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xybot firmware bug fixes #41

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xybot firmware bug fixes #41

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0ba7011
fixed penUpPos and penDownPos values of xybot
tur0kk Dec 19, 2015
eb8cdb1
introduced echo version command for xybot
tur0kk Dec 19, 2015
235a4b7
fixed inaccurate delay during doMove of xybot
tur0kk Dec 19, 2015
8833bdf
fixed wrap around bug of stepAuxDelay higher than 32ms of xybot
tur0kk Dec 19, 2015
c93d3ce
introduced motorSwitch awareness move for xybot
tur0kk Dec 19, 2015
0b2d63f
added limit switch check for move of xybot
tur0kk Dec 19, 2015
cfcb86b
added laserpower delay for xybot
tur0kk Dec 21, 2015
3d5d877
added penpos change delay for xybot
tur0kk Dec 21, 2015
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63 changes: 52 additions & 11 deletions firmwares/xybot/xybot.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -4,6 +4,8 @@
#include <SoftwareSerial.h>
#include <Wire.h>

const char versionString[] = "Version1.0";

// data stored in eeprom
static union{
struct{
Expand Down Expand Up @@ -71,7 +73,7 @@ void stepperMoveB(int dir)
/************** calculate movements ******************/
//#define STEPDELAY_MIN 200 // micro second
//#define STEPDELAY_MAX 1000
int stepAuxDelay=0;
long stepAuxDelay=0; // int not sufficient because only supports delay up to 32ms
int stepdelay_min=200;
int stepdelay_max=1000;
#define ACCELERATION 2 // mm/s^2 don't get inertia exceed motor could handle
Expand All @@ -80,7 +82,7 @@ int stepdelay_max=1000;

void doMove()
{
int mDelay=stepdelay_max;
long mDelay=stepdelay_max; // int not sufficient because only supports delay up to 32ms
int speedDiff = -SPEED_STEP;
int dA,dB,maxD;
float stepA,stepB,cntA=0,cntB=0;
Expand All @@ -100,8 +102,15 @@ void doMove()
cntA+=stepA;
if(cntA>=1){
d = dA>0?motorAfw:motorAbk;
if(d>0 && digitalRead(ylimit_pin2)==1 || d<0 && digitalRead(ylimit_pin1)==1) {
if(roboSetup.data.motorSwitch == 0) {
stepperMoveA(d);
}
else {
stepperMoveB(d);
}
}
posA+=(dA>0?1:-1);
stepperMoveA(d);
cntA-=1;
}
}
Expand All @@ -110,13 +119,25 @@ void doMove()
cntB+=stepB;
if(cntB>=1){
d = dB>0?motorBfw:motorBbk;
if(d>0 && digitalRead(xlimit_pin2)==1 || d<0 && digitalRead(xlimit_pin1)==1) {
if(roboSetup.data.motorSwitch == 0) {
stepperMoveB(d);
}
else {
stepperMoveA(d);
}
}
posB+=(dB>0?1:-1);
stepperMoveB(d);
cntB-=1;
}
}
mDelay=constrain(mDelay+speedDiff,stepdelay_min,stepdelay_max)+stepAuxDelay;
delayMicroseconds(mDelay);
if(mDelay <= 16000) {
delayMicroseconds(mDelay);
}
else { // delayMicroseconds can only produce an accurate delay up to 16383
delay(mDelay/1000);
}
if((maxD-i)<((stepdelay_max-stepdelay_min)/SPEED_STEP)){
speedDiff=SPEED_STEP;
}
Expand Down Expand Up @@ -155,11 +176,21 @@ void goHome()
{
// stop on either endstop touches
while(digitalRead(xlimit_pin2)==1 && digitalRead(xlimit_pin1)==1){
stepperMoveB(motorBbk);
if(roboSetup.data.motorSwitch == 0) {
stepperMoveB(motorBbk);
}
else {
stepperMoveA(motorAbk);
}
delayMicroseconds(stepdelay_min);
}
while(digitalRead(ylimit_pin2)==1 && digitalRead(ylimit_pin1)==1){
stepperMoveA(motorAbk);
if(roboSetup.data.motorSwitch == 0) {
stepperMoveA(motorAbk);
}
else {
stepperMoveB(motorBbk);
}
delayMicroseconds(stepdelay_min);
}
posA = 0;
Expand Down Expand Up @@ -194,7 +225,7 @@ void parseCordinate(char * cmd)
float speed = atof(str+1);
tarSpd = speed/60; // mm/min -> mm/s
}else if(str[0]=='A'){
stepAuxDelay = atoi(str+1);
stepAuxDelay = atol(str+1);
}
}
prepareMove();
Expand Down Expand Up @@ -224,6 +255,11 @@ void echoEndStop()
Serial.println(digitalRead(ylimit_pin2));
}

void echoVersionString()
{
Serial.println(versionString);
}

void syncRobotSetup()
{
int i;
Expand Down Expand Up @@ -258,7 +294,7 @@ void parseAuxDelay(char * cmd)
{
char * tmp;
strtok_r(cmd, " ", &tmp);
stepAuxDelay = atoi(tmp);
stepAuxDelay = atol(tmp);
}

void parseLaserPower(char * cmd)
Expand All @@ -267,6 +303,7 @@ void parseLaserPower(char * cmd)
strtok_r(cmd, " ", &tmp);
int pwm = atoi(tmp);
laser.run(pwm);
delay(100);
}

void parsePen(char * cmd)
Expand All @@ -275,6 +312,7 @@ void parsePen(char * cmd)
strtok_r(cmd, " ", &tmp);
int pos = atoi(tmp);
servoPen.write(pos);
delay(100);
}

void parsePenPosSetup(char * cmd)
Expand Down Expand Up @@ -320,6 +358,9 @@ void parseMcode(char * cmd)
case 11:
echoEndStop();
break;
case 115:
echoVersionString();
break;
}
}

Expand Down Expand Up @@ -373,8 +414,8 @@ void initRobotSetup()
roboSetup.data.height = HEIGHT;
roboSetup.data.motorSwitch = 0;
roboSetup.data.speed = 80;
roboSetup.data.penUpPos = 160;
roboSetup.data.penDownPos = 90;
roboSetup.data.penUpPos = 90;
roboSetup.data.penDownPos = 130;
syncRobotSetup();
}
// init motor direction
Expand Down