Skip to content
GitLab
Explore
Sign in
Primary navigation
Search or go to…
Project
G
geku
Manage
Activity
Members
Labels
Plan
Issues
Issue boards
Milestones
Wiki
Code
Merge requests
Repository
Branches
Commits
Tags
Repository graph
Compare revisions
Snippets
Build
Pipelines
Jobs
Pipeline schedules
Artifacts
Deploy
Releases
Model registry
Operate
Environments
Monitor
Incidents
Analyze
Value stream analytics
Contributor analytics
CI/CD analytics
Repository analytics
Model experiments
Help
Help
Support
GitLab documentation
Compare GitLab plans
GitLab community forum
Contribute to GitLab
Provide feedback
Keyboard shortcuts
?
Snippets
Groups
Projects
Show more breadcrumbs
42loop
geku
Commits
5b2a5f0a
Commit
5b2a5f0a
authored
Apr 15, 2019
by
42loop
Browse files
Options
Downloads
Patches
Plain Diff
further adaption to real hardware
parent
afb5828b
No related branches found
No related tags found
No related merge requests found
Changes
1
Show whitespace changes
Inline
Side-by-side
Showing
1 changed file
geku_teensy.ino
+98
-34
98 additions, 34 deletions
geku_teensy.ino
with
98 additions
and
34 deletions
geku_teensy.ino
+
98
−
34
View file @
5b2a5f0a
/////
#define debug
/////
#define info
#define debug
#define info
#define ENCODER_OPTIMIZE_INTERRUPTS
#include
<Encoder.h>
...
...
@@ -15,30 +15,38 @@
#define encZB 29
//switch inputs, clamped to 5V by zener diode
#define limitXM 0
#define limitXP 1
#define refX 2
#define limitYM 3
#define limitYP 4
#define refY 5
#define limitZM 6
#define limitZP 7
#define refZ 8
//ready inputs from servo amplifiers
#define readyX 9
#define readyY 10
#define readyZ 11
//output to reed relais
#define enableX 33
#define enableY 34
#define enableZ 35
//switch inputs leveled by external circuits A & B
#define limitXM 0 //EXT A,1
#define limitXP 1 //EXT A,2
#define refX 2 //EXT B,1
#define limitYM 3 //EXT A,3
#define limitYP 4 //EXT A,4
#define refY 5 //EXT B,3
#define limitZM 6 //EXT A,5
#define limitZP 7 //EXT A,6
#define refZ 8 //EXT B,5
//ready inputs from amps, leveled by external circuit
#define readyX 9 //EXT B,2
#define readyY 10 //EXT B,4
#define readyZ 11 //EXT B,6
//output to 24V, external circuit C
#define enableX 33 //EXT C,1
#define enableY 34 //EXT C,2
#define enableZ 35 //EXT C,3
//brake outputs
#define brakeX 14
#define brakeY 15
#define brakeZ 16
//encoder objects
Encoder
encX
(
encX
A
,
encX
B
);
Encoder
encY
(
encY
A
,
encY
B
);
Encoder
encZ
(
encZ
A
,
encZ
B
);
Encoder
encX
(
encX
B
,
encX
A
);
Encoder
encY
(
encY
B
,
encY
A
);
Encoder
encZ
(
encZ
B
,
encZ
A
);
byte
enablepins
[]
=
{
enableX
,
enableY
,
enableZ
};
...
...
@@ -46,6 +54,8 @@ byte limitMpins[]={limitXM,limitYM,limitZM};
byte
limitPpins
[]
=
{
limitXP
,
limitYP
,
limitZP
};
byte
readypins
[]
=
{
readyX
,
readyY
,
readyZ
};
byte
refpins
[]
=
{
refX
,
refY
,
refZ
};
byte
brakepins
[]
=
{
brakeX
,
brakeY
,
brakeZ
};
void
reportinputs
()
{
...
...
@@ -229,7 +239,7 @@ speed[ax]=null_speed;
mot_off
(
ax
);
pos
[
ax
]
=
0
;
#ifdef info
Serial
.
println
(
"homing of ax "
+
str
(
ax
)
+
" done"
);
//
Serial.println("homing of ax "+str(ax)+" done");
#endif
}
...
...
@@ -302,6 +312,13 @@ digitalWrite(enableX,LOW);
digitalWrite
(
enableY
,
LOW
);
digitalWrite
(
enableZ
,
LOW
);
pinMode
(
brakeX
,
OUTPUT
);
pinMode
(
brakeY
,
OUTPUT
);
pinMode
(
brakeZ
,
OUTPUT
);
digitalWrite
(
brakeX
,
LOW
);
digitalWrite
(
brakeY
,
LOW
);
digitalWrite
(
brakeZ
,
LOW
);
pinMode
(
limitXP
,
INPUT
);
...
...
@@ -317,7 +334,7 @@ pinMode(readyX,INPUT);
pinMode
(
readyY
,
INPUT
);
pinMode
(
readyZ
,
INPUT
);
/*
digitalWrite
(
limitXP
,
HIGH
);
digitalWrite
(
limitXM
,
HIGH
);
digitalWrite
(
limitYP
,
HIGH
);
...
...
@@ -330,7 +347,7 @@ digitalWrite(refZ,HIGH);
digitalWrite
(
readyX
,
HIGH
);
digitalWrite
(
readyY
,
HIGH
);
digitalWrite
(
readyZ
,
HIGH
);
*/
pinMode
(
led
,
OUTPUT
);
digitalWrite
(
led
,
HIGH
);
...
...
@@ -339,7 +356,35 @@ Serial.begin(115200);
Serial
.
println
(
"
\f
online..."
);
for
(
int
l
=
0
;
l
<
1000
;
l
++
)
{
reportinputs
();
delay
(
1000
);}
setbrake
(
0
,
false
);
setbrake
(
1
,
true
);
setbrake
(
2
,
true
);
mot_on
(
0
);
for
(
int
m
=
0
;
m
<
1000
;
m
++
)
{
/*reportinputs();
delay(1000);
for (int ab=0;ab<3;ab++)
{setbrake(ab,true);delay(1000);setbrake(ab,false);delay(1000);}
*/
for
(
int
ab
=
0
;
ab
<
3
;
ab
++
)
{
mot_on
(
ab
);
digitalWrite
(
led
,
HIGH
);
delay
(
300
);
mot_off
(
ab
);
digitalWrite
(
led
,
LOW
);
delay
(
300
);
}
}
/*
attachInterrupt(0, doEncoderX, RISING); // encoder pin on interrupt 0 - pin 2
...
...
@@ -348,24 +393,30 @@ attachInterrupt(2, doEncoderZ, RISING); // encoder pin on interrupt 1 - pin 3
*/
for
(
int
m
=
0
;
m
<
max_ax
;
m
++
)
set_ltc
();
//
for (int m=0;m<max_ax;m++) set_ltc();
for
(
int
a
=
0
;
a
<
max_ax
;
a
++
)
for
(
int
s
=
0
;
s
<
10
;
s
++
)
targets
[
a
][
s
]
=
maxpos
[
a
]
+
1
;
//
for (int a=0;a<max_ax;a++) for (int s=0;s<10;s++) targets[a][s]=maxpos[a]+1;
set_ltc
();
}
void
setbrake
(
int
ax
,
bool
val
)
{
digitalWrite
(
brakepins
[
ax
],
not
val
);
}
void
mot_on
(
int
id
)
{
if
(
enablepins
[
id
]
!=
0
)
digitalWrite
(
enablepins
[
id
],
HIGH
);
digitalWrite
(
enablepins
[
id
],
true
);
}
void
mot_off
(
int
id
)
{
if
(
enablepins
[
id
]
!=
0
)
digitalWrite
(
enablepins
[
id
],
LOW
);
digitalWrite
(
enablepins
[
id
],
false
);
}
...
...
@@ -375,6 +426,13 @@ void getEncoders()
pos
[
1
]
=
encY
.
read
();
pos
[
2
]
=
encZ
.
read
();
Serial
.
print
(
pos
[
0
]);
Serial
.
print
(
"
\t
"
);
Serial
.
print
(
pos
[
1
]);
Serial
.
print
(
"
\t
"
);
Serial
.
println
(
pos
[
2
]);
}
void
setEncoder
(
int
ax
,
long
val
)
...
...
@@ -402,6 +460,8 @@ void loop()
}
getEncoders
();
for
(
int
a
=
0
;
a
<
max_ax
;
a
++
)
{
testpos
(
a
);
...
...
@@ -416,6 +476,10 @@ void loop()
if
(
running
!=
lastrunning
)
{
if
(
running
)
Serial
.
println
(
"running"
);
else
{
...
...
@@ -495,9 +559,9 @@ while (Serial.available() > 0) {
isaxcmd
=
false
;
if
(
cmd
==
"b"
)
{
speed
[
1
]
+=
20
;
Serial
.
println
(
speed
[
1
]
-
null_speed
);
set_ltc
();}
if
(
cmd
==
"b"
)
{
speed
[
0
]
+=
20
;
Serial
.
println
(
speed
[
0
]
-
null_speed
);
set_ltc
();}
else
if
(
cmd
==
"c"
)
{
speed
[
1
]
-=
20
;
Serial
.
println
(
speed
[
1
]
-
null_speed
);
set_ltc
();}
if
(
cmd
==
"c"
)
{
speed
[
0
]
-=
20
;
Serial
.
println
(
speed
[
0
]
-
null_speed
);
set_ltc
();}
else
...
...
This diff is collapsed.
Click to expand it.
Preview
0%
Loading
Try again
or
attach a new file
.
Cancel
You are about to add
0
people
to the discussion. Proceed with caution.
Finish editing this message first!
Save comment
Cancel
Please
register
or
sign in
to comment