Rewrite mcopy_projector_firmware with AccelStepper, replacing the custom Itead firmware (not working)
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@ -1,81 +0,0 @@
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#include "IteadDualStepperShield.h"
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IteadDualStepperShield::IteadDualStepperShield () {}
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void IteadDualStepperShield::setup () {
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pinMode(_directionA, OUTPUT);
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pinMode(_directionB, OUTPUT);
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pinMode(_stepA, OUTPUT);
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pinMode(_stepB, OUTPUT);
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setDir(0, 1);
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setDir(1, 1);
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}
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void IteadDualStepperShield::setDir (uint8_t motor, uint8_t dir) {
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if (motor == 0) {
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directionA = dir;
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digitalWrite(_directionA, directionA > 0 ? HIGH : LOW);
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} else if (motor == 1) {
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directionB = dir;
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digitalWrite(_directionB, directionB > 0 ? HIGH : LOW);
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}
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}
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void IteadDualStepperShield::setSpeed (uint8_t motor, uint16_t rpm) {
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uint32_t usPerStep = 60000000 / ((uint32_t) revsteps * (uint32_t) rpm);
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if (motor == 0) {
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_usStepA = usPerStep;
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} else if (motor == 1) {
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_usStepB = usPerStep;
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}
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}
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void IteadDualStepperShield::_micro (uint8_t motor) {
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uint8_t stepPin = motor == 0 ? _stepA : _stepB;
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uint32_t usStep = motor == 0 ? _usStepA : _usStepB;
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digitalWrite(stepPin, HIGH);
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delayMicroseconds(usStep);
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digitalWrite(stepPin, LOW);
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delayMicroseconds(usStep);
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}
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//full
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void IteadDualStepperShield::_single (uint8_t motor) {
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uint8_t stepPin = motor == 0 ? _stepA : _stepB;
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uint32_t usStep = motor == 0 ? _usStepA : _usStepB;
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for (uint8_t i = 0; i < _microsteps; i++) {
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digitalWrite(stepPin, HIGH);
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delayMicroseconds(usStep);
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digitalWrite(stepPin, LOW);
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delayMicroseconds(usStep);
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}
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}
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void IteadDualStepperShield::_both () {
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for (uint8_t i = 0; i < _microsteps; i++) {
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digitalWrite(_stepA, HIGH);
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digitalWrite(_stepB, HIGH);
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delayMicroseconds(_usStepA);
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digitalWrite(_stepA, LOW);
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digitalWrite(_stepB, LOW);
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delayMicroseconds(_usStepA);
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}
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}
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void IteadDualStepperShield::step (uint8_t motor, uint64_t steps, uint8_t dir) {
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uint8_t stepPin = motor == 0 ? _stepA : _stepB;
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setDir(motor, dir);
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for (int i = 0; i < steps; i++) {
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_single(stepPin);
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}
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}
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void IteadDualStepperShield::onestep (uint8_t motor, uint8_t dir) {
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uint8_t stepPin = motor == 0 ? _stepA : _stepB;
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setDir(motor, dir);
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_single(stepPin);
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}
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void IteadDualStepperShield::stepBoth (uint64_t steps) {
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for (int i = 0; i < steps; i++) {
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_both();
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}
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}
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@ -1,41 +0,0 @@
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#ifndef IteadDualStepperShield_h
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#define IteadDualStepperShield_h
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#include <Arduino.h>
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class IteadDualStepperShield {
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private:
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const uint8_t _microsteps = 8; //8 or 16
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const uint8_t _directionA = 3;
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const uint8_t _directionB = 7;
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const uint8_t _stepA = 2;
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const uint8_t _stepB = 6;
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void _single(uint8_t motor);
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void _micro(uint8_t motor);
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void _both();
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uint32_t _usStepA = 300;
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uint32_t _usStepB = 300;
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public:
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IteadDualStepperShield();
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uint16_t revsteps = 200; // # steps per revolution
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volatile uint8_t directionA = 1;
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volatile uint8_t directionB = 1;
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void setup();
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void setDir(uint8_t motor, uint8_t dir);
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void setSpeed(uint8_t motor, uint16_t speed);
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//full
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void step(uint8_t motor, uint64_t steps, uint8_t dir);
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void stepBoth(uint64_t steps);
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void onestep(uint8_t motor, uint8_t dir);
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void release();
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};
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#endif
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@ -1,73 +1,82 @@
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/// Mcopy Projector Class
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#include "McopyProjector.h"
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#include "IteadDualStepperShield.h"
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McopyProjector::McopyProjector () {
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McopyProjector::McopyProjector (AccelStepper takeup, AccelStepper feed) {
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_takeup = takeup;
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_feed = feed;
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}
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void McopyProjector::begin () {
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steppers.setup();
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steppers.setSpeed(0, _speed);
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steppers.setSpeed(1, _speed);
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_takeup.setMaxSpeed(_speed);
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_takeup.setSpeed(_speed);
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_takeup.setAcceleration(1000.0);
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_feed.setMaxSpeed(_speed);
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_feed.setSpeed(_speed);
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_feed.setAcceleration(1000.0);
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}
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void McopyProjector::setDirection (bool dir) {
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_dir = dir;
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if (_dir) {
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steppers.setDir(0, FORWARD);
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steppers.setDir(1, FORWARD);
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} else {
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steppers.setDir(0, BACKWARD);
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steppers.setDir(1, BACKWARD);
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}
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}
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void McopyProjector::frame (bool dir) {
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if (dir != _dir) {
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setDirection(dir);
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}
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steppers.step(FEED, _stepsPerFrame, _dir ? FORWARD : BACKWARD);
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_posTakeup += dir ? _stepsPerFrame : -_stepsPerFrame;
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_posFeed += dir ? _stepsPerFrame : -_stepsPerFrame;
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int64_t takeupGoal = _takeup.currentPosition();
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int64_t feedGoal = _feed.currentPosition();
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takeupGoal += _dir ? _stepsPerFrame : -_stepsPerFrame;
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feedGoal += _dir ? _stepsPerFrame : -_stepsPerFrame;
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_takeup.moveTo(takeupGoal);
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_feed.moveTo(feedGoal);
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_running = true;
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}
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void McopyProjector::adjust(uint8_t motor, int64_t steps) {
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uint64_t s = abs(steps);
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if (steps < 0) {
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steppers.setDir(motor, BACKWARD);
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} else {
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steppers.setDir(motor, FORWARD);
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}
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steppers.step(motor, s, _dir ? FORWARD : BACKWARD);
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//moveTo
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if (motor == 0) {
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_posTakeup += steps;
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} else if (motor == 1) {
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_posFeed += steps;
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}
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//restore set direction after adjustment
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steppers.setDir(motor, _dir ? FORWARD : BACKWARD);
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}
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void McopyProjector::adjustBoth (int64_t steps) {
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uint64_t s = abs(steps);
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if (steps < 0) {
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steppers.setDir(TAKEUP, BACKWARD);
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steppers.setDir(FEED, BACKWARD);
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} else {
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steppers.setDir(TAKEUP, FORWARD);
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steppers.setDir(FEED, FORWARD);
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}
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steppers.stepBoth(s);
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//steppers.stepBoth(s);
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_posTakeup += steps;
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_posFeed += steps;
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//restore set direction after adjustment
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steppers.setDir(TAKEUP, _dir ? FORWARD : BACKWARD);
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steppers.setDir(FEED, _dir ? FORWARD : BACKWARD);
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}
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void McopyProjector::frames(bool dir, uint64_t count) {
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void McopyProjector::loop () {
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if (_running) {
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if (_takeup.distanceToGo() == 0 && _feed.distanceToGo() == 0) {
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//frame done
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_running = false;
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_posTakeup += _dir ? _stepsPerFrame : -_stepsPerFrame;
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_posFeed += _dir ? _stepsPerFrame : -_stepsPerFrame;
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} else {
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_takeup.run();
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_feed.run();
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}
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} else if (_adjusting) {
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if (_takeup.distanceToGo() == 0 && _feed.distanceToGo() == 0) {
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//adjustment done
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_adjusting = false;
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} else {
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_takeup.run();
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_feed.run();
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}
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}
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}
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@ -2,18 +2,19 @@
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#define MCOPY_PROJECTOR
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#include <Arduino.h>
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#include "IteadDualStepperShield.h"
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#include <AccelStepper.h>
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class McopyProjector {
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private:
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IteadDualStepperShield steppers;
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AccelStepper _takeup;
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AccelStepper _feed;
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uint8_t _motorSteps = 200;
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uint8_t _motorSteps = 1600; //microstepped
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uint8_t _frames = 8;
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uint8_t _stepsPerFrame = 25; //round(_motorSteps / _frames);
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uint16_t _speed = 300;
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float _speed = 500.0;
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int64_t _posTakeup = 0;
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int64_t _posFeed = 0;
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@ -26,17 +27,20 @@ class McopyProjector {
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bool _dir = true;
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bool _running = false;
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bool _adjusting = false;
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public:
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McopyProjector();
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McopyProjector(AccelStepper takeup, AccelStepper feed);
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void begin();
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//0 = takeup, 1 = feed
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void adjust(uint8_t motor, int64_t steps);
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void adjustBoth(int64_t steps);
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//true = forward, false = back
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void frame(bool dir);
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void frames(bool dir, uint64_t count);
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void setDirection(bool dir);
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void loop();
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};
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#endif
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@ -23,8 +23,16 @@
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*/
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#include "McopyProjector.h"
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#include "McopySerial.h"
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#include "IteadDualStepperShield.h"
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#include <AccelStepper.h>
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#define TAKEUP_DIR_PIN 3
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#define TAKEUP_STEP_PIN 2
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#define FEED_DIR_PIN 7
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#define FEED_STEP_PIN 6
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AccelStepper takeup(AccelStepper::DRIVER, TAKEUP_STEP_PIN, TAKEUP_DIR_PIN);
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AccelStepper feed(AccelStepper::DRIVER, FEED_STEP_PIN, FEED_DIR_PIN);
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//CAMERA CONSTANTS
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const int BUTTON = 7;
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@ -42,11 +50,9 @@ volatile bool direction = true;
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volatile long start;
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McopySerial mcopy;
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McopyProjector projector;
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McopyProjector projector(takeup, feed);
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void setup () {
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pins();
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digitalWrite(LED_FWD, HIGH);
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digitalWrite(LED_BWD, HIGH);
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@ -64,6 +70,7 @@ void loop () {
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if (digitalRead(BUTTON) == LOW) {
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projector_frame();
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}
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projector.loop();
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}
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void pins () {
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