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Piece off homing code into its own script.

This commit is contained in:
Matt McWilliams 2023-10-09 19:09:50 -04:00
parent cf1514f53e
commit 0cf147d185
9 changed files with 414 additions and 8 deletions
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2
app/data/cfg.json
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@ -1,5 +1,5 @@
{
"version": "1.8.50",
"version": "1.8.51",
"ext_port": 1111,
"profiles": {
"mcopy": {

2
app/package-lock.json generated
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@ -1,6 +1,6 @@
{
"name": "mcopy-app",
"version": "1.8.50",
"version": "1.8.51",
"lockfileVersion": 2,
"requires": true,
"packages": {

2
app/package.json
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@ -1,6 +1,6 @@
{
"name": "mcopy-app",
"version": "1.8.50",
"version": "1.8.51",
"description": "GUI for the mcopy small gauge film optical printer platform",
"main": "main.js",
"scripts": {

2
data/cfg.json
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@ -1,5 +1,5 @@
{
"version": "1.8.50",
"version": "1.8.51",
"ext_port": 1111,
"profiles": {
"mcopy": {

200
notes/mcopy_projector_homing_debug.csv Normal file
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notes/mcopy_projector_homing_debug/mcopy_projector_homing_debug.ino Normal file
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#include <AccelStepper.h>
#define TAKEUP_DIR_PIN 3
#define TAKEUP_STEP_PIN 2
#define FEED_DIR_PIN 7
#define FEED_STEP_PIN 6
#define TAKEUP_SETTINGS_A 4
#define TAKEUP_SETTINGS_B 5
#define FEED_SETTINGS_A 8
#define FEED_SETTINGS_B 9
#define TAKEUP_EMITTER 17
#define TAKEUP_RECEIVER A8
#define FEED_EMITTER 18
#define FEED_RECEIVER A9
AccelStepper _takeup(AccelStepper::DRIVER, TAKEUP_STEP_PIN, TAKEUP_DIR_PIN);
AccelStepper _feed(AccelStepper::DRIVER, FEED_STEP_PIN, FEED_DIR_PIN);
uint32_t _motorSteps = 200;
uint8_t _mode = 1;
long _feedSamples[200];
long _takeupSamples[200];
const float _speed = 2000.0;
void setup () {
Serial.begin(57600);
_takeup.setMaxSpeed(_speed);
_takeup.setSpeed(_speed);
_takeup.setAcceleration(1000.0);
_feed.setMaxSpeed(_speed);
_feed.setSpeed(_speed);
_feed.setAcceleration(1000.0);
pinMode(TAKEUP_SETTINGS_A, OUTPUT);
pinMode(TAKEUP_SETTINGS_B, OUTPUT);
pinMode(FEED_SETTINGS_A, OUTPUT);
pinMode(FEED_SETTINGS_B, OUTPUT);
pinMode(TAKEUP_RECEIVER, INPUT);
pinMode(FEED_RECEIVER, INPUT);
digitalWrite(TAKEUP_SETTINGS_A, LOW);
digitalWrite(TAKEUP_SETTINGS_B, LOW);
digitalWrite(FEED_SETTINGS_A, LOW);
digitalWrite(FEED_SETTINGS_B, LOW);
delay(2000);
home();
}
void loop () {
}
long readVcc() {
long result;
// Read 1.1V reference against AVcc
ADMUX = _BV(REFS0) | _BV(MUX3) | _BV(MUX2) | _BV(MUX1);
delay(2); // Wait for Vref to settle
ADCSRA |= _BV(ADSC); // Convert
while (bit_is_set(ADCSRA,ADSC));
result = ADCL;
result |= ADCH<<8;
result = 1125300L / result; // Back-calculate AVcc in mV
return result;
}
long analogReadAccurate (uint8_t pin) {
double Vcc = readVcc() / 1000.0;
double ADCValue = analogRead(pin);
return (ADCValue / 1024.0) * Vcc;
}
long analogReadAccurateAverage (uint8_t pin) {
uint8_t count = 3;
double sum = 0.0;
for (uint8_t i = 0; i < count; i++) {
sum += analogReadAccurate(pin);
delay(1);
}
return sum / (double) count;
}
uint16_t findPeak(long (&arr)[200], uint16_t &steps) {
uint16_t maxI = 0;
long max = 0;
for (uint16_t i = 0; i < steps; i++) {
if (arr[i] > max) {
maxI = i;
max = arr[i];
}
}
return maxI;
}
void home () {
uint16_t steps = _motorSteps * _mode;
uint16_t quarter = steps / 4;
uint16_t eighth = quarter / 2;
uint16_t takeupPeak = 0;
uint16_t feedPeak = 0;
uint16_t takeupOffset = 0;
uint16_t feedOffset = 0;
long takeupReading = 0.0;
long feedReading = 0.0;
Serial.println("home()");
delay(10);
for (uint16_t i = 0; i < steps; i++) {
takeupReading = analogReadAccurateAverage(TAKEUP_RECEIVER);
feedReading = analogReadAccurateAverage(FEED_RECEIVER);
_takeupSamples[i] = takeupReading;
_feedSamples[i] = feedReading;
if (i < steps - 1) {
_takeup.move(1);
_feed.move(1);
_takeup.runToPosition();
_feed.runToPosition();
}
}
for (uint16_t i = 0; i < steps; i++) {
Serial.print(i);
Serial.print(", ");
Serial.print(_takeupSamples[i]);
Serial.print(", ");
Serial.println(_feedSamples[i]);
}
takeupPeak = findPeak(_takeupSamples, steps);
feedPeak = findPeak(_feedSamples, steps);
Serial.print(" takeup peak: ");
Serial.println(takeupPeak);
Serial.print(" feed peak: ");
Serial.println(feedPeak);
takeupOffset = abs(steps - takeupPeak);
feedOffset = abs(steps - feedPeak);
Serial.print("takeup offset: ");
Serial.println(takeupOffset);
Serial.print(" feed offset: ");
Serial.println(feedOffset);
if (takeupOffset > 0) {
for (uint16_t i = 0; i < takeupOffset; i++) {
_takeup.move(-1);
_takeup.runToPosition();
}
}
if (feedOffset > 0) {
for (uint16_t i = 0; i < feedOffset; i++) {
_feed.move(-1);
_feed.runToPosition();
}
}
/*
for (uint16_t i = 0; i < eighth; i++) {
_takeup.move(-1);
_feed.move(-1);
_takeup.runToPosition();
_feed.runToPosition();
}
for (uint16_t i = 0; i < quarter; i++) {
takeupReading = analogReadAccurateAverage(TAKEUP_RECEIVER);
feedReading = analogReadAccurateAverage(FEED_RECEIVER);
_takeupSamples[i] = takeupReading;
_feedSamples[i] = feedReading;
if (i < steps - 1) {
_takeup.move(1);
_feed.move(1);
_takeup.runToPosition();
_feed.runToPosition();
}
}
takeupPeak = findPeak(_takeupSamples, quarter);
feedPeak = findPeak(_feedSamples, quarter);
takeupOffset = abs(quarter - takeupPeak);
feedOffset = abs(quarter - feedPeak);
if (takeupOffset > 0) {
for (uint16_t i = 0; i < takeupOffset; i++) {
_takeup.move(-1);
_takeup.runToPosition();
}
}
if (feedOffset > 0) {
for (uint16_t i = 0; i < feedOffset; i++) {
_feed.move(-1);
_feed.runToPosition();
}
}
*/
}

4
package-lock.json generated
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@ -1,12 +1,12 @@
{
"name": "mcopy",
"version": "1.8.50",
"version": "1.8.51",
"lockfileVersion": 2,
"requires": true,
"packages": {
"": {
"name": "mcopy",
"version": "1.8.50",
"version": "1.8.51",
"license": "MIT",
"dependencies": {
"arduino": "file:app/lib/arduino",

2
package.json
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@ -1,6 +1,6 @@
{
"name": "mcopy",
"version": "1.8.50",
"version": "1.8.51",
"description": "Small gauge film optical printer platform",
"main": "build.js",
"directories": {

2
processing/mcopy/cfg.json
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@ -1,5 +1,5 @@
{
"version": "1.8.50",
"version": "1.8.51",
"ext_port": 1111,
"profiles": {
"mcopy": {