Add servo functionality for rack and pinion motion. Need to fix home feature.

app/data/cfg.json

@@ -1,5 +1,5 @@
 {
-  "version": "1.8.46",
+  "version": "1.8.49",
   "ext_port": 1111,
   "profiles": {
     "mcopy": {

app/package-lock.json

@@ -1,6 +1,6 @@
 {
   "name": "mcopy-app",
-  "version": "1.8.46",
+  "version": "1.8.49",
   "lockfileVersion": 2,
   "requires": true,
   "packages": {

app/package.json

@@ -1,6 +1,6 @@
 {
   "name": "mcopy-app",
-  "version": "1.8.46",
+  "version": "1.8.49",
   "description": "GUI for the mcopy small gauge film optical printer platform",
   "main": "main.js",
   "scripts": {

data/cfg.json

@@ -1,5 +1,5 @@
 {
-  "version": "1.8.46",
+  "version": "1.8.49",
   "ext_port": 1111,
   "profiles": {
     "mcopy": {

ino/mcopy_projector_firmware/McopyProjector.cpp

@@ -6,7 +6,8 @@ McopyProjector::McopyProjector (AccelStepper takeup, AccelStepper feed,
 		uint8_t takeupSettingA, uint8_t takeupSettingB, 
 		uint8_t feedSettingA, uint8_t feedSettingB,
 		uint8_t takeupEmitter, uint8_t takeupReceiver,
-		uint8_t feedEmitter, uint8_t feedReceiver) {
+		uint8_t feedEmitter, uint8_t feedReceiver,
+		uint8_t servoPin) {
 	_takeup = takeup;
 	_feed = feed;
 
@@ -18,6 +19,7 @@ McopyProjector::McopyProjector (AccelStepper takeup, AccelStepper feed,
 	_takeupReceiver = takeupReceiver;
 	_feedEmitter = feedEmitter;
 	_feedReceiver = feedReceiver;
+	_servoPin = servoPin;
 }
 
 void McopyProjector::begin () {
@@ -40,6 +42,9 @@ void McopyProjector::begin () {
 
 	//keep at 1 for now
   setStepperMode(1);
+
+  _servo.attach(_servoPin);
+  _servo.write(_servoHome);
 }
 
 void McopyProjector::setDirection (bool dir) {
@@ -64,6 +69,9 @@ void McopyProjector::frame (bool dir) {
 
 	_running = true;
 
+	_servo.write(_servoAway);
+	delay(20);
+	
 	while (running) {
 		if (_takeup.distanceToGo() == 0 && _feed.distanceToGo() == 0) {
 			running = false;
@@ -75,6 +83,9 @@ void McopyProjector::frame (bool dir) {
 		}
 	}
 	
+	delay(20);
+	_servo.write(_servoHome);
+
 	_running = false;
 
 }

ino/mcopy_projector_firmware/McopyProjector.h

@@ -3,6 +3,7 @@
 
 #include <Arduino.h>
 #include <AccelStepper.h>
+#include <Servo.h>
 
 /**
  * D2 X Step
@@ -28,11 +29,16 @@ class McopyProjector {
 	AccelStepper _takeup;
 	AccelStepper _feed;
 
+	Servo _servo;
+
 	const uint16_t _motorSteps = 200; //full steps
 	const uint8_t _frames = 8;
 	const uint16_t _stepsPerFrame = 25; //round(_motorSteps / _frames);
 	const float _speed = 2000.0;
 
+	const uint8_t _servoHome = 90;
+	const uint8_t _servoAway = 60;
+
 	volatile uint8_t _mode = 1;
 
 	int64_t _posTakeup = 0;
@@ -50,6 +56,8 @@ class McopyProjector {
 	uint8_t _feedEmitter;
 	uint8_t _feedReceiver;
 
+	uint8_t _servoPin;
+
 	long _feedSamples[200]; 
 	long _takeupSamples[200]; 
 
@@ -70,7 +78,8 @@ class McopyProjector {
 		uint8_t takeupSettingA, uint8_t takeupSettingB, 
 		uint8_t feedSettingA, uint8_t feedSettingB,
 		uint8_t takeupEmitter, uint8_t takeupReceiver,
-		uint8_t feedEmitter, uint8_t feedReceiver);
+		uint8_t feedEmitter, uint8_t feedReceiver,
+		uint8_t servoPin);
 	void begin();
 	//0 = takeup, 1 = feed
 	void adjust(uint8_t motor, int64_t steps);

ino/mcopy_projector_firmware/mcopy_projector_firmware.ino

@@ -42,6 +42,8 @@
 #define FEED_EMITTER 18
 #define FEED_RECEIVER A9
 
+#define SERVO_PIN 14
+
 AccelStepper takeup(AccelStepper::DRIVER, TAKEUP_STEP_PIN, TAKEUP_DIR_PIN);
 AccelStepper feed(AccelStepper::DRIVER, FEED_STEP_PIN, FEED_DIR_PIN);
 
@@ -64,7 +66,8 @@ McopyProjector projector(takeup, feed,
   TAKEUP_SETTINGS_A, TAKEUP_SETTINGS_B, 
   FEED_SETTINGS_A, FEED_SETTINGS_B,
   TAKEUP_EMITTER, TAKEUP_RECEIVER,
-  FEED_EMITTER, FEED_RECEIVER);
+  FEED_EMITTER, FEED_RECEIVER,
+  SERVO_PIN);
 
 void setup () {
   pins();
@@ -75,6 +78,7 @@ void setup () {
   delay(42);
   digitalWrite(LED_FWD, LOW);
   digitalWrite(LED_BWD, LOW);
+  
   //projector.home();
 }
 
@@ -83,9 +87,9 @@ void loop () {
   cmdChar = mcopy.loop();
   cmd(cmdChar);
   if (digitalRead(BUTTON) == LOW) {
-    projector_frame();
+    //projector_frame();
   }
-  projector.loop();
+  //projector.loop();
 }
 
 void pins () {

package-lock.json

@@ -1,12 +1,12 @@
 {
   "name": "mcopy",
-  "version": "1.8.46",
+  "version": "1.8.49",
   "lockfileVersion": 2,
   "requires": true,
   "packages": {
     "": {
       "name": "mcopy",
-      "version": "1.8.46",
+      "version": "1.8.49",
       "license": "MIT",
       "dependencies": {
         "arduino": "file:app/lib/arduino",

package.json

@@ -1,6 +1,6 @@
 {
   "name": "mcopy",
-  "version": "1.8.46",
+  "version": "1.8.49",
   "description": "Small gauge film optical printer platform",
   "main": "build.js",
   "directories": {

processing/mcopy/cfg.json

@@ -1,5 +1,5 @@
 {
-  "version": "1.8.46",
+  "version": "1.8.49",
   "ext_port": 1111,
   "profiles": {
     "mcopy": {

scad/mcopy_projector.scad

@@ -583,7 +583,7 @@ module servo_gear (pos = [0, 0, 0], rot = [0, 0, 0]) {
 }
 
 module nub_rack (pos = [0, 0, 0], rot = [0, 0, 0]) {
-	H = 9.25 + 2.75;
+	H = 9.25 + 2.4;
 	Len = 50;
 	translate(pos) rotate(rot) {
 		difference () {
@@ -638,7 +638,7 @@ module debug () {
     //nub_rack([-6, 0, -15], [-90, 0, 0]);
 }
 
-PART = "servo_gear";
+PART = "nub_rack";
 
 if (PART == "gate_key") {
 	gate_key(KeyRot = 0);

scad/mcopy_rails.scad

@@ -12,6 +12,7 @@ include <./common/motors.scad>
 include <./common/rods.scad>
 
 RailSpacing = 100; //160
+RailVoid = 20.4;
 ThreadedRodSpacing = 50;
 RailEndX = RailSpacing + 72;
 TNutVoid = 17;
@@ -34,8 +35,8 @@ module m3_bolt_void (pos = [0, 0, 0], BoltH = 20, CapH = 3) {
 
 module bolt_voids_2020 (pos = [0, 0, 0], rot = [0, 0, 0]) {
     translate(pos) rotate (rot) {
-        //translate([0, -25, 0]) rotate([90, 0, 0]) m3_bolt_void(CapH = 6);
+        translate([0, -25, 0]) rotate([90, 0, 0]) m3_bolt_void(CapH = 6);
-       translate([0, 25, 0]) rotate([-90, 0, 0]) m3_bolt_void(CapH = 20);
+        translate([0, 25, 0]) rotate([-90, 0, 0]) m3_bolt_void(CapH = 20);
         translate([-25, 0, 0]) rotate([0, -90, 0]) m3_bolt_void(CapH = 6, BoltH = 20);
     }
 }
@@ -79,7 +80,7 @@ module mounting_bolt_void (pos = [0, 0, 0], rot = [0, 0, 0]) {
     }
 }
 
-module rail_end (pos = [0, 0, 0], rot = [90, 0, 0], Motors = true) {
+module rail_end (pos = [0, 0, 0], rot = [90, 0, 0], Motors = true, Projector = false) {
     Z = 95;
     RailVoid = 20.4;
     translate(pos) rotate(rot) {
@@ -126,6 +127,10 @@ module rail_end (pos = [0, 0, 0], rot = [90, 0, 0], Motors = true) {
     }
 }
 
+echo("sled");
+echo("BOM: ", "(2) T8 Nut");
+echo("BOM: ", "(1 or 2) Linear bearing");
+echo("BOM: ", "(4 or 8) Radial bearings ()");
 module sled (pos = [0, 0, 0], rot = [90, 0, 0], Length = 60) {
     X = RailEndX;
     Y = 60;
@@ -225,10 +230,19 @@ module lens_sled_m5_bolt_nut_voids (pos = [0, 0, 0], rot = [0, 0, 0], Angle = 36
     }
 }
 
+module extrusion_block (pos = [0, 0, 0], rot = [0, 0, 0], Y = 40, Z = 30) {
+    translate(pos) rotate(rot) {
+        difference () {
+            cube([Y, Z,  Y], center = true);
+            cube([RailVoid, Z + 1, RailVoid], center = true);
+        }
+        end_2020([0, 0, 0], [90, 0, 0]);
+    }
+}
+
 module lens_sled (pos = [0, 0, 0], rot = [90, 0, 0]) {
     Y = 40;
     LensDriveX = -ThreadedRodSpacing / 2;
-    RailVoid = 20.4;
     LensFrameSpacingX = (RailEndX / 2) - (Y / 2);
     LensFrameM3VoidsZ = (60 / 2) + (40 / 2) - 12.5 + 5 + 6;
     
@@ -236,8 +250,8 @@ module lens_sled (pos = [0, 0, 0], rot = [90, 0, 0]) {
         difference () {
             union () {
                 sled(rot = [0, 0, 0], Length = Y);
-                translate([(RailEndX / 2) - (Y / 2), (60 / 2) + (40 / 2) - 5, 0]) cube([Y, 30,  Y], center = true);
+                extrusion_block([LensFrameSpacingX, (60 / 2) + (40 / 2) - 5, 0]);
-                translate([-(RailEndX / 2) + (Y / 2), (60 / 2) + (40 / 2) - 5, 0]) cube([Y, 30,  Y], center = true);
+                extrusion_block([-LensFrameSpacingX, (60 / 2) + (40 / 2) - 5, 0]);
                 translate([LensFrameSpacingX - 35 - 25, 48, 0]) cube([10, 21, 40], center = true);
             }
             T_nut_void ([LensDriveX, 0, (Y / 2) - (TNutVoid / 2) + 0.01], [180, 0, 0]);
@@ -251,10 +265,6 @@ module lens_sled (pos = [0, 0, 0], rot = [90, 0, 0]) {
             side_sled_bearing_void([(RailSpacing / 2) + 21.5, 0, 0], [90, -90, 0]);
             side_sled_bearing_void([-(RailSpacing / 2) - 21.5, 0, 0], [-90, -90, 0]);
             
-            //lens carriage frame
-            translate([LensFrameSpacingX, 53.5, 0]) cube([RailVoid, 32, RailVoid], center = true);
-            translate([-LensFrameSpacingX, 53.5, 0]) cube([RailVoid, 32, RailVoid], center = true);
-            
             //
             lens_sled_m3_bolt_voids([(RailEndX / 2) - (Y / 2), LensFrameM3VoidsZ, 0]);
             lens_sled_m3_bolt_voids([(-RailEndX / 2) + (Y / 2), LensFrameM3VoidsZ, 0]);
@@ -378,12 +388,12 @@ module debug () {
 }
 
 
-PART = "lens_sled";
+PART = "rail_end_idle";
 
 if (PART == "rail_end") {
     rail_end();
 } else if (PART == "rail_end_idle") {
-    rail_end(Motors = false);
+    rail_end(Motors = false, Projector = true);
 } else if (PART == "lens_sled") {
     rotate([-90, 0, 0]) lens_sled();
 } else if (PART == "bearing_roller") {