1 files changed, 229 insertions, 0 deletions
diff --git a/CodesArduino-for-plugin/TwoNema17-2DM542-OSP-Plugin-Test/TwoNema17-2DM542-OSP-Plugin-Test.ino b/CodesArduino-for-plugin/TwoNema17-2DM542-OSP-Plugin-Test/TwoNema17-2DM542-OSP-Plugin-Test.ino
new file mode 100644
index 0000000..17c7a08
--- /dev/null
+++ b/CodesArduino-for-plugin/TwoNema17-2DM542-OSP-Plugin-Test/TwoNema17-2DM542-OSP-Plugin-Test.ino
@@ -0,0 +1,229 @@
+#include <stdio.h>
+#include <string.h>
+#include <math.h>
+#include "OSP.h"
+
+/** 
+ * Declarations for stepper motor 1 (at the base)
+ * All the pins below are connected to digital pins of Arduino Nano.
+ */
+ 
+#define dir1 11 
+#define step1 12 
+#define enable1 10 
+
+#define relay1 2
+#define relay2 4
+#define relay3 5
+#define relay4 6
+
+/**
+ * Declarations for stepper motor 2 (at top holding LASER)
+ */
+#define dir2 8 
+#define step2 9 
+#define enable2 7 
+
+/**
+ * Digital pin to control the LASER 
+ * This pin is connected to gate (G) of IRF540
+ */
+int laserPin = 3;
+
+ 
+/**
+ * Library for control the device. 
+ */
+OSP Axes = OSP();
+String m_data, sac_data, salt_data; // to store LASER coorinates 
+
+void setup(){
+	Serial.begin(9600);	
+  pinMode(relay1,OUTPUT);
+  pinMode(relay2,OUTPUT);
+  pinMode(relay3,OUTPUT);
+  pinMode(relay4,OUTPUT);
+  
+  digitalWrite(relay1, HIGH);
+  digitalWrite(relay2, HIGH);
+  digitalWrite(relay3, HIGH);
+  digitalWrite(relay4, HIGH);
+  pinMode(laserPin, OUTPUT);
+	laserOff();
+  Axes.setMotorsPins(dir1, step1, enable1, dir2, step2, enable2);
+	Axes.delayValue = 30; // to adjust motor speed as Coarse and Fine 
+ 
+	}
+ 
+
+/**
+ * Turn LASER on at given intensity 
+ */
+void laserOn(int intensity){
+  analogWrite(laserPin, intensity);
+  }
+
+/**
+ * Turn LASER Off
+ */
+void laserOff(){
+	digitalWrite(laserPin, LOW);
+}
+
+
+void getAcAlt(){
+  char bytes[40];
+  int nbytes = 0;
+  bool recv=false;
+  while(!recv){
+  while(nbytes < 17){
+    if(Serial.available() > 0){
+      bytes[nbytes] = Serial.read();
+      nbytes++;
+    }
+    recv=true;
+  }
+  }
+
+ 
+/**
+ * As LASER coordinates, we receive string like movem_-4.5434_-2.5254.
+ * This string is chunked to extract ac and alt values. 
+ */
+
+  String data= String(bytes);
+  data.trim();
+  int len=data.length();
+  m_data=data;
+  sac_data=data;
+  salt_data=data;
+  m_data.remove(1,len-1);
+  sac_data.remove(0,2);
+  len=sac_data.length();
+  sac_data.remove(7,len-7);
+  len=salt_data.length();
+  salt_data=salt_data.substring(10,17);    
+}
+
+
+void loop(){
+
+ 
+  float ac, alt;
+  char comm[5];
+  int bytes_recv = 0;
+  bool mov_end;                                                     
+  comm[4]='\0';
+  while(bytes_recv < 4){
+    //Waiting for a command from serial monitor 
+    if (Serial.available() > 0)
+      comm[bytes_recv++] = Serial.read();
+      //Serial.println("here");
+      //Serial.println(analogRead(smps));        
+  }
+  
+    
+  if(strcmp(comm, "move")==0){
+    Serial.println("float");
+    getAcAlt();
+    Serial.println("done_move");
+    Axes.goToRads(sac_data.toFloat(),salt_data.toFloat());
+  }
+  
+  if(strcmp(comm, "movl")==0){
+    mov_end=Axes.movx(false,step1,dir1); 
+    if(mov_end)
+      Serial.println("done_movl");
+  }	
+  
+  else if(strcmp(comm, "movr")==0){
+    mov_end=Axes.movx(true,step1,dir1); 
+    if(mov_end)
+      Serial.println("done_movr");
+  } 
+     
+  else if(strcmp(comm, "movu")==0){
+    mov_end=Axes.movy(false,step2,dir2); 
+    if(mov_end)
+      Serial.println("done_movu");
+  }
+  
+  else if(strcmp(comm, "movd")==0){
+    mov_end=Axes.movy(true,step2,dir2); 
+    if(mov_end)
+      Serial.println("done_movd");
+  }
+  
+  else if(strcmp(comm, "init")==0){
+    delay(1000);
+   digitalWrite(relay1,LOW);
+   digitalWrite(relay2,LOW);
+   digitalWrite(relay3,LOW);
+   digitalWrite(relay4,LOW);
+    Axes.init();
+    Serial.println("done_init");
+  }
+  
+  else if(strcmp(comm, "laon")==0){
+    laserOn(50);
+    Serial.println("done_laon");
+  }
+  
+  else if(strcmp(comm, "loff")==0){
+    laserOff();		
+    Serial.println("done_loff");
+  }
+  else if(strcmp(comm, "post")==0){
+    ac=Axes.getX();
+    alt=Axes.getY();
+    Serial.print("t_");
+    Serial.print(ac,6);
+    Serial.print("_");
+    Serial.println(alt,6);
+  }
+  
+  else if(strcmp(comm,"stop")==0){
+   Axes.stopper=1;
+  }
+     
+  else if(strcmp(comm,"coad")==0){
+    Axes.delayValue = 3; 
+    Serial.println("done_high_speed"); 
+  }
+  
+  else if(strcmp(comm,"fiad")==0){
+    Axes.delayValue = 30; 
+    Serial.println("done_low_speed");
+  }
+  else if(strcmp(comm,"clos")==0){
+    digitalWrite(relay1, HIGH);
+    digitalWrite(relay2, HIGH);
+    digitalWrite(relay3, HIGH);
+    digitalWrite(relay4, HIGH);
+    laserOff(); 
+    Serial.println("done_close");
+    
+  }
+  else if(strcmp(comm,"lase")==0){
+    Serial.println("done_lase");
+    char bytes[40];
+    int nbytes = 0;
+    bool recv=false;
+    while(!recv){
+      while(nbytes < 4){
+        if(Serial.available() > 0){
+          bytes[nbytes] = Serial.read();
+          nbytes++;
+    }
+      recv=true;
+  }
+  }
+  String data= String(bytes);
+  int intensity=data.toInt();
+  laserOn(intensity);
+  }
+  
+  else{ 
+  }
+}
+