Rewrite mcopy_projector_firmware with AccelStepper, replacing the custom Itead firmware (not working)

ino/mcopy_projector_firmware/IteadDualStepperShield.cpp

@@ -1,81 +0,0 @@
-
-#include "IteadDualStepperShield.h"
-
-IteadDualStepperShield::IteadDualStepperShield () {}
-
-void IteadDualStepperShield::setup () {
-	pinMode(_directionA, OUTPUT);
-	pinMode(_directionB, OUTPUT);
-	pinMode(_stepA, OUTPUT);
-	pinMode(_stepB, OUTPUT);
-	setDir(0, 1);
-	setDir(1, 1);
-}
-
-void IteadDualStepperShield::setDir (uint8_t motor, uint8_t dir) {
-	if (motor == 0) {
-		directionA = dir;
-		digitalWrite(_directionA, directionA > 0 ? HIGH : LOW);
-	} else if (motor == 1) {
-		directionB = dir;
-		digitalWrite(_directionB, directionB  > 0 ? HIGH : LOW);
-	}
-}
-
-void IteadDualStepperShield::setSpeed (uint8_t motor, uint16_t rpm) {
-	uint32_t usPerStep = 60000000 / ((uint32_t) revsteps * (uint32_t) rpm);
-	if (motor == 0) {
-		_usStepA = usPerStep;
-	} else if (motor == 1) {
-		_usStepB = usPerStep;
-	}
-}
-
-void IteadDualStepperShield::_micro (uint8_t motor) {
-	uint8_t stepPin = motor == 0 ? _stepA : _stepB;
-	uint32_t usStep = motor == 0 ? _usStepA : _usStepB;
-	digitalWrite(stepPin, HIGH);
-	delayMicroseconds(usStep);
-	digitalWrite(stepPin, LOW);
-	delayMicroseconds(usStep);
-}
-
-//full
-void IteadDualStepperShield::_single (uint8_t motor) {
-	uint8_t stepPin = motor == 0 ? _stepA : _stepB;
-	uint32_t usStep = motor == 0 ? _usStepA : _usStepB;
-	for (uint8_t i = 0; i < _microsteps; i++) {
-		digitalWrite(stepPin, HIGH);
-		delayMicroseconds(usStep);
-		digitalWrite(stepPin, LOW);
-		delayMicroseconds(usStep);
-	}
-}
-void IteadDualStepperShield::_both () {
-	for (uint8_t i = 0; i < _microsteps; i++) {
-		digitalWrite(_stepA, HIGH);
-		digitalWrite(_stepB, HIGH);
-		delayMicroseconds(_usStepA);
-		digitalWrite(_stepA, LOW);
-		digitalWrite(_stepB, LOW);
-		delayMicroseconds(_usStepA);
-	}
-}
-void IteadDualStepperShield::step (uint8_t motor, uint64_t steps, uint8_t dir) {
-	uint8_t stepPin = motor == 0 ? _stepA : _stepB;
-	setDir(motor, dir);
-	for (int i = 0; i < steps; i++) {
-		_single(stepPin);
-	}
-}
-void IteadDualStepperShield::onestep (uint8_t motor, uint8_t dir) {
-	uint8_t stepPin = motor == 0 ? _stepA : _stepB;
-	setDir(motor, dir);
-	_single(stepPin);
-}
-
-void IteadDualStepperShield::stepBoth (uint64_t steps) {
-	for (int i = 0; i < steps; i++) {
-		_both();
-	}
-}

ino/mcopy_projector_firmware/IteadDualStepperShield.h

@@ -1,41 +0,0 @@
-#ifndef IteadDualStepperShield_h
-#define IteadDualStepperShield_h
-
-#include <Arduino.h>
-
-class IteadDualStepperShield {
-  private:
-  const uint8_t _microsteps = 8;   //8 or 16
-  const uint8_t _directionA = 3;
-  const uint8_t _directionB = 7;
-  const uint8_t _stepA = 2;
-  const uint8_t _stepB = 6;
-
-  void _single(uint8_t motor);
-  void _micro(uint8_t motor);
-  void _both();
-
-  uint32_t _usStepA = 300;
-  uint32_t _usStepB = 300;
-
-  public:
-  IteadDualStepperShield();
-
-  uint16_t revsteps = 200; // # steps per revolution
-
-  volatile uint8_t directionA = 1;
-  volatile uint8_t directionB = 1;
-  void setup();
-
-  void setDir(uint8_t motor, uint8_t dir);
-  void setSpeed(uint8_t motor, uint16_t speed);
-
-  //full
-  void step(uint8_t motor, uint64_t steps, uint8_t dir);
-  void stepBoth(uint64_t steps);
-  void onestep(uint8_t motor, uint8_t dir);
-
-  void release();
-};
-
-#endif

ino/mcopy_projector_firmware/McopyProjector.cpp

@@ -1,73 +1,82 @@
 /// Mcopy Projector Class
 
 #include "McopyProjector.h"
-#include "IteadDualStepperShield.h"
-
-McopyProjector::McopyProjector () {
 
+McopyProjector::McopyProjector (AccelStepper takeup, AccelStepper feed) {
+	_takeup = takeup;
+	_feed = feed;
 }
 
 void McopyProjector::begin () {
-	steppers.setup();
+    _takeup.setMaxSpeed(_speed);
-	steppers.setSpeed(0, _speed);
+    _takeup.setSpeed(_speed);
-	steppers.setSpeed(1, _speed);
+    _takeup.setAcceleration(1000.0);
+   
+    _feed.setMaxSpeed(_speed);
+    _feed.setSpeed(_speed);
+    _feed.setAcceleration(1000.0);
 }
 
 void McopyProjector::setDirection (bool dir) {
 	_dir = dir;
-	if (_dir) {
-		steppers.setDir(0, FORWARD);
-    	steppers.setDir(1, FORWARD);
-	} else {
-		steppers.setDir(0, BACKWARD);
-    	steppers.setDir(1, BACKWARD);
-	}
 }
 
 void McopyProjector::frame (bool dir) {
 	if (dir != _dir) {
 		setDirection(dir);
 	}
-	steppers.step(FEED, _stepsPerFrame, _dir ? FORWARD : BACKWARD);
+
-	_posTakeup += dir ? _stepsPerFrame : -_stepsPerFrame;
+	int64_t takeupGoal = _takeup.currentPosition();
-	_posFeed += dir ? _stepsPerFrame : -_stepsPerFrame;
+	int64_t feedGoal = _feed.currentPosition();
+		
+	takeupGoal += _dir ? _stepsPerFrame : -_stepsPerFrame;
+	feedGoal += _dir ? _stepsPerFrame : -_stepsPerFrame;
+
+	_takeup.moveTo(takeupGoal);
+	_feed.moveTo(feedGoal);
+
+	_running = true;
+
 }
 
 void McopyProjector::adjust(uint8_t motor, int64_t steps) {
 	uint64_t s = abs(steps);
-	if (steps < 0) {
+
-		steppers.setDir(motor, BACKWARD);
+	//moveTo
-	} else {
-		steppers.setDir(motor, FORWARD);
-	}
-	steppers.step(motor, s, _dir ? FORWARD : BACKWARD);
 	if (motor == 0) {
 		_posTakeup += steps;
 	} else if (motor == 1) {
 		_posFeed += steps;
 	}
-	//restore set direction after adjustment
-	steppers.setDir(motor, _dir ? FORWARD : BACKWARD);
 }
 
-void McopyProjector::adjustBoth(int64_t steps) {
+void McopyProjector::adjustBoth (int64_t steps) {
 	uint64_t s = abs(steps);
-	if (steps < 0) {
+	
-		steppers.setDir(TAKEUP, BACKWARD);
+	//steppers.stepBoth(s);
-		steppers.setDir(FEED,   BACKWARD);
-	} else {
-		steppers.setDir(TAKEUP, FORWARD);
-		steppers.setDir(FEED, FORWARD);
-	}
-	steppers.stepBoth(s);
 	_posTakeup += steps;
 	_posFeed += steps;
 
-	//restore set direction after adjustment
-	steppers.setDir(TAKEUP, _dir ? FORWARD : BACKWARD);
-	steppers.setDir(FEED, _dir ? FORWARD : BACKWARD);
 }
 
-void McopyProjector::frames(bool dir, uint64_t count) {
+void McopyProjector::loop () {
-
+	if (_running) {
+		if (_takeup.distanceToGo() == 0 && _feed.distanceToGo() == 0) {
+			//frame done
+			_running = false;
+			_posTakeup += _dir ? _stepsPerFrame : -_stepsPerFrame;
+			_posFeed += _dir ? _stepsPerFrame : -_stepsPerFrame;
+		} else {
+			_takeup.run();
+    		_feed.run();
+		}
+	} else if (_adjusting) {
+		if (_takeup.distanceToGo() == 0 && _feed.distanceToGo() == 0) {
+			//adjustment done
+			_adjusting = false;
+		} else {
+			_takeup.run();
+    		_feed.run();
+		}
+	}
 }

ino/mcopy_projector_firmware/McopyProjector.h

@@ -2,18 +2,19 @@
 #define MCOPY_PROJECTOR
 
 #include <Arduino.h>
-#include "IteadDualStepperShield.h"
+#include <AccelStepper.h>
 
 class McopyProjector {
 
 	private:
 
-	IteadDualStepperShield steppers;
+	AccelStepper _takeup;
+	AccelStepper _feed;
 
-	uint8_t _motorSteps = 200;
+	uint8_t _motorSteps = 1600; //microstepped
 	uint8_t _frames = 8;
 	uint8_t _stepsPerFrame = 25; //round(_motorSteps / _frames);
-	uint16_t _speed = 300;
+	float _speed = 500.0;
 
 	int64_t _posTakeup = 0;
 	int64_t _posFeed = 0;
@@ -26,17 +27,20 @@ class McopyProjector {
 
 	bool _dir = true;
 
+	bool _running = false;
+	bool _adjusting = false;
+
 	public:
 
-	McopyProjector();
+	McopyProjector(AccelStepper takeup, AccelStepper feed);
 	void begin();
 	//0 = takeup, 1 = feed
 	void adjust(uint8_t motor, int64_t steps);
 	void adjustBoth(int64_t steps);
 	//true = forward, false = back
 	void frame(bool dir);
-	void frames(bool dir, uint64_t count);
 	void setDirection(bool dir);
+	void loop();
 };
 
 #endif

ino/mcopy_projector_firmware/mcopy_projector_firmware.ino

@@ -23,8 +23,16 @@
 */
 #include "McopyProjector.h"
 #include "McopySerial.h"
-#include "IteadDualStepperShield.h"
+#include <AccelStepper.h>
 
+#define TAKEUP_DIR_PIN 3
+#define TAKEUP_STEP_PIN 2
+
+#define FEED_DIR_PIN 7
+#define FEED_STEP_PIN 6
+
+AccelStepper takeup(AccelStepper::DRIVER, TAKEUP_STEP_PIN, TAKEUP_DIR_PIN);
+AccelStepper feed(AccelStepper::DRIVER, FEED_STEP_PIN, FEED_DIR_PIN);
 
 //CAMERA CONSTANTS
 const int BUTTON = 7;
@@ -42,11 +50,9 @@ volatile bool direction = true;
 volatile long start;
 
 McopySerial mcopy;
-McopyProjector projector;
+McopyProjector projector(takeup, feed);
 
 void setup () {
-
-
   pins();
   digitalWrite(LED_FWD, HIGH);
   digitalWrite(LED_BWD, HIGH);
@@ -64,6 +70,7 @@ void loop () {
   if (digitalRead(BUTTON) == LOW) {
     projector_frame();
   }
+  projector.loop();
 }
 
 void pins () {