From d1028a7e029bd2b86f4795ddade235074662d61a Mon Sep 17 00:00:00 2001 From: mattmcw Date: Sat, 22 Jun 2024 22:57:20 -0400 Subject: [PATCH] Work on endstopcamerashield.h --- .../EndstopCameraShield.h | 26 ++++++ ino/mcopy_oxberry_mitchell/McopySerial.cpp | 74 +++++++++++++++ ino/mcopy_oxberry_mitchell/McopySerial.h | 89 +++++++++++++++++++ .../TB6600MotorDriver.cpp | 76 ++++++++++++++++ .../TB6600MotorDriver.h | 52 +++++++++++ .../mcopy_oxberry_mitchell.ino | 10 +++ scripts/ino.sh | 1 + 7 files changed, 328 insertions(+) create mode 100644 ino/mcopy_oxberry_mitchell/EndstopCameraShield.h create mode 100644 ino/mcopy_oxberry_mitchell/McopySerial.cpp create mode 100644 ino/mcopy_oxberry_mitchell/McopySerial.h create mode 100644 ino/mcopy_oxberry_mitchell/TB6600MotorDriver.cpp create mode 100644 ino/mcopy_oxberry_mitchell/TB6600MotorDriver.h create mode 100644 ino/mcopy_oxberry_mitchell/mcopy_oxberry_mitchell.ino diff --git a/ino/mcopy_oxberry_mitchell/EndstopCameraShield.h b/ino/mcopy_oxberry_mitchell/EndstopCameraShield.h new file mode 100644 index 0000000..b15bef9 --- /dev/null +++ b/ino/mcopy_oxberry_mitchell/EndstopCameraShield.h @@ -0,0 +1,26 @@ +#ifndef EndstopCameraShield_h +#define EndstopCameraShield_h + +#include + +/** + * Default pins + * 2 Close Receiver Pin + * 3 Open Receiver Pin + * 4 Open Emitter Pin + * 5 Close Emitter Pin + **/ + +class EndstopCameraShield { + private: + const + + public: + + EndstopCameraShield(); + + void setup(); + void loop(); +}; + +#endif \ No newline at end of file diff --git a/ino/mcopy_oxberry_mitchell/McopySerial.cpp b/ino/mcopy_oxberry_mitchell/McopySerial.cpp new file mode 100644 index 0000000..a9658fc --- /dev/null +++ b/ino/mcopy_oxberry_mitchell/McopySerial.cpp @@ -0,0 +1,74 @@ +/// mcopy Serial Library + +#include "McopySerial.h" + +McopySerial::McopySerial () {} + +void McopySerial::begin (char identity) { + id = identity; + Serial.begin(baud); + Serial.flush(); + Serial.setTimeout(serialDelay); +} + +char McopySerial::loop () { + if (Serial.available()) { + cmdChar = (char) Serial.read(); + _internal(); + } else { + cmdChar = 'z'; + } + return cmdChar; +} + +void McopySerial::_internal () { + if (cmdChar == DEBUG) { + debug(!debugOn); + } else if (cmdChar == CONNECT) { + _connect(); + } else if (cmdChar == MCOPY_IDENTIFIER) { + _identify(); + } +} + +void McopySerial::_connect () { + connected = true; + Serial.println(CONNECT); + log("connect()"); +} + +void McopySerial::_identify () { + identified = true; + Serial.println(id); + log("identify()"); +} + +void McopySerial::debug (bool state) { + debugOn = state; + log("debug()"); +} + +void McopySerial::confirm (char cmd) { + Serial.println(cmd); +} + +void McopySerial::log (String message) { + if (debugOn) { + Serial.println(message); + } +} + +String McopySerial::getString () { + while (Serial.available() == 0) { + //Wait for value string + } + return Serial.readString(); +} + +void McopySerial::sendString (String str) { + Serial.println(str); +} + +void McopySerial::print (String message) { + Serial.println(message); +} \ No newline at end of file diff --git a/ino/mcopy_oxberry_mitchell/McopySerial.h b/ino/mcopy_oxberry_mitchell/McopySerial.h new file mode 100644 index 0000000..8b9a80c --- /dev/null +++ b/ino/mcopy_oxberry_mitchell/McopySerial.h @@ -0,0 +1,89 @@ +#ifndef MCOPY_SERIAL +#define MCOPY_SERIAL + +#include + +class McopySerial { + + private: + + const uint16_t serialDelay = 5; + const uint16_t baud = 57600; + + volatile bool debugOn = false; + volatile char cmdChar = 'z'; + volatile char id; + + void _internal (); + void _connect (); + void _identify (); + + public: + + volatile bool connected = false; + volatile bool identified = false; + + /* CMD FLAGS */ + const char BLACK = 'b'; + const char CAMERA = 'c'; + const char CAMERA_BACKWARD = 'f'; + const char CAMERA_CAPPER_IDENTIFIER = '8'; + const char CAMERA_CAPPER_PROJECTOR_IDENTIFIER = '9'; + const char CAMERA_CAPPER_PROJECTORS_IDENTIFIER = '0'; + const char CAMERA_EXPOSURE = 'G'; + const char CAMERA_FORWARD = 'e'; + const char CAMERA_IDENTIFIER = 'k'; + const char CAMERA_PROJECTORS_IDENTIFIER = '5'; + const char CAMERA_SECOND = '3'; + const char CAMERA_SECOND_BACKWARD = '2'; + const char CAMERA_SECOND_FORWARD = '1'; + const char CAMERA_SECOND_IDENTIFIER = 'y'; + const char CAMERA_TIMED = 'n'; + const char CAMERAS = '4'; + const char CAMERAS_IDENTIFIER = 'a'; + const char CAMERAS_PROJECTOR_IDENTIFIER = '6'; + const char CAMERAS_PROJECTORS_IDENTIFIER = '7'; + const char CAPPER_IDENTIFIER = 'C'; + const char CAPPER_OFF = 'B'; + const char CAPPER_ON = 'A'; + const char CONNECT = 'i'; + const char DEBUG = 'd'; + const char ERROR = 'E'; + const char HOME = 'I'; + const char LIGHT = 'l'; + const char LIGHT_IDENTIFIER = 'o'; + const char MCOPY_IDENTIFIER = 'm'; + const char OFFSET = 'O'; + const char PROJECTOR = 'p'; + const char PROJECTOR_BACKWARD = 'h'; + const char PROJECTOR_CAMERA_IDENTIFIER = 's'; + const char PROJECTOR_CAMERA_LIGHT_IDENTIFIER = 'r'; + const char PROJECTOR_FORWARD = 'g'; + const char PROJECTOR_IDENTIFIER = 'j'; + const char PROJECTOR_LIGHT_IDENTIFIER = 'q'; + const char PROJECTOR_SECOND = 'w'; + const char PROJECTOR_SECOND_BACKWARD = 'v'; + const char PROJECTOR_SECOND_FORWARD = 'u'; + const char PROJECTOR_SECOND_IDENTIFIER = 't'; + const char PROJECTORS = 'x'; + const char PROJECTORS_IDENTIFIER = 'd'; + const char STATE = 'H'; + const char TAKEUP_BACKWARD = 'F'; + const char TAKEUP_FORWARD = 'D'; + /* END CMD FLAGS */ + + McopySerial(); + + void begin(char identity); + char loop(); + void confirm(char cmd); + String getString(); + void print(String message); + void sendString(String str); + + void debug (bool state); + void log (String message); + +}; + +#endif diff --git a/ino/mcopy_oxberry_mitchell/TB6600MotorDriver.cpp b/ino/mcopy_oxberry_mitchell/TB6600MotorDriver.cpp new file mode 100644 index 0000000..ce51425 --- /dev/null +++ b/ino/mcopy_oxberry_mitchell/TB6600MotorDriver.cpp @@ -0,0 +1,76 @@ +#include "TB6600MotorDriver.h" + +TB6600MotorDriver::TB6600MotorDriver() { + // +} + +TB6600MotorDriver::TB6600MotorDriver(uint8_t enablePin, uint8_t directionPin, uint8_t pulsePin, uint32_t usPulse, uint8_t microsteps) { + _enablePin = enablePin; + _directionPin = directionPin; + _pulsePin = pulsePin; + + _usPulse = usPulse; + _microsteps = microsteps; + _revsteps = 200 * microsteps; +} + + +void TB6600MotorDriver::setup() { + if (_enablePin != 0) { + pinMode(_enablePin, OUTPUT); + } + pinMode(_directionPin, OUTPUT); + pinMode(_pulsePin, OUTPUT); + + digitalWrite(_directionPin, LOW); + digitalWrite(_enablePin, HIGH); +} + +void TB6600MotorDriver::setDirection(uint8_t direction) { + if (direction != _direction) { + _direction = direction; + _setDirection(); + } +} + +void TB6600MotorDriver::_setDirection{ + digitalWrite(_directionPin, _direction ? LOW : HIGH); +} + +void TB6600MotorDriver::setSpeed(uint16_t rpm) { + _usPulse = 60000000 / ((uint32_t) revsteps * (uint32_t) rpm); +} + +void TB6600MotorDriver::steps(uint64_t stepCount) { + for (uint64_t i = 0; i < stepCount; i++) { + _step(); + } +} + +void TB6600MotorDriver::_step() { + digitalWrite(_pulsePin, HIGH); + delayMicroseconds(_usPulse); + digitalWrite(_pulsePin, LOW); + delayMicroseconds(_usPulse); +} + +void TB6600MotorDriver::step() { + _step(); +} + +void TB6600MotorDriver::release() { + _enabled = false; + _setEnable(); +} + +void TB6600MotorDriver::enable() { + _enabled = true; + _setEnable(); +} + +void TB6600MotorDriver::_setEnable() { + if (_enablePin != 0) { + digitalWrite(_enablePin, _enabled ? HIGH : LOW); + } +} + diff --git a/ino/mcopy_oxberry_mitchell/TB6600MotorDriver.h b/ino/mcopy_oxberry_mitchell/TB6600MotorDriver.h new file mode 100644 index 0000000..f13c487 --- /dev/null +++ b/ino/mcopy_oxberry_mitchell/TB6600MotorDriver.h @@ -0,0 +1,52 @@ +#ifndef TB6600MotorDriver_h +#define TB6600MotorDriver_h + +#include + +/** + * Default pins + * D6 Enable + + * D7 Direction + + * D8 Pulse + + **/ + +class TB6600MotorDriver { + private: + + volatile uint8_t _enablePin = 0; //0 is disabled + volatile uint8_t _directionPin = 7; + volatile uint8_t _pulsePin = 8; + + volatile uint32_t _usPulse = 300; + + //physically set, can't change + volatile uint8_t _microsteps = 1; //1, 2, 4, 8, 16, 32 + + volatile uint16_t _revsteps = 200; // # steps per revolution + volatile bool _direction = true; + volatile bool _enabled = true; + + void _step(); + void _setDirection(); + void _setEnable(); + + public: + + TB6600MotorDriver(); + TB6600MotorDriver(uint8_t enablePin, uint8_t directionPin, uint8_t pulsePin, uint32_t usPulse, uint8_t microsteps); + + + void setup(); + + void setDirection(uint8_t direction); + void setSpeed(uint16_t rpm); + + //full + void steps(uint64_t stepCount); + void step(); + + void enable(); + void release(); +}; + +#endif \ No newline at end of file diff --git a/ino/mcopy_oxberry_mitchell/mcopy_oxberry_mitchell.ino b/ino/mcopy_oxberry_mitchell/mcopy_oxberry_mitchell.ino new file mode 100644 index 0000000..8f56ce2 --- /dev/null +++ b/ino/mcopy_oxberry_mitchell/mcopy_oxberry_mitchell.ino @@ -0,0 +1,10 @@ +#include "EndstopCameraShield.h" +#include "McopySerial.h" + +void setup () { + +} + +void loop () { + +} \ No newline at end of file diff --git a/scripts/ino.sh b/scripts/ino.sh index 646e9fe..e30fbf8 100644 --- a/scripts/ino.sh +++ b/scripts/ino.sh @@ -26,6 +26,7 @@ SKETCHES=( components/mcopy_light mcopy_projector_firmware mcopy_ACME_Trebes_Nanolab + mcopy_oxberry_mitchell ) for sketch in "${SKETCHES[@]}"; do