DIY 3-осевой ЧПУ VMC

Необходимые инструменты и машины

	Отвертки
	Сверлильный станок
	Инструмент Dremel / Rotary для резки
	Клеевой пистолет
	Паяльник (универсальный)
	угловая шлифовальная машина

Приложения и онлайн-сервисы

	Linux
	ArtCAM
	GRBL 0.9
	Autodesk Fusion 360
	IDE Arduino
	Google Android Things
	VNC

Об этом проекте

Наша прототипная модель основана на IoT, что обеспечивает масштабируемую архитектуру, позволяющую использовать ее практически из любого места с подключением к Интернету. Это ЧПУ 350 мм x 350 мм с рабочей зоной 250 мм x 240 мм, работающий на программном обеспечении управления движением с открытым исходным кодом (GRBL). Даже наше оборудование в основном имеет открытый исходный код, что значительно сокращает расходы. Этот станок полностью изготовлен из закупленных на месте изделий и может обрабатывать дерево, пластик, твердую резину, твердую смолу и т. Д. Наша основная цель - производство недорогих печатных плат.

Перспектива тяги к дереву тоже есть.

Мы планируем добавить поддержку лазерной обработки в рамках нашего будущего проекта.

Поскольку в настоящее время системой можно управлять из локальной интрасети по беспроводной сети, мы хотим масштабировать ее, прежде всего, чтобы создать веб-приложение с распределенной моделью для создания и подключения экосистемы из нескольких устройств такого типа.

Возможности нашей машины безграничны.

Базовая рама нашего прототипа изготовлена ​​из алюминиевых профилей 2020 года с Т-образными пазами и L-образных соединений. Станок выдает мощность примерно 80-85 Вт со шпинделем, управляемым постоянным током на 2000 об / мин. Он имеет схему движения ходового винта и резьбового стержня с направляющими гладкими стержнями, имеющими шарикоподшипники с защелкой и радиальной канавкой для плавной работы по всем 3 осям.

Минимальный шаг шага составляет 0,8 мм / оборот, при 2000 шагов / оборот мы имеем разрешение 1600 для всех осей. Примерный размер нашей машины составляет около 430x430x330 мм, а рабочая зона - около 270x170x65 мм с точностью позиционирования 0,04 мм. Наш портал по оси Z напечатан на 3D-принтере с нуля с двумя направляющими стержнями.

Ход по оси Z 4,8 см при установленном шпинделе. Для гравировки печатных плат мы используем режущий инструмент с V-образным вырезом под углом 45 °, он также поддерживает концевые фрезы от 0,2 до 1,8 мм. Мы используем шаговые двигатели NEMA 23 с максимальным током 3 А для каждого главного привода оси. Двигатели приводятся в движение драйверами A4988 2,5 А с разрешением 1/16 максимального микрошага, что обеспечивает максимальную точность обработки при очень низких затратах.

Что касается IoT, мы сделали возможным управление маршрутизатором с ЧПУ с безголового дисплея, такого как экран мобильного телефона / планшета (действующего здесь как HMI), из любого места с помощью подключения к Интернету. Мы используем Raspberry Pi и маршрутизатор (безопасность), подключенный к Интернету, и запускаем веб-сервер для обеспечения интерфейса для беспроводного управления нашим ЧПУ. Мы также планируем получать ценные сведения о деталях машин, такие как крутящий момент двигателя в реальном времени, потребляемый ток, вибрация, шум и т. Д., А также получать аналитические данные в реальном времени на веб-платформе для улучшения совместной работы. Что, возможно, называется в производственном секторе Промышленный Интернет вещей . (ИНДУСТРИЯ 4.0) .

Код

• Образец Gcode
• Код шагового двигателя
• Библиотеки
• Библиотека

Пример Gcode VHDL

 (Набросанная версия C:\ Users \ ABDERR ~ 1 \ AppData \ Local \ Temp \ ink_ext_XXXXXX.svgISF45X @ 3000.00) (unicorn.py --tab ="plotter_setup" --pen-up-angle =50 - pen-down-angle =30 --start-delay =160 --stop-delay =150 --xy-feedrate =3000 --z-feedrate =150 --z-height =0 --finished-height =0 - -register-pen =true --x-home =0 --y-home =0 --num-Copy =1 --continuous =false --pause-on-layer-change =true C:\ Users \ ABDERR ~ 1 \ AppData \ Local \ Temp \ ink_ext_XXXXXX.svgISF45X) G21 (метрические ftw) G90 (абсолютный режим) G92 X0.00 Y0.00 Z0.00 (вы здесь) M300 S30 (перо вниз) G4 P160 (подождите 160 мс) M300 S50 (перо вверх) G4 P150 (ожидание 150 мс) M18 (отключение приводов) M01 (Успешен ли тест регистрации?) M17 (задействовать приводы, если ДА, и продолжить) M01 (нанесение слоя «Calque 1») (ломаная линия, состоящая из 29 сегментов. ) G1 X16.85 Y4.97 F3000.00M300 S30.00 (перо вниз) G4 P160 (ожидание 160 мс) G1 X14.07 Y5.98 F3000.00G1 X13.33 Y6.40 F3000.00G1 X10.74 Y6.40 F3000 .00G1 X8.14 Y6.49 F3000.00G1 X10.60 Y6.58 F3000.00G1 X13.07 Y6.64 F3000.00G1 X12.75 Y6.98 F3000.00G1 X11. 99 Y8.33 F3000.00G1 X12.30 Y9.13 F3000.00G1 X12.98 Y9.85 F3000.00G1 X14.73 Y10.48 F3000.00G1 X16.42 Y10.34 F3000.00G1 X16.89 Y10.16 F3000 .00G1 X17.20 Y10.44 F3000.00G1 X17.44 Y10.92 F3000.00G1 X15.95 Y12.12 F3000.00G1 X14.52 Y13.21 F3000.00G1 X14.17 Y14.50 F3000.00G1 X14.18 Y14.85 F3000.00G1 X13.90 Y14.95 F3000.00G1 X13.30 Y15.34 F3000.00G1 X13.02 Y16.08 F3000.00G1 X13.23 Y16.62 F3000.00G1 X14.03 Y16.94 F3000. 00G1 X14.80 Y16.89 F3000.00G1 X15.21 Y16.80 F3000.00G1 X15.35 Y17.02 F3000.00G1 X15.71 Y17.77 F3000.00G1 X16.05 Y18.61 F3000.00G1 X15.77 Y19 .35 F3000.00G1 X15.47 Y20.24 F3000.00G1 X15.20 Y20.73 F3000.00G1 X13.98 Y20.91 F3000.00G1 X12.47 Y21.26 F3000.00G1 X11.32 Y21.88 F3000.00G1 X10.23 Y23.00 F3000.00G1 X9.82 Y24.17 F3000.00G1 X9.94 Y24.90 F3000.00G1 X10.41 Y25.47 F3000.00G1 X10.77 Y25.78 F3000.00G1 X10.53 Y26. 37 F3000.00G1 X10.04 Y28.07 F3000.00G1 X10.02 Y29.68 F3000.00G1 X10.50 Y31.25 F3000.00G1 X11.46 Y32.80 F3000.00G1 X13.34 Y34.54 F3000.00G1 X15 .75 Y36.02 F3000.00G1 X16.94 Y3 6.57 F3000.00G1 X11.31 Y36.60 F3000.00G1 X5.53 Y36.58 F3000.00G1 X5.38 Y21.60 F3000.00G1 X5.41 Y8.55 F3000.00G1 X5.62 Y6.61 F3000.00G1 X5 .85 Y6.48 F3000.00G1 X5.50 Y6.40 F3000.00G1 X5.14 Y6.40 F3000.00G1 X5.14 Y21.60 F3000.00G1 X5.14 Y36.80 F3000.00G1 X11.39 Y36.80 F3000.00G1 X17.65 Y36.80 F3000.00G1 X18.65 Y37.07 F3000.00G1 X21.13 Y37.54 F3000.00G1 X23.70 Y37.69 F3000.00G1 X26.12 Y37.52 F3000.00G1 X28. 11 Y37.03 F3000.00G1 X28.70 Y36.80 F3000.00G1 X33.01 Y36.80 F3000.00G1 X37.32 Y36.80 F3000.00G1 X37.32 Y21.60 F3000.00G1 X37.32 Y6.40 F3000 .00G1 X32.21 Y6.40 F3000.00G1 X26.73 Y6.25 F3000.00G1 X22.57 Y5.07 F3000.00G1 X16.85 Y4.97 F3000.00G1 X16.85 Y4.97 F3000.00M300 S50.00 (перо вверх) G4 P150 (ожидание 150 мс) (полилиния, состоящая из 29 сегментов) G1 X20.57 Y5.03 F3000.00M300 S30.00 (перо вниз) G4 P160 (ожидание 160 мс) G1 X23.06 Y5.34 F3000. 00G1 X24.86 Y5.94 F3000.00G1 X25.99 Y6.82 F3000.00G1 X26.48 Y8.01 F3000.00G1 X26.11 Y9.51 F3000.00G1 X24.89 Y10.76 F3000.00G1 X23.73 Y11 .07 F3000.00G1 X22.18 Y10.75 F3 000.00G1 X20.76 Y10.29 F3000.00G1 X20.13 Y9.96 F3000.00G1 X19.83 Y9.40 F3000.00G1 X19.66 Y9.17 F3000.00G1 X19.74 Y9.72 F3000.00G1 X20.51 Y10.61 F3000.00G1 X21.41 Y11.91 F3000.00G1 X21.31 Y12.42 F3000.00G1 X20.85 Y12.91 F3000.00G1 X19.04 Y13.73 F3000.00G1 X18.83 Y13.81 F3000. 00G1 X19.56 Y13.72 F3000.00G1 X20.90 Y13.07 F3000.00G1 X21.48 Y12.71 F3000.00G1 X21.88 Y12.90 F3000.00G1 X23.87 Y14.56 F3000.00G1 X24.34 Y15 .23 F3000.00G1 X23.85 Y15.22 F3000.00G1 X19.04 Y15.20 F3000.00G1 X16.99 Y15.70 F3000.00G1 X15.62 Y16.42 F3000.00G1 X15.31 Y16.66 F3000.00G1 X14.86 Y15.95 F3000.00G1 X14.39 Y14.29 F3000.00G1 X14.89 Y12.97 F3000.00G1 X16.02 Y12.25 F3000.00G1 X17.19 Y11.48 F3000.00G1 X17.63 Y10. 79 F3000.00G1 X16.90 Y10.01 F3000.00G1 X16.07 Y9.45 F3000.00G1 X16.23 Y9.73 F3000.00G1 X16.50 Y10.15 F3000.00G1 X14.70 Y10.34 F3000.00G1 X13 .17 Y9.72 F3000.00G1 X12.44 Y9.03 F3000.00G1 X12.23 Y8.30 F3000.00G1 X12.53 Y7.53 F3000.00G1 X13.34 Y6.71 F3000.00G1 X15.72 Y5.44 F3000.00G1 X18.83 Y4.95 F3000.00G1 X20. 57 Y5.03 F3000.00G1 X20.57 Y5.03 F3000.00M300 S50.00 (перо вверх) G4 P150 (ожидание 150 мс) (ломаная линия, состоящая из 29 сегментов) G1 X27.30 Y6.65 F3000.00M300 S30.00 (перо вниз) G4 P160 (ожидание 160 мс) G1 X29.25 Y7.52 F3000.00G1 X30.16 Y8.34 F3000.00G1 X30.46 Y9.06 F3000.00G1 X30.29 Y9.88 F3000.00G1 X29.49 Y10.84 F3000.00G1 X28.16 Y11.51 F3000.00G1 X26.25 Y11.62 F3000.00G1 X25.07 Y10.96 F3000.00G1 X25.51 Y10.50 F3000.00G1 X26.26 Y9.62 F3000. 00G1 X26.58 Y8.19 F3000.00G1 X26.44 Y7.12 F3000.00G1 X25.77 Y6.34 F3000.00G1 X25.47 Y6.07 F3000.00G1 X25.68 Y6.08 F3000.00G1 X27.30 Y6 .65 F3000.00G1 X27.30 Y6.65 F3000.00M300 S50.00 (перо вверх) G4 P150 (ожидание 150 мс) (ломаная линия, состоящая из 29 сегментов) G1 X37.06 Y21.42 F3000.00M300 S30.00 (перо вниз) G4 P160 (ожидание 160 мсек) G1 X37.02 Y36.41 F3000.00G1 X36.96 Y36.62 F3000.00G1 X33.06 Y36.62 F3000.00G1 X29.16 Y36.58 F3000.00G1 X29.47 Y36. 10 F3000.00G1 X29.73 Y35.05 F3000.00G1 X29.34 Y34.00 F3000.00G1 X28.36 Y33.19 F3000.00G1 X26.78 Y32.58 F3000.00G1 X24.56 Y32.18 F3000.00G1 X24 .11 Y32.04 F3000.00G1 X24.44 Y31.73 F3000.00G1 X25.27 Y31.55 F3000.00G1 X28.11 Y31.00 F3000.00G1 X28.91 Y30.55 F3000.00G1 X29.29 Y29.72 F3000. 00G1 X29.84 Y28.76 F3000.00G1 X30.44 Y28.08 F3000.00G1 X30.69 Y27.27 F3000.00G1 X30.58 Y26.46 F3000.00G1 X30.11 Y25.77 F3000.00G1 X29.82 Y25 .45 F3000.00G1 X29.90 Y25.05 F3000.00G1 X29.83 Y24.22 F3000.00G1 X28.51 Y23.12 F3000.00G1 X26.38 Y22.66 F3000.00G1 X25.09 Y22.48 F3000.00G1 X24.68 Y22.25 F3000.00G1 X24.95 Y22.15 F3000.00G1 X26.03 Y21.82 F3000.00G1 X27.25 Y21.07 F3000.00G1 X27.59 Y20.36 F3000.00G1 X27.42 Y19. 68 F3000.00G1 X26.21 Y18.82 F3000.00G1 X24.70 Y18.51 F3000.00G1 X24.39 Y18.50 F3000.00G1 X24.42 Y18.22 F3000.00G1 X24.59 Y16.70 F3000.00G1 X24 .63 Y15.61 F3000.00G1 X24.39 Y15.01 F3000.00G1 X23.81 Y14.22 F3000.00G1 X23.52 Y13.85 F3000.00G1 X24.03 Y13.49 F3000.00G1 X24.69 Y12.99 F3000.00G1 X24.78 Y12.31 F3000.00G1 X24.54 Y11.48 F3000.00G1 X24.58 Y11.08 F3000.00G1 X25.21 Y11.31 F3000.00G1 X26.08 Y11.74 F3000.00G1 X27. 14 Y11.85 F3000.00G1 X28.29 Y11.66 F3000.00G1 X29.41 Y11.16 F3000.00G1 X30.24 Y10.39 F3000.00G1 X30.57 Y9.37 F3000.00G1 X30.36 Y8.29 F3000.00G1 X29.62 Y7.56 F3000. 00G1 X28.50 Y6.94 F3000.00G1 X27.96 Y6.65 F3000.00G1 X32.49 Y6.61 F3000.00G1 X37.02 Y6.63 F3000.00G1 X37.06 Y21.42 F3000.00G1 X37.06 Y21 .42 F3000.00M300 S50.00 (перо вверх) G4 P150 (ожидание 150 мс) (ломаная линия, состоящая из 29 сегментов) G1 X21.74 Y10.75 F3000.00M300 S30.00 (перо вниз) G4 P160 (ожидание 160 мс) G1 X23.52 Y11.21 F3000.00G1 X24.24 Y11.32 F3000.00G1 X24.56 Y12.13 F3000.00G1 X24.48 Y12.99 F3000.00G1 X23.87 Y13.45 F3000.00G1 X23.38 Y13. 75 F3000.00G1 X22.69 Y13.25 F3000.00G1 X21.76 Y12.68 F3000.00G1 X21.57 Y12.14 F3000.00G1 X21.44 Y11.41 F3000.00G1 X20.80 Y10.64 F3000.00G1 X20 .54 Y10.34 F3000.00G1 X21.74 Y10.75 F3000.00G1 X21.74 Y10.75 F3000.00M300 S50.00 (перо вверх) G4 P150 (ожидание 150 мс) (ломаная линия, состоящая из 29 сегментов) G1 X14. 28 Y15.20 F3000.00M300 S30.00 (перо вниз) G4 P160 (ожидание 160 мс) G1 X14.69 Y15.95 F3000.00G1 X14.87 Y16.70 F3000.00G1 X13.98 Y16.78 F3000.00G1 X13.23 Y16.33 F3000.00G1 X13.26 Y15.80 F3000.00G1 X13.54 Y15.32 F3000.00G1 X13.94 Y15.06 F3000.00G1 X14.28 Y15.20 F3000.00G1 X14.28 Y15. 20 F3000.00M300 S50.00 (перо вверх) G4 P150 (ожидание 150 мс) (ломаная линия, состоящая из 29 сегментов) G1 X23.89 Y15.40 F3000.00M300 S30.00 (перо вниз) G4 P160 (ожидание 160 мс) G1 X24 .27 Y15.61 F3000.00G1 X24.44 Y16.05 F3000.00G1 X24.22 Y18.19 F3000.00G1 X24.03 Y18.95 F3000.00G1 X23.02 Y18.27 F3000.00G1 X20.70 Y17.13 F3000.00G1 X19.62 Y17.10 F3000.00G1 X18.46 Y17.41 F3000.00G1 X16.91 Y18.21 F3000.00G1 X16.22 Y18.67 F3000.00G1 X16.19 Y18.46 F3000.00G1 X15. 83 Y17.68 F3000.00G1 X15.47 Y16.93 F3000.00G1 X16.23 Y16.20 F3000.00G1 X18.05 Y15.51 F3000.00G1 X21.11 Y15.23 F3000.00G1 X23.89 Y15.40 F3000 .00M300 S50.00 (перо вверх) G4 P150 (ожидание 150 мс) (ломаная линия, состоящая из 29 сегментов) G1 X21.29 Y17.47 F3000.00M300 S30.00 (перо вниз) G4 P160 (ожидание 160 мс) G1 X23.50 Y18.80 F3000.00G1 X25.56 Y20.02 F3000.00G1 X26.14 Y20.17 F3000.00G1 X25.92 Y20.50 F3000.00G1 X24.80 Y21.28 F3000.00G1 X23.98 Y21.4 0 F3000.00G1 X22.98 Y21.10 F3000.00G1 X21.95 Y20.78 F3000.00G1 X21.63 Y20.62 F3000.00G1 X21.08 Y19.88 F3000.00G1 X20.05 Y19.10 F3000.00G1 X19 .03 Y19.22 F3000.00G1 X18.43 Y19.27 F3000.00G1 X17.95 Y19.18 F3000.00G1 X17.51 ​​Y19.96 F3000.00G1 X17.19 Y20.04 F3000.00G1 X16.57 Y20.11 F3000.00G1 X16.13 Y20.58 F3000.00G1 X15.93 Y20.86 F3000.00G1 X15.70 Y20.63 F3000.00G1 X15.78 Y19.60 F3000.00G1 X16.86 Y18.45 F3000.00G1 X19. 13 Y17.31 F3000.00G1 X20.21 Y17.23 F3000.00G1 X21.29 Y17.47 F3000.00G1 X21.29 Y17.47 F3000.00M300 S50.00 (перо вверх) G4 P150 (ожидание 150 мс) (полилиния, состоящая из 29 сегментов) G1 X26.41 Y19.09 F3000.00M300 S30.00 (перо вниз) G4 P160 (ожидание 160 мс) G1 X27.14 Y19.61 F3000.00G1 X27.43 Y20.17 F3000.00G1 X27.29 Y20.74 F3000.00G1 X26.71 Y21.31 F3000.00G1 X25.56 Y21.85 F3000.00G1 X24.35 Y22.08 F3000.00G1 X21.62 Y21.55 F3000.00G1 X21.69 Y21.22 F3000. 00G1 X21.91 Y20.88 F3000.00G1 X22.79 Y21.19 F3000.00G1 X24.30 Y21.49 F3000.00G1 X25.22 Y21.29 F3000.00G1 X25.94 Y20.72 F3000.00G1 X26.24 Y20 .20 F300 0.00G1 X25.65 Y19.87 F3000.00G1 X24.63 Y19.41 F3000.00G1 X24.25 Y18.98 F3000.00G1 X24.58 Y18.70 F3000.00G1 X25.38 Y18.71 F3000.00G1 X26.41 Y19.09 F3000.00M300 S50.00 (перо вверх) G4 P150 (ожидание 150 мс) (полилиния, состоящая из 29 сегментов) G1 X20.47 Y19.52 F3000.00M300 S30.00 (перо вниз) G4 P160 (ожидание 160 мс) G1 X21.59 Y21.02 F3000.00G1 X21.45 Y21.31 F3000.00G1 X20.18 Y21.30 F3000.00G1 X18.93 Y20.60 F3000.00G1 X18.73 Y19.89 F3000.00G1 X19.06 Y19 .38 F3000.00G1 X19.71 Y19.20 F3000.00G1 X20.47 Y19.52 F3000.00G1 X20.47 Y19.52 F3000.00M300 S50.00 (перо вверх) G4 P150 (ожидание 150 мс) (ломаная линия, состоящая из 29 сегментов.) G1 X18.40 Y19.46 F3000.00M300 S30.00 (перо вниз) G4 P160 (ожидание 160 мс) G1 X18.59 Y20.01 F3000.00G1 X18.80 Y20.68 F3000.00G1 X19.52 Y21. 20 F3000.00G1 X19.94 Y21.43 F3000.00G1 X19.77 Y21.57 F3000.00G1 X19.01 Y21.70 F3000.00G1 X18.36 Y21.46 F3000.00G1 X17.92 Y20.91 F3000.00G1 X17 .75 Y20.12 F3000.00G1 X18.11 Y19.31 F3000.00G1 X18.40 Y19.46 F3000.00M300 S50.00 (перо вверх) G4 P150 (ожидание 150 мс) (полилиния) из 29 сегментов) G1 X17.34 Y20.21 F3000.00M300 S30.00 (перо вниз) G4 P160 (ожидание 160 мс) G1 X17.57 Y20.59 F3000.00G1 X18.44 Y21.73 F3000.00G1 X18. 77 Y21.86 F3000.00G1 X18.44 Y21.92 F3000.00G1 X17.48 Y21.91 F3000.00G1 X16.63 Y21.60 F3000.00G1 X16.25 Y20.93 F3000.00G1 X16.60 Y20.24 F3000 .00G1 X17.34 Y20.21 F3000.00G1 X17.34 Y20.21 F3000.00M300 S50.00 (перо вверх) G4 P150 (ожидание 150 мс) (ломаная линия, состоящая из 29 сегментов.) G1 X16.11 Y21.33 F3000. 00M300 S30.00 (перо вниз) G4 P160 (ожидание 160 мс) G1 X17.34 Y22.06 F3000.00G1 X18.96 Y21.93 F3000.00G1 X19.98 Y21.60 F3000.00G1 X22.66 Y21.94 F3000. 00G1 X25.66 Y22.90 F3000.00G1 X27.77 Y24.32 F3000.00G1 X28.39 Y24.96 F3000.00G1 X27.58 Y24.90 F3000.00G1 X25.33 Y24.89 F3000.00G1 X26.59 Y25 .01 F3000.00G1 X28.53 Y25.22 F3000.00G1 X29.82 Y25.72 F3000.00G1 X30.47 Y26.50 F3000.00G1 X30.47 Y27.56 F3000.00G1 X29.78 Y28.65 F3000.00G1 X28.52 Y29.02 F3000.00G1 X27.29 Y28.75 F3000.00G1 X26.23 Y27.86 F3000.00G1 X25.65 Y27.41 F3000.00G1 X24.92 Y27.29 F3000.00G1 X24.65 Y27. 31 F30 00.00G1 X24.86 Y27.34 F3000.00G1 X25.18 Y27.38 F3000.00G1 X24.95 Y27.67 F3000.00G1 X24.54 Y28.37 F3000.00G1 X23.69 Y29.39 F3000.00G1 X23.07 Y30.03 F3000.00G1 X23.26 Y29.99 F3000.00G1 X24.15 Y29.94 F3000.00G1 X24.73 Y30.08 F3000.00G1 X24.88 Y30.40 F3000.00G1 X25.06 Y30.76 F3000. 00G1 X25.72 Y30.30 F3000.00G1 X26.44 Y29.84 F3000.00G1 X27.29 Y29.51 F3000.00G1 X28.61 Y29.15 F3000.00G1 X29.24 Y29.13 F3000.00G1 X29.14 Y29 .58 F3000.00G1 X28.98 Y30.21 F3000.00G1 X27.91 Y30.88 F3000.00G1 X25.68 Y31.34 F3000.00G1 X22.80 Y31.52 F3000.00G1 X19.80 Y31.37 F3000.00G1 X18.50 Y31.23 F3000.00G1 X18.49 Y31.31 F3000.00G1 X22.58 Y31.67 F3000.00G1 X24.11 Y31.73 F3000.00G1 X23.99 Y31.95 F3000.00G1 X23.36 Y32. 13 F3000.00G1 X20.76 Y32.50 F3000.00G1 X20.31 Y32.72 F3000.00G1 X21.00 Y32.57 F3000.00G1 X23.09 Y32.33 F3000.00G1 X25.50 Y32.44 F3000.00G1 X27 .74 Y33.07 F3000.00G1 X29.12 Y34.03 F3000.00G1 X29.56 Y35.31 F3000.00G1 X28.81 Y36.44 F3000.00G1 X27.64 Y37.03 F3000.00G1 X25.83 Y37.40 F3000.00G1 X21.36 Y37.42 F30 00.00G1 X17.13 Y36.41 F3000.00G1 X13.56 Y34.53 F3000.00G1 X12.16 Y33.30 F3000.00G1 X11.08 Y31.92 F3000.00G1 X10.41 Y30.48 F3000.00G1 X10.25 Y28.79 F3000.00G1 X10.59 Y26.73 F3000.00G1 X10.96 Y25.92 F3000.00G1 X11.64 Y26.09 F3000.00G1 X14.41 Y26.25 F3000.00G1 X14.93 Y26.37 F3000. 00G1 X18.16 Y28.80 F3000.00G1 X19.16 Y29.37 F3000.00G1 X19.89 Y29.55 F3000.00G1 X21.95 Y29.85 F3000.00G1 X21.69 Y29.97 F3000.00G1 X21.49 Y30 .07 F3000.00G1 X22.66 Y29.69 F3000.00G1 X23.99 Y28.19 F3000.00G1 X22.32 Y28.67 F3000.00G1 X19.99 Y29.36 F3000.00G1 X19.26 Y29.28 F3000.00G1 X18.96 Y28.62 F3000.00G1 X18.86 Y28.24 F3000.00G1 X18.84 Y28.58 F3000.00G1 X18.72 Y28.93 F3000.00G1 X16.87 Y27.79 F3000.00G1 X15.17 Y26. 36 F3000.00G1 X15.64 Y25.80 F3000.00G1 X16.13 Y25.37 F3000.00G1 X15.74 Y25.56 F3000.00G1 X14.85 Y25.99 F3000.00G1 X13.66 Y26.16 F3000.00G1 X11 .44 Y25.87 F3000.00G1 X10.64 Y25.45 F3000.00G1 X10.13 Y24.87 F3000.00G1 X10.03 Y23.93 F3000.00G1 X10.90 Y22.46 F3000.00G1 X12.38 Y21.47 F3000.00G1 X15.35 Y20.88 F30 00.00G1 X16.11 Y21.33 F3000.00G1 X16.11 Y21.33 F3000.00M300 S50.00 (перо вверх) G4 P150 (ожидание 150 мс) (ломаная линия, состоящая из 29 сегментов) G1 X20.69 Y22.24 F3000. 00M300 S30.00 (перо вниз) G4 P160 (ожидание 160 мс) G1 X20.79 Y22.76 F3000.00G1 X21.29 Y23.38 F3000.00G1 X22.37 Y23.78 F3000.00G1 X23.34 Y23.52 F3000. 00G1 X23.44 Y23.35 F3000.00G1 X23.10 Y23.48 F3000.00G1 X22.40 Y23.62 F3000.00G1 X21.47 Y23.27 F3000.00G1 X20.95 Y22.70 F3000.00G1 X20.99 Y22 .34 F3000.00G1 X20.95 Y22.21 F3000.00G1 X20.69 Y22.24 F3000.00M300 S50.00 (перо вверх) G4 P150 (ожидание 150 мс) (ломаная линия, состоящая из 29 сегментов) G1 X14.38 Y22. 80 F3000.00M300 S30.00 (перо вниз) G4 P160 (ожидание 160 мс) G1 X13.38 Y23.55 F3000.00G1 X13.10 Y23.93 F3000.00G1 X13.67 Y24.07 F3000.00G1 X14.55 Y23. 88 F3000.00G1 X14.63 Y23.70 F3000.00G1 X14.39 Y23.52 F3000.00G1 X14.16 Y23.28 F3000.00G1 X14.51 Y22.88 F3000.00G1 X15.06 Y22.64 F3000.00G1 X15 .20 Y22.59 F3000.00G1 X14.92 Y22.47 F3000.00G1 X14.38 Y22.80 F3000.00G1 X14.38 Y22.80 F3000.00M300 S50.00 (перо вверх) G4 P150 (wai t 150 мс) (Ломаная линия, состоящая из 29 сегментов) G1 X12.06 Y23.03 F3000.00M300 S30.00 (перо вниз) G4 P160 (ожидание 160 мс) G1 X12.09 Y23.74 F3000.00G1 X12.87 Y24.26 F3000.00G1 X13.76 Y24.43 F3000.00G1 X14.60 Y24.23 F3000.00G1 X16.38 Y23.00 F3000.00G1 X15.54 Y23.51 F3000.00G1 X14.54 Y24.12 F3000.00G1 X13. 63 Y24.26 F3000.00G1 X12.46 Y23.91 F3000.00G1 X12.19 Y23.55 F3000.00G1 X12.21 Y23.14 F3000.00G1 X12.23 Y22.89 F3000.00G1 X12.06 Y23.03 F3000 .00G1 X12.06 Y23.03 F3000.00M300 S50.00 (перо вверх) G4 P150 (ожидание 150 мс) (ломаная линия, состоящая из 29 сегментов) G1 X21.77 Y26.53 F3000.00M300 S30.00 (перо вниз) G4 P160 (ожидание 160 мс) G1 X20.93 Y27.02 F3000.00G1 X20.39 Y27.69 F3000.00G1 X20.47 Y29.03 F3000.00G1 X20.47 Y28.66 F3000.00G1 X20.46 Y27.93 F3000. 00G1 X20.81 Y27.32 F3000.00G1 X20.97 Y27.19 F3000.00G1 X20.93 Y27.34 F3000.00G1 X21.01 Y27.75 F3000.00G1 X21.46 Y27.92 F3000.00G1 X21.99 Y27 .74 F3000.00G1 X22.19 Y27.29 F3000.00G1 X21.82 Y26.88 F3000.00G1 X21.45 Y26.76 F3000.00G1 X21.85 Y26.63 F3000.00G1 X22.79 Y26.50 F3 000.00G1 X23.47 Y26.76 F3000.00G1 X23.76 Y27.26 F3000.00G1 X23.87 Y27.64 F3000.00G1 X23.99 Y27.52 F3000.00G1 X23.83 Y26.97 F3000.00G1 X23.03 Y26.40 F3000.00G1 X21.77 Y26.53 F3000.00G1 X21.77 Y26.53 F3000.00M300 S50.00 (перо вверх) G4 P150 (ожидание 150 мс) (ломаная линия, состоящая из 29 сегментов) G1 X27.79 Y22 .99 F3000.00M300 S30.00 (перо вниз) G4 P160 (ожидание 160 мс) G1 X29.58 Y24.08 F3000.00G1 X29.65 Y25.26 F3000.00G1 X29.13 Y25.25 F3000.00G1 X28.43 Y24 .71 F3000.00G1 X26.00 Y22.88 F3000.00G1 X26.04 Y22.79 F3000.00G1 X27.79 Y22.99 F3000.00G1 X27.79 Y22.99 F3000.00M300 S50.00 (перо вверх) G4 P150 (ожидание 150 мс) (Ломаная линия, состоящая из 29 сегментов.) G1 X25.85 Y27.75 F3000.00M300 S30.00 (перо вниз) G4 P160 (ожидание 160 мсек) G1 X26.10 Y28.24 F3000.00G1 X25.81 Y28. 87 F3000.00G1 X24.91 Y29.47 F3000.00G1 X24.81 Y29.07 F3000.00G1 X25.01 Y28.67 F3000.00G1 X25.41 Y28.54 F3000.00G1 X25.55 Y28.20 F3000.00G1 X25 .36 Y27.82 F3000.00G1 X25.25 Y27.58 F3000.00G1 X25.43 Y27.46 F3000.00G1 X25.85 Y27.75 F3000.00M300 S50.00 (перо вверх) G4 P150 (wa it 150 мс) (Ломаная линия, состоящая из 29 сегментов.) G1 X23.53 Y28.63 F3000.00M300 S30.00 (перо вниз) G4 P160 (ожидание 160 мс) G1 X22.85 Y29.32 F3000.00G1 X22.16 Y29.64 F3000.00G1 X21.18 Y29.54 F3000.00G1 X20.71 Y29.43 F3000.00G1 X22.20 Y28.86 F3000.00G1 X23.73 Y28.29 F3000.00G1 X23.53 Y28.63 F3000.00G1 X23. 53 Y28.63 F3000.00M300 S50.00 (перо вверх) G4 P150 (ожидание 150 мс) (полилиния, состоящая из 29 сегментов) G1 X27.46 Y28.97 F3000.00M300 S30.00 (перо вниз) G4 P160 (ожидание 160 мсек) ) G1 X27.72 Y29.09 F3000.00G1 X26.09 Y29.77 F3000.00G1 X25.56 Y29.96 F3000.00G1 X25.77 Y29.98 F3000.00G1 X25.59 Y30.22 F3000.00G1 X25.15 Y30.48 F3000.00G1 X25.02 Y30.03 F3000.00G1 X25.02 Y29.65 F3000.00G1 X25.34 Y29.43 F3000.00G1 X26.04 Y28.78 F3000.00G1 X26.34 Y28.31 F3000. 00G1 X26.77 Y28.61 F3000.00G1 X27.46 Y28.97 F3000.00G1 X27.46 Y28.97 F3000.00M300 S50.00 (перо вверх) G4 P150 (ожидание 150 мс) (ломаная линия, состоящая из 29 сегментов.) G1 X24.71 Y29.72 F3000.00M300 S30.00 (перо вниз) G4 P160 (ожидание 160 мс) G1 X24.20 Y29.82 F3000.00G1 X23.65 Y29.70 F3000.0 0G1 X24.07 Y29.24 F3000.00G1 X24.53 Y28.81 F3000.00G1 X24.62 Y29.16 F3000.00G1 X24.71 Y29.72 F3000.00G1 X24.71 Y29.72 F3000.00M300 S50.00 ( перо вверх) G4 P150 (ожидание 150 мс) (ломаная линия, состоящая из 29 сегментов) G1 X5.54 Y5.46 F3000.00M300 S30.00 (перо вниз) G4 P160 (ожидание 160 мс) G1 X5.91 Y5.48 F3000.00G1 X5.65 Y5.39 F3000.00G1 X5.54 Y5.46 F3000.00G1 X5.54 Y5.46 F3000.00M300 S50.00 (перо вверх) G4 P150 (ожидание 150 мс) (ломаная линия, состоящая из 29 сегментов) G1 X6 .11 Y5.52 F3000.00M300 S30.00 (перо вниз) G4 P160 (ожидание 160 мс) G1 X6.17 Y5.64 F3000.00G1 X6.18 Y5.47 F3000.00G1 X6.11 Y5.52 F3000.00G1 X6 .11 Y5.52 F3000.00M300 S50.00 (перо вверх) G4 P150 (ожидание 150 мс) (ломаная линия, состоящая из 29 сегментов.) G1 X6.34 Y5.49 F3000.00M300 S30.00 (перо вниз) G4 P160 (ожидание 160 мс) G1 X6.88 Y5.56 F3000.00G1 X7.42 Y5.50 F3000.00G1 X6.88 Y5.43 F3000.00G1 X6.34 Y5.49 F3000.00M300 S50.00 (перо вверх) G4 P150 (подождите 150 мс) (ломаная линия, состоящая из 29 сегментов.) G1 X7.58 Y5.52 F3000.00M300 S30.00 (перо вниз) G4 P160 (ожидание 160 мс) G1 X7.74 Y5.60 F3000.00G1 X7.8 3 Y5.48 F3000.00G1 X7.58 Y5.52 F3000.00M300 S50.00 (перо вверх) G4 P150 (ожидание 150 мс) (ломаная линия, состоящая из 29 сегментов) G1 X8.50 Y5.49 F3000.00M300 S30.00 (перо вниз) G4 P160 (ожидание 160 мс) G1 X8.86 Y5.58 F3000.00G1 X9.21 Y5.51 F3000.00G1 X8.86 Y5.42 F3000.00G1 X8.50 Y5.49 F3000.00M300 S50.00 (перо вверх) G4 P150 (ожидание 150 мс) (полилиния, состоящая из 29 сегментов) G1 X6.75 Y6.41 F3000.00M300 S30.00 (перо вниз) G4 P160 (ожидание 160 мс) G1 X6.93 Y6.46 F3000. 00G1 X6.91 Y6.29 F3000.00G1 X6.75 Y6.41 F3000.00G1 X6.75 Y6.41 F3000.00M300 S50.00 (перо вверх) G4 P150 (ожидание 150 мс) (ломаная линия, состоящая из 29 сегментов.) G1 X7.49 Y6.39 F3000.00M300 S30.00 (перо вниз) G4 P160 (ожидание 160 мс) G1 X7.53 Y6.53 F3000.00G1 X7.70 Y6.45 F3000.00G1 X7.49 Y6.39 F3000.00G1 X7.49 Y6.39 F3000.00M300 S50.00 (перо вверх) G4 P150 (ожидание 150 мс) (ломаная линия, состоящая из 29 сегментов) G1 X16.85 Y4.97 F3000.00M300 S30.00 (перо вниз) G4 P160 ( подождите 160 мс) G1 X14.07 Y5.98 F3000.00G1 X13.33 Y6.40 F3000.00G1 X10.74 Y6.40 F3000.00G1 X8.14 Y6.49 F3000.00G1 X10.60 Y6.58 F3000 .00G1 X13.07 Y6.64 F3000.00G1 X12.75 Y6.98 F3000.00G1 X11.99 Y8.33 F3000.00G1 X12.30 Y9.13 F3000.00G1 X12.98 Y9.85 F3000.00G1 X14.73 Y10.48 F3000.00G1 X16.42 Y10.34 F3000.00G1 X16.89 Y10.16 F3000.00G1 X17.20 Y10.44 F3000.00G1 X17.44 Y10.92 F3000.00G1 X15.95 Y12.12 F3000. 00G1 X14.52 Y13.21 F3000.00G1 X14.17 Y14.50 F3000.00G1 X14.18 Y14.85 F3000.00G1 X13.90 Y14.95 F3000.00G1 X13.30 Y15.34 F3000.00G1 X13.02 Y16 .08 F3000.00G1 X13.23 Y16.62 F3000.00G1 X14.03 Y16.94 F3000.00G1 X14.80 Y16.89 F3000.00G1 X15.21 Y16.80 F3000.00G1 X15.35 Y17.02 F3000.00G1 X15.71 Y17.77 F3000.00G1 X16.05 Y18.61 F3000.00G1 X15.77 Y19.35 F3000.00G1 X15.47 Y20.24 F3000.00G1 X15.20 Y20.73 F3000.00G1 X13.98 Y20. 91 F3000.00G1 X12.47 Y21.26 F3000.00G1 X11.32 Y21.88 F3000.00G1 X10.23 Y23.00 F3000.00G1 X9.82 Y24.17 F3000.00G1 X9.94 Y24.90 F3000.00G1 X10 .41 Y25.47 F3000.00G1 X10.77 Y25.78 F3000.00G1 X10.53 Y26.37 F3000.00G1 X10.04 Y28.07 F3000.00G1 X10.02 Y29.68 F3000.00G1 X10.50 Y31.25 F3000.00G1 X11.46 Y32.80 F3000.00G1 X 13.34 Y34.54 F3000.00G1 X15.75 Y36.02 F3000.00G1 X16.94 Y36.57 F3000.00G1 X11.31 Y36.60 F3000.00G1 X5.53 Y36.58 F3000.00G1 X5.38 Y21.60 F3000 .00G1 X5.41 Y8.55 F3000.00G1 X5.62 Y6.61 F3000.00G1 X5.85 Y6.48 F3000.00G1 X5.50 Y6.40 F3000.00G1 X5.14 Y6.40 F3000.00G1 X5.14 Y21.60 F3000.00G1 X5.14 Y36.80 F3000.00G1 X11.39 Y36.80 F3000.00G1 X17.65 Y36.80 F3000.00G1 X18.65 Y37.07 F3000.00G1 X21.13 Y37.54 F3000. 00G1 X23.70 Y37.69 F3000.00G1 X26.12 Y37.52 F3000.00G1 X28.11 Y37.03 F3000.00G1 X28.70 Y36.80 F3000.00G1 X33.01 Y36.80 F3000.00G1 X37.32 Y36 .80 F3000.00G1 X37.32 Y21.60 F3000.00G1 X37.32 Y6.40 F3000.00G1 X32.21 Y6.40 F3000.00G1 X26.73 Y6.25 F3000.00G1 X22.57 Y5.07 F3000.00G1 X16.85 Y4.97 F3000.00G1 X16.85 Y4.97 F3000.00M300 S50.00 (pen up)G4 P150 (wait 150ms)(Polyline consisting of 29 segments.)G1 X20.57 Y5.03 F3000.00M300 S30 .00 (pen down)G4 P160 (wait 160ms)G1 X23.06 Y5.34 F3000.00G1 X24.86 Y5.94 F3000.00G1 X25.99 Y6.82 F3000.00G1 X26.48 Y8.01 F3000.00G1 X26 .11 Y9.51 F3000.00G1 X24.89 Y 10.76 F3000.00G1 X23.73 Y11.07 F3000.00G1 X22.18 Y10.75 F3000.00G1 X20.76 Y10.29 F3000.00G1 X20.13 Y9.96 F3000.00G1 X19.83 Y9.40 F3000.00G1 X19.66 Y9.17 F3000.00G1 X19.74 Y9.72 F3000.00G1 X20.51 Y10.61 F3000.00G1 X21.41 Y11.91 F3000.00G1 X21.31 Y12.42 F3000.00G1 X20.85 Y12.91 F3000.00G1 X19.04 Y13.73 F3000.00G1 X18.83 Y13.81 F3000.00G1 X19.56 Y13.72 F3000.00G1 X20.90 Y13.07 F3000.00G1 X21.48 Y12.71 F3000.00G1 X21.88 Y12.90 F3000.00G1 X23.87 Y14.56 F3000.00G1 X24.34 Y15.23 F3000.00G1 X23.85 Y15.22 F3000.00G1 X19.04 Y15.20 F3000.00G1 X16.99 Y15.70 F3000.00G1 X15.62 Y16.42 F3000.00G1 X15.31 Y16.66 F3000.00G1 X14.86 Y15.95 F3000.00G1 X14.39 Y14.29 F3000.00G1 X14.89 Y12.97 F3000.00G1 X16.02 Y12.25 F3000.00G1 X17.19 Y11.48 F3000.00G1 X17.63 Y10.79 F3000.00G1 X16.90 Y10.01 F3000.00G1 X16.07 Y9.45 F3000.00G1 X16.23 Y9.73 F3000.00G1 X16.50 Y10.15 F3000.00G1 X14.70 Y10.34 F3000.00G1 X13.17 Y9.72 F3000.00G1 X12.44 Y9.03 F3000.00G1 X12.23 Y8.30 F3000.00G1 X12.53 Y7.53 F3000.00G1 X13.34 Y6.71 F3000 .00G1 X15.72 Y5.44 F3000.00G1 X18.83 Y4.95 F3000.00G1 X20.57 Y5.03 F3000.00G1 X20.57 Y5.03 F3000.00M300 S50.00 (pen up)G4 P150 (wait 150ms)(Polyline consisting of 29 segments.)G1 X27.30 Y6.65 F3000.00M300 S30.00 (pen down)G4 P160 (wait 160ms)G1 X29.25 Y7.52 F3000.00G1 X30.16 Y8.34 F3000.00G1 X30.46 Y9.06 F3000.00G1 X30.29 Y9.88 F3000.00G1 X29.49 Y10.84 F3000.00G1 X28.16 Y11.51 F3000.00G1 X26.25 Y11.62 F3000.00G1 X25.07 Y10.96 F3000.00G1 X25.51 Y10.50 F3000.00G1 X26.26 Y9.62 F3000.00G1 X26.58 Y8.19 F3000.00G1 X26.44 Y7.12 F3000.00G1 X25.77 Y6.34 F3000.00G1 X25.47 Y6.07 F3000.00G1 X25.68 Y6.08 F3000.00G1 X27.30 Y6.65 F3000.00G1 X27.30 Y6.65 F3000.00M300 S50.00 (pen up)G4 P150 (wait 150ms)(Polyline consisting of 29 segments.)G1 X37.06 Y21.42 F3000.00M300 S30.00 (pen down)G4 P160 (wait 160ms)G1 X37.02 Y36.41 F3000.00G1 X36.96 Y36.62 F3000.00G1 X33.06 Y36.62 F3000.00G1 X29.16 Y36.58 F3000.00G1 X29.47 Y36.10 F3000.00G1 X29.73 Y35.05 F3000.00G1 X29.34 Y34.00 F3000.00G1 X28.36 Y33.19 F3000.00G 1 X26.78 Y32.58 F3000.00G1 X24.56 Y32.18 F3000.00G1 X24.11 Y32.04 F3000.00G1 X24.44 Y31.73 F3000.00G1 X25.27 Y31.55 F3000.00G1 X28.11 Y31.00 F3000.00G1 X28.91 Y30.55 F3000.00G1 X29.29 Y29.72 F3000.00G1 X29.84 Y28.76 F3000.00G1 X30.44 Y28.08 F3000.00G1 X30.69 Y27.27 F3000.00G1 X30.58 Y26.46 F3000.00G1 X30.11 Y25.77 F3000.00G1 X29.82 Y25.45 F3000.00G1 X29.90 Y25.05 F3000.00G1 X29.83 Y24.22 F3000.00G1 X28.51 Y23.12 F3000.00G1 X26.38 Y22.66 F3000.00G1 X25.09 Y22.48 F3000.00G1 X24.68 Y22.25 F3000.00G1 X24.95 Y22.15 F3000.00G1 X26.03 Y21.82 F3000.00G1 X27.25 Y21.07 F3000.00G1 X27.59 Y20.36 F3000.00G1 X27.42 Y19.68 F3000.00G1 X26.21 Y18.82 F3000.00G1 X24.70 Y18.51 F3000.00G1 X24.39 Y18.50 F3000.00G1 X24.42 Y18.22 F3000.00G1 X24.59 Y16.70 F3000.00G1 X24.63 Y15.61 F3000.00G1 X24.39 Y15.01 F3000.00G1 X23.81 Y14.22 F3000.00G1 X23.52 Y13.85 F3000.00G1 X24.03 Y13.49 F3000.00G1 X24.69 Y12.99 F3000.00G1 X24.78 Y12.31 F3000.00G1 X24.54 Y11.48 F3000.00G1 X24.58 Y11.08 F3000.00G1 X25.21 Y11.31 F3000.00G 1 X26.08 Y11.74 F3000.00G1 X27.14 Y11.85 F3000.00G1 X28.29 Y11.66 F3000.00G1 X29.41 Y11.16 F3000.00G1 X30.24 Y10.39 F3000.00G1 X30.57 Y9.37 F3000.00...This file has been truncated, please download it to see its full contents.

Stepper CodeArduino

//AMIT#include #include #define LINE_BUFFER_LENGTH 512char STEP =MICROSTEP;// Servo position for Up and Down const int penZUp =115;const int penZDown =83;// Servo on PWM pin 10const int penServoPin =10;// Should be right for DVD steppers, but is not too important hereconst int stepsPerRevolution =48; // create servo object to control a servo Servo penServo; // Initialize steppers for X- and Y-axis using this Arduino pins for the L293D H-bridgeAF_Stepper myStepperY(stepsPerRevolution,1); AF_Stepper myStepperX(stepsPerRevolution,2); /* Structures, global variables */struct point { float x; float y; float z; };// Current position of plotheadstruct point actuatorPos;// Drawing settings, should be OKfloat StepInc =1;int StepDelay =0;int LineDelay =0;int penDelay =50;// Motor steps to go 1 millimeter.// Use test sketch to go 100 steps. Measure the length of line. // Calculate steps per mm. Enter here.float StepsPerMillimeterX =100.0;float StepsPerMillimeterY =100.0;// Drawing robot limits, in mm// OK to start with. Could go up to 50 mm if calibrated well. float Xmin =0;float Xmax =40;float Ymin =0;float Ymax =40;float Zmin =0;float Zmax =1;float Xpos =Xmin;float Ypos =Ymin;float Zpos =Zmax; // Set to true to get debug output.boolean verbose =false;// Needs to interpret // G1 for moving// G4 P300 (wait 150ms)// M300 S30 (pen down)// M300 S50 (pen up)// Discard anything with a (// Discard any other command!/********************** * void setup() - Initialisations ***********************/void setup() { // Setup Serial.begin( 9600 ); penServo.attach(penServoPin); penServo.write(penZUp); delay(100); // Decrease if necessary myStepperX.setSpeed(600); myStepperY.setSpeed(600); // Set &move to initial default position // TBD // Notifications!!! Serial.println("Mini CNC Plotter alive and kicking!"); Serial.print("X range is from "); Serial.print(Xmin); Serial.print(" to "); Serial.print(Xmax); Serial.println(" mm."); Serial.print("Y range is from "); Serial.print(Ymin); Serial.print(" to "); Serial.print(Ymax); Serial.println(" mm."); }/********************** * void loop() - Main loop ***********************/void loop() { delay(100); char line[ LINE_BUFFER_LENGTH ]; char c; int lineIndex; bool lineIsComment, lineSemiColon; lineIndex =0; lineSemiColon =false; lineIsComment =false; while (1) { // Serial reception - Mostly from Grbl, added semicolon support while ( Serial.available()>0 ) { c =Serial.read(); if (( c =='\n') || (c =='\r') ) { // End of line reached if ( lineIndex> 0 ) { // Line is complete. Then execute! line[ lineIndex ] ='\0'; // Terminate string if (verbose) { Serial.print( "Received :"); Serial.println( line ); } processIncomingLine( line, lineIndex ); lineIndex =0; } else { // Empty or comment line. Skip block. } lineIsComment =false; lineSemiColon =false; Serial.println("ok"); } else { if ( (lineIsComment) || (lineSemiColon) ) { // Throw away all comment characters if ( c ==')' ) lineIsComment =false; // End of comment. Resume line. } else { if ( c <=' ' ) { // Throw away whitepace and control characters } else if ( c =='/' ) { // Block delete not supported. Ignore character. } else if ( c =='(' ) { // Enable comments flag and ignore all characters until ')' or EOL. lineIsComment =true; } else if ( c ==';' ) { lineSemiColon =true; } else if ( lineIndex>=LINE_BUFFER_LENGTH-1 ) { Serial.println( "ERROR - lineBuffer overflow" ); lineIsComment =false; lineSemiColon =false; } else if ( c>='a' &&c <='z' ) { // Upcase lowercase line[ lineIndex++ ] =c-'a'+'A'; } else { line[ lineIndex++ ] =c; } } } } }}void processIncomingLine( char* line, int charNB ) { int currentIndex =0; char buffer[ 64 ]; // Hope that 64 is enough for 1 parameter struct point newPos; newPos.x =0.0; newPos.y =0.0; // Needs to interpret // G1 for moving // G4 P300 (wait 150ms) // G1 X60 Y30 // G1 X30 Y50 // M300 S30 (pen down) // M300 S50 (pen up) // Discard anything with a ( // Discard any other command! while( currentIndex =Xmax) { x1 =Xmax; } if (x1 <=Xmin) { x1 =Xmin; } if (y1>=Ymax) { y1 =Ymax; } if (y1 <=Ymin) { y1 =Ymin; } if (verbose) { Serial.print("Xpos, Ypos:"); Serial.print(Xpos); Serial.print (","); Serial.print(Ypos); Serial.println (""); } if (verbose) { Serial.print("x1, y1:"); Serial.print(x1); Serial.print (","); Serial.print(y1); Serial.println (""); } // Convert coordinates to steps x1 =(int)(x1*StepsPerMillimeterX); y1 =(int)(y1*StepsPerMillimeterY); float x0 =Xpos; float y0 =Ypos; // Let's find out the change for the coordinates long dx =abs(x1-x0); long dy =abs(y1-y0); int sx =x0 dy) { for (i=0; i=dx) { over-=dx; myStepperY.onestep(sy,STEP); } delay(StepDelay); } } else { for (i=0; i=dy) { over-=dy; myStepperX.onestep(sx,STEP); } delay(StepDelay); } } if (verbose) { Serial.print("dx, dy:"); Serial.print(dx); Serial.print (","); Serial.print(dy); Serial.println (""); } if (verbose) { Serial.print("Going to ("); Serial.print(x0); Serial.print(","); Serial.print(y0); Serial.println(")"); } // Delay before any next lines are submitted delay(LineDelay); // Update the positions Xpos =x1; Ypos =y1;}// Raises penvoid penUp() { penServo.write(penZUp); delay(penDelay); Zpos=Zmax; digitalWrite(15, LOW); digitalWrite(16, HIGH); if (verbose) { Serial.println("Pen up!"); } }// Lowers penvoid penDown() { penServo.write(penZDown); delay(penDelay); Zpos=Zmin; digitalWrite(15, HIGH); digitalWrite(16, LOW); if (verbose) { Serial.println("Pen down."); }} 

LibrariesArduino

// Adafruit Motor shield library// copyright Adafruit Industries LLC, 2009// this code is public domain, enjoy!#if (ARDUINO>=100) #include "Arduino.h"#else #if defined(__AVR__) #include  #endif #include "WProgram.h"#endif#include "AFMotor.h"static uint8_t latch_state;#if (MICROSTEPS ==8)uint8_t microstepcurve[] ={0, 50, 98, 142, 180, 212, 236, 250, 255};#elif (MICROSTEPS ==16)uint8_t microstepcurve[] ={0, 25, 50, 74, 98, 120, 141, 162, 180, 197, 212, 225, 236, 244, 250, 253, 255};#endifAFMotorController::AFMotorController(void) { TimerInitalized =false;}void AFMotorController::enable(void) { // setup the latch /* LATCH_DDR |=_BV(LATCH); ENABLE_DDR |=_BV(ENABLE); CLK_DDR |=_BV(CLK); SER_DDR |=_BV(SER); */ pinMode(MOTORLATCH, OUTPUT); pinMode(MOTORENABLE, OUTPUT); pinMode(MOTORDATA, OUTPUT); pinMode(MOTORCLK, OUTPUT); latch_state =0; latch_tx(); // "reset" //ENABLE_PORT &=~_BV(ENABLE); // enable the chip outputs! digitalWrite(MOTORENABLE, LOW);}void AFMotorController::latch_tx(void) { uint8_t i; //LATCH_PORT &=~_BV(LATCH); digitalWrite(MOTORLATCH, LOW); //SER_PORT &=~_BV(SER); digitalWrite(MOTORDATA, LOW); for (i=0; i<8; i++) { //CLK_PORT &=~_BV(CLK); digitalWrite(MOTORCLK, LOW); if (latch_state &_BV(7-i)) { //SER_PORT |=_BV(SER); digitalWrite(MOTORDATA, HIGH); } else { //SER_PORT &=~_BV(SER); digitalWrite(MOTORDATA, LOW); } //CLK_PORT |=_BV(CLK); digitalWrite(MOTORCLK, HIGH); } //LATCH_PORT |=_BV(LATCH); digitalWrite(MOTORLATCH, HIGH);}static AFMotorController MC;/****************************************** MOTORS******************************************/inline void initPWM1(uint8_t freq) {#if defined(__AVR_ATmega8__) || \ defined(__AVR_ATmega48__) || \ defined(__AVR_ATmega88__) || \ defined(__AVR_ATmega168__) || \ defined(__AVR_ATmega328P__) // use PWM from timer2A on PB3 (Arduino pin #11) TCCR2A |=_BV(COM2A1) | _BV(WGM20) | _BV(WGM21); // fast PWM, turn on oc2a TCCR2B =freq &0x7; OCR2A =0;#elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) // on arduino mega, pin 11 is now PB5 (OC1A) TCCR1A |=_BV(COM1A1) | _BV(WGM10); // fast PWM, turn on oc1a TCCR1B =(freq &0x7) | _BV(WGM12); OCR1A =0;#elif defined(__PIC32MX__) #if defined(PIC32_USE_PIN9_FOR_M1_PWM) // Make sure that pin 11 is an input, since we have tied together 9 and 11 pinMode(9, OUTPUT); pinMode(11, INPUT); if (!MC.TimerInitalized) { // Set up Timer2 for 80MHz counting fro 0 to 256 T2CON =0x8000 | ((freq &0x07) <<4); // ON=1, FRZ=0, SIDL=0, TGATE=0, TCKPS=, T32=0, TCS=0; // ON=1, FRZ=0, SIDL=0, TGATE=0, TCKPS=0, T32=0, TCS=0 TMR2 =0x0000; PR2 =0x0100; MC.TimerInitalized =true; } // Setup OC4 (pin 9) in PWM mode, with Timer2 as timebase OC4CON =0x8006; // OC32 =0, OCTSEL=0, OCM=6 OC4RS =0x0000; OC4R =0x0000; #elif defined(PIC32_USE_PIN10_FOR_M1_PWM) // Make sure that pin 11 is an input, since we have tied together 9 and 11 pinMode(10, OUTPUT); pinMode(11, INPUT); if (!MC.TimerInitalized) { // Set up Timer2 for 80MHz counting fro 0 to 256 T2CON =0x8000 | ((freq &0x07) <<4); // ON=1, FRZ=0, SIDL=0, TGATE=0, TCKPS=, T32=0, TCS=0; // ON=1, FRZ=0, SIDL=0, TGATE=0, TCKPS=0, T32=0, TCS=0 TMR2 =0x0000; PR2 =0x0100; MC.TimerInitalized =true; } // Setup OC5 (pin 10) in PWM mode, with Timer2 as timebase OC5CON =0x8006; // OC32 =0, OCTSEL=0, OCM=6 OC5RS =0x0000; OC5R =0x0000; #else // If we are not using PWM for pin 11, then just do digital digitalWrite(11, LOW); #endif#else #error "This chip is not supported!"#endif #if !defined(PIC32_USE_PIN9_FOR_M1_PWM) &&!defined(PIC32_USE_PIN10_FOR_M1_PWM) pinMode(11, OUTPUT); #endif}inline void setPWM1(uint8_t s) {#if defined(__AVR_ATmega8__) || \ defined(__AVR_ATmega48__) || \ defined(__AVR_ATmega88__) || \ defined(__AVR_ATmega168__) || \ defined(__AVR_ATmega328P__) // use PWM from timer2A on PB3 (Arduino pin #11) OCR2A =s;#elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) // on arduino mega, pin 11 is now PB5 (OC1A) OCR1A =s;#elif defined(__PIC32MX__) #if defined(PIC32_USE_PIN9_FOR_M1_PWM) // Set the OC4 (pin 9) PMW duty cycle from 0 to 255 OC4RS =s; #elif defined(PIC32_USE_PIN10_FOR_M1_PWM) // Set the OC5 (pin 10) PMW duty cycle from 0 to 255 OC5RS =s; #else // If we are not doing PWM output for M1, then just use on/off if (s> 127) { digitalWrite(11, HIGH); } else { digitalWrite(11, LOW); } #endif#else #error "This chip is not supported!"#endif}inline void initPWM2(uint8_t freq) {#if defined(__AVR_ATmega8__) || \ defined(__AVR_ATmega48__) || \ defined(__AVR_ATmega88__) || \ defined(__AVR_ATmega168__) || \ defined(__AVR_ATmega328P__) // use PWM from timer2B (pin 3) TCCR2A |=_BV(COM2B1) | _BV(WGM20) | _BV(WGM21); // fast PWM, turn on oc2b TCCR2B =freq &0x7; OCR2B =0;#elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) // on arduino mega, pin 3 is now PE5 (OC3C) TCCR3A |=_BV(COM1C1) | _BV(WGM10); // fast PWM, turn on oc3c TCCR3B =(freq &0x7) | _BV(WGM12); OCR3C =0;#elif defined(__PIC32MX__) if (!MC.TimerInitalized) { // Set up Timer2 for 80MHz counting fro 0 to 256 T2CON =0x8000 | ((freq &0x07) <<4); // ON=1, FRZ=0, SIDL=0, TGATE=0, TCKPS=, T32=0, TCS=0; // ON=1, FRZ=0, SIDL=0, TGATE=0, TCKPS=0, T32=0, TCS=0 TMR2 =0x0000; PR2 =0x0100; MC.TimerInitalized =true; } // Setup OC1 (pin3) in PWM mode, with Timer2 as timebase OC1CON =0x8006; // OC32 =0, OCTSEL=0, OCM=6 OC1RS =0x0000; OC1R =0x0000;#else #error "This chip is not supported!"#endif pinMode(3, OUTPUT);}inline void setPWM2(uint8_t s) {#if defined(__AVR_ATmega8__) || \ defined(__AVR_ATmega48__) || \ defined(__AVR_ATmega88__) || \ defined(__AVR_ATmega168__) || \ defined(__AVR_ATmega328P__) // use PWM from timer2A on PB3 (Arduino pin #11) OCR2B =s;#elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) // on arduino mega, pin 11 is now PB5 (OC1A) OCR3C =s;#elif defined(__PIC32MX__) // Set the OC1 (pin3) PMW duty cycle from 0 to 255 OC1RS =s;#else #error "This chip is not supported!"#endif}inline void initPWM3(uint8_t freq) {#if defined(__AVR_ATmega8__) || \ defined(__AVR_ATmega48__) || \ defined(__AVR_ATmega88__) || \ defined(__AVR_ATmega168__) || \ defined(__AVR_ATmega328P__) // use PWM from timer0A / PD6 (pin 6) TCCR0A |=_BV(COM0A1) | _BV(WGM00) | _BV(WGM01); // fast PWM, turn on OC0A //TCCR0B =freq &0x7; OCR0A =0;#elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) // on arduino mega, pin 6 is now PH3 (OC4A) TCCR4A |=_BV(COM1A1) | _BV(WGM10); // fast PWM, turn on oc4a TCCR4B =(freq &0x7) | _BV(WGM12); //TCCR4B =1 | _BV(WGM12); OCR4A =0;#elif defined(__PIC32MX__) if (!MC.TimerInitalized) { // Set up Timer2 for 80MHz counting fro 0 to 256 T2CON =0x8000 | ((freq &0x07) <<4); // ON=1, FRZ=0, SIDL=0, TGATE=0, TCKPS=, T32=0, TCS=0; // ON=1, FRZ=0, SIDL=0, TGATE=0, TCKPS=0, T32=0, TCS=0 TMR2 =0x0000; PR2 =0x0100; MC.TimerInitalized =true; } // Setup OC3 (pin 6) in PWM mode, with Timer2 as timebase OC3CON =0x8006; // OC32 =0, OCTSEL=0, OCM=6 OC3RS =0x0000; OC3R =0x0000;#else #error "This chip is not supported!"#endif pinMode(6, OUTPUT);}inline void setPWM3(uint8_t s) {#if defined(__AVR_ATmega8__) || \ defined(__AVR_ATmega48__) || \ defined(__AVR_ATmega88__) || \ defined(__AVR_ATmega168__) || \ defined(__AVR_ATmega328P__) // use PWM from timer0A on PB3 (Arduino pin #6) OCR0A =s;#elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) // on arduino mega, pin 6 is now PH3 (OC4A) OCR4A =s;#elif defined(__PIC32MX__) // Set the OC3 (pin 6) PMW duty cycle from 0 to 255 OC3RS =s;#else #error "This chip is not supported!"#endif}inline void initPWM4(uint8_t freq) {#if defined(__AVR_ATmega8__) || \ defined(__AVR_ATmega48__) || \ defined(__AVR_ATmega88__) || \ defined(__AVR_ATmega168__) || \ defined(__AVR_ATmega328P__) // use PWM from timer0B / PD5 (pin 5) TCCR0A |=_BV(COM0B1) | _BV(WGM00) | _BV(WGM01); // fast PWM, turn on oc0a //TCCR0B =freq &0x7; OCR0B =0;#elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) // on arduino mega, pin 5 is now PE3 (OC3A) TCCR3A |=_BV(COM1A1) | _BV(WGM10); // fast PWM, turn on oc3a TCCR3B =(freq &0x7) | _BV(WGM12); //TCCR4B =1 | _BV(WGM12); OCR3A =0;#elif defined(__PIC32MX__) if (!MC.TimerInitalized) { // Set up Timer2 for 80MHz counting fro 0 to 256 T2CON =0x8000 | ((freq &0x07) <<4); // ON=1, FRZ=0, SIDL=0, TGATE=0, TCKPS=, T32=0, TCS=0; // ON=1, FRZ=0, SIDL=0, TGATE=0, TCKPS=0, T32=0, TCS=0 TMR2 =0x0000; PR2 =0x0100; MC.TimerInitalized =true; } // Setup OC2 (pin 5) in PWM mode, with Timer2 as timebase OC2CON =0x8006; // OC32 =0, OCTSEL=0, OCM=6 OC2RS =0x0000; OC2R =0x0000;#else #error "This chip is not supported!"#endif pinMode(5, OUTPUT);}inline void setPWM4(uint8_t s) {#if defined(__AVR_ATmega8__) || \ defined(__AVR_ATmega48__) || \ defined(__AVR_ATmega88__) || \ defined(__AVR_ATmega168__) || \ defined(__AVR_ATmega328P__) // use PWM from timer0A on PB3 (Arduino pin #6) OCR0B =s;#elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) // on arduino mega, pin 6 is now PH3 (OC4A) OCR3A =s;#elif defined(__PIC32MX__) // Set the OC2 (pin 5) PMW duty cycle from 0 to 255 OC2RS =s;#else #error "This chip is not supported!"#endif}AF_DCMotor::AF_DCMotor(uint8_t num, uint8_t freq) { motornum =num; pwmfreq =freq; MC.enable(); switch (num) { case 1:latch_state &=~_BV(MOTOR1_A) &~_BV(MOTOR1_B); // set both motor pins to 0 MC.latch_tx(); initPWM1(freq); ломать; case 2:latch_state &=~_BV(MOTOR2_A) &~_BV(MOTOR2_B); // set both motor pins to 0 MC.latch_tx(); initPWM2(freq); ломать; case 3:latch_state &=~_BV(MOTOR3_A) &~_BV(MOTOR3_B); // set both motor pins to 0 MC.latch_tx(); initPWM3(freq); ломать; case 4:latch_state &=~_BV(MOTOR4_A) &~_BV(MOTOR4_B); // set both motor pins to 0 MC.latch_tx(); initPWM4(freq); ломать; }}void AF_DCMotor::run(uint8_t cmd) { uint8_t a, b; switch (motornum) { case 1:a =MOTOR1_A; b =MOTOR1_B; ломать; case 2:a =MOTOR2_A; b =MOTOR2_B; ломать; case 3:a =MOTOR3_A; b =MOTOR3_B; ломать; case 4:a =MOTOR4_A; b =MOTOR4_B; ломать; default:return; } switch (cmd) { case FORWARD:latch_state |=_BV(a); latch_state &=~_BV(b); MC.latch_tx(); ломать; case BACKWARD:latch_state &=~_BV(a); latch_state |=_BV(b); MC.latch_tx(); ломать; case RELEASE:latch_state &=~_BV(a); // A and B both low latch_state &=~_BV(b); MC.latch_tx(); ломать; }}void AF_DCMotor::setSpeed(uint8_t speed) { switch (motornum) { case 1:setPWM1(speed); ломать; case 2:setPWM2(speed); ломать; case 3:setPWM3(speed); ломать; case 4:setPWM4(speed); ломать; }}/****************************************** STEPPERS******************************************/AF_Stepper::AF_Stepper(uint16_t steps, uint8_t num) { MC.enable(); revsteps =steps; steppernum =num; currentstep =0; if (steppernum ==1) { latch_state &=~_BV(MOTOR1_A) &~_BV(MOTOR1_B) &~_BV(MOTOR2_A) &~_BV(MOTOR2_B); // all motor pins to 0 MC.latch_tx(); // enable both H bridges pinMode(11, OUTPUT); pinMode(3, OUTPUT); digitalWrite(11, HIGH); digitalWrite(3, HIGH); // use PWM for microstepping support initPWM1(STEPPER1_PWM_RATE); initPWM2(STEPPER1_PWM_RATE); setPWM1(255); setPWM2(255); } else if (steppernum ==2) { latch_state &=~_BV(MOTOR3_A) &~_BV(MOTOR3_B) &~_BV(MOTOR4_A) &~_BV(MOTOR4_B); // all motor pins to 0 MC.latch_tx(); // enable both H bridges pinMode(5, OUTPUT); pinMode (6, ВЫХОД); digitalWrite(5, HIGH); digitalWrite (6, ВЫСОКИЙ); // use PWM for microstepping support // use PWM for microstepping support initPWM3(STEPPER2_PWM_RATE); initPWM4(STEPPER2_PWM_RATE); setPWM3(255); setPWM4(255); }}void AF_Stepper::setSpeed(uint16_t rpm) { usperstep =60000000 / ((uint32_t)revsteps * (uint32_t)rpm); steppingcounter =0;}void AF_Stepper::release(void) { if (steppernum ==1) { latch_state &=~_BV(MOTOR1_A) &~_BV(MOTOR1_B) &~_BV(MOTOR2_A) &~_BV(MOTOR2_B); // all motor pins to 0 MC.latch_tx(); } else if (steppernum ==2) { latch_state &=~_BV(MOTOR3_A) &~_BV(MOTOR3_B) &~_BV(MOTOR4_A) &~_BV(MOTOR4_B); // all motor pins to 0 MC.latch_tx(); }}void AF_Stepper::step(uint16_t steps, uint8_t dir, uint8_t style) { uint32_t uspers =usperstep; uint8_t ret =0; if (style ==INTERLEAVE) { uspers /=2; } else if (style ==MICROSTEP) { uspers /=MICROSTEPS; steps *=MICROSTEPS;#ifdef MOTORDEBUG Serial.print("steps ="); Serial.println(steps, DEC);#endif } while (steps--) { ret =onestep(dir, style); delay(uspers/1000); // in ms steppingcounter +=(uspers % 1000); if (steppingcounter>=1000) { delay(1); steppingcounter -=1000; } } if (style ==MICROSTEP) { while ((ret !=0) &&(ret !=MICROSTEPS)) { ret =onestep(dir, style); delay(uspers/1000); // in ms steppingcounter +=(uspers % 1000); if (steppingcounter>=1000) { delay(1); steppingcounter -=1000; } } }}uint8_t AF_Stepper::onestep(uint8_t dir, uint8_t style) { uint8_t a, b, c, d; uint8_t ocrb, ocra; ocra =ocrb =255; if (steppernum ==1) { a =_BV(MOTOR1_A); b =_BV(MOTOR2_A); c =_BV(MOTOR1_B); d =_BV(MOTOR2_B); } else if (steppernum ==2) { a =_BV(MOTOR3_A); b =_BV(MOTOR4_A); c =_BV(MOTOR3_B); d =_BV(MOTOR4_B); } else { return 0; } // next determine what sort of stepping procedure we're up to if (style ==SINGLE) { if ((currentstep/(MICROSTEPS/2)) % 2) { // we're at an odd step, weird if (dir ==FORWARD) { currentstep +=MICROSTEPS/2; } else { currentstep -=MICROSTEPS/2; } } else { // go to the next even step if (dir ==FORWARD) { currentstep +=MICROSTEPS; } else { currentstep -=MICROSTEPS; } } } else if (style ==DOUBLE) { if (! (currentstep/(MICROSTEPS/2) % 2)) { // we're at an even step, weird if (dir ==FORWARD) { currentstep +=MICROSTEPS/2; } else { currentstep -=MICROSTEPS/2; } } else { // go to the next odd step if (dir ==FORWARD) { currentstep +=MICROSTEPS; } else { currentstep -=MICROSTEPS; } } } else if (style ==INTERLEAVE) { if (dir ==FORWARD) { currentstep +=MICROSTEPS/2; } else { currentstep -=MICROSTEPS/2; } } if (style ==MICROSTEP) { if (dir ==FORWARD) { currentstep++; } else { // BACKWARDS currentstep--; } currentstep +=MICROSTEPS*4; currentstep %=MICROSTEPS*4; ocra =ocrb =0; if ( (currentstep>
=0) &&(currentstep 
=MICROSTEPS) &&(currentstep 
=MICROSTEPS*2) &&(currentstep 
=MICROSTEPS*3) &&(currentstep  #endif #include "WProgram.h"#endif#include "AFMotor.h"static uint8_t latch_state;#if (MICROSTEPS ==8)uint8_t microstepcurve[] ={0, 50, 98, 142, 180, 212, 236, 250, 255};#elif (MICROSTEPS ==16)uint8_t microstepcurve[] ={0, 25, 50, 74, 98, 120, 141, 162, 180, 197, 212, 225, 236, 244, 250, 253, 255};#endifAFMotorController::AFMotorController(void) { TimerInitalized =false;}void AFMotorController::enable(void) { // setup the latch /* LATCH_DDR |=_BV(LATCH); ENABLE_DDR |=_BV(ENABLE); CLK_DDR |=_BV(CLK); SER_DDR |=_BV(SER); */ pinMode(MOTORLATCH, OUTPUT); pinMode(MOTORENABLE, OUTPUT); pinMode(MOTORDATA, OUTPUT); pinMode(MOTORCLK, OUTPUT); latch_state =0; latch_tx(); // "reset" //ENABLE_PORT &=~_BV(ENABLE); // enable the chip outputs! digitalWrite(MOTORENABLE, LOW);}void AFMotorController::latch_tx(void) { uint8_t i; //LATCH_PORT &=~_BV(LATCH); digitalWrite(MOTORLATCH, LOW); //SER_PORT &=~_BV(SER); digitalWrite(MOTORDATA, LOW); for (i=0; i<8; i++) { //CLK_PORT &=~_BV(CLK); digitalWrite(MOTORCLK, LOW); if (latch_state &_BV(7-i)) { //SER_PORT |=_BV(SER); digitalWrite(MOTORDATA, HIGH); } else { //SER_PORT &=~_BV(SER); digitalWrite(MOTORDATA, LOW); } //CLK_PORT |=_BV(CLK); digitalWrite(MOTORCLK, HIGH); } //LATCH_PORT |=_BV(LATCH); digitalWrite(MOTORLATCH, HIGH);}static AFMotorController MC;/****************************************** MOTORS******************************************/inline void initPWM1(uint8_t freq) {#if defined(__AVR_ATmega8__) || \ defined(__AVR_ATmega48__) || \ defined(__AVR_ATmega88__) || \ defined(__AVR_ATmega168__) || \ defined(__AVR_ATmega328P__) // use PWM from timer2A on PB3 (Arduino pin #11) TCCR2A |=_BV(COM2A1) | _BV(WGM20) | _BV(WGM21); // fast PWM, turn on oc2a TCCR2B =freq &0x7; OCR2A =0;#elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) // on arduino mega, pin 11 is now PB5 (OC1A) TCCR1A |=_BV(COM1A1) | _BV(WGM10); // fast PWM, turn on oc1a TCCR1B =(freq &0x7) | _BV(WGM12); OCR1A =0;#elif defined(__PIC32MX__) #if defined(PIC32_USE_PIN9_FOR_M1_PWM) // Make sure that pin 11 is an input, since we have tied together 9 and 11 pinMode(9, OUTPUT); pinMode(11, INPUT); if (!MC.TimerInitalized) { // Set up Timer2 for 80MHz counting fro 0 to 256 T2CON =0x8000 | ((freq &0x07) <<4); // ON=1, FRZ=0, SIDL=0, TGATE=0, TCKPS=, T32=0, TCS=0; // ON=1, FRZ=0, SIDL=0, TGATE=0, TCKPS=0, T32=0, TCS=0 TMR2 =0x0000; PR2 =0x0100; MC.TimerInitalized =true; } // Setup OC4 (pin 9) in PWM mode, with Timer2 as timebase OC4CON =0x8006; // OC32 =0, OCTSEL=0, OCM=6 OC4RS =0x0000; OC4R =0x0000; #elif defined(PIC32_USE_PIN10_FOR_M1_PWM) // Make sure that pin 11 is an input, since we have tied together 9 and 11 pinMode(10, OUTPUT); pinMode(11, INPUT); if (!MC.TimerInitalized) { // Set up Timer2 for 80MHz counting fro 0 to 256 T2CON =0x8000 | ((freq &0x07) <<4); // ON=1, FRZ=0, SIDL=0, TGATE=0, TCKPS=, T32=0, TCS=0; // ON=1, FRZ=0, SIDL=0, TGATE=0, TCKPS=0, T32=0, TCS=0 TMR2 =0x0000; PR2 =0x0100; MC.TimerInitalized =true; } // Setup OC5 (pin 10) in PWM mode, with Timer2 as timebase OC5CON =0x8006; // OC32 =0, OCTSEL=0, OCM=6 OC5RS =0x0000; OC5R =0x0000; #else // If we are not using PWM for pin 11, then just do digital digitalWrite(11, LOW); #endif#else #error "This chip is not supported!"#endif #if !defined(PIC32_USE_PIN9_FOR_M1_PWM) &&!defined(PIC32_USE_PIN10_FOR_M1_PWM) pinMode(11, OUTPUT); #endif}inline void setPWM1(uint8_t s) {#if defined(__AVR_ATmega8__) || \ defined(__AVR_ATmega48__) || \ defined(__AVR_ATmega88__) || \ defined(__AVR_ATmega168__) || \ defined(__AVR_ATmega328P__) // use PWM from timer2A on PB3 (Arduino pin #11) OCR2A =s;#elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) // on arduino mega, pin 11 is now PB5 (OC1A) OCR1A =s;#elif defined(__PIC32MX__) #if defined(PIC32_USE_PIN9_FOR_M1_PWM) // Set the OC4 (pin 9) PMW duty cycle from 0 to 255 OC4RS =s; #elif defined(PIC32_USE_PIN10_FOR_M1_PWM) // Set the OC5 (pin 10) PMW duty cycle from 0 to 255 OC5RS =s; #else // If we are not doing PWM output for M1, then just use on/off if (s> 127) { digitalWrite(11, HIGH); } else { digitalWrite(11, LOW); } #endif#else #error "This chip is not supported!"#endif}inline void initPWM2(uint8_t freq) {#if defined(__AVR_ATmega8__) || \ defined(__AVR_ATmega48__) || \ defined(__AVR_ATmega88__) || \ defined(__AVR_ATmega168__) || \ defined(__AVR_ATmega328P__) // use PWM from timer2B (pin 3) TCCR2A |=_BV(COM2B1) | _BV(WGM20) | _BV(WGM21); // fast PWM, turn on oc2b TCCR2B =freq &0x7; OCR2B =0;#elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) // on arduino mega, pin 3 is now PE5 (OC3C) TCCR3A |=_BV(COM1C1) | _BV(WGM10); // fast PWM, turn on oc3c TCCR3B =(freq &0x7) | _BV(WGM12); OCR3C =0;#elif defined(__PIC32MX__) if (!MC.TimerInitalized) { // Set up Timer2 for 80MHz counting fro 0 to 256 T2CON =0x8000 | ((freq &0x07) <<4); // ON=1, FRZ=0, SIDL=0, TGATE=0, TCKPS=, T32=0, TCS=0; // ON=1, FRZ=0, SIDL=0, TGATE=0, TCKPS=0, T32=0, TCS=0 TMR2 =0x0000; PR2 =0x0100; MC.TimerInitalized =true; } // Setup OC1 (pin3) in PWM mode, with Timer2 as timebase OC1CON =0x8006; // OC32 =0, OCTSEL=0, OCM=6 OC1RS =0x0000; OC1R =0x0000;#else #error "This chip is not supported!"#endif pinMode(3, OUTPUT);}inline void setPWM2(uint8_t s) {#if defined(__AVR_ATmega8__) || \ defined(__AVR_ATmega48__) || \ defined(__AVR_ATmega88__) || \ defined(__AVR_ATmega168__) || \ defined(__AVR_ATmega328P__) // use PWM from timer2A on PB3 (Arduino pin #11) OCR2B =s;#elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) // on arduino mega, pin 11 is now PB5 (OC1A) OCR3C =s;#elif defined(__PIC32MX__) // Set the OC1 (pin3) PMW duty cycle from 0 to 255 OC1RS =s;#else #error "This chip is not supported!"#endif}inline void initPWM3(uint8_t freq) {#if defined(__AVR_ATmega8__) || \ defined(__AVR_ATmega48__) || \ defined(__AVR_ATmega88__) || \ defined(__AVR_ATmega168__) || \ defined(__AVR_ATmega328P__) // use PWM from timer0A / PD6 (pin 6) TCCR0A |=_BV(COM0A1) | _BV(WGM00) | _BV(WGM01); // fast PWM, turn on OC0A //TCCR0B =freq &0x7; OCR0A =0;#elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) // on arduino mega, pin 6 is now PH3 (OC4A) TCCR4A |=_BV(COM1A1) | _BV(WGM10); // fast PWM, turn on oc4a TCCR4B =(freq &0x7) | _BV(WGM12); //TCCR4B =1 | _BV(WGM12); OCR4A =0;#elif defined(__PIC32MX__) if (!MC.TimerInitalized) { // Set up Timer2 for 80MHz counting fro 0 to 256 T2CON =0x8000 | ((freq &0x07) <<4); // ON=1, FRZ=0, SIDL=0, TGATE=0, TCKPS=, T32=0, TCS=0; // ON=1, FRZ=0, SIDL=0, TGATE=0, TCKPS=0, T32=0, TCS=0 TMR2 =0x0000; PR2 =0x0100; MC.TimerInitalized =true; } // Setup OC3 (pin 6) in PWM mode, with Timer2 as timebase OC3CON =0x8006; // OC32 =0, OCTSEL=0, OCM=6 OC3RS =0x0000; OC3R =0x0000;#else #error "This chip is not supported!"#endif pinMode(6, OUTPUT);}inline void setPWM3(uint8_t s) {#if defined(__AVR_ATmega8__) || \ defined(__AVR_ATmega48__) || \ defined(__AVR_ATmega88__) || \ defined(__AVR_ATmega168__) || \ defined(__AVR_ATmega328P__) // use PWM from timer0A on PB3 (Arduino pin #6) OCR0A =s;#elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) // on arduino mega, pin 6 is now PH3 (OC4A) OCR4A =s;#elif defined(__PIC32MX__) // Set the OC3 (pin 6) PMW duty cycle from 0 to 255 OC3RS =s;#else #error "This chip is not supported!"#endif}inline void initPWM4(uint8_t freq) {#if defined(__AVR_ATmega8__) || \ defined(__AVR_ATmega48__) || \ defined(__AVR_ATmega88__) || \ defined(__AVR_ATmega168__) || \ defined(__AVR_ATmega328P__) // use PWM from timer0B / PD5 (pin 5) TCCR0A |=_BV(COM0B1) | _BV(WGM00) | _BV(WGM01); // fast PWM, turn on oc0a //TCCR0B =freq &0x7; OCR0B =0;#elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) // on arduino mega, pin 5 is now PE3 (OC3A) TCCR3A |=_BV(COM1A1) | _BV(WGM10); // fast PWM, turn on oc3a TCCR3B =(freq &0x7) | _BV(WGM12); //TCCR4B =1 | _BV(WGM12); OCR3A =0;#elif defined(__PIC32MX__) if (!MC.TimerInitalized) { // Set up Timer2 for 80MHz counting fro 0 to 256 T2CON =0x8000 | ((freq &0x07) <<4); // ON=1, FRZ=0, SIDL=0, TGATE=0, TCKPS=, T32=0, TCS=0; // ON=1, FRZ=0, SIDL=0, TGATE=0, TCKPS=0, T32=0, TCS=0 TMR2 =0x0000; PR2 =0x0100; MC.TimerInitalized =true; } // Setup OC2 (pin 5) in PWM mode, with Timer2 as timebase OC2CON =0x8006; // OC32 =0, OCTSEL=0, OCM=6 OC2RS =0x0000; OC2R =0x0000;#else #error "This chip is not supported!"#endif pinMode(5, OUTPUT);}inline void setPWM4(uint8_t s) {#if defined(__AVR_ATmega8__) || \ defined(__AVR_ATmega48__) || \ defined(__AVR_ATmega88__) || \ defined(__AVR_ATmega168__) || \ defined(__AVR_ATmega328P__) // use PWM from timer0A on PB3 (Arduino pin #6) OCR0B =s;#elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) // on arduino mega, pin 6 is now PH3 (OC4A) OCR3A =s;#elif defined(__PIC32MX__) // Set the OC2 (pin 5) PMW duty cycle from 0 to 255 OC2RS =s;#else #error "This chip is not supported!"#endif}AF_DCMotor::AF_DCMotor(uint8_t num, uint8_t freq) { motornum =num; pwmfreq =freq; MC.enable(); switch (num) { case 1:latch_state &=~_BV(MOTOR1_A) &~_BV(MOTOR1_B); // set both motor pins to 0 MC.latch_tx(); initPWM1(freq); ломать; case 2:latch_state &=~_BV(MOTOR2_A) &~_BV(MOTOR2_B); // set both motor pins to 0 MC.latch_tx(); initPWM2(freq); ломать; case 3:latch_state &=~_BV(MOTOR3_A) &~_BV(MOTOR3_B); // set both motor pins to 0 MC.latch_tx(); initPWM3(freq); ломать; case 4:latch_state &=~_BV(MOTOR4_A) &~_BV(MOTOR4_B); // set both motor pins to 0 MC.latch_tx(); initPWM4(freq); ломать; }}void AF_DCMotor::run(uint8_t cmd) { uint8_t a, b; switch (motornum) { case 1:a =MOTOR1_A; b =MOTOR1_B; ломать; case 2:a =MOTOR2_A; b =MOTOR2_B; ломать; case 3:a =MOTOR3_A; b =MOTOR3_B; ломать; case 4:a =MOTOR4_A; b =MOTOR4_B; ломать; default:return; } switch (cmd) { case FORWARD:latch_state |=_BV(a); latch_state &=~_BV(b); MC.latch_tx(); ломать; case BACKWARD:latch_state &=~_BV(a); latch_state |=_BV(b); MC.latch_tx(); ломать; case RELEASE:latch_state &=~_BV(a); // A and B both low latch_state &=~_BV(b); MC.latch_tx(); ломать; }}void AF_DCMotor::setSpeed(uint8_t speed) { switch (motornum) { case 1:setPWM1(speed); ломать; case 2:setPWM2(speed); ломать; case 3:setPWM3(speed); ломать; case 4:setPWM4(speed); ломать; }}/****************************************** STEPPERS******************************************/AF_Stepper::AF_Stepper(uint16_t steps, uint8_t num) { MC.enable(); revsteps =steps; steppernum =num; currentstep =0; if (steppernum ==1) { latch_state &=~_BV(MOTOR1_A) &~_BV(MOTOR1_B) &~_BV(MOTOR2_A) &~_BV(MOTOR2_B); // all motor pins to 0 MC.latch_tx(); // enable both H bridges pinMode(11, OUTPUT); pinMode(3, OUTPUT); digitalWrite(11, HIGH); digitalWrite(3, HIGH); // use PWM for microstepping support initPWM1(STEPPER1_PWM_RATE); initPWM2(STEPPER1_PWM_RATE); setPWM1(255); setPWM2(255); } else if (steppernum ==2) { latch_state &=~_BV(MOTOR3_A) &~_BV(MOTOR3_B) &~_BV(MOTOR4_A) &~_BV(MOTOR4_B); // all motor pins to 0 MC.latch_tx(); // enable both H bridges pinMode(5, OUTPUT); pinMode (6, ВЫХОД); digitalWrite(5, HIGH); digitalWrite (6, ВЫСОКИЙ); // use PWM for microstepping support // use PWM for microstepping support initPWM3(STEPPER2_PWM_RATE); initPWM4(STEPPER2_PWM_RATE); setPWM3(255); setPWM4(255); }}void AF_Stepper::setSpeed(uint16_t rpm) { usperstep =60000000 / ((uint32_t)revsteps * (uint32_t)rpm); steppingcounter =0;}void AF_Stepper::release(void) { if (steppernum ==1) { latch_state &=~_BV(MOTOR1_A) &~_BV(MOTOR1_B) &~_BV(MOTOR2_A) &~_BV(MOTOR2_B); // all motor pins to 0 MC.latch_tx(); } else if (steppernum ==2) { latch_state &=~_BV(MOTOR3_A) &~_BV(MOTOR3_B) &~_BV(MOTOR4_A) &~_BV(MOTOR4_B); // all motor pins to 0 MC.latch_tx(); }}void AF_Stepper::step(uint16_t steps, uint8_t dir, uint8_t style) { uint32_t uspers =usperstep; uint8_t ret =0; if (style ==INTERLEAVE) { uspers /=2; } else if (style ==MICROSTEP) { uspers /=MICROSTEPS; steps *=MICROSTEPS;#ifdef MOTORDEBUG Serial.print("steps ="); Serial.println(steps, DEC);#endif } while (steps--) { ret =onestep(dir, style); delay(uspers/1000); // in ms steppingcounter +=(uspers % 1000); if (steppingcounter>=1000) { delay(1); steppingcounter -=1000; } } if (style ==MICROSTEP) { while ((ret !=0) &&(ret !=MICROSTEPS)) { ret =onestep(dir, style); delay(uspers/1000); // in ms steppingcounter +=(uspers % 1000); if (steppingcounter>=1000) { delay(1); steppingcounter -=1000; } } }}uint8_t AF_Stepper::onestep(uint8_t dir, uint8_t style) { uint8_t a, b, c, d; uint8_t ocrb, ocra; ocra =ocrb =255; if (steppernum ==1) { a =_BV(MOTOR1_A); b =_BV(MOTOR2_A); c =_BV(MOTOR1_B); d =_BV(MOTOR2_B); } else if (steppernum ==2) { a =_BV(MOTOR3_A); b =_BV(MOTOR4_A); c =_BV(MOTOR3_B); d =_BV(MOTOR4_B); } else { return 0; } // next determine what sort of stepping procedure we're up to if (style ==SINGLE) { if ((currentstep/(MICROSTEPS/2)) % 2) { // we're at an odd step, weird if (dir ==FORWARD) { currentstep +=MICROSTEPS/2; } else { currentstep -=MICROSTEPS/2; } } else { // go to the next even step if (dir ==FORWARD) { currentstep +=MICROSTEPS; } else { currentstep -=MICROSTEPS; } } } else if (style ==DOUBLE) { if (! (currentstep/(MICROSTEPS/2) % 2)) { // we're at an even step, weird if (dir ==FORWARD) { currentstep +=MICROSTEPS/2; } else { currentstep -=MICROSTEPS/2; } } else { // go to the next odd step if (dir ==FORWARD) { currentstep +=MICROSTEPS; } else { currentstep -=MICROSTEPS; } } } else if (style ==INTERLEAVE) { if (dir ==FORWARD) { currentstep +=MICROSTEPS/2; } else { currentstep -=MICROSTEPS/2; } } if (style ==MICROSTEP) { if (dir ==FORWARD) { currentstep++; } else { // BACKWARDS currentstep--; } currentstep +=MICROSTEPS*4; currentstep %=MICROSTEPS*4; ocra =ocrb =0; if ( (currentstep>
=0) &&(currentstep 
=MICROSTEPS) &&(currentstep 
=MICROSTEPS*2) &&(currentstep 
=MICROSTEPS*3) &&(currentstep  
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