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// #include "WProgram.h" // Arduino < 1.0
#include <Arduino.h> //Arduino >= 1.0
#include "OSP.h"
int dir1, step1, dir2, step2;
int stepx;
int stepy;
int low;
int high;
int x_rev_set = 0;
int y_rev_set = 0;
float valx;
float valy;
float _pgrad_x;
float _pgrad_y;
int stepx_new;
int stepy_new;
float degsH;
float degsV;
float degsH_new;
float degsV_new;
OSP::OSP(){
stopper=0;
}
void OSP::setMotorsPins(int step1, int dir1, int enable1, int step2, int dir2, int enable2)
{
pinMode(step1, OUTPUT);
pinMode(dir1, OUTPUT);
pinMode(enable1, OUTPUT);
pinMode(step2, OUTPUT);
pinMode(dir2, OUTPUT);
pinMode(enable2, OUTPUT);
digitalWrite(step1, LOW);
digitalWrite(step2, LOW);
digitalWrite(enable1, LOW);
digitalWrite(enable2, LOW);
delayMicroseconds(50);
digitalWrite(dir1, HIGH);
digitalWrite(dir2, HIGH);
Serial.println("Setting up Motor pins..done");
digitalWrite(enable1, HIGH);
delay(100);
digitalWrite(enable1, LOW);
digitalWrite(enable2, HIGH);
delay(100);
digitalWrite(enable2, LOW);
delay(1000);
}
void OSP::init()
{
low = 0;
high = 25600; //Motor driver switch setting;
_pgrad_x=(float)((float)(high-low)/360);
_pgrad_y=(float)((float)(high-low)/180);
stepx=0;
stepy=0;
low = 0;
high = 0;
x_rev_set = 0;
y_rev_set = 0;
valx = 0;
valy = 0;
_pgrad_x = 0;
_pgrad_y = 0;
stepx_new = 0;
stepy_new = 0;
degsH = 0;
degsV = 0;
degsH_new = 0;
degsV_new = 0;
}
int OSP::getPX() //Steps per revolution on X axis
{
return x_rev_set = 25600; //Change this as per the switch setting on the driver
}
int OSP::getPY() //Steps per revolution on Y axis
{
return y_rev_set = 25600; //Change this as per the switch setting on the driver
}
bool OSP::movx(bool dir, int step1, int dir1)
{
int bytes_recv = 0;
char comm[5]="nost";
comm[bytes_recv++] = Serial.read();
while(strcmp(comm, "stop")!=0 || stopper)
{
if(dir==1)
{
if(stepx>=25600)
stepx=25600;
else {
digitalWrite(dir1, LOW);
digitalWrite(step1, HIGH);
delay(delayValue);
digitalWrite(step1, LOW);
delay(delayValue);
stepx++;
}
}
else
{
if(stepx<=0)
stepx = 0;
else {
digitalWrite(dir1, HIGH);
digitalWrite(step1, HIGH);
delay(delayValue);
digitalWrite(step1, LOW);
delay(delayValue);
stepx--;
}
}
while(Serial.available() > 0)
comm[bytes_recv++] = Serial.read();
if(bytes_recv>4)
break;
}
return true;
}
bool OSP::movy(bool dir, int step2, int dir2)
{
int bytes_recv = 0;
char comm[5]="nost";
comm[bytes_recv++] = Serial.read();
while(strcmp(comm, "stop")!=0)
{
if(dir==0)
{
if(stepy>=25600/4)
stepy=25600/4;
else {
digitalWrite(dir2, HIGH);
digitalWrite(step2, HIGH);
delay(delayValue);
digitalWrite(step2, LOW);
delay(delayValue);
stepy++;
}
}
else
{
if(stepy<=0)
stepy=0;
else {
digitalWrite(dir2, LOW);
digitalWrite(step2, HIGH);
delay(delayValue);
digitalWrite(step2, LOW);
delay(delayValue);
stepy--;
}
}
while(Serial.available() > 0)
comm[bytes_recv++] = Serial.read();
if(bytes_recv>4)
break;
}
return true;
}
float OSP::getX()
{
float valx;
valx = stepx*(float)(360.00/25600.00);
valx = (float)(M_PI/180)*valx;
return valx;
}
float OSP::getY()
{
float valy;
valy = stepy*(float)(360.00/25600.00);
valy = (float)(M_PI/180)*valy;
return valy;
}
int OSP::getPx()
{
return stepx;
}
int OSP::getPy()
{
return stepy;
}
float OSP::_rad2deg(float rad){
return (float) (180.00/M_PI)*rad;
}
float OSP::_deg2rad(float deg){
return (float) (M_PI/180.00)*deg;
}
void OSP::goToRads(float x_rad, float y_rad)
{
float degsH = _rad2deg(x_rad);
float degsV = _rad2deg(y_rad);
_moveTo(degsH,degsV);
}
void OSP::_moveTo(float x, float y, char* method)
{
stepx_new = (25600*x)/360; //map to counts
stepy_new = (25600*y)/360; //map to counts
stepx=stepx_new-stepx;
stepy=stepy_new-stepy;
_moveXY(stepx,stepy,true);
stepx=stepx_new;
stepy=stepy_new;
}
void OSP::_moveXY(int x, int y, bool nodelay)
{
if(y>25600/4)
y = 25600/4; // This is to limit the tilt Motor to 90 degrees.
for(int count=0;count<abs(x);count++)
{
if(x<0)
digitalWrite(11, HIGH);
else
digitalWrite(11, LOW);
digitalWrite(12, HIGH);
delay(10);
digitalWrite(12, LOW);
delay(10);
}
for(int count=0;count<abs(y);count++)
{
if(y<0)
digitalWrite(8, LOW);
else
digitalWrite(8, HIGH);
digitalWrite(9, HIGH);
delay(10);
digitalWrite(9, LOW);
delay(10);
}
}
void OSP::_moveEqua(int x, int y)
{
}
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