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228 lines
6.2 KiB
228 lines
6.2 KiB
/*
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* Blink
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* Turns on an LED on for one second,
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* then off for one second, repeatedly.
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*/
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#include <Arduino.h>
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#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
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#define REPRAP_DISCOUNT_SMART_CONTROLLER
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#include "pins/pins_TRIGORILLA_14.h"
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#elif defined(__AVR_ATmega328P__)
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#define LED_PIN LED_BUILTIN
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#define X_DIR_PIN PD2
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#define X_STEP_PIN PD3
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#define X_ENABLE_PIN A0
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#define Y_DIR_PIN PD4
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#define Y_STEP_PIN PD5
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#define Y_ENABLE_PIN A1
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#define Z_DIR_PIN PD6
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#define Z_STEP_PIN PD7
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#define Z_ENABLE_PIN A2
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#define E0_DIR_PIN PB0
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#define E0_STEP_PIN PB1
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#define E0_ENABLE_PIN A3
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#define E1_DIR_PIN PB2
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#define E1_STEP_PIN PB3
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#define E1_ENABLE_PIN A4
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#endif
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#define LCD_PINS_RS 16
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#define LCD_PINS_ENABLE 17
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#define LCD_PINS_D4 23
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#define LCD_PINS_D5 25
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#define LCD_PINS_D6 27
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#define LCD_PINS_D7 29
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#define BTN_EN1 31
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#define BTN_EN2 33
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#define BTN_ENC 35
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#define BEEPER_PIN 37
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#define KILL_PIN 41
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#define SD_DETECT_PIN 49
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#include "stepper.h"
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#include <Wire.h>
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#include <LiquidCrystal.h>
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const int NUM_STEPPER = 5;
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#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
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TimerStepper stepper[NUM_STEPPER];
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#elif defined(__AVR_ATmega328P__)
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LoopStepper stepper[NUM_STEPPER];
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#endif
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LiquidCrystal lcd(LCD_PINS_RS, LCD_PINS_ENABLE, LCD_PINS_D4, LCD_PINS_D5, LCD_PINS_D6, LCD_PINS_D7);
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unsigned long lastMillis = 0;
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unsigned long lastCommand = 0;
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const long interval = 1000; // interval at which to blink (milliseconds)
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int enable_pin[NUM_STEPPER] = {X_ENABLE_PIN, Y_ENABLE_PIN, Z_ENABLE_PIN, E0_ENABLE_PIN, E1_ENABLE_PIN};
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void setup()
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{
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Serial.begin(115200);
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/* delay(500);
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Serial.println("##########");
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Serial.println("MIDI");
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Serial.println("##########");
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Serial.flush();
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*/
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// initialize LED digital pin as an output.
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pinMode(LED_PIN, OUTPUT);
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digitalWrite(LED_PIN, HIGH);
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pinMode(A12, INPUT); // TEMP 3
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//pinMode(BEEPER_PIN, OUTPUT);
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//digitalWrite(BEEPER_PIN, LOW);
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pinMode(TRIGORILLA_HEATER_0_PIN, OUTPUT);
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digitalWrite(TRIGORILLA_HEATER_0_PIN, HIGH);
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lcd.begin(20, 4);
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lcd.setCursor(6,0);
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lcd.print("ROBERTO");
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lcd.setCursor(0,2);
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lcd.print("https://");
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lcd.setCursor(3,3);
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lcd.print("roberto.xd0.de");
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stepper[0].begin( X_DIR_PIN, X_STEP_PIN, X_ENABLE_PIN);
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stepper[1].begin( Y_DIR_PIN, Y_STEP_PIN, Y_ENABLE_PIN);
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stepper[2].begin( Z_DIR_PIN, Z_STEP_PIN, Z_ENABLE_PIN);
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stepper[3].begin(E0_DIR_PIN, E0_STEP_PIN, E0_ENABLE_PIN);
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stepper[4].begin(E1_DIR_PIN, E1_STEP_PIN, E1_ENABLE_PIN);
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for (int i = 0; i < NUM_STEPPER; i++) {
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#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
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stepper[i].setMaxSpeed(8000);
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#elif defined(__AVR_ATmega328P__)
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stepper[i].setMaxSpeed(1400);
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#endif
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stepper[i].setAcceleration(4000);
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}
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// Timer0 is already used for millis() - we'll just interrupt somewhere
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// in the middle and call the "Compare A" function below
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OCR0A = 0xAF;
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TIMSK0 |= _BV(OCIE0A);
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}
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// Interrupt is called once a millisecond,
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ISR(TIMER0_COMPA_vect) {
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for (int i=0; i<NUM_STEPPER; i++) stepper[i].loop();
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}
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bool parseCmd(char* buf, int values[4]) {
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char cmd;
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int n = sscanf(buf, "%c %d,%d,%d,%d", &cmd, &values[0], &values[1], &values[2], &values[3]);
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if (n == 5) return true;
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else return false;
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}
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void loop()
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{
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unsigned long currentMillis = millis();
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if(Serial.available()) {
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String command = Serial.readStringUntil('\n');
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lastCommand = millis();
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if (command.equals("ENABLE")) {
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stepper[0].enable();
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stepper[1].enable();
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stepper[2].enable();
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stepper[3].enable();
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//Serial.println("## ENABLE");
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} else if (command.equals("DISABLE")) {
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stepper[0].disable();
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stepper[1].disable();
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stepper[2].disable();
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stepper[3].disable();
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//Serial.println("## DISABLE");
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} else if (command.charAt(0) == 'A') {
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int values[4];
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char* buf = command.c_str();
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bool success = parseCmd(buf, values);
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if (success) {
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stepper[0].setAcceleration(values[0]);
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stepper[1].setAcceleration(values[1]);
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stepper[2].setAcceleration(values[2]);
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stepper[3].setAcceleration(values[3]);
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}
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} else if (command.charAt(0) == 'S') {
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int values[4];
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char* buf = command.c_str();
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bool success = parseCmd(buf, values);
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if (success) {
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stepper[0].setSpeedDirect(values[0]);
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stepper[1].setSpeedDirect(values[1]);
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stepper[2].setSpeedDirect(values[2]);
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stepper[3].setSpeedDirect(values[3]);
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Serial.print("Motor Speeds: ");
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Serial.print(values[0]); Serial.print(", ");
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Serial.print(values[1]); Serial.print(", ");
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Serial.print(values[2]); Serial.print(", ");
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Serial.print(values[3]); Serial.print("\n");
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}
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} else if (command.charAt(0) == 'T') {
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String message = command.substring(2);
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char* text = message.c_str();
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lcd.clear();
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lcd.setCursor(0,2);
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lcd.print(text);
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}
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}
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if (millis() - lastCommand > 5000) {
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stepper[0].disable();
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stepper[1].disable();
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stepper[2].disable();
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stepper[3].disable();
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}
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if (millis() - lastMillis >= 5000) {
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//analogReadResolution(12);
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int val = analogRead(A12);
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float voltage = val*0.055458515;
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lastMillis = millis();
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Serial.print("B ");
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Serial.println(voltage);
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lcd.setCursor(14,1);
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lcd.print(voltage, 1);
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lcd.print(" V");
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}
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/*
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stepper[0].setSpeed(-4000);
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stepper[1].setSpeed(-4000);
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stepper[2].setSpeed(4000);
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stepper[3].setSpeed(4000);
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delay(2000);
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stepper[0].setSpeed(0);
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stepper[1].setSpeed(0);
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stepper[2].setSpeed(0);
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stepper[3].setSpeed(0);
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while (stepper[0].isAccelerating() || stepper[1].isAccelerating() || stepper[2].isAccelerating() || stepper[3].isAccelerating()) {
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delay(20);
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}
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stepper[0].setSpeed(2400);
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stepper[1].setSpeed(2400);
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stepper[2].setSpeed(2400);
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stepper[3].setSpeed(2400);
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delay(4200);
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stepper[0].setSpeed(0);
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stepper[1].setSpeed(0);
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stepper[2].setSpeed(0);
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stepper[3].setSpeed(0);
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while (stepper[0].isAccelerating() || stepper[1].isAccelerating() || stepper[2].isAccelerating() || stepper[3].isAccelerating()) {
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delay(20);
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}
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// for (int i=0; i<NUM_STEPPER; i++) {
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// stepper[i].disable();
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// }
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// delay(2000);
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*/
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}
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