float py, float pz, float pe); void setInterpolation(float px, float py, float pz, float pe, float v = 0); void setInterpolation(float p1x, float p1y, float p1z, float p1e, float p2x, float p2y, float p2z, float p2e, float av = 0); void setCurrentPos(Point p); void setInterpolation(Point p1, float v = 0); void setInterpolation(Point p0, Point p1, float v = 0); void updateActualPosition(); bool isFinished() const; float getXPosmm() const; float getYPosmm() const; float getZPosmm() const; float getEPosmm() const; Point getPosmm() const; bool isAllowedPosition(float pos_tracker[4]); void setPosOffset(float new_x, float new_y, float new_z, float new_e); void resetPosOffset(); Point getPosOffset() const; private: Point pos_offset; float pos_tracker[4]; byte state; long startTime; float xStartmm; float yStartmm; float zStartmm; float eStartmm; float xDelta; float yDelta; float zDelta; float eDelta; float xPosmm; float yPosmm; float zPosmm; float ePosmm; float v; float tmul; }; #endif ================================================ FILE: arduino_firmware/robotArm_v0.51/logger.cpp ================================================ #include "logger.h" #include "config.h" void Logger::log(String message, int level) { if(LOG_LEVEL >= level) { switch(level) { case LOG_ERROR: Serial.print("ERROR: "); break; case LOG_INFO: Serial.print("INFO: "); break; case LOG_DEBUG: Serial.print("DEBUG: "); break; } Serial.println(message); } } void Logger::logERROR(String message) { log(message, LOG_ERROR); } void Logger::logINFO(String message) { log(message, LOG_INFO); } void Logger::logDEBUG(String message) { log(message, LOG_DEBUG); } ================================================ FILE: arduino_firmware/robotArm_v0.51/logger.h ================================================ #ifndef LOGGER_H_ #define LOGGER_H_ #include #define LOG_ERROR 0 #define LOG_INFO 1 #define LOG_DEBUG 2 class Logger { public: static void log(String message, int level); static void logINFO(String message); static void logERROR(String message); static void logDEBUG(String message); }; #endif ================================================ FILE: arduino_firmware/robotArm_v0.51/pinout.h ================================================ #ifndef PINOUT_H_ #define PINOUT_H_ /* * pinout of RAMPS 1.4 * * source: http://reprap.org/wiki/RAMPS_1.4 */ //RAMPS 1.4 PINS #define X_STEP_PIN 54 #define X_DIR_PIN 55 #define X_ENABLE_PIN 38 #define X_MIN_PIN 3 #define X_MAX_PIN 2 #define Y_STEP_PIN 60 #define Y_DIR_PIN 61 #define Y_ENABLE_PIN 56 #define Y_MIN_PIN 14 #define Y_MAX_PIN 15 #define Z_STEP_PIN 46 #define Z_DIR_PIN 48 #define Z_ENABLE_PIN 62 #define Z_MIN_PIN 18 #define Z_MAX_PIN 19 #define E0_STEP_PIN 26 #define E0_DIR_PIN 28 #define E0_ENABLE_PIN 24 #define E0_MIN_PIN 20 #define E1_STEP_PIN 36 #define E1_DIR_PIN 34 #define E1_ENABLE_PIN 30 #define BYJ_PIN_0 40 #define BYJ_PIN_1 63 #define BYJ_PIN_2 59 #define BYJ_PIN_3 64 #define SERVO_PIN 4 #define PUMP_PIN 8 #define LASER_PIN 10 #define LED_PIN 13 #define SDPOWER -1 #define SDSS 53 #define FAN_PIN 9 #define PS_ON_PIN 12 #define KILL_PIN -1 //#define HEATER_0_PIN 10 //#define HEATER_1_PIN 8 #define TEMP_0_PIN 13 // ANALOG NUMBERING #define TEMP_1_PIN 14 // ANALOG NUMBERING //RAMPS AUX-2 #endif ================================================ FILE: arduino_firmware/robotArm_v0.51/queue.h ================================================ #ifndef QUEUE_H_ #define QUEUE_H_ template class Queue { public: Queue(int alen); ~Queue(); bool push(Element elem); Element pop(); bool isFull() const; bool isEmpty() const; int getFreeSpace() const; int getMaxLength() const; inline int getUsedSpace() const; private: Queue(Queue& q); //copy const. Element* data; int len; int start; int count; }; template Queue::Queue(int alen) { data = new Element[alen]; len = alen; start = 0; count = 0; } template Queue::~Queue() { delete data; } template Queue::Queue(Queue& q) { //nothing ever is allowed to do something here } template bool Queue::push(Element elem) { data[(start + count++) % len] = elem; } template Element Queue::pop() { count--; int s = start; start = (start + 1) % len; return data[(s) % len]; } template bool Queue::isFull() const { return count >= len; } template bool Queue::isEmpty() const { return count <= 0; } template int Queue::getFreeSpace() const { return len - count; } template int Queue::getMaxLength() const { return len; } template int Queue::getUsedSpace() const { return count; } #endif ================================================ FILE: arduino_firmware/robotArm_v0.51/robotArm_v0.51.ino ================================================ //20SFFACTORY COMMUNITY ROBOT FIRMWARE v0.51 //V0.31 WITH G92, M114, LOGGER, LIMIT_CHECK FUNCTIONS //V0.41 WITH DUAL SHANK LENGTH SUPPORT //V0.51 WITH SERVO GRIPPER #include "config.h" #include "pinout.h" #include "logger.h" #include #include "robotGeometry.h" #include "interpolation.h" #include "fanControl.h" #include "RampsStepper.h" #include "queue.h" #include "command.h" #include "byj_gripper.h" #include "servo_gripper.h" #include "equipment.h" #include "endstop.h" //STEPPER OBJECTS RampsStepper stepperHigher(X_STEP_PIN, X_DIR_PIN, X_ENABLE_PIN, INVERSE_X_STEPPER); RampsStepper stepperLower(Y_STEP_PIN, Y_DIR_PIN, Y_ENABLE_PIN, INVERSE_Y_STEPPER); RampsStepper stepperRotate(Z_STEP_PIN, Z_DIR_PIN, Z_ENABLE_PIN, INVERSE_Z_STEPPER); //RAIL OBJECTS RampsStepper stepperRail(E0_STEP_PIN, E0_DIR_PIN, E0_ENABLE_PIN, INVERSE_E0_STEPPER); Endstop endstopE0(E0_MIN_PIN, E0_DIR_PIN, E0_STEP_PIN, E0_ENABLE_PIN, E0_MIN_INPUT, E0_HOME_STEPS, HOME_DWELL); //ENDSTOP OBJECTS Endstop endstopX(X_MIN_PIN, X_DIR_PIN, X_STEP_PIN, X_ENABLE_PIN, X_MIN_INPUT, X_HOME_STEPS, HOME_DWELL); Endstop endstopY(Y_MIN_PIN, Y_DIR_PIN, Y_STEP_PIN, Y_ENABLE_PIN, Y_MIN_INPUT, Y_HOME_STEPS, HOME_DWELL); Endstop endstopZ(Z_MIN_PIN, Z_DIR_PIN, Z_STEP_PIN, Z_ENABLE_PIN, Z_MIN_INPUT, Z_HOME_STEPS, HOME_DWELL); //EQUIPMENT OBJECTS BYJ_Gripper byj_gripper(BYJ_PIN_0, BYJ_PIN_1, BYJ_PIN_2, BYJ_PIN_3, BYJ_GRIP_STEPS); Servo_Gripper servo_gripper(SERVO_PIN, SERVO_GRIP_DEGREE, SERVO_UNGRIP_DEGREE); Equipment laser(LASER_PIN); Equipment pump(PUMP_PIN); Equipment led(LED_PIN); FanControl fan(FAN_PIN, FAN_DELAY); //EXECUTION & COMMAND OBJECTS RobotGeometry geometry(END_EFFECTOR_OFFSET, LOW_SHANK_LENGTH, HIGH_SHANK_LENGTH); Interpolation interpolator; Queue queue(QUEUE_SIZE); Command command; void setup() { Serial.begin(BAUD); stepperHigher.setPositionRad(PI / 2.0); // 90° stepperLower.setPositionRad(0); // 0° stepperRotate.setPositionRad(0); // 0° stepperRail.setPosition(0); if (HOME_ON_BOOT) { //HOME DURING SETUP() IF HOME_ON_BOOT ENABLED homeSequence(); Logger::logINFO("ROBOT ONLINE"); } else { setStepperEnable(false); //ROBOT ADJUSTABLE BY HAND AFTER TURNING ON if (HOME_X_STEPPER && HOME_Y_STEPPER && !HOME_Z_STEPPER){ Logger::logINFO("ROBOT ONLINE"); Logger::logINFO("ROTATE ROBOT TO FACE FRONT CENTRE & SEND G28 TO CALIBRATE"); } if (HOME_X_STEPPER && HOME_Y_STEPPER && HOME_Z_STEPPER){ Logger::logINFO("ROBOT ONLINE"); Logger::logINFO("SEND G28 TO CALIBRATE"); } if (!HOME_X_STEPPER && !HOME_Y_STEPPER){ Logger::logINFO("ROBOT ONLINE"); Logger::logINFO("HOME ROBOT MANUALLY & SEND G28 TO CALIBRATE"); } } interpolator.setInterpolation(INITIAL_X, INITIAL_Y, INITIAL_Z, INITIAL_E0, INITIAL_X, INITIAL_Y, INITIAL_Z, INITIAL_E0); } void loop() { interpolator.updateActualPosition(); geometry.set(interpolator.getXPosmm(), interpolator.getYPosmm(), interpolator.getZPosmm()); stepperRotate.stepToPositionRad(geometry.getRotRad()); stepperLower.stepToPositionRad(geometry.getLowRad()); stepperHigher.stepToPositionRad(geometry.getHighRad()); if (RAIL){ stepperRail.stepToPositionMM(interpolator.getEPosmm(), STEPS_PER_MM_RAIL); } stepperRotate.update(); stepperLower.update(); stepperHigher.update(); if (RAIL){ stepperRail.update(); } fan.update(); if (!queue.isFull()) { if (command.handleGcode()) { queue.push(command.getCmd()); } } if ((!queue.isEmpty()) && interpolator.isFinished()) { executeCommand(queue.pop()); if (PRINT_REPLY) {Serial.println(PRINT_REPLY_MSG);} } if (millis() % 500 < 250) { led.cmdOn(); } else { led.cmdOff(); } } void executeCommand(Cmd cmd) { if (cmd.id == -1) { printErr(); return; } if (cmd.id == 'G') { switch (cmd.num) { case 0: case 1: fan.enable(true); Point posoffset; posoffset = interpolator.getPosOffset(); cmdMove(cmd, interpolator.getPosmm(), posoffset, command.isRelativeCoord); interpolator.setInterpolation(cmd.valueX, cmd.valueY, cmd.valueZ, cmd.valueE, cmd.valueF); Logger::logINFO("LINEAR MOVE: X" + String(cmd.valueX-posoffset.xmm) + " Y" + String(cmd.valueY-posoffset.ymm) + " Z" + String(cmd.valueZ-posoffset.zmm) + " E" + String(cmd.valueE-posoffset.emm)); break; case 4: cmdDwell(cmd); break; case 28: homeSequence(); break; case 90: command.cmdToAbsolute(); break; // ABSOLUTE COORDINATE MODE case 91: command.cmdToRelative(); break; // RELATIVE COORDINATE MODE case 92: interpolator.resetPosOffset(); cmdMove(cmd, interpolator.getPosmm(), interpolator.getPosOffset(), false); interpolator.setPosOffset(cmd.valueX, cmd.valueY, cmd.valueZ, cmd.valueE); break; default: printErr(); } } else if (cmd.id == 'M') { switch (cmd.num) { case 1: pump.cmdOn(); break; case 2: pump.cmdOff(); break; case 3: if (GRIPPER == 0){ byj_gripper.cmdOn(); break; } else if (GRIPPER == 1){ servo_gripper.cmdOn(); break; } case 5: if (GRIPPER == 0){ byj_gripper.cmdOff(); break; } else if (GRIPPER == 1){ servo_gripper.cmdOff(); break; } case 6: laser.cmdOn(); break; case 7: laser.cmdOff(); break; case 17: setStepperEnable(true); break; case 18: setStepperEnable(false); break; case 106: fan.enable(true); break; case 107: fan.enable(false); break; case 114: command.cmdGetPosition(interpolator.getPosmm(), interpolator.getPosOffset(), stepperHigher.getPosition(), stepperLower.getPosition(), stepperRotate.getPosition()); break;// Return the current positions of all axis case 119: Logger::logINFO("ENDSTOP STATE: [UPPER_SHANK(X):"+String(endstopX.state())+" LOWER_SHANK(Y):"+String(endstopY.state())+" ROTATE_GEAR(Z):"+String(endstopZ.state())+"]"); break; default: printErr(); } } else { printErr(); } } void setStepperEnable(bool enable){ stepperRotate.enable(enable); stepperLower.enable(enable); stepperHigher.enable(enable); if(RAIL){ stepperRail.enable(enable); } fan.enable(enable); } void homeSequence(){ setStepperEnable(false); fan.enable(true); if (HOME_Y_STEPPER){ endstopY.home(!INVERSE_Y_STEPPER); //INDICATE STEPPER HOMING DIRECTION } if (HOME_X_STEPPER){ endstopX.home(!INVERSE_X_STEPPER); //INDICATE STEPPER HOMING DIRECTION } if (HOME_Z_STEPPER){ endstopZ.home(INVERSE_Z_STEPPER); //INDICATE STEPPER HOMING DIRECDTION } if (RAIL){ if (HOME_E0_STEPPER){ endstopE0.home(!INVERSE_E0_STEPPER); // } } interpolator.setInterpolation(INITIAL_X, INITIAL_Y, INITIAL_Z, INITIAL_E0, INITIAL_X, INITIAL_Y, INITIAL_Z, INITIAL_E0); Logger::logINFO("HOMING COMPLETE"); } ================================================ FILE: arduino_firmware/robotArm_v0.51/robotGeometry.cpp ================================================ #include "robotGeometry.h" #include #include RobotGeometry::RobotGeometry(float a_ee_offset, float a_low_shank_length, float a_high_shank_length) { ee_offset = a_ee_offset; low_shank_length = a_low_shank_length; high_shank_length = a_high_shank_length; } void RobotGeometry::set(float axmm, float aymm, float azmm) { xmm = axmm; ymm = aymm; zmm = azmm; calculateGrad(); } float RobotGeometry::getXmm() const { return xmm; } float RobotGeometry::getYmm() const { return ymm; } float RobotGeometry::getZmm() const { return zmm; } float RobotGeometry::getRotRad() const { return rot; } float RobotGeometry::getLowRad() const { return low; } float RobotGeometry::getHighRad() const { return high; } void RobotGeometry::calculateGrad() { float rrot_ee = hypot(xmm, ymm); float rrot = rrot_ee - ee_offset; //radius from Top View float rside = hypot(rrot, zmm); //radius from Side View. Use rrot instead of ymm..for everything float rside_2 = sq(rside); float low_2 = sq(low_shank_length); float high_2 = sq(high_shank_length); rot = asin(xmm / rrot_ee); high = PI - acos((low_2 + high_2 - rside_2) / (2 * low_shank_length * high_shank_length)); //Angle of Lower Stepper Motor (asin()=Angle To Gripper) if (zmm > 0) { low = acos(zmm / rside) - acos((low_2 - high_2 + rside_2) / (2 * low_shank_length * rside)); } else { low = PI - asin(rrot / rside) - acos((low_2 - high_2 + rside_2) / (2 * low_shank_length * rside)); } high = high + low; } ================================================ FILE: arduino_firmware/robotArm_v0.51/robotGeometry.h ================================================ #ifndef ROBOTGEOMETRY_H_ #define ROBOTGEOMETRY_H_ class RobotGeometry { public: RobotGeometry(float a_ee_offset, float a_low_shank_length, float a_high_length); void set(float axmm, float aymm, float azmm); float getXmm() const; float getYmm() const; float getZmm() const; float getRotRad() const; float getLowRad() const; float getHighRad() const; private: void calculateGrad(); float ee_offset; float low_shank_length; float high_shank_length; float xmm; float ymm; float zmm; float rot; float low; float high; }; #endif ================================================ FILE: arduino_firmware/robotArm_v0.51/servo_gripper.cpp ================================================ #include "servo_gripper.h" #include #include Servo_Gripper::Servo_Gripper(int pin, float grip_degree, float ungrip_degree){ servo_pin = pin; servo_grip_deg = grip_degree; servo_ungrip_deg = ungrip_degree; Servo servo_motor; } void Servo_Gripper::cmdOn(){ servo_motor.attach(servo_pin); servo_motor.write(servo_grip_deg); delay(300); servo_motor.detach(); } void Servo_Gripper::cmdOff(){ servo_motor.attach(servo_pin); servo_motor.write(servo_ungrip_deg); delay(300); servo_motor.detach(); } ================================================ FILE: arduino_firmware/robotArm_v0.51/servo_gripper.h ================================================ #ifndef SERVO_GRIPPER_H_ #define SERVO_GRIPPER_H_ #include class Servo_Gripper{ public: Servo_Gripper(int pin, float grip_degree, float ungrip_degree); void cmdOn(); void cmdOff(); private: Servo servo_motor; int servo_pin; float servo_grip_deg; float servo_ungrip_deg; }; #endif ================================================ FILE: arduino_firmware/robotArm_v0.61/RampsStepper.cpp ================================================ #include "RampsStepper.h" #include "config.h" #include RampsStepper::RampsStepper(int aStepPin, int aDirPin, int aEnablePin, bool aInverse) { setReductionRatio(MAIN_GEAR_TEETH / MOTOR_GEAR_TEETH, MICROSTEPS * STEPS_PER_REV); stepPin = aStepPin; dirPin = aDirPin; enablePin = aEnablePin; inverse = aInverse; stepperStepPosition = 0; stepperStepTargetPosition; pinMode(stepPin, OUTPUT); pinMode(dirPin, OUTPUT); pinMode(enablePin, OUTPUT); enable(false); } void RampsStepper::enable(bool value) { digitalWrite(enablePin, !value); } bool RampsStepper::isOnPosition() const { return stepperStepPosition == stepperStepTargetPosition; } int RampsStepper::getPosition() const { return stepperStepPosition; } void RampsStepper::setPosition(int value) { stepperStepPosition = value; stepperStepTargetPosition = value; } void RampsStepper::stepToPosition(int value) { stepperStepTargetPosition = value; } void RampsStepper::stepToPositionMM(float mm, float steps_per_mm) { stepperStepTargetPosition = mm * steps_per_mm; } void RampsStepper::stepRelative(int value) { value += stepperStepPosition; stepToPosition(value); } float RampsStepper::getPositionRad() const { return stepperStepPosition / radToStepFactor; } void RampsStepper::setPositionRad(float rad) { setPosition(rad * radToStepFactor); } void RampsStepper::stepToPositionRad(float rad) { stepperStepTargetPosition = rad * radToStepFactor; } void RampsStepper::stepRelativeRad(float rad) { stepRelative(rad * radToStepFactor); } void RampsStepper::update() { while (stepperStepTargetPosition < stepperStepPosition) { digitalWrite(dirPin, !inverse); digitalWrite(stepPin, HIGH); digitalWrite(stepPin, LOW); stepperStepPosition--; } while (stepperStepTargetPosition > stepperStepPosition) { digitalWrite(dirPin, inverse); digitalWrite(stepPin, HIGH); digitalWrite(stepPin, LOW); stepperStepPosition++; } } void RampsStepper::setReductionRatio(float gearRatio, int stepsPerRev) { radToStepFactor = gearRatio * stepsPerRev / 2 / PI; }; ================================================ FILE: arduino_firmware/robotArm_v0.61/RampsStepper.h ================================================ #ifndef RAMPSSTEPPER_H_ #define RAMPSSTEPPER_H_ class RampsStepper { public: RampsStepper(int aStepPin, int aDirPin, int aEnablePin, bool aInverse); void enable(bool value = true); bool isOnPosition() const; int getPosition() const; void setPosition(int value); void stepToPosition(int value); void stepToPositionMM(float mm, float steps_per_mm); void stepRelative(int value); float getPositionRad() const; void setPositionRad(float rad); void stepToPositionRad(float rad); void stepRelativeRad(float rad); void update(); void setReductionRatio(float gearRatio, int stepsPerRev); private: int stepperStepTargetPosition; int stepperStepPosition; int stepPin; int dirPin; int enablePin; bool inverse; float radToStepFactor; }; #endif ================================================ FILE: arduino_firmware/robotArm_v0.61/byj_gripper.cpp ================================================ #include "byj_gripper.h" #include BYJ_Gripper::BYJ_Gripper(int pin0, int pin1, int pin2, int pin3, int steps){ grip_steps = steps; byj_pin_0 = pin0; byj_pin_1 = pin1; byj_pin_2 = pin2; byj_pin_3 = pin3; step_cycle = 0; pinMode(byj_pin_0, OUTPUT); pinMode(byj_pin_1, OUTPUT); pinMode(byj_pin_2, OUTPUT); pinMode(byj_pin_3, OUTPUT); } void BYJ_Gripper::cmdOn() { direction = true; for (int i = 1; i <= grip_steps; i++) { moveSteps(); delay(1); } } void BYJ_Gripper::cmdOff() { direction = false; for (int i = 1; i <= grip_steps; i++) { moveSteps(); delay(1); } } void BYJ_Gripper::setDirection(){ if (direction == true) { step_cycle++; } if (direction == false) { step_cycle--; } if (step_cycle > 7) { step_cycle = 0; } if (step_cycle < 0) { step_cycle = 7; } } void BYJ_Gripper::moveSteps() { switch (step_cycle) { case 0: digitalWrite(byj_pin_0, LOW); digitalWrite(byj_pin_1, LOW); digitalWrite(byj_pin_2, LOW); digitalWrite(byj_pin_3, HIGH); break; case 1: digitalWrite(byj_pin_0, LOW); digitalWrite(byj_pin_1, LOW); digitalWrite(byj_pin_2, HIGH); digitalWrite(byj_pin_3, HIGH); break; case 2: digitalWrite(byj_pin_0, LOW); digitalWrite(byj_pin_1, LOW); digitalWrite(byj_pin_2, HIGH); digitalWrite(byj_pin_3, LOW); break; case 3: digitalWrite(byj_pin_0, LOW); digitalWrite(byj_pin_1, HIGH); digitalWrite(byj_pin_2, HIGH); digitalWrite(byj_pin_3, LOW); break; case 4: digitalWrite(byj_pin_0, LOW); digitalWrite(byj_pin_1, HIGH); digitalWrite(byj_pin_2, LOW); digitalWrite(byj_pin_3, LOW); break; case 5: digitalWrite(byj_pin_0, HIGH); digitalWrite(byj_pin_1, HIGH); digitalWrite(byj_pin_2, LOW); digitalWrite(byj_pin_3, LOW); break; case 6: digitalWrite(byj_pin_0, HIGH); digitalWrite(byj_pin_1, LOW); digitalWrite(byj_pin_2, LOW); digitalWrite(byj_pin_3, LOW); break; case 7: digitalWrite(byj_pin_0, HIGH); digitalWrite(byj_pin_1, LOW); digitalWrite(byj_pin_2, LOW); digitalWrite(byj_pin_3, HIGH); break; default: digitalWrite(byj_pin_0, LOW); digitalWrite(byj_pin_1, LOW); digitalWrite(byj_pin_2, LOW); digitalWrite(byj_pin_3, LOW); break; } setDirection(); } ================================================ FILE: arduino_firmware/robotArm_v0.61/byj_gripper.h ================================================ #ifndef BYJ_GRIPPER_H_ #define BYJ_GRIPPER_H_ class BYJ_Gripper { public: BYJ_Gripper(int pin0, int pin1, int pin2, int pin3, int steps); void cmdOn(); void cmdOff(); private: bool direction; void moveSteps(); void setDirection(); int byj_pin_0; int byj_pin_1; int byj_pin_2; int byj_pin_3; int grip_steps; int step_cycle; }; #endif ================================================ FILE: arduino_firmware/robotArm_v0.61/command.cpp ================================================ #include "command.h" #include "logger.h" #include "config.h" #include Command::Command() { //initialize Command to a zero-move value; new_command.valueX = NAN; new_command.valueY = NAN; new_command.valueZ = NAN; new_command.valueF = 0; new_command.valueE = NAN; new_command.valueS = 0; message = ""; isRelativeCoord = false; } bool Command::handleGcode() { if (Serial.available()) { char c = Serial.read(); if (c == '\n') { return false; } if (c == '\r') { bool b = processMessage(message); message = ""; return b; } else { message += c; } } return false; } bool Command::processMessage(String msg){ new_command.valueX = NAN; new_command.valueY = NAN; new_command.valueZ = NAN; new_command.valueE = NAN; new_command.valueF = 0; new_command.valueS = 0; msg.toUpperCase(); msg.replace(" ", ""); int active_index = 0; new_command.id = msg[active_index]; if((new_command.id != 'G') && (new_command.id != 'M')){ printErr(); return false; } active_index++; int temp_index = active_index; while (temp_index #include "interpolation.h" struct Cmd { char id; int num; float valueX; float valueY; float valueZ; float valueF; float valueE; float valueS; }; class Command { public: Command(); bool handleGcode(); bool processMessage(String msg); void value_segment(String msg_segment); Cmd getCmd() const; void cmdGetPosition(Point pos, Point pos_offset, float highRad, float lowRad, float rotRad); void cmdToRelative(); void cmdToAbsolute(); bool isRelativeCoord; Cmd new_command; private: String message; }; void cmdMove(Cmd(&cmd), Point pos, Point pos_offset, bool isRelativeCoord); void cmdDwell(Cmd(&cmd)); void printErr(); #endif ================================================ FILE: arduino_firmware/robotArm_v0.61/config.h ================================================ #ifndef CONFIG_H_ #define CONFIG_H_ //SERIAL SETTINGS #define BAUD 115200 //MEGA2560 BY DEFAULT, SET TO true IF UNO & CNC SHILED USED TO DRIVE ROBOT #define USE_UNO false //ROBOT ARM LENGTH //#define SHANK_LENGTH 140.0 #define LOW_SHANK_LENGTH 140.0 #define HIGH_SHANK_LENGTH 140.0 #define END_EFFECTOR_OFFSET 54.0 // LENGTH FROM UPPER SHANK BEARING TO MIDPOINT OF END EFFECTOR IN MM //INITIAL INTERPOLATION SETTINGS // INITIAL_XYZ FORMS VERTICAL LOWER ARM & HORIZONTAL UPPER ARM IN 90 DEGREES #define INITIAL_X 0.0 // CARTESIAN COORDINATE X #define INITIAL_Y (HIGH_SHANK_LENGTH+END_EFFECTOR_OFFSET) // CARTESIAN COORDINATE Y #define INITIAL_Z LOW_SHANK_LENGTH // CARTESIAN COORDINATE Z #define INITIAL_E0 0.0 // RAIL STEPPER ENDSTOP POSITION // CALIBRATE HOME STEPS TO REACH DESIRED INITIAL_XYZ POSITIONS #define X_HOME_STEPS 1020 //765 //860 // STEPS FROM X_ENDSTOP TO INITIAL_XYZ FOR UPPER ARM #define Y_HOME_STEPS 1900 //1940 // STEPS FROM Y_ENDSTOP TO INITIAL_XYZ FOR LOWER ARM #define Z_HOME_STEPS 3640 // STEPS FROM Z_ENDSTOP TO INITIAL_XYZ FOR ROTATION CENTER #define E0_HOME_STEPS 0 // STEPS FROM E0_ENDSTOP TO INITIAL_E0 //HOMING SETTINGS: #define HOME_X_STEPPER true // "true" IF ENDSTOP IS INSTALLED #define HOME_Y_STEPPER true // "true" IF ENDSTOP IS INSTALLED #define HOME_Z_STEPPER true // "true" IF ENDSTOP IS INSTALLED #define HOME_E0_STEPPER true // "true" IF ENDSTOP IS INSTALLED #define HOME_ON_BOOT false // "true" IF HOMING REQUIRED AFTER POWER ON #define HOME_DWELL 1400 // INCREASE TO SLOW DOWN HOMING SPEED //STEPPER SETTINGS: #define MICROSTEPS 16 // MICROSTEPPING CONFIGURATION ON RAMPS1.4 #define STEPS_PER_REV 200 // NEMA17 STEPS PER REVOLUTION #define INVERSE_X_STEPPER true // CHANGE IF STEPPER MOVES OTHER WAY #define INVERSE_Y_STEPPER false // CHANGE IF STEPPER MOVES OTHER WAY #define INVERSE_Z_STEPPER true // CHANGE IF STEPPER MOVES OTHER WAY #define INVERSE_E0_STEPPER false // CHANGE IF STEPPER MOVES OTHER WAY //RAIL SETTINGS: #define RAIL true // E0 STEPPER USED AS RAIL. SET TO 'false' IF ROBOT ARM IS STATIONARY. #define STEPS_PER_MM_RAIL 80.0 // STEPS PER MM FOR RAIL MOTOR #define RAIL_LENGTH 200.0 // MAX LENGTH OF RAIL IN MM //ENDSTOP SETTINGS: #define X_MIN_INPUT 1 // OUTPUT VALUE WHEN SWITCH ACTIVATED #define Y_MIN_INPUT 1 // OUTPUT VALUE WHEN SWITCH ACTIVATED #define Z_MIN_INPUT 1 // OUTPUT VALUE WHEN SWITCH ACTIVATED #define E0_MIN_INPUT 1 // OUTPUT VALUE WHEN SWITCH ACTIVATED //GEAR RATIO SETTINGS #define MOTOR_GEAR_TEETH 20.0 // 20.0 FOR 20SFFACTORY BELT VERSION 9.0 FOR FTOBLER GEAR VERSION #define MAIN_GEAR_TEETH 90.0 // 90.0 FOR 20SFFACTORY BELT VERSION 32.0 FOR FTOBLER GEAR VERSION //EQUIPMENT SETTINGS #define LASER false // 12V LASER CONNECTED TO LASER_PIN #define PUMP false // 12V AIR PUMP CONNECTED TO PUMP_PIN #define FAN_DELAY 120 // FAN ON IN SECONDS //GRIPPER SETTINGS #define GRIPPER 0 //GRIPPER MOTOR IN USE // 0: 28BYJ-48 MICRO STEPPER MOTOR // 1: 9G SERVO OR MG996 SERVO EQUIVALENT //28BYJ GRIPPER SETTINGS #define BYJ_GRIP_STEPS 1200 //FTOBLER: 1200 //SERVO GRIPPER SETTINGS #define SERVO_GRIP_DEGREE 90.0 #define SERVO_UNGRIP_DEGREE 0.0 //COMMAND QUEUE SETTINGS #define QUEUE_SIZE 15 //PRINT REPLY SETTING #define PRINT_REPLY false // "true" TO PRINT MSG AFTER ONE COMMAND IS PROCESSED #define PRINT_REPLY_MSG "ok" // MSG SENT FOR USER'S POST PROCESSING WITH OTHER SOFTWARE //SPEED PROFILE SETTING #define SPEED_PROFILE 2 // OPTIONS BELOW //0: FLAT SPEED CURVE (CONSTANT SPEED PER MOVEMENT, SUITABLE FOR REALTIME CONTROL SOFTWARE) //1: ARCTAN APPROX (SLIGHT BELL CURVE ACCELERATION & DECELERATION) //2: COSIN APPROX (TOTAL BELL CURVE ACCEL FROM 0 & DECEL FROM 0, SUITABLE FOR PRESET COMMAND MOVEMENTS) //LOG SETTINGS #define LOG_LEVEL 2 //0: ERROR //1: INFO //2: DEBUG //MOVE LIMIT PARAMETERS #define Z_MIN -140.0 //MINIMUM Z HEIGHT OF TOOLHEAD TOUCHING GROUND #define Z_MAX (LOW_SHANK_LENGTH+30.0) //SHANK_LENGTH ADDING ARBITUARY NUMBER FOR Z_MAX #define SHANKS_MIN_ANGLE_COS 0.791436948 #define SHANKS_MAX_ANGLE_COS -0.774944489 #define R_MIN (sqrt((sq(LOW_SHANK_LENGTH) + sq(HIGH_SHANK_LENGTH)) - (2*LOW_SHANK_LENGTH*HIGH_SHANK_LENGTH*SHANKS_MIN_ANGLE_COS) )) #define R_MAX (sqrt((sq(LOW_SHANK_LENGTH) + sq(HIGH_SHANK_LENGTH)) - (2*LOW_SHANK_LENGTH*HIGH_SHANK_LENGTH*SHANKS_MAX_ANGLE_COS) )) #endif ================================================ FILE: arduino_firmware/robotArm_v0.61/endstop.cpp ================================================ #include "endstop.h" #include Endstop::Endstop(int a_min_pin, int a_dir_pin, int a_step_pin, int a_en_pin, int a_switch_input, int a_step_offset, int a_home_dwell){ min_pin = a_min_pin; dir_pin = a_dir_pin; step_pin = a_step_pin; en_pin = a_en_pin; switch_input = a_switch_input; home_dwell = a_home_dwell; step_offset = a_step_offset; pinMode(min_pin, INPUT_PULLUP); } void Endstop::home(bool dir) { digitalWrite(en_pin, LOW); delayMicroseconds(5); if (dir==1){ digitalWrite(dir_pin, HIGH); } else { digitalWrite(dir_pin, LOW); } delayMicroseconds(5); bState = !(digitalRead(min_pin) ^ switch_input); while (!bState) { digitalWrite(step_pin, HIGH); digitalWrite(step_pin, LOW); delayMicroseconds(home_dwell); bState = !(digitalRead(min_pin) ^ switch_input); } homeOffset(dir); } void Endstop::homeOffset(bool dir){ if (dir==1){ digitalWrite(dir_pin, LOW); } else{ digitalWrite(dir_pin, HIGH); } delayMicroseconds(5); for (int i = 1; i <= step_offset; i++) { digitalWrite(step_pin, HIGH); digitalWrite(step_pin, LOW); delayMicroseconds(home_dwell); } } void Endstop::oneStepToEndstop(bool dir){ digitalWrite(en_pin, LOW); delayMicroseconds(5); if (dir==1){ digitalWrite(dir_pin, HIGH); } else { digitalWrite(dir_pin, LOW); } delayMicroseconds(5); bState = !(digitalRead(min_pin) ^ switch_input); if (!bState) { digitalWrite(step_pin, HIGH); digitalWrite(step_pin, LOW); delayMicroseconds(home_dwell); } bState = !(digitalRead(min_pin) ^ switch_input); } bool Endstop::state(){ bState = !(digitalRead(min_pin) ^ switch_input); return bState; } ================================================ FILE: arduino_firmware/robotArm_v0.61/endstop.h ================================================ #ifndef ENDSTOP_H_ #define ENDSTOP_H_ class Endstop { public: Endstop(int a_min_pin, int a_dir_pin, int a_step_pin, int a_en_pin, int a_switch_input, int a_step_offset, int a_home_dwell); void home(bool dir); void homeOffset(bool dir); void oneStepToEndstop(bool dir); bool state(); bool bState; private: int min_pin; int dir_pin; int step_pin; int en_pin; int switch_input; int home_dwell; int step_offset; }; #endif ================================================ FILE: arduino_firmware/robotArm_v0.61/equipment.cpp ================================================ #include "equipment.h" #include Equipment::Equipment(int equipment_pin){ pin = equipment_pin; pinMode(pin, OUTPUT); } void Equipment::cmdOn(){ digitalWrite(pin, HIGH); } void Equipment::cmdOff(){ digitalWrite(pin, LOW); } ================================================ FILE: arduino_firmware/robotArm_v0.61/equipment.h ================================================ #ifndef EQUIPMENT_H_ #define EQUIPMENT_H_ class Equipment { public: Equipment(int equipment_pin); void cmdOn(); void cmdOff(); private: int pin; }; #endif ================================================ FILE: arduino_firmware/robotArm_v0.61/fanControl.cpp ================================================ #include "fanControl.h" #include FanControl::FanControl(int aPin, int aFanDelay) { fan_delay = aFanDelay * 1000; nextShutdown = 0; pin = aPin; pinMode(pin , OUTPUT); digitalWrite(pin , LOW); state = false; } void FanControl::enable(bool value) { if (value) { state = true; digitalWrite(pin, HIGH); } else { disable(); } } void FanControl::disable() { state = false; nextShutdown = millis() + fan_delay; update(); } void FanControl::update() { if (!state) { if (millis() >= nextShutdown) { digitalWrite(pin, LOW); } } } ================================================ FILE: arduino_firmware/robotArm_v0.61/fanControl.h ================================================ #ifndef FANCONTROL_H_ #define FANCONTROL_H_ class FanControl { public: FanControl(int aPin, int aFanDelay); void enable(bool value = true); void disable(); void update(); private: bool state; int pin; long fan_delay; long nextShutdown; }; #endif ================================================ FILE: arduino_firmware/robotArm_v0.61/interpolation.cpp ================================================ #include "interpolation.h" #include "config.h" #include "queue.h" #include "logger.h" Interpolation::Interpolation(){ pos_offset.xmm = 0.0; pos_offset.ymm = 0.0; pos_offset.zmm = 0.0; pos_offset.emm = 0.0; } //G92 POSITION OFFSET FUNCTIONS void Interpolation::setPosOffset(float new_x, float new_y, float new_z, float new_e) { pos_offset.xmm = xPosmm - new_x; pos_offset.ymm = yPosmm - new_y; pos_offset.zmm = zPosmm - new_z; pos_offset.emm = ePosmm - new_e; Logger::logINFO("POSITION OFFSET: [X" + String(pos_offset.xmm) + " Y:" + String(pos_offset.ymm) + " Z:" + String(pos_offset.zmm) + " E:" + String(pos_offset.emm) + "]"); Logger::logINFO("CURRENT POSITION: [X:"+String(new_x)+" Y:"+String(new_y)+" Z:"+String(new_z)+" E:"+String(new_e)+"]"); } void Interpolation::resetPosOffset(){ pos_offset.xmm = 0.0; pos_offset.ymm = 0.0; pos_offset.zmm = 0.0; pos_offset.emm = 0.0; } Point Interpolation::getPosOffset() const { return pos_offset; } void Interpolation::setCurrentPos(float px, float py, float pz, float pe) { Point p; p.xmm = px; p.ymm = py; p.zmm = pz; p.emm = pe; setCurrentPos(p); } void Interpolation::setInterpolation(float px, float py, float pz, float pe, float v) { Point p; p.xmm = px; p.ymm = py; p.zmm = pz; p.emm = pe; setInterpolation(p, v); } void Interpolation::setInterpolation(float p1x, float p1y, float p1z, float p1e, float p2x, float p2y, float p2z, float p2e, float v) { Point p1; Point p2; p1.xmm = p1x; p1.ymm = p1y; p1.zmm = p1z; p1.emm = p1e; p2.xmm = p2x; p2.ymm = p2y; p2.zmm = p2z; p2.emm = p2e; setInterpolation(p1, p2, v); } void Interpolation::setInterpolation(Point p1, float v) { Point p0; p0.xmm = xStartmm + xDelta; p0.ymm = yStartmm + yDelta; p0.zmm = zStartmm + zDelta; p0.emm = eStartmm + eDelta; setInterpolation(p0, p1, v); } void Interpolation::setInterpolation(Point p0, Point p1, float av) { v = av; //mm/s float a = (p1.xmm - p0.xmm); float b = (p1.ymm - p0.ymm); float c = (p1.zmm - p0.zmm); float e = abs(p1.emm - p0.emm); float dist = sqrt(a*a + b*b + c*c); if (dist < e) { dist = e; } if (v < 5) { //includes 0 = default value v = sqrt(dist) * 10; //set a good value for v } if (v < 5) { v = 5; } tmul = v / dist; xStartmm = p0.xmm; yStartmm = p0.ymm; zStartmm = p0.zmm; eStartmm = p0.emm; xDelta = (p1.xmm - p0.xmm); yDelta = (p1.ymm - p0.ymm); zDelta = (p1.zmm - p0.zmm); eDelta = (p1.emm - p0.emm); state = 0; startTime = micros(); } void Interpolation::setCurrentPos(Point p) { xStartmm = p.xmm; yStartmm = p.ymm; zStartmm = p.zmm; eStartmm = p.emm; xDelta = 0; yDelta = 0; zDelta = 0; eDelta = 0; } void Interpolation::updateActualPosition() { if (state != 0) { return; } long microsek = micros(); float t = (microsek - startTime) / 1000000.0; float progress; switch (SPEED_PROFILE){ // FLAT SPEED CURVE case 0: progress = t * tmul; if (progress >= 1.0){ progress = 1.0; state = 1; } break; // ARCTAN APPROX case 1: progress = atan((PI * t * tmul) - (PI * 0.5)) * 0.5 + 0.5; if (progress >= 1.0) { progress = 1.0; state = 1; } break; // COSIN APPROX case 2: progress = -cos(t * tmul * PI) * 0.5 + 0.5; if ((t * tmul) >= 1.0) { progress = 1.0; state = 1; } break; } pos_tracker[X_AXIS] = xStartmm + progress * xDelta; pos_tracker[Y_AXIS] = yStartmm + progress * yDelta; pos_tracker[Z_AXIS] = zStartmm + progress * zDelta; pos_tracker[E_AXIS] = eStartmm + progress * eDelta; if(isAllowedPosition(pos_tracker)){ xPosmm = pos_tracker[X_AXIS]; yPosmm = pos_tracker[Y_AXIS]; zPosmm = pos_tracker[Z_AXIS]; ePosmm = pos_tracker[E_AXIS]; } else { pos_tracker[X_AXIS] = xPosmm; pos_tracker[Y_AXIS] = yPosmm; pos_tracker[Z_AXIS] = zPosmm; pos_tracker[E_AXIS] = ePosmm; state = 1; progress = 1.0; xStartmm = xPosmm; yStartmm = yPosmm; zStartmm = zPosmm; eStartmm = ePosmm; xDelta = 0; yDelta = 0; zDelta = 0; eDelta = 0; } //FOR DECIPHERING SPEED CURVE //Serial.print("xPosmm:"); //Serial.print(xPosmm); //Serial.print(" yPosmm:"); //Serial.print(yPosmm); //Serial.print(" zPosmm:"); //Serial.println(zPosmm); } bool Interpolation::isFinished() const { return state != 0; } float Interpolation::getXPosmm() const { return xPosmm; } float Interpolation::getYPosmm() const { return yPosmm; } float Interpolation::getZPosmm() const { return zPosmm; } float Interpolation::getEPosmm() const { return ePosmm; } Point Interpolation::getPosmm() const { Point p; p.xmm = xPosmm; p.ymm = yPosmm; p.zmm = zPosmm; p.emm = ePosmm; return p; } bool Interpolation::isAllowedPosition(float pos_tracker[4]) { float rrot_ee = hypot(pos_tracker[X_AXIS], pos_tracker[Y_AXIS]); float rrot = rrot_ee - END_EFFECTOR_OFFSET; float rrot_x = rrot * (pos_tracker[Y_AXIS] / rrot_ee); float rrot_y = rrot * (pos_tracker[X_AXIS] / rrot_ee); float squaredPositionModule = sq(rrot_x) + sq(rrot_y) + sq(pos_tracker[Z_AXIS]); bool retVal = ( squaredPositionModule <= sq(R_MAX) && squaredPositionModule >= sq(R_MIN) && pos_tracker[Z_AXIS] >= Z_MIN && pos_tracker[Z_AXIS] <= Z_MAX && pos_tracker[E_AXIS] <= RAIL_LENGTH ); if(!retVal) { Logger::logERROR("LIMIT REACHED: [X:" + String(pos_tracker[X_AXIS]) + " Y:" + String(pos_tracker[Y_AXIS]) + " Z:" + String(pos_tracker[Z_AXIS]) + " E:" + String(pos_tracker[E_AXIS]) + "]"); } return retVal; } ================================================ FILE: arduino_firmware/robotArm_v0.61/interpolation.h ================================================ #ifndef INTERPOLATION_H_ #define INTERPOLATION_H_ #include #define X_AXIS 0 #define Y_AXIS 1 #define Z_AXIS 2 #define E_AXIS 3 struct Point { float xmm; float ymm; float zmm; float emm; }; class Interpolation { public: //void resetInterpolation(float px, float py, float pz); //void resetInterpolation(float p1x, float p1y, float p1z, float p2x, float p2y, float p2z); //void resetInterpolation(Point p0, Point p1); Interpolation(); void setCurrentPos(float px, float py, float pz, float pe); void setInterpolation(float px, float py, float pz, float pe, float v = 0); void setInterpolation(float p1x, float p1y, float p1z, float p1e, float p2x, float p2y, float p2z, float p2e, float av = 0); void setCurrentPos(Point p); void setInterpolation(Point p1, float v = 0); void setInterpolation(Point p0, Point p1, float v = 0); void updateActualPosition(); bool isFinished() const; float getXPosmm() const; float getYPosmm() const; float getZPosmm() const; float getEPosmm() const; Point getPosmm() const; bool isAllowedPosition(float pos_tracker[4]); void setPosOffset(float new_x, float new_y, float new_z, float new_e); void resetPosOffset(); Point getPosOffset() const; private: Point pos_offset; float pos_tracker[4]; byte state; long startTime; float xStartmm; float yStartmm; float zStartmm; float eStartmm; float xDelta; float yDelta; float zDelta; float eDelta; float xPosmm; float yPosmm; float zPosmm; float ePosmm; float v; float tmul; }; #endif ================================================ FILE: arduino_firmware/robotArm_v0.61/logger.cpp ================================================ #include "logger.h" #include "config.h" void Logger::log(String message, int level) { if(LOG_LEVEL >= level) { String logMsg; switch(level) { case LOG_ERROR: logMsg = "ERROR: "; break; case LOG_INFO: logMsg = "INFO: "; break; case LOG_DEBUG: logMsg = "DEBUG: "; break; } logMsg = logMsg + message; Serial.println(logMsg); } } void Logger::logERROR(String message) { log(message, LOG_ERROR); } void Logger::logINFO(String message) { log(message, LOG_INFO); } void Logger::logDEBUG(String message) { log(message, LOG_DEBUG); } ================================================ FILE: arduino_firmware/robotArm_v0.61/logger.h ================================================ #ifndef LOGGER_H_ #define LOGGER_H_ #include #define LOG_ERROR 0 #define LOG_INFO 1 #define LOG_DEBUG 2 class Logger { public: static void log(String message, int level); static void logINFO(String message); static void logERROR(String message); static void logDEBUG(String message); }; #endif ================================================ FILE: arduino_firmware/robotArm_v0.61/pinout.h ================================================ #ifndef PINOUT_H_ #define PINOUT_H_ /* * pinout of RAMPS 1.4 * * source: http://reprap.org/wiki/RAMPS_1.4 */ //RAMPS 1.4 PINS #define X_STEP_PIN 54 #define X_DIR_PIN 55 #define X_ENABLE_PIN 38 #define X_MIN_PIN 3 #define X_MAX_PIN 2 #define Y_STEP_PIN 60 #define Y_DIR_PIN 61 #define Y_ENABLE_PIN 56 #define Y_MIN_PIN 14 #define Y_MAX_PIN 15 #define Z_STEP_PIN 46 #define Z_DIR_PIN 48 #define Z_ENABLE_PIN 62 #define Z_MIN_PIN 18 #define Z_MAX_PIN 19 #define E0_STEP_PIN 26 #define E0_DIR_PIN 28 #define E0_ENABLE_PIN 24 #define E0_MIN_PIN 20 #define E1_STEP_PIN 36 #define E1_DIR_PIN 34 #define E1_ENABLE_PIN 30 #define BYJ_PIN_0 40 #define BYJ_PIN_1 63 #define BYJ_PIN_2 59 #define BYJ_PIN_3 64 #define SERVO_PIN 4 #define PUMP_PIN 8 #define LASER_PIN 10 #define LED_PIN 13 #define SDPOWER -1 #define SDSS 53 #define FAN_PIN 9 #define PS_ON_PIN 12 #define KILL_PIN -1 //#define HEATER_0_PIN 10 //#define HEATER_1_PIN 8 #define TEMP_0_PIN 13 // ANALOG NUMBERING #define TEMP_1_PIN 14 // ANALOG NUMBERING //RAMPS AUX-2 #endif ================================================ FILE: arduino_firmware/robotArm_v0.61/pinout_uno.h ================================================ #ifndef PINOUT_UNO_H_ #define PINOUT_UNO_H_ #define X_STEP_PIN 2 #define X_DIR_PIN 5 #define X_ENABLE_PIN 8 #define X_MIN_PIN 9 #define X_MAX_PIN -1 #define Y_STEP_PIN 3 #define Y_DIR_PIN 6 #define Y_ENABLE_PIN 8 #define Y_MIN_PIN 10 #define Y_MAX_PIN -1 #define Z_STEP_PIN 4 #define Z_DIR_PIN 7 #define Z_ENABLE_PIN 8 #define Z_MIN_PIN 11 #define Z_MAX_PIN -1 #define E0_STEP_PIN -1 #define E0_DIR_PIN -1 #define E0_ENABLE_PIN -1 #define E0_MIN_PIN -1 #define E1_STEP_PIN -1 #define E1_DIR_PIN -1 #define E1_ENABLE_PIN -1 #define BYJ_PIN_0 -1 #define BYJ_PIN_1 -1 #define BYJ_PIN_2 -1 #define BYJ_PIN_3 -1 #define SERVO_PIN 12 #define PUMP_PIN -1 #define LASER_PIN -1 #define LED_PIN -1 #define SDPOWER -1 #define SDSS -1 #define FAN_PIN -1 #define PS_ON_PIN -1 #define KILL_PIN -1 #define TEMP_0_PIN -1 // ANALOG NUMBERING #define TEMP_1_PIN -1 // ANALOG NUMBERING #endif ================================================ FILE: arduino_firmware/robotArm_v0.61/queue.h ================================================ #ifndef QUEUE_H_ #define QUEUE_H_ template class Queue { public: Queue(int alen); ~Queue(); bool push(Element elem); Element pop(); bool isFull() const; bool isEmpty() const; int getFreeSpace() const; int getMaxLength() const; inline int getUsedSpace() const; private: Queue(Queue& q); //copy const. Element* data; int len; int start; int count; }; template Queue::Queue(int alen) { data = new Element[alen]; len = alen; start = 0; count = 0; } template Queue::~Queue() { delete data; } template Queue::Queue(Queue& q) { //nothing ever is allowed to do something here } template bool Queue::push(Element elem) { data[(start + count++) % len] = elem; } template Element Queue::pop() { count--; int s = start; start = (start + 1) % len; return data[(s) % len]; } template bool Queue::isFull() const { return count >= len; } template bool Queue::isEmpty() const { return count <= 0; } template int Queue::getFreeSpace() const { return len - count; } template int Queue::getMaxLength() const { return len; } template int Queue::getUsedSpace() const { return count; } #endif ================================================ FILE: arduino_firmware/robotArm_v0.61/robotArm_v0.61.ino ================================================ //20SFFACTORY COMMUNITY ROBOT FIRMWARE v0.61 //V0.31 WITH G92, M114, LOGGER, LIMIT_CHECK FUNCTIONS //V0.41 WITH DUAL SHANK LENGTH SUPPORT //V0.51 WITH SERVO GRIPPER //V0.61 WITH ARDUINO UNO OPTION #include "config.h" #include "logger.h" #include "pinout.h" #if USE_UNO #include "pinout_uno.h" #endif #include #include "robotGeometry.h" #include "interpolation.h" #include "fanControl.h" #include "RampsStepper.h" #include "queue.h" #include "command.h" #include "byj_gripper.h" #include "servo_gripper.h" #include "equipment.h" #include "endstop.h" //STEPPER OBJECTS RampsStepper stepperHigher(X_STEP_PIN, X_DIR_PIN, X_ENABLE_PIN, INVERSE_X_STEPPER); RampsStepper stepperLower(Y_STEP_PIN, Y_DIR_PIN, Y_ENABLE_PIN, INVERSE_Y_STEPPER); RampsStepper stepperRotate(Z_STEP_PIN, Z_DIR_PIN, Z_ENABLE_PIN, INVERSE_Z_STEPPER); //RAIL OBJECTS RampsStepper stepperRail(E0_STEP_PIN, E0_DIR_PIN, E0_ENABLE_PIN, INVERSE_E0_STEPPER); Endstop endstopE0(E0_MIN_PIN, E0_DIR_PIN, E0_STEP_PIN, E0_ENABLE_PIN, E0_MIN_INPUT, E0_HOME_STEPS, HOME_DWELL); //ENDSTOP OBJECTS Endstop endstopX(X_MIN_PIN, X_DIR_PIN, X_STEP_PIN, X_ENABLE_PIN, X_MIN_INPUT, X_HOME_STEPS, HOME_DWELL); Endstop endstopY(Y_MIN_PIN, Y_DIR_PIN, Y_STEP_PIN, Y_ENABLE_PIN, Y_MIN_INPUT, Y_HOME_STEPS, HOME_DWELL); Endstop endstopZ(Z_MIN_PIN, Z_DIR_PIN, Z_STEP_PIN, Z_ENABLE_PIN, Z_MIN_INPUT, Z_HOME_STEPS, HOME_DWELL); //EQUIPMENT OBJECTS BYJ_Gripper byj_gripper(BYJ_PIN_0, BYJ_PIN_1, BYJ_PIN_2, BYJ_PIN_3, BYJ_GRIP_STEPS); Servo_Gripper servo_gripper(SERVO_PIN, SERVO_GRIP_DEGREE, SERVO_UNGRIP_DEGREE); Equipment laser(LASER_PIN); Equipment pump(PUMP_PIN); Equipment led(LED_PIN); FanControl fan(FAN_PIN, FAN_DELAY); //EXECUTION & COMMAND OBJECTS RobotGeometry geometry(END_EFFECTOR_OFFSET, LOW_SHANK_LENGTH, HIGH_SHANK_LENGTH); Interpolation interpolator; Queue queue(QUEUE_SIZE); Command command; void setup() { Serial.begin(BAUD); stepperHigher.setPositionRad(PI / 2.0); // 90° stepperLower.setPositionRad(0); // 0° stepperRotate.setPositionRad(0); // 0° stepperRail.setPosition(0); if (HOME_ON_BOOT) { //HOME DURING SETUP() IF HOME_ON_BOOT ENABLED homeSequence(); Logger::logINFO("ROBOT ONLINE"); } else { setStepperEnable(false); //ROBOT ADJUSTABLE BY HAND AFTER TURNING ON if (HOME_X_STEPPER && HOME_Y_STEPPER && !HOME_Z_STEPPER){ Logger::logINFO("ROBOT ONLINE"); Logger::logINFO("ROTATE ROBOT TO FACE FRONT CENTRE & SEND G28 TO CALIBRATE"); } if (HOME_X_STEPPER && HOME_Y_STEPPER && HOME_Z_STEPPER){ Logger::logINFO("ROBOT ONLINE"); Logger::logINFO("SEND G28 TO CALIBRATE"); } if (!HOME_X_STEPPER && !HOME_Y_STEPPER){ Logger::logINFO("ROBOT ONLINE"); Logger::logINFO("HOME ROBOT MANUALLY & SEND G28 TO CALIBRATE"); } } interpolator.setInterpolation(INITIAL_X, INITIAL_Y, INITIAL_Z, INITIAL_E0, INITIAL_X, INITIAL_Y, INITIAL_Z, INITIAL_E0); } void loop() { interpolator.updateActualPosition(); geometry.set(interpolator.getXPosmm(), interpolator.getYPosmm(), interpolator.getZPosmm()); stepperRotate.stepToPositionRad(geometry.getRotRad()); stepperLower.stepToPositionRad(geometry.getLowRad()); stepperHigher.stepToPositionRad(geometry.getHighRad()); #if RAIL stepperRail.stepToPositionMM(interpolator.getEPosmm(), STEPS_PER_MM_RAIL); #endif stepperRotate.update(); stepperLower.update(); stepperHigher.update(); #if RAIL stepperRail.update(); #endif fan.update(); if (!queue.isFull()) { if (command.handleGcode()) { queue.push(command.getCmd()); } } if ((!queue.isEmpty()) && interpolator.isFinished()) { executeCommand(queue.pop()); if (PRINT_REPLY) { Serial.println(PRINT_REPLY_MSG); } } if (millis() % 500 < 250) { led.cmdOn(); } else { led.cmdOff(); } } void executeCommand(Cmd cmd) { if (cmd.id == -1) { printErr(); return; } if (cmd.id == 'G') { switch (cmd.num) { case 0: case 1: fan.enable(true); Point posoffset; posoffset = interpolator.getPosOffset(); cmdMove(cmd, interpolator.getPosmm(), posoffset, command.isRelativeCoord); interpolator.setInterpolation(cmd.valueX, cmd.valueY, cmd.valueZ, cmd.valueE, cmd.valueF); Logger::logINFO("LINEAR MOVE: X" + String(cmd.valueX-posoffset.xmm) + " Y" + String(cmd.valueY-posoffset.ymm) + " Z" + String(cmd.valueZ-posoffset.zmm) + " E" + String(cmd.valueE-posoffset.emm)); break; case 4: cmdDwell(cmd); break; case 28: if (USE_UNO){ homeSequence_UNO(); break; } else { homeSequence(); break; } case 90: command.cmdToAbsolute(); break; // ABSOLUTE COORDINATE MODE case 91: command.cmdToRelative(); break; // RELATIVE COORDINATE MODE case 92: interpolator.resetPosOffset(); cmdMove(cmd, interpolator.getPosmm(), interpolator.getPosOffset(), false); interpolator.setPosOffset(cmd.valueX, cmd.valueY, cmd.valueZ, cmd.valueE); break; default: printErr(); } } else if (cmd.id == 'M') { switch (cmd.num) { case 1: pump.cmdOn(); break; case 2: pump.cmdOff(); break; case 3: if (GRIPPER == 0){ byj_gripper.cmdOn(); break; } else if (GRIPPER == 1){ servo_gripper.cmdOn(); break; } case 5: if (GRIPPER == 0){ byj_gripper.cmdOff(); break; } else if (GRIPPER == 1){ servo_gripper.cmdOff(); break; } case 6: laser.cmdOn(); break; case 7: laser.cmdOff(); break; case 17: setStepperEnable(true); break; case 18: setStepperEnable(false); break; case 106: fan.enable(true); break; case 107: fan.enable(false); break; case 114: command.cmdGetPosition(interpolator.getPosmm(), interpolator.getPosOffset(), stepperHigher.getPosition(), stepperLower.getPosition(), stepperRotate.getPosition()); break;// Return the current positions of all axis case 119: String endstopMsg = "ENDSTOP: [X:"; endstopMsg += String(endstopX.state()); endstopMsg += " Y:"; endstopMsg += String(endstopY.state()); endstopMsg += " Z:"; endstopMsg += String(endstopZ.state()); endstopMsg += "]"; //ORIGINAL LOG STRING UNDESIRABLE FOR UNO PROCESSING //Logger::logINFO("ENDSTOP STATE: [UPPER_SHANK(X):"+String(endstopX.state())+" LOWER_SHANK(Y):"+String(endstopY.state())+" ROTATE_GEAR(Z):"+String(endstopZ.state())+"]"); Logger::logINFO(endstopMsg); break; default: printErr(); } } else { printErr(); } } void setStepperEnable(bool enable){ stepperRotate.enable(enable); stepperLower.enable(enable); stepperHigher.enable(enable); #if RAIL stepperRail.enable(enable); #endif fan.enable(enable); } void homeSequence(){ setStepperEnable(false); fan.enable(true); if (HOME_Y_STEPPER && HOME_X_STEPPER){ endstopY.home(!INVERSE_Y_STEPPER); endstopX.home(!INVERSE_X_STEPPER); } else { setStepperEnable(true); endstopY.homeOffset(!INVERSE_Y_STEPPER); endstopX.homeOffset(!INVERSE_X_STEPPER); } if (HOME_Z_STEPPER){ endstopZ.home(INVERSE_Z_STEPPER); } #if RAIL if (HOME_E0_STEPPER){ endstopE0.home(!INVERSE_E0_STEPPER); } #endif interpolator.setInterpolation(INITIAL_X, INITIAL_Y, INITIAL_Z, INITIAL_E0, INITIAL_X, INITIAL_Y, INITIAL_Z, INITIAL_E0); Logger::logINFO("HOMING COMPLETE"); } //DUE TO UNO CNC SHIELD LIMIT, 1 EN PIN SERVES 3 MOTORS, HENCE DIFFERENT HOMESEQUENCE IS REQUIRED void homeSequence_UNO(){ if (HOME_Y_STEPPER && HOME_X_STEPPER){ while (!endstopY.state() || !endstopX.state()){ endstopY.oneStepToEndstop(!INVERSE_Y_STEPPER); endstopX.oneStepToEndstop(!INVERSE_X_STEPPER); } endstopY.homeOffset(!INVERSE_Y_STEPPER); endstopX.homeOffset(!INVERSE_X_STEPPER); } else { setStepperEnable(true); endstopY.homeOffset(!INVERSE_Y_STEPPER); endstopX.homeOffset(!INVERSE_X_STEPPER); } if (HOME_Z_STEPPER){ endstopZ.home(INVERSE_Z_STEPPER); //INDICATE STEPPER HOMING DIRECDTION } interpolator.setInterpolation(INITIAL_X, INITIAL_Y, INITIAL_Z, INITIAL_E0, INITIAL_X, INITIAL_Y, INITIAL_Z, INITIAL_E0); Logger::logINFO("HOMING COMPLETE"); } ================================================ FILE: arduino_firmware/robotArm_v0.61/robotGeometry.cpp ================================================ #include "robotGeometry.h" #include #include RobotGeometry::RobotGeometry(float a_ee_offset, float a_low_shank_length, float a_high_shank_length) { ee_offset = a_ee_offset; low_shank_length = a_low_shank_length; high_shank_length = a_high_shank_length; } void RobotGeometry::set(float axmm, float aymm, float azmm) { xmm = axmm; ymm = aymm; zmm = azmm; calculateGrad(); } float RobotGeometry::getXmm() const { return xmm; } float RobotGeometry::getYmm() const { return ymm; } float RobotGeometry::getZmm() const { return zmm; } float RobotGeometry::getRotRad() const { return rot; } float RobotGeometry::getLowRad() const { return low; } float RobotGeometry::getHighRad() const { return high; } void RobotGeometry::calculateGrad() { float rrot_ee = hypot(xmm, ymm); float rrot = rrot_ee - ee_offset; //radius from Top View float rside = hypot(rrot, zmm); //radius from Side View. Use rrot instead of ymm..for everything float rside_2 = sq(rside); float low_2 = sq(low_shank_length); float high_2 = sq(high_shank_length); rot = asin(xmm / rrot_ee); high = PI - acos((low_2 + high_2 - rside_2) / (2 * low_shank_length * high_shank_length)); //Angle of Lower Stepper Motor (asin()=Angle To Gripper) if (zmm > 0) { low = acos(zmm / rside) - acos((low_2 - high_2 + rside_2) / (2 * low_shank_length * rside)); } else { low = PI - asin(rrot / rside) - acos((low_2 - high_2 + rside_2) / (2 * low_shank_length * rside)); } high = high + low; } ================================================ FILE: arduino_firmware/robotArm_v0.61/robotGeometry.h ================================================ #ifndef ROBOTGEOMETRY_H_ #define ROBOTGEOMETRY_H_ class RobotGeometry { public: RobotGeometry(float a_ee_offset, float a_low_shank_length, float a_high_length); void set(float axmm, float aymm, float azmm); float getXmm() const; float getYmm() const; float getZmm() const; float getRotRad() const; float getLowRad() const; float getHighRad() const; private: void calculateGrad(); float ee_offset; float low_shank_length; float high_shank_length; float xmm; float ymm; float zmm; float rot; float low; float high; }; #endif ================================================ FILE: arduino_firmware/robotArm_v0.61/servo_gripper.cpp ================================================ #include "servo_gripper.h" #include #include Servo_Gripper::Servo_Gripper(int pin, float grip_degree, float ungrip_degree){ servo_pin = pin; servo_grip_deg = grip_degree; servo_ungrip_deg = ungrip_degree; Servo servo_motor; } void Servo_Gripper::cmdOn(){ servo_motor.attach(servo_pin); servo_motor.write(servo_grip_deg); delay(300); servo_motor.detach(); } void Servo_Gripper::cmdOff(){ servo_motor.attach(servo_pin); servo_motor.write(servo_ungrip_deg); delay(300); servo_motor.detach(); } ================================================ FILE: arduino_firmware/robotArm_v0.61/servo_gripper.h ================================================ #ifndef SERVO_GRIPPER_H_ #define SERVO_GRIPPER_H_ #include class Servo_Gripper{ public: Servo_Gripper(int pin, float grip_degree, float ungrip_degree); void cmdOn(); void cmdOff(); private: Servo servo_motor; int servo_pin; float servo_grip_deg; float servo_ungrip_deg; }; #endif ================================================ FILE: arduino_firmware/robotArm_v0.71/RampsStepper.cpp ================================================ #include #include "RampsStepper.h" RampsStepper::RampsStepper(int aStepPin, int aDirPin, int aEnablePin, bool aInverse, float main_gear_teeth, float motor_gear_teeth, int microsteps, int steps_per_rev) { setReductionRatio(main_gear_teeth / motor_gear_teeth, microsteps * steps_per_rev); stepPin = aStepPin; dirPin = aDirPin; enablePin = aEnablePin; inverse = aInverse; stepperStepPosition = 0; stepperStepTargetPosition; pinMode(stepPin, OUTPUT); pinMode(dirPin, OUTPUT); pinMode(enablePin, OUTPUT); enable(false); } void RampsStepper::enable(bool value) { digitalWrite(enablePin, !value); } bool RampsStepper::isOnPosition() const { return stepperStepPosition == stepperStepTargetPosition; } int RampsStepper::getPosition() const { return stepperStepPosition; } void RampsStepper::setPosition(int value) { stepperStepPosition = value; stepperStepTargetPosition = value; } void RampsStepper::stepToPosition(int value) { stepperStepTargetPosition = value; } void RampsStepper::stepToPositionMM(float mm, float steps_per_mm) { stepperStepTargetPosition = mm * steps_per_mm; } void RampsStepper::stepRelative(int value) { value += stepperStepPosition; stepToPosition(value); } float RampsStepper::getPositionRad() const { return stepperStepPosition / radToStepFactor; } void RampsStepper::setPositionRad(float rad) { setPosition(rad * radToStepFactor); } void RampsStepper::stepToPositionRad(float rad) { stepperStepTargetPosition = rad * radToStepFactor; } void RampsStepper::stepRelativeRad(float rad) { stepRelative(rad * radToStepFactor); } void RampsStepper::update() { while (stepperStepTargetPosition < stepperStepPosition) { digitalWrite(dirPin, !inverse); digitalWrite(stepPin, HIGH); digitalWrite(stepPin, LOW); stepperStepPosition--; } while (stepperStepTargetPosition > stepperStepPosition) { digitalWrite(dirPin, inverse); digitalWrite(stepPin, HIGH); digitalWrite(stepPin, LOW); stepperStepPosition++; } } void RampsStepper::setReductionRatio(float gearRatio, int stepsPerRev) { radToStepFactor = gearRatio * stepsPerRev / 2 / PI; }; ================================================ FILE: arduino_firmware/robotArm_v0.71/RampsStepper.h ================================================ #ifndef RAMPSSTEPPER_H_ #define RAMPSSTEPPER_H_ class RampsStepper { public: RampsStepper(int aStepPin, int aDirPin, int aEnablePin, bool aInverse, float main_gear_teeth, float motor_gear_teeth, int microsteps, int steps_per_rev); void enable(bool value = true); bool isOnPosition() const; int getPosition() const; void setPosition(int value); void stepToPosition(int value); void stepToPositionMM(float mm, float steps_per_mm); void stepRelative(int value); float getPositionRad() const; void setPositionRad(float rad); void stepToPositionRad(float rad); void stepRelativeRad(float rad); void update(); void setReductionRatio(float gearRatio, int stepsPerRev); private: int stepperStepTargetPosition; int stepperStepPosition; int stepPin; int dirPin; int enablePin; bool inverse; float radToStepFactor; }; #endif ================================================ FILE: arduino_firmware/robotArm_v0.71/byj_gripper.cpp ================================================ #include "byj_gripper.h" #include BYJ_Gripper::BYJ_Gripper(int pin0, int pin1, int pin2, int pin3, int steps){ grip_steps = steps; byj_pin_0 = pin0; byj_pin_1 = pin1; byj_pin_2 = pin2; byj_pin_3 = pin3; step_cycle = 0; pinMode(byj_pin_0, OUTPUT); pinMode(byj_pin_1, OUTPUT); pinMode(byj_pin_2, OUTPUT); pinMode(byj_pin_3, OUTPUT); } void BYJ_Gripper::cmdOn() { direction = true; for (int i = 1; i <= grip_steps; i++) { moveSteps(); delay(1); } } void BYJ_Gripper::cmdOff() { direction = false; for (int i = 1; i <= grip_steps; i++) { moveSteps(); delay(1); } } void BYJ_Gripper::setDirection(){ if (direction == true) { step_cycle++; } if (direction == false) { step_cycle--; } if (step_cycle > 7) { step_cycle = 0; } if (step_cycle < 0) { step_cycle = 7; } } void BYJ_Gripper::moveSteps() { switch (step_cycle) { case 0: digitalWrite(byj_pin_0, LOW); digitalWrite(byj_pin_1, LOW); digitalWrite(byj_pin_2, LOW); digitalWrite(byj_pin_3, HIGH); break; case 1: digitalWrite(byj_pin_0, LOW); digitalWrite(byj_pin_1, LOW); digitalWrite(byj_pin_2, HIGH); digitalWrite(byj_pin_3, HIGH); break; case 2: digitalWrite(byj_pin_0, LOW); digitalWrite(byj_pin_1, LOW); digitalWrite(byj_pin_2, HIGH); digitalWrite(byj_pin_3, LOW); break; case 3: digitalWrite(byj_pin_0, LOW); digitalWrite(byj_pin_1, HIGH); digitalWrite(byj_pin_2, HIGH); digitalWrite(byj_pin_3, LOW); break; case 4: digitalWrite(byj_pin_0, LOW); digitalWrite(byj_pin_1, HIGH); digitalWrite(byj_pin_2, LOW); digitalWrite(byj_pin_3, LOW); break; case 5: digitalWrite(byj_pin_0, HIGH); digitalWrite(byj_pin_1, HIGH); digitalWrite(byj_pin_2, LOW); digitalWrite(byj_pin_3, LOW); break; case 6: digitalWrite(byj_pin_0, HIGH); digitalWrite(byj_pin_1, LOW); digitalWrite(byj_pin_2, LOW); digitalWrite(byj_pin_3, LOW); break; case 7: digitalWrite(byj_pin_0, HIGH); digitalWrite(byj_pin_1, LOW); digitalWrite(byj_pin_2, LOW); digitalWrite(byj_pin_3, HIGH); break; default: digitalWrite(byj_pin_0, LOW); digitalWrite(byj_pin_1, LOW); digitalWrite(byj_pin_2, LOW); digitalWrite(byj_pin_3, LOW); break; } setDirection(); } ================================================ FILE: arduino_firmware/robotArm_v0.71/byj_gripper.h ================================================ #ifndef BYJ_GRIPPER_H_ #define BYJ_GRIPPER_H_ class BYJ_Gripper { public: BYJ_Gripper(int pin0, int pin1, int pin2, int pin3, int steps); void cmdOn(); void cmdOff(); private: bool direction; void moveSteps(); void setDirection(); int byj_pin_0; int byj_pin_1; int byj_pin_2; int byj_pin_3; int grip_steps; int step_cycle; }; #endif ================================================ FILE: arduino_firmware/robotArm_v0.71/command.cpp ================================================ #include "command.h" #include "logger.h" #include Command::Command() { //initialize Command to a zero-move value; new_command.valueX = NAN; new_command.valueY = NAN; new_command.valueZ = NAN; new_command.valueF = 0; new_command.valueE = NAN; new_command.valueS = 0; message = ""; isRelativeCoord = false; } bool Command::handleGcode() { if (Serial.available()) { char c = Serial.read(); if (c == '\n') { return false; } if (c == '\r') { bool b = processMessage(message); message = ""; return b; } else { message += c; } } return false; } bool Command::processMessage(String msg){ new_command.valueX = NAN; new_command.valueY = NAN; new_command.valueZ = NAN; new_command.valueE = NAN; new_command.valueF = 0; new_command.valueS = 0; msg.toUpperCase(); msg.replace(" ", ""); int active_index = 0; new_command.id = msg[active_index]; if((new_command.id != 'G') && (new_command.id != 'M')){ printErr(); return false; } active_index++; int temp_index = active_index; while (temp_index #include "interpolation.h" struct Cmd { char id; int num; float valueX; float valueY; float valueZ; float valueF; float valueE; float valueS; }; class Command { public: Command(); bool handleGcode(); bool processMessage(String msg); void value_segment(String msg_segment); Cmd getCmd() const; void cmdGetPosition(Point pos, Point pos_offset, float highRad, float lowRad, float rotRad); void cmdToRelative(); void cmdToAbsolute(); bool isRelativeCoord; Cmd new_command; private: String message; }; void cmdMove(Cmd(&cmd), Point pos, Point pos_offset, bool isRelativeCoord); void cmdDwell(Cmd(&cmd)); void printErr(); #endif ================================================ FILE: arduino_firmware/robotArm_v0.71/config.h ================================================ #ifndef CONFIG_H_ #define CONFIG_H_ //SERIAL SETTINGS #define BAUD 115200 //CHOICE OF MCU BOARDS TO DRIVE ROBOT. BY DEFAULT: 0 (MEGA2560) #define BOARD_CHOICE MEGA2560 //CHOICES: // MEGA2560 // UNO // WEMOSD1R32 //..DO NOT CHANGE BELOW BOARD VALUES..// #define MEGA2560 0 //ARDUINO MEGA2560 & RAMPS 1.4 #define UNO 1 //ARDUINO UNO & CNC SHIELD #define WEMOSD1R32 2 //ESP32 - WEMOS D1 R32 & CNC SHIELD //PLEASE SEE & ADJUST ESP32 PARAMETERS IN [config_esp32.h] //ROBOT ARM LENGTH //#define SHANK_LENGTH 140.0 #define LOW_SHANK_LENGTH 140.0 #define HIGH_SHANK_LENGTH 140.0 #define END_EFFECTOR_OFFSET 54.0 // LENGTH FROM UPPER SHANK BEARING TO MIDPOINT OF END EFFECTOR IN MM //INITIAL INTERPOLATION SETTINGS // INITIAL_XYZ FORMS VERTICAL LOWER ARM & HORIZONTAL UPPER ARM IN 90 DEGREES #define INITIAL_X 0.0 // CARTESIAN COORDINATE X #define INITIAL_Y (HIGH_SHANK_LENGTH+END_EFFECTOR_OFFSET) // CARTESIAN COORDINATE Y #define INITIAL_Z LOW_SHANK_LENGTH // CARTESIAN COORDINATE Z #define INITIAL_E0 0.0 // RAIL STEPPER ENDSTOP POSITION // CALIBRATE HOME STEPS TO REACH DESIRED INITIAL_XYZ POSITIONS #define X_HOME_STEPS 1020//1020 //765 //860 // STEPS FROM X_ENDSTOP TO INITIAL_XYZ FOR UPPER ARM #define Y_HOME_STEPS 1900//1900 //1940 // STEPS FROM Y_ENDSTOP TO INITIAL_XYZ FOR LOWER ARM #define Z_HOME_STEPS 3640//3640 // STEPS FROM Z_ENDSTOP TO INITIAL_XYZ FOR ROTATION CENTER #define E0_HOME_STEPS 300 // STEPS FROM E0_ENDSTOP TO INITIAL_E0 //HOMING SETTINGS: #define HOME_X_STEPPER true // "true" IF ENDSTOP IS INSTALLED #define HOME_Y_STEPPER true // "true" IF ENDSTOP IS INSTALLED #define HOME_Z_STEPPER true // "true" IF ENDSTOP IS INSTALLED #define HOME_E0_STEPPER true // "true" IF ENDSTOP IS INSTALLED #define HOME_ON_BOOT false // "true" IF HOMING REQUIRED AFTER POWER ON #define HOME_DWELL 800 // INCREASE TO SLOW DOWN HOMING SPEED //STEPPER SETTINGS: #define MICROSTEPS 16 // MICROSTEPPING CONFIGURATION ON RAMPS1.4 #define STEPS_PER_REV 200 // NEMA17 STEPS PER REVOLUTION #define INVERSE_X_STEPPER true // CHANGE IF STEPPER MOVES OTHER WAY #define INVERSE_Y_STEPPER false // CHANGE IF STEPPER MOVES OTHER WAY #define INVERSE_Z_STEPPER true // CHANGE IF STEPPER MOVES OTHER WAY #define INVERSE_E0_STEPPER false // CHANGE IF STEPPER MOVES OTHER WAY //RAIL SETTINGS: #define RAIL true // E0 STEPPER USED AS RAIL. SET TO 'false' IF ROBOT ARM IS STATIONARY. #define STEPS_PER_MM_RAIL 80 // STEPS PER MM FOR RAIL MOTOR //FORMULA: STEPS_PER_REV * MICROSTEPS / MOTOR_GEAR_TEETH / 2 #define RAIL_LENGTH 400.0 // MAX LENGTH OF RAIL IN MM //ENDSTOP SETTINGS: #define X_MIN_INPUT 0 // OUTPUT VALUE WHEN SWITCH ACTIVATED #define Y_MIN_INPUT 0 // OUTPUT VALUE WHEN SWITCH ACTIVATED #define Z_MIN_INPUT 0 // OUTPUT VALUE WHEN SWITCH ACTIVATED #define E0_MIN_INPUT 0 // OUTPUT VALUE WHEN SWITCH ACTIVATED //GEAR RATIO SETTINGS #define MOTOR_GEAR_TEETH 20.0 // 20.0 FOR 20SFFACTORY BELT VERSION 9.0 FOR FTOBLER GEAR VERSION #define MAIN_GEAR_TEETH 90.0 // 90.0 FOR 20SFFACTORY BELT VERSION 32.0 FOR FTOBLER GEAR VERSION //EQUIPMENT SETTINGS #define LASER false // 12V LASER CONNECTED TO LASER_PIN #define PUMP false // 12V AIR PUMP CONNECTED TO PUMP_PIN #define FAN_DELAY 120 // FAN ON IN SECONDS //GRIPPER SETTINGS #define GRIPPER 1 //GRIPPER MOTOR IN USE // 0: 28BYJ-48 MICRO STEPPER MOTOR (WORKS ON BOARD_CHOICE MEGA2560 ONLY) // 1: 9G SERVO OR MG996 SERVO EQUIVALENT //..DO NOT CHANGE BELOW MOTOR DEFINE VALUES..// #define BYJ 0 #define SERVO 1 //28BYJ GRIPPER SETTINGS #define BYJ_GRIP_STEPS 1200 //FTOBLER: 1200 //SERVO GRIPPER SETTINGS #define SERVO_GRIP_DEGREE 90.0 #define SERVO_UNGRIP_DEGREE 0.0 //COMMAND QUEUE SETTINGS #define QUEUE_SIZE 15 //PRINT REPLY SETTING #define PRINT_REPLY false // "true" TO PRINT MSG AFTER ONE COMMAND IS PROCESSED #define PRINT_REPLY_MSG "ok" // MSG SENT FOR USER'S POST PROCESSING WITH OTHER SOFTWARE //DEFAULT SPEED PROFILE SETTING #define SPEED_PROFILE 2 // OPTIONS BELOW //0: FLAT SPEED CURVE (CONSTANT SPEED PER MOVEMENT, SUITABLE FOR REALTIME CONTROL SOFTWARE) //1: ARCTAN APPROX (SLIGHT BELL CURVE ACCELERATION & DECELERATION) //2: COSIN APPROX (TOTAL BELL CURVE ACCEL FROM 0 & DECEL TO 0, SUITABLE FOR PRESET COMMAND MOVEMENTS) //LOG SETTINGS #define LOG_LEVEL 2 //0: ERROR //1: INFO //2: DEBUG //MOVE LIMIT PARAMETERS #define Z_MIN -140.0 //MINIMUM Z HEIGHT OF TOOLHEAD TOUCHING GROUND #define Z_MAX (LOW_SHANK_LENGTH+30.0) //SHANK_LENGTH ADDING ARBITUARY NUMBER FOR Z_MAX #define SHANKS_MIN_ANGLE_COS 0.791436948 #define SHANKS_MAX_ANGLE_COS -0.774944489 #define R_MIN (sqrt((sq(LOW_SHANK_LENGTH) + sq(HIGH_SHANK_LENGTH)) - (2*LOW_SHANK_LENGTH*HIGH_SHANK_LENGTH*SHANKS_MIN_ANGLE_COS) )) #define R_MAX (sqrt((sq(LOW_SHANK_LENGTH) + sq(HIGH_SHANK_LENGTH)) - (2*LOW_SHANK_LENGTH*HIGH_SHANK_LENGTH*SHANKS_MAX_ANGLE_COS) )) #endif ================================================ FILE: arduino_firmware/robotArm_v0.71/config_esp32.h ================================================ //ESP32 SETTINGS (FOR ESP32 USERS ONLY, OTHERWISE LEAVE UNCHANGED) //------- //TO USE WEMOSD1R32 OPTION, BOARD ESP32 V1.0.4 NEEDS TO BE INSTALLED IN ARDUINO IDE //TUTORIAL: www.randomnerdtutorials.com/installing-the-esp32-board-in-arduino-ide-windows-instructions/ //------- //LIBARIES OF ESP32 TO BE ADDED // 1) ESP32Servo < www.arduino.cc/reference/en/libraries/esp32servo/ > // 2) PS4Controller < https://github.com/aed3/PS4-esp32 > //------- //ESP32 SUPPORTS PS4 CONTROLLER: USE 'SIXAXISPAIRTOOL' TO FIND MAC ADDRESS < https://sixaxispairtool.software.informer.com/ > //PS4 CONTROLLER TARGET MAC ADDRESS #define ESP32_PS4_CONTROLLER true #define PS4_MAC "20:ff:fa:cc:00:ff" //BUTTON DECLARATIONS #define PS4_RIGHT 0 #define PS4_DOWN 1 #define PS4_UP 2 #define PS4_LEFT 3 #define PS4_SQUARE 4 #define PS4_CROSS 5 #define PS4_CIRCLE 6 #define PS4_TRIANGLE 7 #define PS4_L1 8 #define PS4_R1 9 #define PS4_SHARE 10 #define PS4_OPTIONS 11 #define PS4_L3 12 #define PS4_R3 13 #define PS4_PSBUTTON 14 #define PS4_TOUCHPAD 15 #define PS4_LSTICKX 16 #define PS4_LSTICKY 17 #define PS4_RSTICKX 18 #define PS4_RSTICKY 19 #define PS4_L2VALUE 20 #define PS4_R2VALUE 21 ================================================ FILE: arduino_firmware/robotArm_v0.71/controller_ps4.cpp ================================================ #include #include "config_esp32.h" #include "controller_ps4.h" #include "logger.h" #if BOARD_CHOICE == WEMOSD1R32 #include Controller_PS4::Controller_PS4(char* aMacAddress){ macAddress = aMacAddress; } void Controller_PS4::setup(){ PS4.begin(macAddress); while (!PS4.isConnected()){ if (PS4.isConnected()){ Logger::logINFO("PS4 CONTROLLER CONNECTED"); break; } Logger::logINFO("CONNECTING TO PS4 CONTROLLER"); delay(1000); } } bool Controller_PS4::checkConnection(){ return PS4.isConnected(); } void Controller_PS4::update(){ buttons[PS4_RIGHT] = PS4.Right(); buttons[PS4_DOWN] = PS4.Down(); buttons[PS4_UP] = PS4.Up(); buttons[PS4_LEFT] = PS4.Left(); buttons[PS4_SQUARE] = PS4.Square(); buttons[PS4_CROSS] = PS4.Cross(); buttons[PS4_CIRCLE] = PS4.Circle(); buttons[PS4_TRIANGLE] = PS4.Triangle(); buttons[PS4_L1] = PS4.L1(); buttons[PS4_R1] = PS4.R1(); buttons[PS4_SHARE] = PS4.Share(); buttons[PS4_OPTIONS] = PS4.Options(); buttons[PS4_L3] = PS4.L3(); buttons[PS4_R3] = PS4.R3(); buttons[PS4_PSBUTTON] = PS4.PSButton(); buttons[PS4_TOUCHPAD] = PS4.Touchpad(); buttons[PS4_LSTICKX] = PS4.LStickX(); buttons[PS4_LSTICKY] = PS4.LStickY(); buttons[PS4_RSTICKX] = PS4.RStickX(); buttons[PS4_RSTICKY] = PS4.RStickY(); buttons[PS4_L2VALUE] = PS4.L2Value(); buttons[PS4_R2VALUE] = PS4.R2Value(); } #endif ================================================ FILE: arduino_firmware/robotArm_v0.71/controller_ps4.h ================================================ #ifndef CONTROLLER_PS4_H_ #define CONTROLLER_PS4_H_ #include "config.h" #if BOARD_CHOICE == WEMOSD1R32 class Controller_PS4 { public: Controller_PS4(char* aMacAddress); int buttons[22]; void setup(); void update(); bool checkConnection(); private: char* macAddress; }; #endif #endif ================================================ FILE: arduino_firmware/robotArm_v0.71/endstop.cpp ================================================ #include "endstop.h" #include Endstop::Endstop(int a_min_pin, int a_dir_pin, int a_step_pin, int a_en_pin, int a_switch_input, int a_step_offset, int a_home_dwell, bool does_swap_pin){ min_pin = a_min_pin; dir_pin = a_dir_pin; step_pin = a_step_pin; en_pin = a_en_pin; switch_input = a_switch_input; home_dwell = a_home_dwell; step_offset = a_step_offset; swap_pin = does_swap_pin; if (swap_pin == false){ pinMode(min_pin, INPUT_PULLUP); } } void Endstop::home(bool dir) { if (swap_pin == true){ pinMode(min_pin, INPUT_PULLUP); delayMicroseconds(5); } digitalWrite(en_pin, LOW); delayMicroseconds(5); if (dir==1){ digitalWrite(dir_pin, HIGH); } else { digitalWrite(dir_pin, LOW); } delayMicroseconds(5); bState = !(digitalRead(min_pin) ^ switch_input); while (!bState) { digitalWrite(step_pin, HIGH); digitalWrite(step_pin, LOW); delayMicroseconds(home_dwell); bState = !(digitalRead(min_pin) ^ switch_input); } homeOffset(dir); if (swap_pin == true){ pinMode(min_pin, OUTPUT); delayMicroseconds(5); } } void Endstop::homeOffset(bool dir){ if (dir==1){ digitalWrite(dir_pin, LOW); } else{ digitalWrite(dir_pin, HIGH); } delayMicroseconds(5); for (int i = 1; i <= step_offset; i++) { digitalWrite(step_pin, HIGH); digitalWrite(step_pin, LOW); delayMicroseconds(home_dwell); } } void Endstop::oneStepToEndstop(bool dir){ if (swap_pin == true){ pinMode(min_pin, INPUT_PULLUP); } digitalWrite(en_pin, LOW); delayMicroseconds(5); if (dir==1){ digitalWrite(dir_pin, HIGH); } else { digitalWrite(dir_pin, LOW); } delayMicroseconds(5); bState = !(digitalRead(min_pin) ^ switch_input); if (!bState) { digitalWrite(step_pin, HIGH); digitalWrite(step_pin, LOW); delayMicroseconds(home_dwell); } bState = !(digitalRead(min_pin) ^ switch_input); } bool Endstop::state(){ if (swap_pin == true){ pinMode(min_pin, INPUT_PULLUP); delayMicroseconds(5); } bState = !(digitalRead(min_pin) ^ switch_input); if (swap_pin == true){ pinMode(min_pin, OUTPUT); delayMicroseconds(5); } return bState; } ================================================ FILE: arduino_firmware/robotArm_v0.71/endstop.h ================================================ #ifndef ENDSTOP_H_ #define ENDSTOP_H_ class Endstop { public: Endstop(int a_min_pin, int a_dir_pin, int a_step_pin, int a_en_pin, int a_switch_input, int a_step_offset, int a_home_dwell, bool does_swap_pin); void home(bool dir); void homeOffset(bool dir); void oneStepToEndstop(bool dir); bool state(); bool bState; private: int min_pin; int dir_pin; int step_pin; int en_pin; int switch_input; int home_dwell; int step_offset; bool swap_pin; }; #endif ================================================ FILE: arduino_firmware/robotArm_v0.71/equipment.cpp ================================================ #include "equipment.h" #include Equipment::Equipment(int equipment_pin){ pin = equipment_pin; pinMode(pin, OUTPUT); } void Equipment::cmdOn(){ digitalWrite(pin, HIGH); } void Equipment::cmdOff(){ digitalWrite(pin, LOW); } ================================================ FILE: arduino_firmware/robotArm_v0.71/equipment.h ================================================ #ifndef EQUIPMENT_H_ #define EQUIPMENT_H_ class Equipment { public: Equipment(int equipment_pin); void cmdOn(); void cmdOff(); private: int pin; }; #endif ================================================ FILE: arduino_firmware/robotArm_v0.71/fanControl.cpp ================================================ #include "fanControl.h" #include FanControl::FanControl(int aPin, int aFanDelay) { fan_delay = aFanDelay * 1000; nextShutdown = 0; pin = aPin; pinMode(pin , OUTPUT); digitalWrite(pin , LOW); state = false; } void FanControl::enable(bool value) { if (value) { state = true; digitalWrite(pin, HIGH); } else { disable(); } } void FanControl::disable() { state = false; nextShutdown = millis() + fan_delay; update(); } void FanControl::update() { if (!state) { if (millis() >= nextShutdown) { digitalWrite(pin, LOW); } } } ================================================ FILE: arduino_firmware/robotArm_v0.71/fanControl.h ================================================ #ifndef FANCONTROL_H_ #define FANCONTROL_H_ class FanControl { public: FanControl(int aPin, int aFanDelay); void enable(bool value = true); void disable(); void update(); private: bool state; int pin; long fan_delay; long nextShutdown; }; #endif ================================================ FILE: arduino_firmware/robotArm_v0.71/interpolation.cpp ================================================ #include "interpolation.h" #include "config.h" #include "queue.h" #include "logger.h" Interpolation::Interpolation(){ speed_profile = SPEED_PROFILE; pos_offset.xmm = 0.0; pos_offset.ymm = 0.0; pos_offset.zmm = 0.0; pos_offset.emm = 0.0; } void Interpolation::setSpeedProfile(int new_speed_profile){ speed_profile = new_speed_profile; } //G92 POSITION OFFSET FUNCTIONS void Interpolation::setPosOffset(float new_x, float new_y, float new_z, float new_e) { pos_offset.xmm = xPosmm - new_x; pos_offset.ymm = yPosmm - new_y; pos_offset.zmm = zPosmm - new_z; pos_offset.emm = ePosmm - new_e; Logger::logINFO("POSITION OFFSET: [X" + String(pos_offset.xmm) + " Y:" + String(pos_offset.ymm) + " Z:" + String(pos_offset.zmm) + " E:" + String(pos_offset.emm) + "]"); Logger::logINFO("CURRENT POSITION: [X:"+String(new_x)+" Y:"+String(new_y)+" Z:"+String(new_z)+" E:"+String(new_e)+"]"); } void Interpolation::resetPosOffset(){ pos_offset.xmm = 0.0; pos_offset.ymm = 0.0; pos_offset.zmm = 0.0; pos_offset.emm = 0.0; } Point Interpolation::getPosOffset() const { return pos_offset; } void Interpolation::setCurrentPos(float px, float py, float pz, float pe) { Point p; p.xmm = px; p.ymm = py; p.zmm = pz; p.emm = pe; setCurrentPos(p); } void Interpolation::setInterpolation(float px, float py, float pz, float pe, float v) { Point p; p.xmm = px; p.ymm = py; p.zmm = pz; p.emm = pe; setInterpolation(p, v); } void Interpolation::setInterpolation(float p1x, float p1y, float p1z, float p1e, float p2x, float p2y, float p2z, float p2e, float v) { Point p1; Point p2; p1.xmm = p1x; p1.ymm = p1y; p1.zmm = p1z; p1.emm = p1e; p2.xmm = p2x; p2.ymm = p2y; p2.zmm = p2z; p2.emm = p2e; setInterpolation(p1, p2, v); } void Interpolation::setInterpolation(Point p1, float v) { Point p0; p0.xmm = xStartmm + xDelta; p0.ymm = yStartmm + yDelta; p0.zmm = zStartmm + zDelta; p0.emm = eStartmm + eDelta; setInterpolation(p0, p1, v); } void Interpolation::setInterpolation(Point p0, Point p1, float av) { v = av; //mm/s float a = (p1.xmm - p0.xmm); float b = (p1.ymm - p0.ymm); float c = (p1.zmm - p0.zmm); float e = abs(p1.emm - p0.emm); float dist = sqrt(a*a + b*b + c*c); if (dist < e) { dist = e; } if (v < 5) { //includes 0 = default value v = sqrt(dist) * 10; //set a good value for v } if (v < 5) { v = 5; } tmul = v / dist; xStartmm = p0.xmm; yStartmm = p0.ymm; zStartmm = p0.zmm; eStartmm = p0.emm; xDelta = (p1.xmm - p0.xmm); yDelta = (p1.ymm - p0.ymm); zDelta = (p1.zmm - p0.zmm); eDelta = (p1.emm - p0.emm); state = 0; startTime = micros(); } void Interpolation::setCurrentPos(Point p) { xStartmm = p.xmm; yStartmm = p.ymm; zStartmm = p.zmm; eStartmm = p.emm; xDelta = 0; yDelta = 0; zDelta = 0; eDelta = 0; } void Interpolation::updateActualPosition() { if (state != 0) { return; } long microsek = micros(); float t = (microsek - startTime) / 1000000.0; float progress; switch (speed_profile){ // FLAT SPEED CURVE case 0: progress = t * tmul; if (progress >= 1.0){ progress = 1.0; state = 1; } break; // ARCTAN APPROX case 1: progress = atan((PI * t * tmul) - (PI * 0.5)) * 0.5 + 0.5; if (progress >= 1.0) { progress = 1.0; state = 1; } break; // COSIN APPROX case 2: progress = -cos(t * tmul * PI) * 0.5 + 0.5; if ((t * tmul) >= 1.0) { progress = 1.0; state = 1; } break; } pos_tracker[X_AXIS] = xStartmm + progress * xDelta; pos_tracker[Y_AXIS] = yStartmm + progress * yDelta; pos_tracker[Z_AXIS] = zStartmm + progress * zDelta; pos_tracker[E_AXIS] = eStartmm + progress * eDelta; if(isAllowedPosition(pos_tracker)){ xPosmm = pos_tracker[X_AXIS]; yPosmm = pos_tracker[Y_AXIS]; zPosmm = pos_tracker[Z_AXIS]; ePosmm = pos_tracker[E_AXIS]; } else { pos_tracker[X_AXIS] = xPosmm; pos_tracker[Y_AXIS] = yPosmm; pos_tracker[Z_AXIS] = zPosmm; pos_tracker[E_AXIS] = ePosmm; state = 1; progress = 1.0; xStartmm = xPosmm; yStartmm = yPosmm; zStartmm = zPosmm; eStartmm = ePosmm; xDelta = 0; yDelta = 0; zDelta = 0; eDelta = 0; } //FOR DECIPHERING SPEED CURVE //Serial.print("xPosmm:"); //Serial.print(xPosmm); //Serial.print(" yPosmm:"); //Serial.print(yPosmm); //Serial.print(" zPosmm:"); //Serial.println(zPosmm); } bool Interpolation::isFinished() const { return state != 0; } float Interpolation::getXPosmm() const { return xPosmm; } float Interpolation::getYPosmm() const { return yPosmm; } float Interpolation::getZPosmm() const { return zPosmm; } float Interpolation::getEPosmm() const { return ePosmm; } Point Interpolation::getPosmm() const { Point p; p.xmm = xPosmm; p.ymm = yPosmm; p.zmm = zPosmm; p.emm = ePosmm; return p; } bool Interpolation::isAllowedPosition(float pos_tracker[4]) { float rrot_ee = hypot(pos_tracker[X_AXIS], pos_tracker[Y_AXIS]); float rrot = rrot_ee - END_EFFECTOR_OFFSET; float rrot_x = rrot * (pos_tracker[Y_AXIS] / rrot_ee); float rrot_y = rrot * (pos_tracker[X_AXIS] / rrot_ee); float squaredPositionModule = sq(rrot_x) + sq(rrot_y) + sq(pos_tracker[Z_AXIS]); bool retVal = ( squaredPositionModule <= sq(R_MAX) && squaredPositionModule >= sq(R_MIN) && pos_tracker[Z_AXIS] >= Z_MIN && pos_tracker[Z_AXIS] <= Z_MAX #if RAIL && pos_tracker[E_AXIS] <= RAIL_LENGTH && pos_tracker[E_AXIS] >= 0 #endif ); if(!retVal) { Logger::logERROR("LIMIT REACHED: [X:" + String(pos_tracker[X_AXIS]) + " Y:" + String(pos_tracker[Y_AXIS]) + " Z:" + String(pos_tracker[Z_AXIS]) + " E:" + String(pos_tracker[E_AXIS]) + "]"); } return retVal; } ================================================ FILE: arduino_firmware/robotArm_v0.71/interpolation.h ================================================ #ifndef INTERPOLATION_H_ #define INTERPOLATION_H_ #include #define X_AXIS 0 #define Y_AXIS 1 #define Z_AXIS 2 #define E_AXIS 3 struct Point { float xmm; float ymm; float zmm; float emm; }; class Interpolation { public: //void resetInterpolation(float px, float py, float pz); //void resetInterpolation(float p1x, float p1y, float p1z, float p2x, float p2y, float p2z); //void resetInterpolation(Point p0, Point p1); Interpolation(); void setCurrentPos(float px, float py, float pz, float pe); void setInterpolation(float px, float py, float pz, float pe, float v = 0); void setInterpolation(float p1x, float p1y, float p1z, float p1e, float p2x, float p2y, float p2z, float p2e, float av = 0); void setCurrentPos(Point p); void setInterpolation(Point p1, float v = 0); void setInterpolation(Point p0, Point p1, float v = 0); void updateActualPosition(); bool isFinished() const; float getXPosmm() const; float getYPosmm() const; float getZPosmm() const; float getEPosmm() const; Point getPosmm() const; bool isAllowedPosition(float pos_tracker[4]); void setPosOffset(float new_x, float new_y, float new_z, float new_e); void resetPosOffset(); Point getPosOffset() const; int speed_profile; void setSpeedProfile(int new_speed_profile); private: Point pos_offset; float pos_tracker[4]; byte state; long startTime; float xStartmm; float yStartmm; float zStartmm; float eStartmm; float xDelta; float yDelta; float zDelta; float eDelta; float xPosmm; float yPosmm; float zPosmm; float ePosmm; float v; float tmul; }; #endif ================================================ FILE: arduino_firmware/robotArm_v0.71/logger.cpp ================================================ #include "config.h" #include "logger.h" void Logger::log(String message, int level) { if(LOG_LEVEL >= level) { String logMsg; switch(level) { case LOG_ERROR: logMsg = "ERROR: "; break; case LOG_INFO: logMsg = "INFO: "; break; case LOG_DEBUG: logMsg = "DEBUG: "; break; } logMsg = logMsg + message; Serial.println(logMsg); } } void Logger::logERROR(String message) { log(message, LOG_ERROR); } void Logger::logINFO(String message) { log(message, LOG_INFO); } void Logger::logDEBUG(String message) { log(message, LOG_DEBUG); } ================================================ FILE: arduino_firmware/robotArm_v0.71/logger.h ================================================ #ifndef LOGGER_H_ #define LOGGER_H_ #include #define LOG_ERROR 0 #define LOG_INFO 1 #define LOG_DEBUG 2 class Logger { public: static void log(String message, int level); static void logINFO(String message); static void logERROR(String message); static void logDEBUG(String message); }; #endif ================================================ FILE: arduino_firmware/robotArm_v0.71/pinout/pinout.h ================================================ #ifndef PINOUT_H_ #define PINOUT_H_ /* * pinout of RAMPS 1.4 * * source: http://reprap.org/wiki/RAMPS_1.4 */ //RAMPS 1.4 PINS #define X_STEP_PIN 54 #define X_DIR_PIN 55 #define X_ENABLE_PIN 38 #define X_MIN_PIN 3 #define X_MAX_PIN 2 #define Y_STEP_PIN 60 #define Y_DIR_PIN 61 #define Y_ENABLE_PIN 56 #define Y_MIN_PIN 14 #define Y_MAX_PIN 15 #define Z_STEP_PIN 46 #define Z_DIR_PIN 48 #define Z_ENABLE_PIN 62 #define Z_MIN_PIN 18 #define Z_MAX_PIN 19 #define E0_STEP_PIN 26 #define E0_DIR_PIN 28 #define E0_ENABLE_PIN 24 #define E0_MIN_PIN 20 #define E1_STEP_PIN 36 #define E1_DIR_PIN 34 #define E1_ENABLE_PIN 30 #define BYJ_PIN_0 40 #define BYJ_PIN_1 63 #define BYJ_PIN_2 59 #define BYJ_PIN_3 64 #define SERVO_PIN 4 #define PUMP_PIN 8 #define LASER_PIN 10 #define LED_PIN 13 #define SDPOWER -1 #define SDSS 53 #define FAN_PIN 9 #define PS_ON_PIN 12 #define KILL_PIN -1 //#define HEATER_0_PIN 10 //#define HEATER_1_PIN 8 #define TEMP_0_PIN 13 // ANALOG NUMBERING #define TEMP_1_PIN 14 // ANALOG NUMBERING //RAMPS AUX-2 #endif ================================================ FILE: arduino_firmware/robotArm_v0.71/pinout/pinout_uno.h ================================================ #ifndef PINOUT_UNO_H_ #define PINOUT_UNO_H_ #define X_STEP_PIN 2 #define X_DIR_PIN 5 #define X_ENABLE_PIN 8 #define X_MIN_PIN 9 #define X_MAX_PIN -1 #define Y_STEP_PIN 3 #define Y_DIR_PIN 6 #define Y_ENABLE_PIN 8 #define Y_MIN_PIN 10 #define Y_MAX_PIN -1 #define Z_STEP_PIN 4 #define Z_DIR_PIN 7 #define Z_ENABLE_PIN 8 #define Z_MIN_PIN 11 #define Z_MAX_PIN -1 #define E0_STEP_PIN 12 #define E0_DIR_PIN 13 #define E0_ENABLE_PIN 8 #define E0_MIN_PIN 16 //A2 PIN //UNO ANALOG PIN CAN FUNCTION AS DIGITAL PIN #define E1_STEP_PIN -1 #define E1_DIR_PIN -1 #define E1_ENABLE_PIN -1 #define BYJ_PIN_0 -1 #define BYJ_PIN_1 -1 #define BYJ_PIN_2 -1 #define BYJ_PIN_3 -1 #define SERVO_PIN 17 //A3 PIN //UNO ANALOG PIN CAN FUNCTION AS DIGITAL PIN #define PUMP_PIN -1 #define LASER_PIN -1 #define LED_PIN -1 #define SDPOWER -1 #define SDSS -1 #define FAN_PIN -1 #define PS_ON_PIN -1 #define KILL_PIN -1 #define TEMP_0_PIN -1 // ANALOG NUMBERING #define TEMP_1_PIN -1 // ANALOG NUMBERING #endif ================================================ FILE: arduino_firmware/robotArm_v0.71/pinout/pinout_wemosD1R32.h ================================================ #ifndef PINOUT_ESP32WEMOS_H_ #define PINOUT_ESP32WEMOS_H_ #define X_STEP_PIN 26 #define X_DIR_PIN 16 //SHARE WITH E0_MIN_PIN #define X_ENABLE_PIN 12 #define X_MIN_PIN 13 #define X_MAX_PIN -1 #define Y_STEP_PIN 25 #define Y_DIR_PIN 27 #define Y_ENABLE_PIN 12 #define Y_MIN_PIN 5 #define Y_MAX_PIN -1 #define Z_STEP_PIN 17 #define Z_DIR_PIN 14 #define Z_ENABLE_PIN 12 #define Z_MIN_PIN 23 //SHARE WITH SERVO_PIN #define Z_MAX_PIN -1 #define E0_STEP_PIN 19 #define E0_DIR_PIN 18 #define E0_ENABLE_PIN 12 #define E0_MIN_PIN 16 //SHARE WITH X_DIR_PIN #define E1_STEP_PIN -1 #define E1_DIR_PIN -1 #define E1_ENABLE_PIN -1 #define BYJ_PIN_0 -1 #define BYJ_PIN_1 -1 #define BYJ_PIN_2 -1 #define BYJ_PIN_3 -1 #define SERVO_PIN 23 //SHARE WITH Z_MIN_PIN #define PUMP_PIN -1 #define LASER_PIN -1 #define LED_PIN -1 #define SDPOWER -1 #define SDSS -1 #define FAN_PIN -1 #define PS_ON_PIN -1 #define KILL_PIN -1 #define TEMP_0_PIN -1 #define TEMP_1_PIN -1 #endif ================================================ FILE: arduino_firmware/robotArm_v0.71/queue.h ================================================ #ifndef QUEUE_H_ #define QUEUE_H_ template class Queue { public: Queue(int alen); ~Queue(); bool push(Element elem); Element pop(); bool isFull() const; bool isEmpty() const; int getFreeSpace() const; int getMaxLength() const; inline int getUsedSpace() const; private: Queue(Queue& q); //copy const. Element* data; int len; int start; int count; }; template Queue::Queue(int alen) { data = new Element[alen]; len = alen; start = 0; count = 0; } template Queue::~Queue() { delete data; } template Queue::Queue(Queue& q) { //nothing ever is allowed to do something here } template bool Queue::push(Element elem) { data[(start + count++) % len] = elem; } template Element Queue::pop() { count--; int s = start; start = (start + 1) % len; return data[(s) % len]; } template bool Queue::isFull() const { return count >= len; } template bool Queue::isEmpty() const { return count <= 0; } template int Queue::getFreeSpace() const { return len - count; } template int Queue::getMaxLength() const { return len; } template int Queue::getUsedSpace() const { return count; } #endif ================================================ FILE: arduino_firmware/robotArm_v0.71/robotArm_v0.71.ino ================================================ //20SFFACTORY COMMUNITY ROBOT FIRMWARE //MAINTAINER: LEOYEUNG@20SFFACTORY //CONTACT: yeung.kl.leo@gmail.com //FORUM: www.facebook.com/groups/robotarm //DOCUMENTATION: www.20sffactory.com/robot/resource //VERSION: V0.71 //VERSION HISTORY: // V0.31 WITH G92, M114, LOGGER, LIMIT_CHECK FUNCTIONS // V0.41 WITH DUAL SHANK LENGTH SUPPORT // V0.51 WITH SERVO GRIPPER // V0.61 WITH ARDUINO UNO OPTION // V0.71 WITH: // ESP32(WEMOS D1R32) WITH PS4 JOYSTICK CONTROL OPTION // COMMAND TO SET CUSTOM SPEED PROFILE 'M205 S0' // UNO OPTION WITH RAIL SUPPORT #include //GENERAL CONFIG SETTINGS #include "config.h" #include "robotGeometry.h" #include "interpolation.h" #include "RampsStepper.h" #include "queue.h" #include "command.h" #include "equipment.h" #include "endstop.h" #include "logger.h" #include "fanControl.h" //INCLUDE CORRESPONDING GRIPPER MOTOR CLASS #if GRIPPER == SERVO #include "servo_gripper.h" #elif GRIPPER == BYJ #include "byj_gripper.h" #endif //DETERMINE PINOUTS & CONFIG TO USE SUBJECT TO BOARD_CHOICE #if BOARD_CHOICE == UNO #include "pinout/pinout_uno.h" #elif BOARD_CHOICE == WEMOSD1R32 #include "pinout/pinout_wemosD1R32.h" #include "config_esp32.h" #elif BOARD_CHOICE == MEGA2560 #include "pinout/pinout.h" #endif //STEPPER OBJECTS RampsStepper stepperHigher(X_STEP_PIN, X_DIR_PIN, X_ENABLE_PIN, INVERSE_X_STEPPER, MAIN_GEAR_TEETH, MOTOR_GEAR_TEETH, MICROSTEPS, STEPS_PER_REV); RampsStepper stepperLower(Y_STEP_PIN, Y_DIR_PIN, Y_ENABLE_PIN, INVERSE_Y_STEPPER, MAIN_GEAR_TEETH, MOTOR_GEAR_TEETH, MICROSTEPS, STEPS_PER_REV); RampsStepper stepperRotate(Z_STEP_PIN, Z_DIR_PIN, Z_ENABLE_PIN, INVERSE_Z_STEPPER, MAIN_GEAR_TEETH, MOTOR_GEAR_TEETH, MICROSTEPS, STEPS_PER_REV); //RAIL OBJECTS #if RAIL RampsStepper stepperRail(E0_STEP_PIN, E0_DIR_PIN, E0_ENABLE_PIN, INVERSE_E0_STEPPER, MAIN_GEAR_TEETH, MOTOR_GEAR_TEETH, MICROSTEPS, STEPS_PER_REV); #if BOARD_CHOICE == WEMOSD1R32 //PINSWAP REQIURED ON D1R32 DUE TO INSUFFICIENT DIGIAL PINS Endstop endstopE0(E0_MIN_PIN, E0_DIR_PIN, E0_STEP_PIN, E0_ENABLE_PIN, E0_MIN_INPUT, E0_HOME_STEPS, HOME_DWELL, true); #else Endstop endstopE0(E0_MIN_PIN, E0_DIR_PIN, E0_STEP_PIN, E0_ENABLE_PIN, E0_MIN_INPUT, E0_HOME_STEPS, HOME_DWELL, false); #endif #endif //ENDSTOP OBJECTS Endstop endstopX(X_MIN_PIN, X_DIR_PIN, X_STEP_PIN, X_ENABLE_PIN, X_MIN_INPUT, X_HOME_STEPS, HOME_DWELL, false); Endstop endstopY(Y_MIN_PIN, Y_DIR_PIN, Y_STEP_PIN, Y_ENABLE_PIN, Y_MIN_INPUT, Y_HOME_STEPS, HOME_DWELL, false); #if BOARD_CHOICE == WEMOSD1R32 Endstop endstopZ(Z_MIN_PIN, Z_DIR_PIN, Z_STEP_PIN, Z_ENABLE_PIN, Z_MIN_INPUT, Z_HOME_STEPS, HOME_DWELL, true); #else Endstop endstopZ(Z_MIN_PIN, Z_DIR_PIN, Z_STEP_PIN, Z_ENABLE_PIN, Z_MIN_INPUT, Z_HOME_STEPS, HOME_DWELL, false); #endif //EQUIPMENT OBJECTS #if GRIPPER == SERVO Servo_Gripper servo_gripper(SERVO_PIN, SERVO_GRIP_DEGREE, SERVO_UNGRIP_DEGREE); #elif GRIPPER == BYJ BYJ_Gripper byj_gripper(BYJ_PIN_0, BYJ_PIN_1, BYJ_PIN_2, BYJ_PIN_3, BYJ_GRIP_STEPS); #endif Equipment laser(LASER_PIN); Equipment pump(PUMP_PIN); Equipment led(LED_PIN); FanControl fan(FAN_PIN, FAN_DELAY); //EXECUTION & COMMAND OBJECTS RobotGeometry geometry(END_EFFECTOR_OFFSET, LOW_SHANK_LENGTH, HIGH_SHANK_LENGTH); Interpolation interpolator; Queue queue(QUEUE_SIZE); Command command; //PS4 CONTROLLER OBJECT FOR ESP32 #if BOARD_CHOICE == WEMOSD1R32 && ESP32_PS4_CONTROLLER #include "controller_ps4.h" Controller_PS4 controller_ps4(PS4_MAC); #endif void setup() { Serial.begin(BAUD); #if BOARD_CHOICE == WEMOSD1R32 && ESP32_PS4_CONTROLLER controller_ps4.setup(); #endif stepperHigher.setPositionRad(PI / 2.0); // 90° stepperLower.setPositionRad(0); // 0° stepperRotate.setPositionRad(0); // 0° #if RAIL stepperRail.setPosition(0); #endif if (HOME_ON_BOOT) { //HOME DURING SETUP() IF HOME_ON_BOOT ENABLED homeSequence(); Logger::logINFO("ROBOT ONLINE"); } else { setStepperEnable(false); //ROBOT ADJUSTABLE BY HAND AFTER TURNING ON if (HOME_X_STEPPER && HOME_Y_STEPPER && !HOME_Z_STEPPER){ Logger::logINFO("ROBOT ONLINE"); Logger::logINFO("ROTATE ROBOT TO FACE FRONT CENTRE & SEND G28 TO CALIBRATE"); } if (HOME_X_STEPPER && HOME_Y_STEPPER && HOME_Z_STEPPER){ Logger::logINFO("ROBOT ONLINE"); Logger::logINFO("SEND G28 TO CALIBRATE"); } if (!HOME_X_STEPPER && !HOME_Y_STEPPER){ Logger::logINFO("ROBOT ONLINE"); Logger::logINFO("HOME ROBOT MANUALLY & SEND G28 TO CALIBRATE"); } } interpolator.setInterpolation(INITIAL_X, INITIAL_Y, INITIAL_Z, INITIAL_E0, INITIAL_X, INITIAL_Y, INITIAL_Z, INITIAL_E0); } void loop() { interpolator.updateActualPosition(); geometry.set(interpolator.getXPosmm(), interpolator.getYPosmm(), interpolator.getZPosmm()); stepperRotate.stepToPositionRad(geometry.getRotRad()); stepperLower.stepToPositionRad(geometry.getLowRad()); stepperHigher.stepToPositionRad(geometry.getHighRad()); #if RAIL stepperRail.stepToPositionMM(interpolator.getEPosmm(), STEPS_PER_MM_RAIL); #endif stepperRotate.update(); stepperLower.update(); stepperHigher.update(); #if RAIL stepperRail.update(); #endif fan.update(); if (!queue.isFull()) { if (command.handleGcode()) { queue.push(command.getCmd()); } } if ((!queue.isEmpty()) && interpolator.isFinished()) { executeCommand(queue.pop()); if (PRINT_REPLY) { Serial.println(PRINT_REPLY_MSG); } } if (millis() % 500 < 250) { led.cmdOn(); } else { led.cmdOff(); } #if BOARD_CHOICE == WEMOSD1R32 && ESP32_PS4_CONTROLLER ps4_controller_loop(); #endif } void executeCommand(Cmd cmd) { if (cmd.id == -1) { printErr(); return; } if (cmd.id == 'G') { switch (cmd.num) { case 0: case 1: fan.enable(true); Point posoffset; posoffset = interpolator.getPosOffset(); cmdMove(cmd, interpolator.getPosmm(), posoffset, command.isRelativeCoord); interpolator.setInterpolation(cmd.valueX, cmd.valueY, cmd.valueZ, cmd.valueE, cmd.valueF); Logger::logINFO("LINEAR MOVE: [X:" + String(cmd.valueX-posoffset.xmm) + " Y:" + String(cmd.valueY-posoffset.ymm) + " Z:" + String(cmd.valueZ-posoffset.zmm) + " E:" + String(cmd.valueE-posoffset.emm)+"]"); break; case 4: cmdDwell(cmd); break; case 28: if (BOARD_CHOICE == UNO || BOARD_CHOICE == WEMOSD1R32){ homeSequence_UNO(); break; } else { homeSequence(); break; } case 90: command.cmdToAbsolute(); break; // ABSOLUTE COORDINATE MODE case 91: command.cmdToRelative(); break; // RELATIVE COORDINATE MODE case 92: interpolator.resetPosOffset(); cmdMove(cmd, interpolator.getPosmm(), interpolator.getPosOffset(), false); interpolator.setPosOffset(cmd.valueX, cmd.valueY, cmd.valueZ, cmd.valueE); break; default: printErr(); } } else if (cmd.id == 'M') { switch (cmd.num) { case 1: pump.cmdOn(); break; case 2: pump.cmdOff(); break; case 3: #if GRIPPER == BYJ byj_gripper.cmdOn(); break; #elif GRIPPER == SERVO servo_gripper.cmdOn(); break; #endif case 5: #if GRIPPER == BYJ byj_gripper.cmdOff(); break; #elif GRIPPER == SERVO servo_gripper.cmdOff(); break; #endif case 6: laser.cmdOn(); break; case 7: laser.cmdOff(); break; case 17: setStepperEnable(true); break; case 18: setStepperEnable(false); break; case 106: fan.enable(true); break; case 107: fan.enable(false); break; case 114: command.cmdGetPosition(interpolator.getPosmm(), interpolator.getPosOffset(), stepperHigher.getPosition(), stepperLower.getPosition(), stepperRotate.getPosition()); break;// Return the current positions of all axis case 119: { String endstopMsg = "ENDSTOP: [X:"; endstopMsg += String(endstopX.state()); endstopMsg += " Y:"; endstopMsg += String(endstopY.state()); endstopMsg += " Z:"; endstopMsg += String(endstopZ.state()); #if RAIL endstopMsg += " E:"; endstopMsg += String(endstopE0.state()); #endif endstopMsg += "]"; //ORIGINAL LOG STRING UNDESIRABLE FOR UNO PROCESSING //Logger::logINFO("ENDSTOP STATE: [UPPER_SHANK(X):"+String(endstopX.state())+" LOWER_SHANK(Y):"+String(endstopY.state())+" ROTATE_GEAR(Z):"+String(endstopZ.state())+"]"); Logger::logINFO(endstopMsg); break;} case 205: interpolator.setSpeedProfile(cmd.valueS); Logger::logINFO("SPEED PROFILE: [" + String(interpolator.speed_profile) + "]"); break; default: printErr(); } } else { printErr(); } } void setStepperEnable(bool enable){ stepperRotate.enable(enable); stepperLower.enable(enable); stepperHigher.enable(enable); #if RAIL stepperRail.enable(enable); #endif fan.enable(enable); } void homeSequence(){ setStepperEnable(false); fan.enable(true); if (HOME_Y_STEPPER && HOME_X_STEPPER){ endstopY.home(!INVERSE_Y_STEPPER); endstopX.home(!INVERSE_X_STEPPER); } else { setStepperEnable(true); endstopY.homeOffset(!INVERSE_Y_STEPPER); endstopX.homeOffset(!INVERSE_X_STEPPER); } if (HOME_Z_STEPPER){ endstopZ.home(INVERSE_Z_STEPPER); } #if RAIL if (HOME_E0_STEPPER){ endstopE0.home(!INVERSE_E0_STEPPER); } #endif interpolator.setInterpolation(INITIAL_X, INITIAL_Y, INITIAL_Z, INITIAL_E0, INITIAL_X, INITIAL_Y, INITIAL_Z, INITIAL_E0); Logger::logINFO("HOMING COMPLETE"); } //DUE TO UNO CNC SHIELD LIMIT, 1 EN PIN SERVES 3 MOTORS, HENCE DIFFERENT HOMESEQUENCE IS REQUIRED void homeSequence_UNO(){ #if GRIPPER == SERVO if (servo_gripper.readDegree() != SERVO_UNGRIP_DEGREE){ servo_gripper.cmdOff(); } #endif if (HOME_Y_STEPPER && HOME_X_STEPPER){ while (!endstopY.state() || !endstopX.state()){ endstopY.oneStepToEndstop(!INVERSE_Y_STEPPER); endstopX.oneStepToEndstop(!INVERSE_X_STEPPER); } endstopY.homeOffset(!INVERSE_Y_STEPPER); endstopX.homeOffset(!INVERSE_X_STEPPER); } else { setStepperEnable(true); endstopY.homeOffset(!INVERSE_Y_STEPPER); endstopX.homeOffset(!INVERSE_X_STEPPER); } if (HOME_Z_STEPPER){ endstopZ.home(INVERSE_Z_STEPPER); //INDICATE STEPPER HOMING DIRECDTION } #if RAIL if (HOME_E0_STEPPER){ endstopE0.home(!INVERSE_E0_STEPPER); } #endif interpolator.setInterpolation(INITIAL_X, INITIAL_Y, INITIAL_Z, INITIAL_E0, INITIAL_X, INITIAL_Y, INITIAL_Z, INITIAL_E0); Logger::logINFO("HOMING COMPLETE"); } #if BOARD_CHOICE == WEMOSD1R32 && ESP32_PS4_CONTROLLER void ps4_controller_loop(){ controller_ps4.update(); interpolator.speed_profile = 0; if (controller_ps4.buttons[PS4_CROSS]){if (GRIPPER == 1){servo_gripper.cmdOn();}} if (controller_ps4.buttons[PS4_CIRCLE]){if (GRIPPER == 1){servo_gripper.cmdOff();}} if (controller_ps4.buttons[PS4_OPTIONS]){setStepperEnable(true);} if (controller_ps4.buttons[PS4_SHARE]){setStepperEnable(false);} if (controller_ps4.buttons[PS4_TOUCHPAD]){homeSequence_UNO();} float x_distance = 0.0; float y_distance = 0.0; float z_distance = 0.0; float e_distance = 0.0; if (abs(controller_ps4.buttons[PS4_RSTICKY]) > 10){ z_distance = float(controller_ps4.buttons[PS4_RSTICKY]) / 2500.0; } if (abs(controller_ps4.buttons[PS4_LSTICKX]) > 10){ float turn_rad = float(controller_ps4.buttons[PS4_LSTICKX]) / 300000.0; x_distance += sin(geometry.getRotRad() + turn_rad) * geometry.getHypot() - interpolator.getXPosmm(); y_distance += cos(geometry.getRotRad() + turn_rad) * geometry.getHypot() - interpolator.getYPosmm(); } if (abs(controller_ps4.buttons[PS4_LSTICKY]) > 10){ float hp_distance = float(controller_ps4.buttons[PS4_LSTICKY]) / 2500.0; float hp_ratio = hp_distance / geometry.getHypot(); x_distance += interpolator.getXPosmm() * hp_ratio; y_distance += interpolator.getYPosmm() * hp_ratio; } if (abs(controller_ps4.buttons[PS4_L2VALUE]) > 10){ e_distance -= float(controller_ps4.buttons[PS4_L2VALUE]) / 10000.0; } if (abs(controller_ps4.buttons[PS4_R2VALUE]) > 10){ e_distance += float(controller_ps4.buttons[PS4_R2VALUE]) / 10000.0; } if (x_distance || y_distance || z_distance || e_distance){ interpolator.speed_profile = 0; interpolator.setInterpolation(interpolator.getXPosmm()+x_distance, interpolator.getYPosmm()+y_distance, interpolator.getZPosmm()+z_distance, interpolator.getEPosmm()+e_distance, 5); } } #endif ================================================ FILE: arduino_firmware/robotArm_v0.71/robotGeometry.cpp ================================================ #include "robotGeometry.h" #include #include RobotGeometry::RobotGeometry(float a_ee_offset, float a_low_shank_length, float a_high_shank_length) { ee_offset = a_ee_offset; low_shank_length = a_low_shank_length; high_shank_length = a_high_shank_length; } void RobotGeometry::set(float axmm, float aymm, float azmm) { xmm = axmm; ymm = aymm; zmm = azmm; calculateGrad(); } float RobotGeometry::getXmm() const { return xmm; } float RobotGeometry::getYmm() const { return ymm; } float RobotGeometry::getZmm() const { return zmm; } float RobotGeometry::getRotRad() const { return rot; } float RobotGeometry::getLowRad() const { return low; } float RobotGeometry::getHighRad() const { return high; } float RobotGeometry::getHypot() const { return rrot_ee; } void RobotGeometry::calculateGrad() { rrot_ee = hypot(xmm, ymm); float rrot = rrot_ee - ee_offset; //radius from Top View float rside = hypot(rrot, zmm); //radius from Side View. Use rrot instead of ymm..for everything float rside_2 = sq(rside); float low_2 = sq(low_shank_length); float high_2 = sq(high_shank_length); rot = asin(xmm / rrot_ee); high = PI - acos((low_2 + high_2 - rside_2) / (2 * low_shank_length * high_shank_length)); //Angle of Lower Stepper Motor (asin()=Angle To Gripper) if (zmm > 0) { low = acos(zmm / rside) - acos((low_2 - high_2 + rside_2) / (2 * low_shank_length * rside)); } else { low = PI - asin(rrot / rside) - acos((low_2 - high_2 + rside_2) / (2 * low_shank_length * rside)); } high = high + low; } ================================================ FILE: arduino_firmware/robotArm_v0.71/robotGeometry.h ================================================ #ifndef ROBOTGEOMETRY_H_ #define ROBOTGEOMETRY_H_ class RobotGeometry { public: RobotGeometry(float a_ee_offset, float a_low_shank_length, float a_high_length); void set(float axmm, float aymm, float azmm); float getXmm() const; float getYmm() const; float getZmm() const; float getRotRad() const; float getLowRad() const; float getHighRad() const; float getHypot() const; private: void calculateGrad(); float ee_offset; float low_shank_length; float high_shank_length; float xmm; float ymm; float zmm; float rot; float low; float high; float rrot_ee; }; #endif ================================================ FILE: arduino_firmware/robotArm_v0.71/servo_gripper.cpp ================================================ #include "servo_gripper.h" #include "config.h" #include #if BOARD_CHOICE == WEMOSD1R32 #include #else #include #endif Servo_Gripper::Servo_Gripper(int pin, float grip_degree, float ungrip_degree){ servo_pin = pin; servo_grip_deg = grip_degree; servo_ungrip_deg = ungrip_degree; Servo servo_motor; } void Servo_Gripper::cmdOn(){ servo_motor.attach(servo_pin); delayMicroseconds(10); servo_motor.write(servo_grip_deg); delay(300); //servo_motor.detach(); } void Servo_Gripper::cmdOff(){ //servo_motor.attach(servo_pin); servo_motor.write(servo_ungrip_deg); delay(300); servo_motor.detach(); delayMicroseconds(50); } float Servo_Gripper::readDegree(){ float servo_current_degree = servo_motor.read(); return servo_current_degree; } ================================================ FILE: arduino_firmware/robotArm_v0.71/servo_gripper.h ================================================ #ifndef SERVO_GRIPPER_H_ #define SERVO_GRIPPER_H_ #include "config.h" #if BOARD_CHOICE == WEMOSD1R32 #include #else #include #endif class Servo_Gripper{ public: Servo_Gripper(int pin, float grip_degree, float ungrip_degree); void cmdOn(); void cmdOff(); float readDegree(); private: Servo servo_motor; int servo_pin; float servo_grip_deg; float servo_ungrip_deg; }; #endif ================================================ FILE: arduino_firmware/robotArm_v0.81/RampsStepper.cpp ================================================ #include #include "RampsStepper.h" RampsStepper::RampsStepper(int aStepPin, int aDirPin, int aEnablePin, bool aInverse, float main_gear_teeth, float motor_gear_teeth, int microsteps, int steps_per_rev) { setReductionRatio(main_gear_teeth / motor_gear_teeth, microsteps * steps_per_rev); stepPin = aStepPin; dirPin = aDirPin; enablePin = aEnablePin; inverse = aInverse; stepperStepPosition = 0; stepperStepTargetPosition; pinMode(stepPin, OUTPUT); pinMode(dirPin, OUTPUT); pinMode(enablePin, OUTPUT); enable(false); } void RampsStepper::enable(bool value) { digitalWrite(enablePin, !value); } bool RampsStepper::isOnPosition() const { return stepperStepPosition == stepperStepTargetPosition; } int RampsStepper::getPosition() const { return stepperStepPosition; } void RampsStepper::setPosition(int value) { stepperStepPosition = value; stepperStepTargetPosition = value; } void RampsStepper::stepToPosition(int value) { stepperStepTargetPosition = value; } void RampsStepper::stepToPositionMM(float mm, float steps_per_mm) { stepperStepTargetPosition = mm * steps_per_mm; } void RampsStepper::stepRelative(int value) { value += stepperStepPosition; stepToPosition(value); } float RampsStepper::getPositionRad() const { return stepperStepPosition / radToStepFactor; } void RampsStepper::setPositionRad(float rad) { setPosition(rad * radToStepFactor); } void RampsStepper::stepToPositionRad(float rad) { stepperStepTargetPosition = rad * radToStepFactor; } void RampsStepper::stepRelativeRad(float rad) { stepRelative(rad * radToStepFactor); } void RampsStepper::update() { while (stepperStepTargetPosition < stepperStepPosition) { digitalWrite(dirPin, !inverse); digitalWrite(stepPin, HIGH); digitalWrite(stepPin, LOW); stepperStepPosition--; } while (stepperStepTargetPosition > stepperStepPosition) { digitalWrite(dirPin, inverse); digitalWrite(stepPin, HIGH); digitalWrite(stepPin, LOW); stepperStepPosition++; } } void RampsStepper::setReductionRatio(float gearRatio, int stepsPerRev) { radToStepFactor = gearRatio * stepsPerRev / 2 / PI; }; ================================================ FILE: arduino_firmware/robotArm_v0.81/RampsStepper.h ================================================ #ifndef RAMPSSTEPPER_H_ #define RAMPSSTEPPER_H_ class RampsStepper { public: RampsStepper(int aStepPin, int aDirPin, int aEnablePin, bool aInverse, float main_gear_teeth, float motor_gear_teeth, int microsteps, int steps_per_rev); void enable(bool value = true); bool isOnPosition() const; int getPosition() const; void setPosition(int value); void stepToPosition(int value); void stepToPositionMM(float mm, float steps_per_mm); void stepRelative(int value); float getPositionRad() const; void setPositionRad(float rad); void stepToPositionRad(float rad); void stepRelativeRad(float rad); void update(); void setReductionRatio(float gearRatio, int stepsPerRev); private: int stepperStepTargetPosition; int stepperStepPosition; int stepPin; int dirPin; int enablePin; bool inverse; float radToStepFactor; }; #endif ================================================ FILE: arduino_firmware/robotArm_v0.81/byj_gripper.cpp ================================================ #include "byj_gripper.h" #include BYJ_Gripper::BYJ_Gripper(int pin0, int pin1, int pin2, int pin3, int steps){ grip_steps = steps; byj_pin_0 = pin0; byj_pin_1 = pin1; byj_pin_2 = pin2; byj_pin_3 = pin3; step_cycle = 0; pinMode(byj_pin_0, OUTPUT); pinMode(byj_pin_1, OUTPUT); pinMode(byj_pin_2, OUTPUT); pinMode(byj_pin_3, OUTPUT); } void BYJ_Gripper::cmdOn() { direction = true; for (int i = 1; i <= grip_steps; i++) { moveSteps(); delay(1); } } void BYJ_Gripper::cmdOff() { direction = false; for (int i = 1; i <= grip_steps; i++) { moveSteps(); delay(1); } } void BYJ_Gripper::setDirection(){ if (direction == true) { step_cycle++; } if (direction == false) { step_cycle--; } if (step_cycle > 7) { step_cycle = 0; } if (step_cycle < 0) { step_cycle = 7; } } void BYJ_Gripper::moveSteps() { switch (step_cycle) { case 0: digitalWrite(byj_pin_0, LOW); digitalWrite(byj_pin_1, LOW); digitalWrite(byj_pin_2, LOW); digitalWrite(byj_pin_3, HIGH); break; case 1: digitalWrite(byj_pin_0, LOW); digitalWrite(byj_pin_1, LOW); digitalWrite(byj_pin_2, HIGH); digitalWrite(byj_pin_3, HIGH); break; case 2: digitalWrite(byj_pin_0, LOW); digitalWrite(byj_pin_1, LOW); digitalWrite(byj_pin_2, HIGH); digitalWrite(byj_pin_3, LOW); break; case 3: digitalWrite(byj_pin_0, LOW); digitalWrite(byj_pin_1, HIGH); digitalWrite(byj_pin_2, HIGH); digitalWrite(byj_pin_3, LOW); break; case 4: digitalWrite(byj_pin_0, LOW); digitalWrite(byj_pin_1, HIGH); digitalWrite(byj_pin_2, LOW); digitalWrite(byj_pin_3, LOW); break; case 5: digitalWrite(byj_pin_0, HIGH); digitalWrite(byj_pin_1, HIGH); digitalWrite(byj_pin_2, LOW); digitalWrite(byj_pin_3, LOW); break; case 6: digitalWrite(byj_pin_0, HIGH); digitalWrite(byj_pin_1, LOW); digitalWrite(byj_pin_2, LOW); digitalWrite(byj_pin_3, LOW); break; case 7: digitalWrite(byj_pin_0, HIGH); digitalWrite(byj_pin_1, LOW); digitalWrite(byj_pin_2, LOW); digitalWrite(byj_pin_3, HIGH); break; default: digitalWrite(byj_pin_0, LOW); digitalWrite(byj_pin_1, LOW); digitalWrite(byj_pin_2, LOW); digitalWrite(byj_pin_3, LOW); break; } setDirection(); } ================================================ FILE: arduino_firmware/robotArm_v0.81/byj_gripper.h ================================================ #ifndef BYJ_GRIPPER_H_ #define BYJ_GRIPPER_H_ class BYJ_Gripper { public: BYJ_Gripper(int pin0, int pin1, int pin2, int pin3, int steps); void cmdOn(); void cmdOff(); private: bool direction; void moveSteps(); void setDirection(); int byj_pin_0; int byj_pin_1; int byj_pin_2; int byj_pin_3; int grip_steps; int step_cycle; }; #endif ================================================ FILE: arduino_firmware/robotArm_v0.81/command.cpp ================================================ #include "command.h" #include "logger.h" #include Command::Command() { //initialize Command to a zero-move value; new_command.valueX = NAN; new_command.valueY = NAN; new_command.valueZ = NAN; new_command.valueF = 0; new_command.valueE = NAN; new_command.valueS = 0; message = ""; isRelativeCoord = false; } bool Command::handleGcode() { if (Serial.available()) { char c = Serial.read(); if (c == '\n') { return false; } if (c == '\r') { bool b = processMessage(message); message = ""; return b; } else { message += c; } } return false; } bool Command::processMessage(String msg){ new_command.valueX = NAN; new_command.valueY = NAN; new_command.valueZ = NAN; new_command.valueE = NAN; new_command.valueF = 0; new_command.valueS = 0; msg.toUpperCase(); msg.replace(" ", ""); int active_index = 0; new_command.id = msg[active_index]; if((new_command.id != 'G') && (new_command.id != 'M')){ printErr(); return false; } active_index++; int temp_index = active_index; while (temp_index #include "interpolation.h" struct Cmd { char id; int num; float valueX; float valueY; float valueZ; float valueF; float valueE; float valueS; }; class Command { public: Command(); bool handleGcode(); bool processMessage(String msg); void value_segment(String msg_segment); Cmd getCmd() const; void cmdGetPosition(Point pos, Point pos_offset, float highRad, float lowRad, float rotRad); void cmdToRelative(); void cmdToAbsolute(); bool isRelativeCoord; Cmd new_command; private: String message; }; void cmdMove(Cmd(&cmd), Point pos, Point pos_offset, bool isRelativeCoord); void cmdDwell(Cmd(&cmd)); void printErr(); #endif ================================================ FILE: arduino_firmware/robotArm_v0.81/config.h ================================================ #ifndef CONFIG_H_ #define CONFIG_H_ //SERIAL SETTINGS #define BAUD 115200 //CHOICE OF MCU BOARDS TO DRIVE ROBOT. BY DEFAULT: 0 (MEGA2560) #define BOARD_CHOICE WEMOSD1R32 //CHOICES: // MEGA2560 // UNO // WEMOSD1R32 //..DO NOT CHANGE BELOW BOARD VALUES..// #define MEGA2560 0 //ARDUINO MEGA2560 & RAMPS 1.4 #define UNO 1 //ARDUINO UNO & CNC SHIELD #define WEMOSD1R32 2 //ESP32 - WEMOS D1 R32 & CNC SHIELD //PLEASE SEE & ADJUST ESP32 PARAMETERS IN [config_esp32.h] //ROBOT ARM LENGTH //#define SHANK_LENGTH 140.0 #define LOW_SHANK_LENGTH 120.0 #define HIGH_SHANK_LENGTH 120.0 #define END_EFFECTOR_OFFSET 54.0 // LENGTH FROM UPPER SHANK BEARING TO MIDPOINT OF END EFFECTOR IN MM //INITIAL INTERPOLATION SETTINGS // INITIAL_XYZ FORMS VERTICAL LOWER ARM & HORIZONTAL UPPER ARM IN 90 DEGREES #define INITIAL_X 0.0 // CARTESIAN COORDINATE X #define INITIAL_Y (HIGH_SHANK_LENGTH+END_EFFECTOR_OFFSET) // CARTESIAN COORDINATE Y #define INITIAL_Z LOW_SHANK_LENGTH // CARTESIAN COORDINATE Z #define INITIAL_E0 0.0 // RAIL STEPPER ENDSTOP POSITION // CALIBRATE HOME STEPS TO REACH DESIRED INITIAL_XYZ POSITIONS #define X_HOME_STEPS 1020 //765 //860 // STEPS FROM X_ENDSTOP TO INITIAL_XYZ FOR UPPER ARM #define Y_HOME_STEPS 1900 //1940 // STEPS FROM Y_ENDSTOP TO INITIAL_XYZ FOR LOWER ARM #define Z_HOME_STEPS 3640 // STEPS FROM Z_ENDSTOP TO INITIAL_XYZ FOR ROTATION CENTER #define E0_HOME_STEPS 500 // STEPS FROM E0_ENDSTOP TO INITIAL_E0 //HOMING SETTINGS: #define HOME_X_STEPPER true // "true" IF ENDSTOP IS INSTALLED #define HOME_Y_STEPPER true // "true" IF ENDSTOP IS INSTALLED #define HOME_Z_STEPPER true // "true" IF ENDSTOP IS INSTALLED #define HOME_E0_STEPPER true // "true" IF ENDSTOP IS INSTALLED #define HOME_ON_BOOT false // "true" IF HOMING REQUIRED AFTER POWER ON #define HOME_DWELL 800 // INCREASE TO SLOW DOWN HOMING SPEED //STEPPER SETTINGS: #define MICROSTEPS 16 // MICROSTEPPING CONFIGURATION ON RAMPS1.4 #define STEPS_PER_REV 200 // NEMA17 STEPS PER REVOLUTION #define INVERSE_X_STEPPER true // CHANGE IF STEPPER MOVES OTHER WAY #define INVERSE_Y_STEPPER false // CHANGE IF STEPPER MOVES OTHER WAY #define INVERSE_Z_STEPPER true // CHANGE IF STEPPER MOVES OTHER WAY #define INVERSE_E0_STEPPER false // CHANGE IF STEPPER MOVES OTHER WAY //RAIL SETTINGS: #define RAIL false // E0 STEPPER USED AS RAIL. SET TO 'false' IF ROBOT ARM IS STATIONARY. #define STEPS_PER_MM_RAIL 160 // STEPS PER MM FOR RAIL MOTOR //FORMULA: STEPS_PER_REV * MICROSTEPS / MOTOR_GEAR_TEETH / 2 #define RAIL_LENGTH 400.0 // MAX LENGTH OF RAIL IN MM //ENDSTOP SETTINGS: #define X_MIN_INPUT 0 // OUTPUT VALUE WHEN SWITCH ACTIVATED - NO: 0, NC: 1 #define Y_MIN_INPUT 0 // OUTPUT VALUE WHEN SWITCH ACTIVATED - NO: 0, NC: 1 #define Z_MIN_INPUT 0 // OUTPUT VALUE WHEN SWITCH ACTIVATED - NO: 0, NC: 1 #define E0_MIN_INPUT 0 // OUTPUT VALUE WHEN SWITCH ACTIVATED - NO: 0, NC: 1 //GEAR RATIO SETTINGS #define MOTOR_GEAR_TEETH 20.0 // 20.0 FOR 20SFFACTORY BELT VERSION 9.0 FOR FTOBLER GEAR VERSION #define MAIN_GEAR_TEETH 90.0 // 90.0 FOR 20SFFACTORY BELT VERSION 32.0 FOR FTOBLER GEAR VERSION //EQUIPMENT SETTINGS #define LASER false // 12V LASER CONNECTED TO LASER_PIN #define PUMP false // 12V AIR PUMP CONNECTED TO PUMP_PIN #define FAN_DELAY 120 // FAN ON IN SECONDS //GRIPPER SETTINGS #define GRIPPER 1 //GRIPPER MOTOR IN USE // 0: 28BYJ-48 MICRO STEPPER MOTOR (WORKS ON BOARD_CHOICE MEGA2560 ONLY) // 1: 9G SERVO OR MG996 SERVO EQUIVALENT //..DO NOT CHANGE BELOW MOTOR DEFINE VALUES..// #define BYJ 0 #define SERVO 1 //28BYJ GRIPPER SETTINGS #define BYJ_GRIP_STEPS 1200 //FTOBLER: 1200 //SERVO GRIPPER SETTINGS #define SERVO_GRIP_DEGREE 90.0 #define SERVO_UNGRIP_DEGREE 0.0 //COMMAND QUEUE SETTINGS #define QUEUE_SIZE 15 //PRINT REPLY SETTING #define PRINT_REPLY false // "true" TO PRINT MSG AFTER ONE COMMAND IS PROCESSED #define PRINT_REPLY_MSG "ok" // MSG SENT FOR USER'S POST PROCESSING WITH OTHER SOFTWARE //DEFAULT SPEED PROFILE SETTING #define SPEED_PROFILE 2 // OPTIONS BELOW //0: FLAT SPEED CURVE (CONSTANT SPEED PER MOVEMENT, SUITABLE FOR REALTIME CONTROL SOFTWARE) //1: ARCTAN APPROX (SLIGHT BELL CURVE ACCELERATION & DECELERATION) //2: COSIN APPROX (TOTAL BELL CURVE ACCEL FROM 0 & DECEL TO 0, SUITABLE FOR PRESET COMMAND MOVEMENTS) //LOG SETTINGS #define LOG_LEVEL 2 //0: ERROR //1: INFO //2: DEBUG //MOVE LIMIT PARAMETERS #define Z_MIN -140.0 //MINIMUM Z HEIGHT OF TOOLHEAD TOUCHING GROUND #define Z_MAX (LOW_SHANK_LENGTH+30.0) //SHANK_LENGTH ADDING ARBITUARY NUMBER FOR Z_MAX #define SHANKS_MIN_ANGLE_COS 0.791436948 #define SHANKS_MAX_ANGLE_COS -0.774944489 #define R_MIN (sqrt((sq(LOW_SHANK_LENGTH) + sq(HIGH_SHANK_LENGTH)) - (2*LOW_SHANK_LENGTH*HIGH_SHANK_LENGTH*SHANKS_MIN_ANGLE_COS) )) #define R_MAX (sqrt((sq(LOW_SHANK_LENGTH) + sq(HIGH_SHANK_LENGTH)) - (2*LOW_SHANK_LENGTH*HIGH_SHANK_LENGTH*SHANKS_MAX_ANGLE_COS) )) #endif ================================================ FILE: arduino_firmware/robotArm_v0.81/config_esp32.h ================================================ //ESP32 SETTINGS (FOR ESP32 USERS ONLY, OTHERWISE LEAVE UNCHANGED) //------- //TO USE WEMOSD1R32 OPTION, BOARD ESP32 V1.0.4 NEEDS TO BE INSTALLED IN ARDUINO IDE //TUTORIAL: www.randomnerdtutorials.com/installing-the-esp32-board-in-arduino-ide-windows-instructions/ //------- //LIBARIES OF ESP32 TO BE ADDED // 1) ESP32Servo < www.arduino.cc/reference/en/libraries/esp32servo/ > // 2) PS4Controller < https://github.com/aed3/PS4-esp32 > // 3) ESP32Wiimote https://github.com/bigw00d/Arduino-ESP32Wiimote //------- //ESP32 SUPPORTS PS4 CONTROLLER: USE 'SIXAXISPAIRTOOL' TO FIND MAC ADDRESS < https://sixaxispairtool.software.informer.com/ > #define ESP32_JOYSTICK NONE //CHOICES: // NONE < NOT USING JOYSTICK > // DUALSHOCK4 < PLAYSTATION 4 CONTROLLER > // WIIMOTE < WII REMOTE > //..DO NOT CHANGE BELOW VALUES..// #define NONE 0 #define DUALSHOCK4 1 #define WIIMOTE 2 //JOYSTICK CONTROL SPEED MULTIPLIER - REDUCE TO ADJUST SENSITIVITY/SPEED #define JOYSTICK_SPEED_MULTIPLIER 1.0 //PS4 CONTROLLER TARGET MAC ADDRESS #define PS4_MAC "20:ff:fa:cc:00:ff" ================================================ FILE: arduino_firmware/robotArm_v0.81/controller_ps4.cpp ================================================ #include #include "config_esp32.h" #include "controller_ps4.h" #include "logger.h" #if BOARD_CHOICE == WEMOSD1R32 #include Controller_PS4::Controller_PS4(char* aMacAddress){ macAddress = aMacAddress; } void Controller_PS4::setup(){ PS4.begin(macAddress); while (!PS4.isConnected()){ if (PS4.isConnected()){ Logger::logINFO("PS4 CONTROLLER CONNECTED"); break; } Logger::logINFO("CONNECTING TO PS4 CONTROLLER"); delay(1000); } } bool Controller_PS4::checkConnection(){ return PS4.isConnected(); } void Controller_PS4::update(){ buttons[PS4_RIGHT] = PS4.Right(); buttons[PS4_DOWN] = PS4.Down(); buttons[PS4_UP] = PS4.Up(); buttons[PS4_LEFT] = PS4.Left(); buttons[PS4_SQUARE] = PS4.Square(); buttons[PS4_CROSS] = PS4.Cross(); buttons[PS4_CIRCLE] = PS4.Circle(); buttons[PS4_TRIANGLE] = PS4.Triangle(); buttons[PS4_L1] = PS4.L1(); buttons[PS4_R1] = PS4.R1(); buttons[PS4_SHARE] = PS4.Share(); buttons[PS4_OPTIONS] = PS4.Options(); buttons[PS4_L3] = PS4.L3(); buttons[PS4_R3] = PS4.R3(); buttons[PS4_PSBUTTON] = PS4.PSButton(); buttons[PS4_TOUCHPAD] = PS4.Touchpad(); buttons[PS4_LSTICKX] = PS4.LStickX(); buttons[PS4_LSTICKY] = PS4.LStickY(); buttons[PS4_RSTICKX] = PS4.RStickX(); buttons[PS4_RSTICKY] = PS4.RStickY(); buttons[PS4_L2VALUE] = PS4.L2Value(); buttons[PS4_R2VALUE] = PS4.R2Value(); } #endif ================================================ FILE: arduino_firmware/robotArm_v0.81/controller_ps4.h ================================================ #ifndef CONTROLLER_PS4_H_ #define CONTROLLER_PS4_H_ #include "config.h" //PS4 BUTTON DECLARATIONS #define PS4_RIGHT 0 #define PS4_DOWN 1 #define PS4_UP 2 #define PS4_LEFT 3 #define PS4_SQUARE 4 #define PS4_CROSS 5 #define PS4_CIRCLE 6 #define PS4_TRIANGLE 7 #define PS4_L1 8 #define PS4_R1 9 #define PS4_SHARE 10 #define PS4_OPTIONS 11 #define PS4_L3 12 #define PS4_R3 13 #define PS4_PSBUTTON 14 #define PS4_TOUCHPAD 15 #define PS4_LSTICKX 16 #define PS4_LSTICKY 17 #define PS4_RSTICKX 18 #define PS4_RSTICKY 19 #define PS4_L2VALUE 20 #define PS4_R2VALUE 21 #if BOARD_CHOICE == WEMOSD1R32 class Controller_PS4 { public: Controller_PS4(char* aMacAddress); int buttons[22]; void setup(); void update(); bool checkConnection(); private: char* macAddress; }; #endif #endif ================================================ FILE: arduino_firmware/robotArm_v0.81/controller_wiimote.cpp ================================================ #include #include "config_esp32.h" #include "controller_wiimote.h" #include "logger.h" #if BOARD_CHOICE == WEMOSD1R32 #include "ESP32Wiimote.h" Controller_Wiimote::Controller_Wiimote(){ ESP32Wiimote wiimote; } void Controller_Wiimote::setup(){ Logger::logINFO("HOLD 1+2 BUTTON TO CONNECT WIIMOTE"); Logger::logINFO("WHEN LED1 LIGHTS UP. PRESS ANY BUTTON TO START"); wiimote.init(); wiimote.addFilter(ACTION_IGNORE, FILTER_NUNCHUK_ACCEL); while (wiimote.available() == 0){ wiimote.task(); if (wiimote.available() > 0){ Logger::logINFO("WIIMOTE CONNECTED"); break; } Logger::logINFO("CONNECTING TO WIIMOTE"); delay(10); } } void Controller_Wiimote::update(){ wiimote.task(); if (wiimote.available() > 0){ button = wiimote.getButtonState(); } delayMicroseconds(10); } #endif ================================================ FILE: arduino_firmware/robotArm_v0.81/controller_wiimote.h ================================================ #ifndef CONTROLLER_WIIMOTE_H_ #define CONTROLLER_WIIMOTE_H_ #include "config.h" #if BOARD_CHOICE == WEMOSD1R32 #include "ESP32Wiimote.h" #define WII_LEFT 0x0800 #define WII_RIGHT 0x0400 #define WII_UP 0x0200 #define WII_DOWN 0x0100 #define WII_A 0x0008 #define WII_B 0x0004 #define WII_PLUS 0x1000 #define WII_HOME 0x0080 #define WII_MINUS 0x0010 #define WII_ONE 0x0002 #define WII_TWO 0x0001 class Controller_Wiimote { public: Controller_Wiimote(); uint16_t button; void setup(); void update(); private: ESP32Wiimote wiimote; }; #endif #endif ================================================ FILE: arduino_firmware/robotArm_v0.81/endstop.cpp ================================================ #include "endstop.h" #include Endstop::Endstop(int a_min_pin, int a_dir_pin, int a_step_pin, int a_en_pin, int a_switch_input, int a_step_offset, int a_home_dwell, bool does_swap_pin){ min_pin = a_min_pin; dir_pin = a_dir_pin; step_pin = a_step_pin; en_pin = a_en_pin; switch_input = a_switch_input; home_dwell = a_home_dwell; step_offset = a_step_offset; swap_pin = does_swap_pin; if (swap_pin == false){ pinMode(min_pin, INPUT_PULLUP); } } void Endstop::home(bool dir) { if (swap_pin == true){ pinMode(min_pin, INPUT_PULLUP); delayMicroseconds(5); } digitalWrite(en_pin, LOW); delayMicroseconds(5); if (dir==1){ digitalWrite(dir_pin, HIGH); } else { digitalWrite(dir_pin, LOW); } delayMicroseconds(5); bState = !(digitalRead(min_pin) ^ switch_input); while (!bState) { digitalWrite(step_pin, HIGH); digitalWrite(step_pin, LOW); delayMicroseconds(home_dwell); bState = !(digitalRead(min_pin) ^ switch_input); } homeOffset(dir); if (swap_pin == true){ pinMode(min_pin, OUTPUT); delayMicroseconds(5); } } void Endstop::homeOffset(bool dir){ if (dir==1){ digitalWrite(dir_pin, LOW); } else{ digitalWrite(dir_pin, HIGH); } delayMicroseconds(5); for (int i = 1; i <= step_offset; i++) { digitalWrite(step_pin, HIGH); digitalWrite(step_pin, LOW); delayMicroseconds(home_dwell); } } void Endstop::oneStepToEndstop(bool dir){ if (swap_pin == true){ pinMode(min_pin, INPUT_PULLUP); } digitalWrite(en_pin, LOW); delayMicroseconds(5); if (dir==1){ digitalWrite(dir_pin, HIGH); } else { digitalWrite(dir_pin, LOW); } delayMicroseconds(5); bState = !(digitalRead(min_pin) ^ switch_input); if (!bState) { digitalWrite(step_pin, HIGH); digitalWrite(step_pin, LOW); delayMicroseconds(home_dwell); } bState = !(digitalRead(min_pin) ^ switch_input); } bool Endstop::state(){ if (swap_pin == true){ pinMode(min_pin, INPUT_PULLUP); delayMicroseconds(5); } bState = !(digitalRead(min_pin) ^ switch_input); if (swap_pin == true){ pinMode(min_pin, OUTPUT); delayMicroseconds(5); } return bState; } ================================================ FILE: arduino_firmware/robotArm_v0.81/endstop.h ================================================ #ifndef ENDSTOP_H_ #define ENDSTOP_H_ class Endstop { public: Endstop(int a_min_pin, int a_dir_pin, int a_step_pin, int a_en_pin, int a_switch_input, int a_step_offset, int a_home_dwell, bool does_swap_pin); void home(bool dir); void homeOffset(bool dir); void oneStepToEndstop(bool dir); bool state(); bool bState; private: int min_pin; int dir_pin; int step_pin; int en_pin; int switch_input; int home_dwell; int step_offset; bool swap_pin; }; #endif ================================================ FILE: arduino_firmware/robotArm_v0.81/equipment.cpp ================================================ #include "equipment.h" #include Equipment::Equipment(int equipment_pin){ pin = equipment_pin; pinMode(pin, OUTPUT); } void Equipment::cmdOn(){ digitalWrite(pin, HIGH); } void Equipment::cmdOff(){ digitalWrite(pin, LOW); } ================================================ FILE: arduino_firmware/robotArm_v0.81/equipment.h ================================================ #ifndef EQUIPMENT_H_ #define EQUIPMENT_H_ class Equipment { public: Equipment(int equipment_pin); void cmdOn(); void cmdOff(); private: int pin; }; #endif ================================================ FILE: arduino_firmware/robotArm_v0.81/fanControl.cpp ================================================ #include "fanControl.h" #include FanControl::FanControl(int aPin, int aFanDelay) { fan_delay = aFanDelay * 1000; nextShutdown = 0; pin = aPin; pinMode(pin , OUTPUT); digitalWrite(pin , LOW); state = false; } void FanControl::enable(bool value) { if (value) { state = true; digitalWrite(pin, HIGH); } else { disable(); } } void FanControl::disable() { state = false; nextShutdown = millis() + fan_delay; update(); } void FanControl::update() { if (!state) { if (millis() >= nextShutdown) { digitalWrite(pin, LOW); } } } ================================================ FILE: arduino_firmware/robotArm_v0.81/fanControl.h ================================================ #ifndef FANCONTROL_H_ #define FANCONTROL_H_ class FanControl { public: FanControl(int aPin, int aFanDelay); void enable(bool value = true); void disable(); void update(); private: bool state; int pin; long fan_delay; long nextShutdown; }; #endif ================================================ FILE: arduino_firmware/robotArm_v0.81/interpolation.cpp ================================================ #include "interpolation.h" #include "config.h" #include "queue.h" #include "logger.h" Interpolation::Interpolation(){ speed_profile = SPEED_PROFILE; pos_offset.xmm = 0.0; pos_offset.ymm = 0.0; pos_offset.zmm = 0.0; pos_offset.emm = 0.0; } void Interpolation::setSpeedProfile(int new_speed_profile){ speed_profile = new_speed_profile; } //G92 POSITION OFFSET FUNCTIONS void Interpolation::setPosOffset(float new_x, float new_y, float new_z, float new_e) { pos_offset.xmm = xPosmm - new_x; pos_offset.ymm = yPosmm - new_y; pos_offset.zmm = zPosmm - new_z; pos_offset.emm = ePosmm - new_e; Logger::logINFO("POSITION OFFSET: [X" + String(pos_offset.xmm) + " Y:" + String(pos_offset.ymm) + " Z:" + String(pos_offset.zmm) + " E:" + String(pos_offset.emm) + "]"); Logger::logINFO("CURRENT POSITION: [X:"+String(new_x)+" Y:"+String(new_y)+" Z:"+String(new_z)+" E:"+String(new_e)+"]"); } void Interpolation::resetPosOffset(){ pos_offset.xmm = 0.0; pos_offset.ymm = 0.0; pos_offset.zmm = 0.0; pos_offset.emm = 0.0; } Point Interpolation::getPosOffset() const { return pos_offset; } void Interpolation::setCurrentPos(float px, float py, float pz, float pe) { Point p; p.xmm = px; p.ymm = py; p.zmm = pz; p.emm = pe; setCurrentPos(p); } void Interpolation::setInterpolation(float px, float py, float pz, float pe, float v) { Point p; p.xmm = px; p.ymm = py; p.zmm = pz; p.emm = pe; setInterpolation(p, v); } void Interpolation::setInterpolation(float p1x, float p1y, float p1z, float p1e, float p2x, float p2y, float p2z, float p2e, float v) { Point p1; Point p2; p1.xmm = p1x; p1.ymm = p1y; p1.zmm = p1z; p1.emm = p1e; p2.xmm = p2x; p2.ymm = p2y; p2.zmm = p2z; p2.emm = p2e; setInterpolation(p1, p2, v); } void Interpolation::setInterpolation(Point p1, float v) { Point p0; p0.xmm = xStartmm + xDelta; p0.ymm = yStartmm + yDelta; p0.zmm = zStartmm + zDelta; p0.emm = eStartmm + eDelta; setInterpolation(p0, p1, v); } void Interpolation::setInterpolation(Point p0, Point p1, float av) { v = av; //mm/s float a = (p1.xmm - p0.xmm); float b = (p1.ymm - p0.ymm); float c = (p1.zmm - p0.zmm); float e = abs(p1.emm - p0.emm); float dist = sqrt(a*a + b*b + c*c); if (dist < e) { dist = e; } if (v < 5) { //includes 0 = default value v = sqrt(dist) * 10; //set a good value for v } if (v < 5) { v = 5; } tmul = v / dist; xStartmm = p0.xmm; yStartmm = p0.ymm; zStartmm = p0.zmm; eStartmm = p0.emm; xDelta = (p1.xmm - p0.xmm); yDelta = (p1.ymm - p0.ymm); zDelta = (p1.zmm - p0.zmm); eDelta = (p1.emm - p0.emm); state = 0; startTime = micros(); } void Interpolation::setCurrentPos(Point p) { xStartmm = p.xmm; yStartmm = p.ymm; zStartmm = p.zmm; eStartmm = p.emm; xDelta = 0; yDelta = 0; zDelta = 0; eDelta = 0; } void Interpolation::updateActualPosition() { if (state != 0) { return; } long microsek = micros(); float t = (microsek - startTime) / 1000000.0; float progress; switch (speed_profile){ // FLAT SPEED CURVE case 0: progress = t * tmul; if (progress >= 1.0){ progress = 1.0; state = 1; } break; // ARCTAN APPROX case 1: progress = atan((PI * t * tmul) - (PI * 0.5)) * 0.5 + 0.5; if (progress >= 1.0) { progress = 1.0; state = 1; } break; // COSIN APPROX case 2: progress = -cos(t * tmul * PI) * 0.5 + 0.5; if ((t * tmul) >= 1.0) { progress = 1.0; state = 1; } break; } pos_tracker[X_AXIS] = xStartmm + progress * xDelta; pos_tracker[Y_AXIS] = yStartmm + progress * yDelta; pos_tracker[Z_AXIS] = zStartmm + progress * zDelta; pos_tracker[E_AXIS] = eStartmm + progress * eDelta; if(isAllowedPosition(pos_tracker)){ xPosmm = pos_tracker[X_AXIS]; yPosmm = pos_tracker[Y_AXIS]; zPosmm = pos_tracker[Z_AXIS]; ePosmm = pos_tracker[E_AXIS]; } else { pos_tracker[X_AXIS] = xPosmm; pos_tracker[Y_AXIS] = yPosmm; pos_tracker[Z_AXIS] = zPosmm; pos_tracker[E_AXIS] = ePosmm; state = 1; progress = 1.0; xStartmm = xPosmm; yStartmm = yPosmm; zStartmm = zPosmm; eStartmm = ePosmm; xDelta = 0; yDelta = 0; zDelta = 0; eDelta = 0; } //FOR DECIPHERING SPEED CURVE //Serial.print("xPosmm:"); //Serial.print(xPosmm); //Serial.print(" yPosmm:"); //Serial.print(yPosmm); //Serial.print(" zPosmm:"); //Serial.println(zPosmm); } bool Interpolation::isFinished() const { return state != 0; } float Interpolation::getXPosmm() const { return xPosmm; } float Interpolation::getYPosmm() const { return yPosmm; } float Interpolation::getZPosmm() const { return zPosmm; } float Interpolation::getEPosmm() const { return ePosmm; } Point Interpolation::getPosmm() const { Point p; p.xmm = xPosmm; p.ymm = yPosmm; p.zmm = zPosmm; p.emm = ePosmm; return p; } bool Interpolation::isAllowedPosition(float pos_tracker[4]) { float rrot_ee = hypot(pos_tracker[X_AXIS], pos_tracker[Y_AXIS]); float rrot = rrot_ee - END_EFFECTOR_OFFSET; float rrot_x = rrot * (pos_tracker[Y_AXIS] / rrot_ee); float rrot_y = rrot * (pos_tracker[X_AXIS] / rrot_ee); float squaredPositionModule = sq(rrot_x) + sq(rrot_y) + sq(pos_tracker[Z_AXIS]); bool retVal = ( squaredPositionModule <= sq(R_MAX) && squaredPositionModule >= sq(R_MIN) && pos_tracker[Z_AXIS] >= Z_MIN && pos_tracker[Z_AXIS] <= Z_MAX #if RAIL && pos_tracker[E_AXIS] <= RAIL_LENGTH && pos_tracker[E_AXIS] >= 0 #endif ); if(!retVal) { Logger::logERROR("LIMIT REACHED: [X:" + String(pos_tracker[X_AXIS]) + " Y:" + String(pos_tracker[Y_AXIS]) + " Z:" + String(pos_tracker[Z_AXIS]) + " E:" + String(pos_tracker[E_AXIS]) + "]"); } return retVal; } ================================================ FILE: arduino_firmware/robotArm_v0.81/interpolation.h ================================================ #ifndef INTERPOLATION_H_ #define INTERPOLATION_H_ #include #define X_AXIS 0 #define Y_AXIS 1 #define Z_AXIS 2 #define E_AXIS 3 struct Point { float xmm; float ymm; float zmm; float emm; }; class Interpolation { public: //void resetInterpolation(float px, float py, float pz); //void resetInterpolation(float p1x, float p1y, float p1z, float p2x, float p2y, float p2z); //void resetInterpolation(Point p0, Point p1); Interpolation(); void setCurrentPos(float px, float py, float pz, float pe); void setInterpolation(float px, float py, float pz, float pe, float v = 0); void setInterpolation(float p1x, float p1y, float p1z, float p1e, float p2x, float p2y, float p2z, float p2e, float av = 0); void setCurrentPos(Point p); void setInterpolation(Point p1, float v = 0); void setInterpolation(Point p0, Point p1, float v = 0); void updateActualPosition(); bool isFinished() const; float getXPosmm() const; float getYPosmm() const; float getZPosmm() const; float getEPosmm() const; Point getPosmm() const; bool isAllowedPosition(float pos_tracker[4]); void setPosOffset(float new_x, float new_y, float new_z, float new_e); void resetPosOffset(); Point getPosOffset() const; int speed_profile; void setSpeedProfile(int new_speed_profile); private: Point pos_offset; float pos_tracker[4]; byte state; long startTime; float xStartmm; float yStartmm; float zStartmm; float eStartmm; float xDelta; float yDelta; float zDelta; float eDelta; float xPosmm; float yPosmm; float zPosmm; float ePosmm; float v; float tmul; }; #endif ================================================ FILE: arduino_firmware/robotArm_v0.81/logger.cpp ================================================ #include "config.h" #include "logger.h" void Logger::log(String message, int level) { if(LOG_LEVEL >= level) { String logMsg; switch(level) { case LOG_ERROR: logMsg = "ERROR: "; break; case LOG_INFO: logMsg = "INFO: "; break; case LOG_DEBUG: logMsg = "DEBUG: "; break; } logMsg = logMsg + message; Serial.println(logMsg); } } void Logger::logERROR(String message) { log(message, LOG_ERROR); } void Logger::logINFO(String message) { log(message, LOG_INFO); } void Logger::logDEBUG(String message) { log(message, LOG_DEBUG); } ================================================ FILE: arduino_firmware/robotArm_v0.81/logger.h ================================================ #ifndef LOGGER_H_ #define LOGGER_H_ #include #define LOG_ERROR 0 #define LOG_INFO 1 #define LOG_DEBUG 2 class Logger { public: static void log(String message, int level); static void logINFO(String message); static void logERROR(String message); static void logDEBUG(String message); }; #endif ================================================ FILE: arduino_firmware/robotArm_v0.81/pinout/pinout.h ================================================ #ifndef PINOUT_H_ #define PINOUT_H_ /* * pinout of RAMPS 1.4 * * source: http://reprap.org/wiki/RAMPS_1.4 */ //RAMPS 1.4 PINS #define X_STEP_PIN 54 #define X_DIR_PIN 55 #define X_ENABLE_PIN 38 #define X_MIN_PIN 3 #define X_MAX_PIN 2 #define Y_STEP_PIN 60 #define Y_DIR_PIN 61 #define Y_ENABLE_PIN 56 #define Y_MIN_PIN 14 #define Y_MAX_PIN 15 #define Z_STEP_PIN 46 #define Z_DIR_PIN 48 #define Z_ENABLE_PIN 62 #define Z_MIN_PIN 18 #define Z_MAX_PIN 19 #define E0_STEP_PIN 26 #define E0_DIR_PIN 28 #define E0_ENABLE_PIN 24 #define E0_MIN_PIN 20 #define E1_STEP_PIN 36 #define E1_DIR_PIN 34 #define E1_ENABLE_PIN 30 #define BYJ_PIN_0 40 #define BYJ_PIN_1 63 #define BYJ_PIN_2 59 #define BYJ_PIN_3 64 #define SERVO_PIN 4 #define PUMP_PIN 8 #define LASER_PIN 10 #define LED_PIN 13 #define SDPOWER -1 #define SDSS 53 #define FAN_PIN 9 #define PS_ON_PIN 12 #define KILL_PIN -1 //#define HEATER_0_PIN 10 //#define HEATER_1_PIN 8 #define TEMP_0_PIN 13 // ANALOG NUMBERING #define TEMP_1_PIN 14 // ANALOG NUMBERING //RAMPS AUX-2 #endif ================================================ FILE: arduino_firmware/robotArm_v0.81/pinout/pinout_uno.h ================================================ #ifndef PINOUT_UNO_H_ #define PINOUT_UNO_H_ #define X_STEP_PIN 2 #define X_DIR_PIN 5 #define X_ENABLE_PIN 8 #define X_MIN_PIN 9 #define X_MAX_PIN -1 #define Y_STEP_PIN 3 #define Y_DIR_PIN 6 #define Y_ENABLE_PIN 8 #define Y_MIN_PIN 10 #define Y_MAX_PIN -1 #define Z_STEP_PIN 4 #define Z_DIR_PIN 7 #define Z_ENABLE_PIN 8 #define Z_MIN_PIN 11 #define Z_MAX_PIN -1 #define E0_STEP_PIN 12 #define E0_DIR_PIN 13 #define E0_ENABLE_PIN 8 #define E0_MIN_PIN 16 //A2 PIN //UNO ANALOG PIN CAN FUNCTION AS DIGITAL PIN #define E1_STEP_PIN -1 #define E1_DIR_PIN -1 #define E1_ENABLE_PIN -1 #define BYJ_PIN_0 -1 #define BYJ_PIN_1 -1 #define BYJ_PIN_2 -1 #define BYJ_PIN_3 -1 #define SERVO_PIN 17 //A3 PIN //UNO ANALOG PIN CAN FUNCTION AS DIGITAL PIN #define PUMP_PIN -1 #define LASER_PIN -1 #define LED_PIN -1 #define SDPOWER -1 #define SDSS -1 #define FAN_PIN -1 #define PS_ON_PIN -1 #define KILL_PIN -1 #define TEMP_0_PIN -1 // ANALOG NUMBERING #define TEMP_1_PIN -1 // ANALOG NUMBERING #endif ================================================ FILE: arduino_firmware/robotArm_v0.81/pinout/pinout_wemosD1R32.h ================================================ #ifndef PINOUT_ESP32WEMOS_H_ #define PINOUT_ESP32WEMOS_H_ #define X_STEP_PIN 26 #define X_DIR_PIN 16 //SHARE WITH E0_MIN_PIN #define X_ENABLE_PIN 12 #define X_MIN_PIN 13 #define X_MAX_PIN -1 #define Y_STEP_PIN 25 #define Y_DIR_PIN 27 #define Y_ENABLE_PIN 12 #define Y_MIN_PIN 5 #define Y_MAX_PIN -1 #define Z_STEP_PIN 17 #define Z_DIR_PIN 14 #define Z_ENABLE_PIN 12 #define Z_MIN_PIN 23 //SHARE WITH SERVO_PIN #define Z_MAX_PIN -1 #define E0_STEP_PIN 19 #define E0_DIR_PIN 18 #define E0_ENABLE_PIN 12 #define E0_MIN_PIN 16 //SHARE WITH X_DIR_PIN #define E1_STEP_PIN -1 #define E1_DIR_PIN -1 #define E1_ENABLE_PIN -1 #define BYJ_PIN_0 -1 #define BYJ_PIN_1 -1 #define BYJ_PIN_2 -1 #define BYJ_PIN_3 -1 #define SERVO_PIN 19 //SERVO_PIN FOR STATIONARY #define PUMP_PIN -1 #define LASER_PIN -1 #define LED_PIN -1 #define SDPOWER -1 #define SDSS -1 #define FAN_PIN -1 #define PS_ON_PIN -1 #define KILL_PIN -1 #define TEMP_0_PIN -1 #define TEMP_1_PIN -1 #endif ================================================ FILE: arduino_firmware/robotArm_v0.81/queue.h ================================================ #ifndef QUEUE_H_ #define QUEUE_H_ template class Queue { public: Queue(int alen); ~Queue(); bool push(Element elem); Element pop(); bool isFull() const; bool isEmpty() const; int getFreeSpace() const; int getMaxLength() const; inline int getUsedSpace() const; private: Queue(Queue& q); //copy const. Element* data; int len; int start; int count; }; template Queue::Queue(int alen) { data = new Element[alen]; len = alen; start = 0; count = 0; } template Queue::~Queue() { delete data; } template Queue::Queue(Queue& q) { //nothing ever is allowed to do something here } template bool Queue::push(Element elem) { data[(start + count++) % len] = elem; } template Element Queue::pop() { count--; int s = start; start = (start + 1) % len; return data[(s) % len]; } template bool Queue::isFull() const { return count >= len; } template bool Queue::isEmpty() const { return count <= 0; } template int Queue::getFreeSpace() const { return len - count; } template int Queue::getMaxLength() const { return len; } template int Queue::getUsedSpace() const { return count; } #endif ================================================ FILE: arduino_firmware/robotArm_v0.81/robotArm_v0.81.ino ================================================ //20SFFACTORY COMMUNITY ROBOT FIRMWARE //MAINTAINER: LEOYEUNG@20SFFACTORY //CONTACT: yeung.kl.leo@gmail.com //FORUM: www.facebook.com/groups/robotarm //VERSION: V0.81 //VERSION HISTORY: // V0.31 WITH G92, M114, LOGGER, LIMIT_CHECK FUNCTIONS // V0.41 WITH DUAL SHANK LENGTH SUPPORT // V0.51 WITH SERVO GRIPPER // V0.61 WITH ARDUINO UNO OPTION // V0.71 WITH: // ESP32(WEMOS D1R32) WITH PS4 JOYSTICK CONTROL OPTION // COMMAND TO SET CUSTOM SPEED PROFILE 'M205 S0' // UNO OPTION WITH RAIL SUPPORT // V0.81 WITH WII REMOTE, JOYSTICK ADJUSTABLE SPEED MULTIPLIER #include //GENERAL CONFIG SETTINGS #include "config.h" #include "robotGeometry.h" #include "interpolation.h" #include "RampsStepper.h" #include "queue.h" #include "command.h" #include "equipment.h" #include "endstop.h" #include "logger.h" #include "fanControl.h" //INCLUDE CORRESPONDING GRIPPER MOTOR CLASS #if GRIPPER == SERVO #include "servo_gripper.h" #elif GRIPPER == BYJ #include "byj_gripper.h" #endif //DETERMINE PINOUTS & CONFIG TO USE SUBJECT TO BOARD_CHOICE #if BOARD_CHOICE == UNO #include "pinout/pinout_uno.h" #elif BOARD_CHOICE == WEMOSD1R32 #include "pinout/pinout_wemosD1R32.h" #include "config_esp32.h" #elif BOARD_CHOICE == MEGA2560 #include "pinout/pinout.h" #endif //STEPPER OBJECTS RampsStepper stepperHigher(X_STEP_PIN, X_DIR_PIN, X_ENABLE_PIN, INVERSE_X_STEPPER, MAIN_GEAR_TEETH, MOTOR_GEAR_TEETH, MICROSTEPS, STEPS_PER_REV); RampsStepper stepperLower(Y_STEP_PIN, Y_DIR_PIN, Y_ENABLE_PIN, INVERSE_Y_STEPPER, MAIN_GEAR_TEETH, MOTOR_GEAR_TEETH, MICROSTEPS, STEPS_PER_REV); RampsStepper stepperRotate(Z_STEP_PIN, Z_DIR_PIN, Z_ENABLE_PIN, INVERSE_Z_STEPPER, MAIN_GEAR_TEETH, MOTOR_GEAR_TEETH, MICROSTEPS, STEPS_PER_REV); //RAIL OBJECTS #if RAIL RampsStepper stepperRail(E0_STEP_PIN, E0_DIR_PIN, E0_ENABLE_PIN, INVERSE_E0_STEPPER, MAIN_GEAR_TEETH, MOTOR_GEAR_TEETH, MICROSTEPS, STEPS_PER_REV); #if BOARD_CHOICE == WEMOSD1R32 //PINSWAP REQIURED ON D1R32 DUE TO INSUFFICIENT DIGIAL PINS #define SERVO_PIN 23 // REDEFINE SERVO_PIN FOR RAIL // SHARE WITH Z_MIN_PIN Endstop endstopE0(E0_MIN_PIN, E0_DIR_PIN, E0_STEP_PIN, E0_ENABLE_PIN, E0_MIN_INPUT, E0_HOME_STEPS, HOME_DWELL, true); #else Endstop endstopE0(E0_MIN_PIN, E0_DIR_PIN, E0_STEP_PIN, E0_ENABLE_PIN, E0_MIN_INPUT, E0_HOME_STEPS, HOME_DWELL, false); #endif #endif //ENDSTOP OBJECTS Endstop endstopX(X_MIN_PIN, X_DIR_PIN, X_STEP_PIN, X_ENABLE_PIN, X_MIN_INPUT, X_HOME_STEPS, HOME_DWELL, false); Endstop endstopY(Y_MIN_PIN, Y_DIR_PIN, Y_STEP_PIN, Y_ENABLE_PIN, Y_MIN_INPUT, Y_HOME_STEPS, HOME_DWELL, false); #if BOARD_CHOICE == WEMOSD1R32 Endstop endstopZ(Z_MIN_PIN, Z_DIR_PIN, Z_STEP_PIN, Z_ENABLE_PIN, Z_MIN_INPUT, Z_HOME_STEPS, HOME_DWELL, true); #else Endstop endstopZ(Z_MIN_PIN, Z_DIR_PIN, Z_STEP_PIN, Z_ENABLE_PIN, Z_MIN_INPUT, Z_HOME_STEPS, HOME_DWELL, false); #endif //EQUIPMENT OBJECTS #if GRIPPER == SERVO Servo_Gripper servo_gripper(SERVO_PIN, SERVO_GRIP_DEGREE, SERVO_UNGRIP_DEGREE); #elif GRIPPER == BYJ BYJ_Gripper byj_gripper(BYJ_PIN_0, BYJ_PIN_1, BYJ_PIN_2, BYJ_PIN_3, BYJ_GRIP_STEPS); #endif Equipment laser(LASER_PIN); Equipment pump(PUMP_PIN); Equipment led(LED_PIN); FanControl fan(FAN_PIN, FAN_DELAY); //EXECUTION & COMMAND OBJECTS RobotGeometry geometry(END_EFFECTOR_OFFSET, LOW_SHANK_LENGTH, HIGH_SHANK_LENGTH); Interpolation interpolator; Queue queue(QUEUE_SIZE); Command command; //PS4 CONTROLLER OBJECT FOR ESP32 #if BOARD_CHOICE == WEMOSD1R32 && ESP32_JOYSTICK == DUALSHOCK4 #include "controller_ps4.h" Controller_PS4 controller_ps4(PS4_MAC); #endif #if BOARD_CHOICE == WEMOSD1R32 && ESP32_JOYSTICK == WIIMOTE #include "controller_wiimote.h" Controller_Wiimote controller_wiimote; #endif void setup() { Serial.begin(BAUD); #if BOARD_CHOICE == WEMOSD1R32 && ESP32_JOYSTICK == DUALSHOCK4 controller_ps4.setup(); #endif #if BOARD_CHOICE == WEMOSD1R32 && ESP32_JOYSTICK == WIIMOTE controller_wiimote.setup(); #endif stepperHigher.setPositionRad(PI / 2.0); // 90° stepperLower.setPositionRad(0); // 0° stepperRotate.setPositionRad(0); // 0° #if RAIL stepperRail.setPosition(0); #endif if (HOME_ON_BOOT) { //HOME DURING SETUP() IF HOME_ON_BOOT ENABLED homeSequence(); Logger::logINFO("ROBOT ONLINE"); } else { setStepperEnable(false); //ROBOT ADJUSTABLE BY HAND AFTER TURNING ON if (HOME_X_STEPPER && HOME_Y_STEPPER && !HOME_Z_STEPPER){ Logger::logINFO("ROBOT ONLINE"); Logger::logINFO("ROTATE ROBOT TO FACE FRONT CENTRE & SEND G28 TO CALIBRATE"); } if (HOME_X_STEPPER && HOME_Y_STEPPER && HOME_Z_STEPPER){ Logger::logINFO("ROBOT ONLINE"); Logger::logINFO("SEND G28 TO CALIBRATE"); } if (!HOME_X_STEPPER && !HOME_Y_STEPPER){ Logger::logINFO("ROBOT ONLINE"); Logger::logINFO("HOME ROBOT MANUALLY & SEND G28 TO CALIBRATE"); } } interpolator.setInterpolation(INITIAL_X, INITIAL_Y, INITIAL_Z, INITIAL_E0, INITIAL_X, INITIAL_Y, INITIAL_Z, INITIAL_E0); } void loop() { interpolator.updateActualPosition(); geometry.set(interpolator.getXPosmm(), interpolator.getYPosmm(), interpolator.getZPosmm()); stepperRotate.stepToPositionRad(geometry.getRotRad()); stepperLower.stepToPositionRad(geometry.getLowRad()); stepperHigher.stepToPositionRad(geometry.getHighRad()); #if RAIL stepperRail.stepToPositionMM(interpolator.getEPosmm(), STEPS_PER_MM_RAIL); #endif stepperRotate.update(); stepperLower.update(); stepperHigher.update(); #if RAIL stepperRail.update(); #endif fan.update(); if (!queue.isFull()) { if (command.handleGcode()) { queue.push(command.getCmd()); } } if ((!queue.isEmpty()) && interpolator.isFinished()) { executeCommand(queue.pop()); if (PRINT_REPLY) { Serial.println(PRINT_REPLY_MSG); } } if (millis() % 500 < 250) { led.cmdOn(); } else { led.cmdOff(); } #if BOARD_CHOICE == WEMOSD1R32 && ESP32_JOYSTICK == DUALSHOCK4 ps4_controller_loop(); #endif #if BOARD_CHOICE == WEMOSD1R32 && ESP32_JOYSTICK == WIIMOTE wiimote_controller_loop(); #endif } void executeCommand(Cmd cmd) { if (cmd.id == -1) { printErr(); return; } if (cmd.id == 'G') { switch (cmd.num) { case 0: case 1: fan.enable(true); Point posoffset; posoffset = interpolator.getPosOffset(); cmdMove(cmd, interpolator.getPosmm(), posoffset, command.isRelativeCoord); interpolator.setInterpolation(cmd.valueX, cmd.valueY, cmd.valueZ, cmd.valueE, cmd.valueF); Logger::logINFO("LINEAR MOVE: [X:" + String(cmd.valueX-posoffset.xmm) + " Y:" + String(cmd.valueY-posoffset.ymm) + " Z:" + String(cmd.valueZ-posoffset.zmm) + " E:" + String(cmd.valueE-posoffset.emm)+"]"); break; case 4: cmdDwell(cmd); break; case 28: if (BOARD_CHOICE == UNO || BOARD_CHOICE == WEMOSD1R32){ homeSequence_UNO(); break; } else { homeSequence(); break; } case 90: command.cmdToAbsolute(); break; // ABSOLUTE COORDINATE MODE case 91: command.cmdToRelative(); break; // RELATIVE COORDINATE MODE case 92: interpolator.resetPosOffset(); cmdMove(cmd, interpolator.getPosmm(), interpolator.getPosOffset(), false); interpolator.setPosOffset(cmd.valueX, cmd.valueY, cmd.valueZ, cmd.valueE); break; default: printErr(); } } else if (cmd.id == 'M') { switch (cmd.num) { case 1: pump.cmdOn(); break; case 2: pump.cmdOff(); break; case 3: #if GRIPPER == BYJ byj_gripper.cmdOn(); break; #elif GRIPPER == SERVO servo_gripper.cmdOn(); break; #endif case 5: #if GRIPPER == BYJ byj_gripper.cmdOff(); break; #elif GRIPPER == SERVO servo_gripper.cmdOff(); break; #endif case 6: laser.cmdOn(); break; case 7: laser.cmdOff(); break; case 17: setStepperEnable(true); break; case 18: setStepperEnable(false); break; case 106: fan.enable(true); break; case 107: fan.enable(false); break; case 114: command.cmdGetPosition(interpolator.getPosmm(), interpolator.getPosOffset(), stepperHigher.getPosition(), stepperLower.getPosition(), stepperRotate.getPosition()); break;// Return the current positions of all axis case 119: { String endstopMsg = "ENDSTOP: [X:"; endstopMsg += String(endstopX.state()); endstopMsg += " Y:"; endstopMsg += String(endstopY.state()); endstopMsg += " Z:"; endstopMsg += String(endstopZ.state()); #if RAIL endstopMsg += " E:"; endstopMsg += String(endstopE0.state()); #endif endstopMsg += "]"; //ORIGINAL LOG STRING UNDESIRABLE FOR UNO PROCESSING //Logger::logINFO("ENDSTOP STATE: [UPPER_SHANK(X):"+String(endstopX.state())+" LOWER_SHANK(Y):"+String(endstopY.state())+" ROTATE_GEAR(Z):"+String(endstopZ.state())+"]"); Logger::logINFO(endstopMsg); break;} case 205: interpolator.setSpeedProfile(cmd.valueS); Logger::logINFO("SPEED PROFILE: [" + String(interpolator.speed_profile) + "]"); break; default: printErr(); } } else { printErr(); } } void setStepperEnable(bool enable){ stepperRotate.enable(enable); stepperLower.enable(enable); stepperHigher.enable(enable); #if RAIL stepperRail.enable(enable); #endif fan.enable(enable); } void homeSequence(){ setStepperEnable(false); fan.enable(true); if (HOME_Y_STEPPER && HOME_X_STEPPER){ endstopY.home(!INVERSE_Y_STEPPER); endstopX.home(!INVERSE_X_STEPPER); } else { setStepperEnable(true); endstopY.homeOffset(!INVERSE_Y_STEPPER); endstopX.homeOffset(!INVERSE_X_STEPPER); } if (HOME_Z_STEPPER){ endstopZ.home(INVERSE_Z_STEPPER); } #if RAIL if (HOME_E0_STEPPER){ endstopE0.home(!INVERSE_E0_STEPPER); } #endif interpolator.setInterpolation(INITIAL_X, INITIAL_Y, INITIAL_Z, INITIAL_E0, INITIAL_X, INITIAL_Y, INITIAL_Z, INITIAL_E0); Logger::logINFO("HOMING COMPLETE"); } //DUE TO UNO CNC SHIELD LIMIT, 1 EN PIN SERVES 3 MOTORS, HENCE DIFFERENT HOMESEQUENCE IS REQUIRED void homeSequence_UNO(){ #if GRIPPER == SERVO if (servo_gripper.readDegree() != SERVO_UNGRIP_DEGREE){ servo_gripper.cmdOff(); } #endif if (HOME_Y_STEPPER && HOME_X_STEPPER){ while (!endstopY.state() || !endstopX.state()){ endstopY.oneStepToEndstop(!INVERSE_Y_STEPPER); endstopX.oneStepToEndstop(!INVERSE_X_STEPPER); } endstopY.homeOffset(!INVERSE_Y_STEPPER); endstopX.homeOffset(!INVERSE_X_STEPPER); } else { setStepperEnable(true); endstopY.homeOffset(!INVERSE_Y_STEPPER); endstopX.homeOffset(!INVERSE_X_STEPPER); } if (HOME_Z_STEPPER){ endstopZ.home(INVERSE_Z_STEPPER); //INDICATE STEPPER HOMING DIRECDTION } #if RAIL if (HOME_E0_STEPPER){ endstopE0.home(!INVERSE_E0_STEPPER); } #endif interpolator.setInterpolation(INITIAL_X, INITIAL_Y, INITIAL_Z, INITIAL_E0, INITIAL_X, INITIAL_Y, INITIAL_Z, INITIAL_E0); Logger::logINFO("HOMING COMPLETE"); } #if BOARD_CHOICE == WEMOSD1R32 && ESP32_JOYSTICK == DUALSHOCK4 void ps4_controller_loop(){ controller_ps4.update(); interpolator.speed_profile = 0; if (controller_ps4.buttons[PS4_CROSS]){if (GRIPPER == SERVO){servo_gripper.cmdOn();}} if (controller_ps4.buttons[PS4_CIRCLE]){if (GRIPPER == SERVO){servo_gripper.cmdOff();}} if (controller_ps4.buttons[PS4_OPTIONS]){setStepperEnable(true);} if (controller_ps4.buttons[PS4_SHARE]){setStepperEnable(false);} if (controller_ps4.buttons[PS4_TOUCHPAD]){homeSequence_UNO();} float x_distance = 0.0; float y_distance = 0.0; float z_distance = 0.0; float e_distance = 0.0; if (abs(controller_ps4.buttons[PS4_RSTICKY]) > 10){ // z_distance = float(controller_ps4.buttons[PS4_RSTICKY]) / 2500.0; z_distance = float(controller_ps4.buttons[PS4_RSTICKY])*JOYSTICK_SPEED_MULTIPLIER / 2500.0; } if (abs(controller_ps4.buttons[PS4_LSTICKX]) > 10){ float turn_rad = float(controller_ps4.buttons[PS4_LSTICKX])*JOYSTICK_SPEED_MULTIPLIER / 300000.0; x_distance += sin(geometry.getRotRad() + turn_rad) * geometry.getHypot() - interpolator.getXPosmm(); y_distance += cos(geometry.getRotRad() + turn_rad) * geometry.getHypot() - interpolator.getYPosmm(); } if (abs(controller_ps4.buttons[PS4_LSTICKY]) > 10){ float hp_distance = float(controller_ps4.buttons[PS4_LSTICKY])*JOYSTICK_SPEED_MULTIPLIER / 2500.0; float hp_ratio = hp_distance / geometry.getHypot(); x_distance += interpolator.getXPosmm() * hp_ratio; y_distance += interpolator.getYPosmm() * hp_ratio; } if (abs(controller_ps4.buttons[PS4_L2VALUE]) > 10){ e_distance -= float(controller_ps4.buttons[PS4_L2VALUE])*JOYSTICK_SPEED_MULTIPLIER/ 10000.0; } if (abs(controller_ps4.buttons[PS4_R2VALUE]) > 10){ e_distance += float(controller_ps4.buttons[PS4_R2VALUE])*JOYSTICK_SPEED_MULTIPLIER/ 10000.0; } if (x_distance || y_distance || z_distance || e_distance){ interpolator.speed_profile = 0; interpolator.setInterpolation(interpolator.getXPosmm()+x_distance, interpolator.getYPosmm()+y_distance, interpolator.getZPosmm()+z_distance, interpolator.getEPosmm()+e_distance, 5); } } #endif #if BOARD_CHOICE == WEMOSD1R32 && ESP32_JOYSTICK == WIIMOTE void wiimote_controller_loop(){ controller_wiimote.update(); interpolator.speed_profile = 0; if (controller_wiimote.button == WII_A && GRIPPER == SERVO){ if (!servo_gripper.isOn()){ servo_gripper.cmdOn(); } else { servo_gripper.cmdOff(); } } if (controller_wiimote.button == WII_PLUS){setStepperEnable(true);} if (controller_wiimote.button == WII_MINUS){setStepperEnable(false);} if (controller_wiimote.button == WII_HOME){homeSequence_UNO();} float x_distance = 0.0; float y_distance = 0.0; float z_distance = 0.0; float e_distance = 0.0; float hp_distance = 0.0; float turn_rad = 0.0; if (controller_wiimote.button == WII_LEFT || controller_wiimote.button == WII_LEFT+WII_DOWN || controller_wiimote.button == WII_LEFT+WII_UP){ hp_distance = float(0.015 * JOYSTICK_SPEED_MULTIPLIER); } if (controller_wiimote.button == WII_RIGHT || controller_wiimote.button == WII_RIGHT+WII_DOWN || controller_wiimote.button == WII_RIGHT+WII_UP){ hp_distance = float(-0.015 * JOYSTICK_SPEED_MULTIPLIER); } if (controller_wiimote.button == WII_DOWN || controller_wiimote.button == WII_LEFT+WII_DOWN || controller_wiimote.button == WII_RIGHT+WII_DOWN){ turn_rad = float(-0.0001 * JOYSTICK_SPEED_MULTIPLIER); } if (controller_wiimote.button == WII_UP || controller_wiimote.button == WII_LEFT+WII_UP || controller_wiimote.button == WII_RIGHT+WII_UP){ turn_rad = float(0.0001 * JOYSTICK_SPEED_MULTIPLIER); } if (controller_wiimote.button == WII_LEFT+WII_B){ z_distance = float (0.015 * JOYSTICK_SPEED_MULTIPLIER); } if (controller_wiimote.button == WII_RIGHT+WII_B){ z_distance = float (-0.015 * JOYSTICK_SPEED_MULTIPLIER); } if (controller_wiimote.button == WII_DOWN+WII_B){ e_distance = float (-0.008 * JOYSTICK_SPEED_MULTIPLIER); } if (controller_wiimote.button == WII_UP+WII_B){ e_distance = float (0.008 * JOYSTICK_SPEED_MULTIPLIER); } if (abs(hp_distance) > 0.0){ float hp_ratio = hp_distance / geometry.getHypot(); x_distance += interpolator.getXPosmm() * hp_ratio; y_distance += interpolator.getYPosmm() * hp_ratio; } if (abs(turn_rad) > 0.0){ x_distance += sin(geometry.getRotRad() + turn_rad) * geometry.getHypot() - interpolator.getXPosmm(); y_distance += cos(geometry.getRotRad() + turn_rad) * geometry.getHypot() - interpolator.getYPosmm(); } if (x_distance || y_distance || z_distance || e_distance){ interpolator.speed_profile = 0; interpolator.setInterpolation(interpolator.getXPosmm()+x_distance, interpolator.getYPosmm()+y_distance, interpolator.getZPosmm()+z_distance, interpolator.getEPosmm()+e_distance, 5); //SOLUTION FOR WIIMOTE Y<0.05 FREEZE ISSUE if (interpolator.getYPosmm() < 0.5) { interpolator.setInterpolation(interpolator.getXPosmm(), 0.5, interpolator.getZPosmm(), interpolator.getEPosmm(), 5); } } } #endif ================================================ FILE: arduino_firmware/robotArm_v0.81/robotGeometry.cpp ================================================ #include "robotGeometry.h" #include #include RobotGeometry::RobotGeometry(float a_ee_offset, float a_low_shank_length, float a_high_shank_length) { ee_offset = a_ee_offset; low_shank_length = a_low_shank_length; high_shank_length = a_high_shank_length; } void RobotGeometry::set(float axmm, float aymm, float azmm) { xmm = axmm; ymm = aymm; zmm = azmm; calculateGrad(); } float RobotGeometry::getXmm() const { return xmm; } float RobotGeometry::getYmm() const { return ymm; } float RobotGeometry::getZmm() const { return zmm; } float RobotGeometry::getRotRad() const { return rot; } float RobotGeometry::getLowRad() const { return low; } float RobotGeometry::getHighRad() const { return high; } float RobotGeometry::getHypot() const { return rrot_ee; } void RobotGeometry::calculateGrad() { rrot_ee = hypot(xmm, ymm); float rrot = rrot_ee - ee_offset; //radius from Top View float rside = hypot(rrot, zmm); //radius from Side View. Use rrot instead of ymm..for everything float rside_2 = sq(rside); float low_2 = sq(low_shank_length); float high_2 = sq(high_shank_length); rot = asin(xmm / rrot_ee); high = PI - acos((low_2 + high_2 - rside_2) / (2 * low_shank_length * high_shank_length)); //Angle of Lower Stepper Motor (asin()=Angle To Gripper) if (zmm > 0) { low = acos(zmm / rside) - acos((low_2 - high_2 + rside_2) / (2 * low_shank_length * rside)); } else { low = PI - asin(rrot / rside) - acos((low_2 - high_2 + rside_2) / (2 * low_shank_length * rside)); } high = high + low; } ================================================ FILE: arduino_firmware/robotArm_v0.81/robotGeometry.h ================================================ #ifndef ROBOTGEOMETRY_H_ #define ROBOTGEOMETRY_H_ class RobotGeometry { public: RobotGeometry(float a_ee_offset, float a_low_shank_length, float a_high_length); void set(float axmm, float aymm, float azmm); float getXmm() const; float getYmm() const; float getZmm() const; float getRotRad() const; float getLowRad() const; float getHighRad() const; float getHypot() const; private: void calculateGrad(); float ee_offset; float low_shank_length; float high_shank_length; float xmm; float ymm; float zmm; float rot; float low; float high; float rrot_ee; }; #endif ================================================ FILE: arduino_firmware/robotArm_v0.81/servo_gripper.cpp ================================================ #include "servo_gripper.h" #include "config.h" #include #if BOARD_CHOICE == WEMOSD1R32 #include #else #include #endif Servo_Gripper::Servo_Gripper(int pin, float grip_degree, float ungrip_degree){ servo_pin = pin; servo_grip_deg = grip_degree; servo_ungrip_deg = ungrip_degree; Servo servo_motor; } void Servo_Gripper::cmdOn(){ servo_motor.attach(servo_pin); delayMicroseconds(10); servo_motor.write(servo_grip_deg); delay(300); //servo_motor.detach(); } void Servo_Gripper::cmdOff(){ //servo_motor.attach(servo_pin); servo_motor.write(servo_ungrip_deg); delay(300); servo_motor.detach(); delayMicroseconds(50); } float Servo_Gripper::readDegree(){ float servo_current_degree = servo_motor.read(); return servo_current_degree; } bool Servo_Gripper::isOn(){ float servo_current_degree = servo_motor.read(); if (servo_current_degree == servo_grip_deg){ return true; } else { return false; } } ================================================ FILE: arduino_firmware/robotArm_v0.81/servo_gripper.h ================================================ #ifndef SERVO_GRIPPER_H_ #define SERVO_GRIPPER_H_ #include "config.h" #if BOARD_CHOICE == WEMOSD1R32 #include #else #include #endif class Servo_Gripper{ public: Servo_Gripper(int pin, float grip_degree, float ungrip_degree); void cmdOn(); void cmdOff(); float readDegree(); bool isOn(); private: Servo servo_motor; int servo_pin; float servo_grip_deg; float servo_ungrip_deg; }; #endif ================================================ FILE: temp_codes/consecutive_command.py ================================================ import serial import time #PORT DECLARATIONS port = '/dev/cu.usbserial-14530' #SEE PORT NAME IN ARDUINO IDE: TOOLS>PORT: baud = 115200 #BY DEFAULT 115200 timeout = None #LEAVE AS IS ser = serial.Serial(port,baud,timeout=timeout) time.sleep(2) #LIST OF COMMANDS TO BE EXECUTED BY ROBOT ARM, CHANGE ACCORDINGLY cmdList = [ "G0 X0 Y120 Z120 F165", "G0 X0 Y120 Z60 F165", "G0 X0 Y120 Z120 F165", "G0 X0 Y120 Z60 F165", "G0 X0 Y120 Z120 F165", "G0 X100 Y120 Z60 F165", ] bCmdList = [] for cmd in cmdList: cmd_temp = cmd + '\r' bCmdList.append(cmd_temp.encode('utf-8')) #ROBOT HOMES ITSELF ser.write(b'G28\r') print("homing in progress") time.sleep(10) print(ser.readline()) def wait_complete(): waitstatus = 1 while True: a = ser.readline() if "ok" in a.decode("utf-8"): waitstatus = 0 break #ROBOT BEGINS WHEN USER INPUTS "y" begin = input('type y to begin: ') while True: if begin == 'y': break for bCmd in bCmdList: ser.write(bCmd) print(bCmd) wait_complete()