Projector firmware progress: currently the homing function will not compile due to errors with reference and so the sketch method needs to be broken into workable smaller methods

Servo notch puller progress
2023-09-25 21:54:31 -04:00 · 2023-09-25 21:53:10 -04:00
11 changed files with 239 additions and 68 deletions
--- a/app/data/cfg.json
+++ b/app/data/cfg.json
@ -1,5 +1,5 @@
 {
-  "version": "1.8.33",
+  "version": "1.8.35",
  "ext_port": 1111,
  "profiles": {
    "mcopy": {
--- a/app/package-lock.json
+++ b/app/package-lock.json
@ -1,6 +1,6 @@
 {
  "name": "mcopy-app",
-  "version": "1.8.33",
+  "version": "1.8.35",
  "lockfileVersion": 2,
  "requires": true,
  "packages": {
--- a/app/package.json
+++ b/app/package.json
@ -1,6 +1,6 @@
 {
  "name": "mcopy-app",
-  "version": "1.8.33",
+  "version": "1.8.35",
  "description": "GUI for the mcopy small gauge film optical printer platform",
  "main": "main.js",
  "scripts": {
--- a/data/cfg.json
+++ b/data/cfg.json
@ -1,5 +1,5 @@
 {
-  "version": "1.8.33",
+  "version": "1.8.35",
  "ext_port": 1111,
  "profiles": {
    "mcopy": {
--- a/ino/mcopy_projector_firmware/McopyProjector.cpp
+++ b/ino/mcopy_projector_firmware/McopyProjector.cpp
@ -2,7 +2,11 @@

 #include "McopyProjector.h"

-McopyProjector::McopyProjector (AccelStepper takeup, AccelStepper feed, uint8_t takeupSettingA, uint8_t takeupSettingB, uint8_t feedSettingA, uint8_t feedSettingB) {
+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) {
 	_takeup = takeup;
 	_feed = feed;

@ -10,6 +14,10 @@ McopyProjector::McopyProjector (AccelStepper takeup, AccelStepper feed, uint8_t
 	_takeupSettingB = takeupSettingB;
 	_feedSettingA = feedSettingA;
 	_feedSettingB = feedSettingB;
+	_takeupEmitter = takeupEmitter;
+	_takeupReceiver = takeupReceiver;
+	_feedEmitter = feedEmitter;
+	_feedReceiver = feedReceiver;
 }

 void McopyProjector::begin () {
@ -25,7 +33,12 @@ void McopyProjector::begin () {
 	pinMode(_takeupSettingB, OUTPUT);
 	pinMode(_feedSettingA, OUTPUT);
 	pinMode(_feedSettingB, OUTPUT);
+	pinMode(_takeupEmitter, OUTPUT);
+	pinMode(_feedEmitter, OUTPUT);
+	pinMode(_takeupReceiver, INPUT);
+	pinMode(_feedReceiver, INPUT);

+	//keep at 1 for now
  setStepperMode(1);
 }

@ -53,7 +66,6 @@ void McopyProjector::frame (bool dir) {

 	while (running) {
 		if (_takeup.distanceToGo() == 0 && _feed.distanceToGo() == 0) {
-			//frame done
 			running = false;
 			_posTakeup = takeupGoal;
 			_posFeed += feedGoal;
@ -95,9 +107,11 @@ void McopyProjector::loop () {
 			_running = false;
 			_posTakeup += _dir ? _stepsPerFrame : -_stepsPerFrame;
 			_posFeed += _dir ? _stepsPerFrame : -_stepsPerFrame;
+			Serial.println(_count);
 		} else {
 			_takeup.run();
    		_feed.run();
+    		_count++;
 		}
 	} else if (_adjusting) {
 		if (_takeup.distanceToGo() == 0 && _feed.distanceToGo() == 0) {
@ -107,7 +121,8 @@ void McopyProjector::loop () {
 			_takeup.run();
    		_feed.run();
 		}
-	}*/
+	}
+	*/
 }

 //https://wiki.iteadstudio.com/Arduino_Dual_Step_Motor_Driver_Shield
@ -141,6 +156,58 @@ void McopyProjector::setStepperMode (uint8_t mode) {
 	}
 }

+void McopyProjector::home () {
+	uint16_t steps = _motorSteps * _mode;
+	long reading;
+	//
+	for (uint16_t i = 0; i < steps; i++) {
+		reading = analogReadAccurateAverage(_takeupReceiver);
+		_takeupSamples[i] = reading;
+		if (i < steps - 1) {
+			_takeup.move(1);
+			_takeup.runToPosition();
+		}
+	}
+	//
+	for (uint16_t i = 0; i < steps; i++) {
+		Serial.print(i);
+		Serial.print(", ");
+		Serial.println(_takeupSamples[i]);
+	}
+	uint16_t peak = findPeak(_takeupSamples, steps);
+	Serial.print("peak: ");
+	Serial.println(peak);
+	uint16_t offset = abs(200 - peak);
+	Serial.print("offset: ");
+	Serial.println(offset);
+	if (offset != 0) {
+		for (uint16_t i = 0; i < offset; i++) {
+			_takeup.move(-1);
+			_takeup.runToPosition();
+		}
+		for (uint16_t i = 0; i < 25; i++) {
+			_takeup.move(-1);
+			_takeup.runToPosition();
+		}
+	}
+	for (uint16_t i = 0; i < 50; i++) {
+		reading = analogReadAccurateAverage(_takeupReceiver);
+		_takeupSamples[i] = reading;
+		if (i < steps - 1) {
+			_takeup.move(1);
+			_takeup.runToPosition();
+		}
+	}
+	uint16_t peak2 = findPeak(_takeupSamples, 50);
+	uint16_t offset2 = abs(50 - peak2);
+	if (offset2 != 0) {
+		for (uint16_t i = 0; i < offset2; i++) {
+			_takeup.move(-1);
+			_takeup.runToPosition();
+		}
+	}
+}
+
 long McopyProjector::readVcc() {
  long result;
  // Read 1.1V reference against AVcc
@ -154,18 +221,30 @@ long McopyProjector::readVcc() {
  return result;
 }

-long McopyProjector::analogReadAccurate (int pin) {
+long McopyProjector::analogReadAccurate (uint8_t &pin) {
  double Vcc = readVcc() / 1000.0;
  double ADCValue = analogRead(pin);
  return (ADCValue / 1024.0) * Vcc;
 }

-long McopyProjector::analogReadAccurateAverage (int pin) {
-  int count = 3;
+long McopyProjector::analogReadAccurateAverage (uint8_t &pin) {
+  uint8_t count = 3;
  double sum = 0.0;
-  for (int i = 0; i < count; i++) {
+  for (uint8_t i = 0; i < count; i++) {
    sum += analogReadAccurate(pin);
    delay(1);
  }
  return sum / (double) count;
 }
+
+uint16_t McopyProjector::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;
+}
--- a/ino/mcopy_projector_firmware/McopyProjector.h
+++ b/ino/mcopy_projector_firmware/McopyProjector.h
@ -28,20 +28,30 @@ class McopyProjector {
 	AccelStepper _takeup;
 	AccelStepper _feed;

-	uint16_t _motorSteps = 1600; //microstepped
-	uint8_t _frames = 8;
-	uint16_t _stepsPerFrame = 25; //round(_motorSteps / _frames);
-	uint8_t _mode = 1;
-	float _speed = 2000.0;
+	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;
+
+	volatile uint8_t _mode = 1;

 	int64_t _posTakeup = 0;
 	int64_t _posFeed = 0;
+	//X
+	uint8_t _takeupSettingA;
+	uint8_t _takeupSettingB;
+	//Y
+	uint8_t _feedSettingA;
+	uint8_t _feedSettingB;
+	//X
+	uint8_t _takeupEmitter;
+	uint8_t _takeupReceiver;
+	//Y
+	uint8_t _feedEmitter;
+	uint8_t _feedReceiver;

-
-	uint8_t _takeupSettingA = 4;
-	uint8_t _takeupSettingB = 5;
-	uint8_t _feedSettingA = 8;
-	uint8_t _feedSettingB = 9;
+	long _feedSamples[200]; 
+	long _takeupSamples[200]; 

 	bool _dir = true;

@ -49,12 +59,17 @@ class McopyProjector {
 	bool _adjusting = false;

 	long readVcc();
-	long analogReadAccurate (int pin);
-	long analogReadAccurateAverage (int pin);
+	long analogReadAccurate (uint8_t &pin);
+	long analogReadAccurateAverage (uint8_t &pin);
+	uint16_t findPeak(long (&arr)[200], uint16_t &steps);

 	public:

-	McopyProjector(AccelStepper takeup, AccelStepper feed,  uint8_t takeupSettingA, uint8_t takeupSettingB, uint8_t feedSettingA, uint8_t feedSettingB);
+	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);
 	void begin();
 	//0 = takeup, 1 = feed
 	void adjust(uint8_t motor, int64_t steps);
@ -65,6 +80,8 @@ class McopyProjector {
 	void setStepperMode(uint8_t mode);
 	void loop();
 	void home();
+	void firstPass();
+	void centerPass();

 };

--- a/ino/mcopy_projector_firmware/mcopy_projector_firmware.ino
+++ b/ino/mcopy_projector_firmware/mcopy_projector_firmware.ino
@ -46,12 +46,11 @@ 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;
-const int LED_FWD = 8;
-const int LED_BWD = 9;
+const int BUTTON = 19;
+const int LED_FWD = 20;
+const int LED_BWD = 21;

 const int PROJECTOR_MOMENT = 240;
-const int PROJECTOR_STEPS = 25;

 //VARIABLES
 volatile int projectorFrame = -1;
@ -61,7 +60,11 @@ volatile bool direction = true;
 volatile long start;

 McopySerial mcopy;
-McopyProjector projector(takeup, feed, TAKEUP_SETTINGS_A, TAKEUP_SETTINGS_B, FEED_SETTINGS_A, FEED_SETTINGS_B);
+McopyProjector projector(takeup, feed, 
+  TAKEUP_SETTINGS_A, TAKEUP_SETTINGS_B, 
+  FEED_SETTINGS_A, FEED_SETTINGS_B,
+  TAKEUP_EMITTER, TAKEUP_RECEIVER,
+  FEED_EMITTER, FEED_RECEIVER);

 void setup () {
  pins();
@ -72,6 +75,7 @@ void setup () {
  delay(42);
  digitalWrite(LED_FWD, LOW);
  digitalWrite(LED_BWD, LOW);
+  projector.home();
 }

 void loop () {
@ -81,7 +85,7 @@ void loop () {
  if (digitalRead(BUTTON) == LOW) {
    projector_frame();
  }
-  //projector.loop();
+  projector.loop();
 }

 void pins () {
@ -134,6 +138,7 @@ void projector_timing_end () {

 void projector_frame () {
  int LED = direction ? LED_FWD : LED_BWD;
+  mcopy.log("projector_direction(false)");
  digitalWrite(LED, HIGH);
  projector.frame(direction);
  mcopy.confirm(mcopy.PROJECTOR);
@ -146,7 +151,7 @@ void state () {
  stateString += String(mcopy.STATE);
  mcopy.print(stateString);
 }
-
+/*
 long readVcc() {
  long result;
  // Read 1.1V reference against AVcc
@ -175,3 +180,4 @@ long analogReadAccurateAverage (int pin) {
  }
  return sum / (double) count;
 }
+*/
--- a/package-lock.json
+++ b/package-lock.json
@ -1,12 +1,12 @@
 {
  "name": "mcopy",
-  "version": "1.8.33",
+  "version": "1.8.35",
  "lockfileVersion": 2,
  "requires": true,
  "packages": {
    "": {
      "name": "mcopy",
-      "version": "1.8.33",
+      "version": "1.8.35",
      "license": "MIT",
      "dependencies": {
        "arduino": "file:app/lib/arduino",
--- a/package.json
+++ b/package.json
@ -1,6 +1,6 @@
 {
  "name": "mcopy",
-  "version": "1.8.33",
+  "version": "1.8.35",
  "description": "Small gauge film optical printer platform",
  "main": "build.js",
  "directories": {
--- a/processing/mcopy/cfg.json
+++ b/processing/mcopy/cfg.json
@ -1,5 +1,5 @@
 {
-  "version": "1.8.33",
+  "version": "1.8.35",
  "ext_port": 1111,
  "profiles": {
    "mcopy": {
--- a/scad/mcopy_projector.scad
+++ b/scad/mcopy_projector.scad
@ -19,6 +19,7 @@ KeyVoidD2 = 14.2;
 KeyWidth = 2.25;

 StepperMountZ = 20;
+StepperMountInnerD = 30;

 GateBoltX = (-PanelX / 2) + 54;
 GateBoltY = 105 / 2;
@ -32,6 +33,14 @@ LEDPin = 0.6;
 LEDPinSpacing = 2.54;
 LEDH = 8.6;

+ServoX = 55;
+ServoY = 7;
+ServoBoltD = 4.5;
+ServoZ = 20;
+ServoSpaceZ = 9.5;
+ServoSpaceX = 48;
+ServoVoidX = 40.5;
+
 module bearing_void (pos = [0, 0, 0], width= 8) {
 	fuzz = 0.3;
 	translate (pos) {
@ -99,6 +108,7 @@ module LED_void (pos = [0, 0, 0], rot = [0, 0, 0], flip = false) {
 	translate(pos) rotate(rot) {
 		rotate([0, -90, 0]) {
 			cylinder(r = R(LightVoidD), h = 80, center = true, $fn = 40);
+            /*
 			if (flip) {
 				translate([0, 0, -EmitterZ]) cylinder(r = R(LEDVoidD), h = 80, center = true, $fn = 40);
 				translate([0, 0, ReceiverZ]) cylinder(r = R(LEDVoidD), h = 80, center = true, $fn = 40);
@ -106,6 +116,7 @@ module LED_void (pos = [0, 0, 0], rot = [0, 0, 0], flip = false) {
 				translate([0, 0, EmitterZ]) cylinder(r = R(LEDVoidD), h = 80, center = true, $fn = 40);
 				translate([0, 0, -ReceiverZ]) cylinder(r = R(LEDVoidD), h = 80, center = true, $fn = 40);
 			}
+            */
 		}
 	}
 }
@ -136,18 +147,20 @@ module LED (pos = [0, 0, 0], rot = [0, 0, 0]) {
    }
 }

-module LED_housing (pos = [0, 0, 0], rot = [0, 0, 0]) {
+module LED_housing (pos = [0, 0, 0], rot = [0, 0, 0], OffsetZ = 0, Void = true) {
    $fn = 90;
    D = LEDD + 0.2;
    H = LEDH;
    Opening = 3;
    translate(pos) rotate(rot) {
+        translate([0, 0, OffsetZ]) {
            difference () {
                union() {
                    cube([D + 3, D + 3, 10], center = true);
                    translate([0, 0, -4]) cube([D + 3, D + 3, 10], center = true);
                    translate([0, 5, -6]) cube([D + 3, 15, 6], center = true);
                }
+                if (Void) {
                    translate([0, 0, -(10 / 2) + (H / 2) - 1.301]) union () {
                        cylinder(r = (D / 2), h = H - (D / 2), center = true);
                        translate([0, 0, (H / 2) - (D / 4)]) sphere(r = D / 2);
@ -160,6 +173,8 @@ module LED_housing (pos = [0, 0, 0], rot = [0, 0, 0]) {
                    }
                }
            }
+        }
+    }
 }

 module nub_void (pos = [0, 0, 0]) {
@ -185,17 +200,24 @@ module stepper_mount_block (pos = [0, 0, 0], rot = [0, 0, 0]) {
 	BoltY = NEMA17BoltSpacing / 2;
    BoltCapZ = 11;
 	H = 30;
-	InnerD = 30;
+	InnerD = StepperMountInnerD;

 	translate(pos) rotate(rot) {
 		difference () {
 			union () {
 				stepper_mount_block_positive([0, 0, -5], H);
-				LED_prop([0, -19, -4.5 + 7.5], [0, 0, 45], flip = false);
+                //top
+				//LED_prop([0, -19, -4.5 + 7.5], [0, 0, 45], flip = false);
+                //bottom
 				//LED_prop([0, -19, -4.5 + 11.5], [0, 0, 45], H = 9, flip = false);
 			}

-			translate([0, 0, -5])cylinder(r = R(InnerD), h = H + 1, center = true, $fn = 120);
+			translate([0, 0, -5]) cylinder(r = R(InnerD), h = H + 1, center = true, $fn = 120);
+			
+            LED_housing([0, -17.25, -4.5], [90, -90, 134], Void = false);
+            LED_housing([0, -17.25, -4.5], [-90, 90, 134], OffsetZ = -24.25, Void = false);
+              
+            
            bolt_void([BoltX, BoltY, -5], H);
 			bolt_void([-BoltX, BoltY, -5], H);
 			bolt_void([BoltX, -BoltY, -5], H);
@ -205,10 +227,13 @@ module stepper_mount_block (pos = [0, 0, 0], rot = [0, 0, 0]) {
 			bolt_and_cap_void([-BoltX, BoltY, BoltCapZ], cap = H, bolt = H);
 			bolt_and_cap_void([BoltX, -BoltY, BoltCapZ], cap = H, bolt = H);
 			bolt_and_cap_void([-BoltX, -BoltY, BoltCapZ], cap = H, bolt =H);
-			//
+			//top
 			LED_void([0, -17.25, -4.5], [0, 0, 45]);
+            //bottom
 			//LED_void([0, -17.25, 2.5], [0, 0, 45], true);
 		}
+        color("blue") LED_housing([0, -17.25, -4.5], [90, -90, 134], Void = true);
+        color("blue") LED_housing([0, -17.25, -4.5], [-90, 90, 134], OffsetZ = -24.25, Void = true);
 	}
 }

@ -380,12 +405,55 @@ module orbital_mount (pos = [0, 0, 0], rot = [0, 0, 0]) {
            for (i = [0 : Notches - 1]) {
                rotate([0, 0, i * (360 / Notches)]) translate([OuterD / 2, 0, 0]) rotate([0, 0, 45]) cube([Notch, Notch, BottomZ + TopZ + 1], center = true); 
            }
+            for (i = [0 : 3]) {
+                rotate([0, 0, i * (360 / 4)]) translate([OuterD / 2, 0, 0]) rotate([0, 0, 45]) cube([1, 1, BottomZ + TopZ + 1], center = true); 
+            }
            bolt_and_cap_void([BoltsX, BoltsY, -4], [180, 0, 0]);
            bolt_and_cap_void([BoltsX, -BoltsY, -4], [180, 0, 0]);
        }
    }
 }

+module servo_mount_bolt_void (pos = [0, 0, 0], rot = [0, 0, 0]) {
+    translate (pos) rotate (rot) {
+        cylinder(r = ServoBoltD / 2, h = ServoY + 1, center = true, $fn = 60);
+    }
+}
+
+module servo_mount_old (pos = [0, 0, 0], rot = [0, 0, 0]) {
+    translate (pos) rotate (rot) {
+        difference () {
+            translate([1.5, 0, 0]) rotate([90, 0, 0]) rounded_cube([ServoX + 3, ServoZ+20, ServoY ], d = 4, center = true, $fn = 40);
+            cube([ServoVoidX, ServoY + 1, ServoZ + 1], center = true);
+            translate([0, ServoY - 1, 0]) cube([ServoX + 1, ServoY, 1], center = true);
+            
+            servo_mount_bolt_void ([ServoSpaceX / 2, 0, ServoSpaceZ / 2], [90, 90, 0]);
+            servo_mount_bolt_void([-ServoSpaceX / 2, 0, ServoSpaceZ / 2], [90, 90, 0]);
+            servo_mount_bolt_void ([ServoSpaceX / 2, 0, -ServoSpaceZ / 2], [90, 90, 0]);
+            servo_mount_bolt_void ([-ServoSpaceX / 2, 0, -ServoSpaceZ / 2], [90, 90, 0]);
+        }
+    }
+    //debug
+    //translate([(55 / 2)-17.5, 0, 0]) sphere(r = 6 / 2, $fn = 60);
+}
+
+module servo_mount (pos = [0, 0, 0], rot = [0, 0, 0]) {
+    translate (pos) rotate (rot) {
+        //difference () {
+            //translate([1.5, 0, 0]) rotate([90, 0, 0]) rounded_cube([ServoX + 3, ServoZ+20, ServoY ], d = 4, center = true, $fn = 40);
+            cube([ServoVoidX, ServoY + 1, ServoZ + 1], center = true);
+            translate([0, ServoY - 1, 0]) cube([ServoX + 1, ServoY, 1], center = true);
+            
+            translate([ServoSpaceX / 2, 0, ServoSpaceZ / 2]) rotate([90, 90, 0]) cylinder(r = R(ServoBoltD), h = ServoY + 1, center = true, $fn = 60);
+        translate([-ServoSpaceX / 2, 0, ServoSpaceZ / 2]) rotate([90, 90, 0]) cylinder(r = R(ServoBoltD), h = ServoY + 1, center = true, $fn = 60);
+        translate([ServoSpaceX / 2, 0, -ServoSpaceZ / 2]) rotate([90, 90, 0]) cylinder(r = R(ServoBoltD), h = ServoY + 1, center = true, $fn = 60);
+        translate([-ServoSpaceX / 2, 0, -ServoSpaceZ / 2]) rotate([90, 90, 0]) cylinder(r = R(ServoBoltD), h = ServoY + 1, center = true, $fn = 60);
+        //}
+    }
+    //debug
+    //translate([(55 / 2)-17.5, 0, 0]) sphere(r = 6 / 2, $fn = 60);
+}
+
 module projector () {
 	
 }
@ -410,10 +478,11 @@ module debug () {
 	}
    color("red") translate([(-PanelX / 2) + 10, 0, (-PanelZ / 2) -10]) rotate([90, 0, 0]) 2020_tslot(PanelY);
    orbital_mount([(-PanelX / 2) - 4.5, 0, 40], [0, 90, 0]);
+    color("green") servo_mount([40, 0, -30], [90, 0, 0]);

 }

-PART = "panel";
+PART = "panelx";

 if (PART == "gate_key") {
 	gate_key(KeyRot = 90);
Author	SHA1	Message	Date
Matt McWilliams	b1c8192625	Projector firmware progress: currently the homing function will not compile due to errors with reference and so the sketch method needs to be broken into workable smaller methods	2023-09-25 21:54:31 -04:00
Matt McWilliams	d2c7781d79	Servo notch puller progress	2023-09-25 21:53:10 -04:00