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DIY3軸CNCVMC

コンポーネントと消耗品

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Arduino Nano R3
× 1
Raspberry Pi3モデルB
× 1
SparkFunステッピングモータードライバーボードA4988
× 1
Adafruit Arduino Nano4ステッパー1-DCRepRapシールド
× 1
OpenBuildsアルミニウムスペーサー
× 1
電源装置12v / 5a
× 1
OpenBuildsLブラケット
× 1
OpenBuilds M5ティーナット(10パック)
× 1
OpenBuildsロープロファイルネジM5(10パック)
× 1
OpenBuildsM3キャップヘッドネジ
× 1
OpenBuildsセットネジ
× 1
OpenBuildsスロットワッシャー-15x5x2mm
× 1
8mmメートル法のアクメ親ねじ用OpenBuildsアンチバックラッシュナットブロック
× 1
OpenBuildsスレッドロッドプレート-NEMA17ステッピングモーター
× 1
OpenBuilds8mmメートル法アクメ親ねじ
× 1
8mmメートル法のアクメ親ねじ用OpenBuildsアンチバックラッシュナットブロック
× 1
OpenBuildsボールベアリング– 625 2RS 5x16x5
× 1
スムーズロッド
× 1
bldc冷却ファン
× 1
DCモーター(汎用)
× 1
サーボ(Tower Pro MG996R)
× 1
TexasInstrumentsデュアルHブリッジモータードライバーL293D
× 1

必要なツールとマシン

ドライバー
ドリルマシン
Dremel /ロータリー切削工具
グルーガン
はんだごて(汎用)
アングルグラインダー

アプリとオンラインサービス

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

このプロジェクトについて

私たちのプロトタイプモデルはIoTベースであるため、インターネット接続があれば、事実上どこからでも使用できるスケーラブルなアーキテクチャを提供します。これは、オープンソースのモーションコントロールソフトウェア(GRBL)で実行される、250mm x240mmの作業領域を備えた350mmx 350mmのCNCです。私たちのハードウェアでさえ、ほとんどがオープンソースであるため、大幅なコスト削減が実現します。この機械は完全に地元で購入したアイテムから作られ、木材、プラスチック、硬質ゴム、硬質樹脂などで機械加工できます。私たちの主な目標は低コストのPCB製造です。

木材への渇望の見通しもあります。

将来のプロジェクトの一環として、レーザー加工サポートも追加する予定です。

現在、システムはローカルのイントラネットからワイヤレスで制御できるため、さらに拡張して、分散モデルのWebアプリケーションを作成し、これらの種類のデバイスの複数のエコシステムを作成して接続したいと考えています。

私たちのマシンでは可能性は無限です。

私たちのプロトタイプモデルは、2020年のTスロットアルミニウム押し出し材とLジョイントで作られたベースフレームを備えています。このマシンは、2000 rpmのDC制御スピンドルで約80〜85ワットの電力を供給します。それは、3軸すべてに沿ったスムーズな操作のためのラジアルグルーブスナップフィットボールベアリングを備えたガイドスムーズロッドを備えた親ねじとねじロッドの移動スキームを備えています。

最小リードピッチは0.8mm /回転で、2000ステップ/回転ですべての軸の分解能は1600です。私たちの大まかな機械サイズは約430x430x330mmで、作業領域は約270x170x65mmで、位置精度は0.04mmです。当社のZ軸ガントリーは、デュアルガイドロッドを使用してゼロから3Dプリントされています。

スピンドルビットを取り付けた状態でのZ軸の移動距離は4.8cmです。 PCB彫刻の目的で45°Vビット切削工具を使用しています。0.2mmから1.8mmのエンドミルビットもサポートしています。各軸のメインドライブに最大電流3AのNEMA23ステッピングモーターを使用しています。モーターは2.5AA4988ドライバーで駆動され、最大マイクロステッピング分解能は1/16であり、非常に経済的なコストで究極の加工精度を実現します。

IoTの部分では、モバイル/タブレット画面(ここではHMIとして機能)のようなヘッドレスディスプレイから、インターネット接続を使用してどこからでもCNCルーターを制御できるようにしました。 Raspberry Piと、インターネットに接続されたルーター(セキュリティ)の配置を使用し、Webサーバーを実行して、CNCをワイヤレスで制御するためのインターフェイスを提供しています。また、リアルタイムのモータートルク、引き出される電流、振動、ノイズなどの貴重な機械部品の洞察を取得し、より良いコラボレーションのためにWebプラットフォームでリアルタイムの洞察を引き出すことも計画しています。これはおそらく製造業では産業用IoT と呼ばれています (インダストリー4.0)

コード

  • サンプルGコード
  • ステッパーコード
  • ライブラリ
  • ライブラリ
サンプルGコード VHDL
(Scribbled version of 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-copies =1 --continuous =false --pause-on-layer-change =true C:\ Users \ ABDERR〜 1 \ AppData \ Local \ Temp \ ink_ext_XXXXXX.svgISF45X)G21(メトリックftw)G90(絶対モード)G92 X0.00 Y0.00 Z0.00(ここにいます)M300 S30(ペンダウン)G4 P160(160ms待機)M300 S50(ペンアップ)G4 P150(150ms待機)M18(ドライブを解除)M01(登録テストは成功しましたか?)M17(はいの場合はドライブを接続し、続行)M01(プロットレイヤー 'Calque 1')(29セグメントで構成されるポリライン。 )G1 X16.85 Y4.97 F3000.00M300 S30.00(ペンダウン)G4 P160(160ms待機)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 F3000.00G1X11。 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 X10.53Y26。 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 F3000.00G1X28。 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 (ペンアップ)G4 P150(150ms待機)(29セグメントからなるポリライン)G1 X20.57 Y5.03 F3000.00M300 S30.00(ペンダウン)G4 P160(160ms待機)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 X17.63Y10。 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 F3000.00G1X20。 57 Y5.03 F3000.00G1 X20.57 Y5.03 F3000.00M300 S50.00(ペンアップ)G4 P150(150ms待機)(29セグメントで構成されるポリライン)G1 X27.30 Y6.65 F3000.00M300 S30.00 (ペンダウン)G4 P160(160ms待機)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(ペンアップ)G4 P150(150ms待機)(29セグメントで構成されるポリライン)G1 X37.06 Y21.42 F3000.00M300 S30.00(ペンダウン)G4 P160(160ms待機)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 X29.47Y36。 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 Y29.72F3000。 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 X27.42Y19。 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 F3000.00G1X27。 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(ペンアップ)G4 P150(150ms待機)(29セグメントからなるポリライン)G1 X21.74 Y10.75 F3000.00M300 S30.00(ペンダウン)G4 P160(160ms待機)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 X23.38Y13。 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(ペンアップ)G4 P150(150ms待機)(29セグメントからなるポリライン)G1X14。 28 Y15.20 F3000.00M300 S30.00(ペンダウン)G4 P160(160ms待機)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 X14.28Y15。 20 F3000.00M300 S50.00(ペンアップ)G4 P150(150ms待機)(29セグメントで構成されるポリライン)G1 X23.89 Y15.40 F3000.00M300 S30.00(ペンダウン)G4 P160(160ms待機)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 F3000.00G1X15。 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(ペンアップ)G4 P150(150ms待機)(29セグメントで構成されるポリライン)G1 X21.29 Y17.47 F3000.00M300 S30.00(ペンダウン)G4 P160(160ms待機)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 F3000.00G1X19。 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(ペンアップ)G4 P150(150ms待機)(ポリライン構成29セグメントの)G1 X26.41 Y19.09 F3000.00M300 S30.00(ペンダウン)G4 P160(160ms待機)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 Y21.22F3000。 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(ペンアップ)G4 P150(150ms待機)(29セグメントで構成されるポリライン)G1 X20.47 Y19.52 F3000.00M300 S30.00(ペンダウン)G4 P160(160ms待機) 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(ペンアップ)G4 P150(150ms待機)(29からなるポリラインセグメント)G1 X18.40 Y19.46 F3000.00M300 S30.00(ペンダウン)G4 P160(160ms待機)G1 X18.59 Y20.01 F3000.00G1 X18.80 Y20.68 F3000.00G1 X19.52Y21。 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(ペンアップ)G4 P150(150ms待機)(ポリラインコンシスタンシ29セグメントのng。)G1 X17.34 Y20.21 F3000.00M300 S30.00(ペンダウン)G4 P160(160ms待機)G1 X17.57 Y20.59 F3000.00G1 X18.44 Y21.73 F3000.00G1X18。 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(ペンアップ)G4 P150(150ms待機)(29セグメントで構成されるポリライン)G1 X16.11 Y21.33F3000。 00M300 S30.00(ペンダウン)G4 P160(160ms待機)G1 X17.34 Y22.06 F3000.00G1 X18.96 Y21.93 F3000.00G1 X19.98 Y21.60 F3000.00G1 X22.66 Y21.94F3000。 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 X24.65Y27。 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 X23.36Y32。 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 X15.17Y26。 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(ペンアップ)G4 P150(150ms待機)(29セグメントで構成されるポリライン)G1 X20.69 Y22.24F3000。 00M300 S30.00(ペンダウン)G4 P160(160ms待機)G1 X20.79 Y22.76 F3000.00G1 X21.29 Y23.38 F3000.00G1 X22.37 Y23.78 F3000.00G1 X23.34 Y23.52F3000。 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(ペンアップ)G4 P150(150ms待機)(29セグメントで構成されるポリライン)G1 X14.38Y22。 80 F3000.00M300 S30.00(ペンダウン)G4 P160(160ms待機)G1 X13.38 Y23.55 F3000.00G1 X13.10 Y23.93 F3000.00G1 X13.67 Y24.07 F3000.00G1 X14.55Y23。 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(ペンアップ)G4 P150(wai t 150ms)(29セグメントで構成されるポリライン)G1 X12.06 Y23.03 F3000.00M300 S30.00(ペンダウン)G4 P160(160ms待機)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 F3000.00G1X13。 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(ペンアップ)G4 P150(150ms待機)(29セグメントで構成されるポリライン)G1 X21.77 Y26.53 F3000.00M300 S30.00(ペンダウン)G4 P160(160ms待機)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(ペンアップ)G4 P150(150ms待機)(29セグメントからなるポリライン)G1 X27.79 Y22 .99 F3000.00M300 S30.00(ペンダウン)G4 P160(160ms待機)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(ペンアップ)G4 P150 (150ms待機)(29セグメントで構成されるポリライン)G1 X25.85 Y27.75 F3000.00M300 S30.00(ペンダウン)G4 P160(160ms待機)G1 X26.10 Y28.24 F3000.00G1 X25.81Y28。 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(ペンアップ)G4 P150(wa 150ms)(29セグメントからなるポリライン)G1 X23.53 Y28.63 F3000.00M300 S30.00(ペンダウン)G4 P160(160ms待機)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 F3000.00G1X23。 53 Y28.63 F3000.00M300 S50.00(ペンアップ)G4 P150(150ms待機)(29セグメントで構成されるポリライン)G1 X27.46 Y28.97 F3000.00M300 S30.00(ペンダウン)G4 P160(160ms待機) )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(ペンアップ)G4 P150(150ms待機)(29セグメントで構成されるポリライン)G1 X24.71 Y29.72 F3000.00M300 S30.00(ペンダウン)G4 P160(160ms待機)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(ペンアップ)G4 P150(150ms待機)(29セグメントからなるポリライン)G1 X5.54 Y5.46 F3000.00M300 S30.00(ペンダウン)G4 P160(160ms待機)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(ペンアップ)G4 P150(150ms待機)(29セグメントからなるポリライン)G1 X6 .11 Y5.52 F3000.00M300 S30.00(ペンダウン)G4 P160(160ms待機)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(ペンダウン)G4 P150(150ms待機)(29セグメントで構成されるポリライン)G1 X6.34 Y5.49 F3000.00M300 S30.00(ペンダウン)G4 P160(待機) 160ms)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(ペンアップ)G4 P150(待機150ms)(29セグメントからなるポリライン)G1 X7.58 Y5.52 F3000.00M300 S30.00(ペンダウン)G4 P160(160ms待機)G1 X7.74 Y5.60 F3000.00G1 X7.8 3 Y5.48 F3000.00G1 X7.58 Y5.52 F3000.00M300 S50.00(ペンアップ)G4 P150(150ms待機)(29セグメントからなるポリライン)G1 X8.50 Y5.49 F3000.00M300 S30.00 (ペンダウン)G4 P160(160ms待機)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 (ペンアップ)G4 P150(150ms待機)(29セグメントからなるポリライン)G1 X6.75 Y6.41 F3000.00M300 S30.00(ペンダウン)G4 P160(160ms待機)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(ペンアップ)G4 P150(150ms待機)(29セグメントからなるポリライン)G1 X7.49 Y6.39 F3000.00M300 S30.00(ペンダウン)G4 P160(160ms待機)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(ペンアップ)G4 P150(150ms待機)(29セグメントで構成されるポリライン)G1 X16.85 Y4.97 F3000.00M300 S30.00(ペンダウン)G4 P160( 160ms待機)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 Y12.12F3000。 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 X13.98Y20。 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);壊す; case 2:latch_state &=~_BV(MOTOR2_A) &~_BV(MOTOR2_B); // set both motor pins to 0 MC.latch_tx(); initPWM2(freq);壊す; case 3:latch_state &=~_BV(MOTOR3_A) &~_BV(MOTOR3_B); // set both motor pins to 0 MC.latch_tx(); initPWM3(freq);壊す; case 4:latch_state &=~_BV(MOTOR4_A) &~_BV(MOTOR4_B); // set both motor pins to 0 MC.latch_tx(); initPWM4(freq);壊す; }}void AF_DCMotor::run(uint8_t cmd) { uint8_t a, b; switch (motornum) { case 1:a =MOTOR1_A; b =MOTOR1_B;壊す; case 2:a =MOTOR2_A; b =MOTOR2_B;壊す; case 3:a =MOTOR3_A; b =MOTOR3_B;壊す; case 4:a =MOTOR4_A; b =MOTOR4_B;壊す; default:return; } switch (cmd) { case FORWARD:latch_state |=_BV(a); latch_state &=~_BV(b); MC.latch_tx();壊す; case BACKWARD:latch_state &=~_BV(a); latch_state |=_BV(b); MC.latch_tx();壊す; case RELEASE:latch_state &=~_BV(a); // A and B both low latch_state &=~_BV(b); MC.latch_tx();壊す; }}void AF_DCMotor::setSpeed(uint8_t speed) { switch (motornum) { case 1:setPWM1(speed);壊す; case 2:setPWM2(speed);壊す; case 3:setPWM3(speed);壊す; case 4:setPWM4(speed);壊す; }}/****************************************** 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、OUTPUT); digitalWrite(5, HIGH); digitalWrite(6、HIGH); // 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);壊す; case 2:latch_state &=~_BV(MOTOR2_A) &~_BV(MOTOR2_B); // set both motor pins to 0 MC.latch_tx(); initPWM2(freq);壊す; case 3:latch_state &=~_BV(MOTOR3_A) &~_BV(MOTOR3_B); // set both motor pins to 0 MC.latch_tx(); initPWM3(freq);壊す; case 4:latch_state &=~_BV(MOTOR4_A) &~_BV(MOTOR4_B); // set both motor pins to 0 MC.latch_tx(); initPWM4(freq);壊す; }}void AF_DCMotor::run(uint8_t cmd) { uint8_t a, b; switch (motornum) { case 1:a =MOTOR1_A; b =MOTOR1_B;壊す; case 2:a =MOTOR2_A; b =MOTOR2_B;壊す; case 3:a =MOTOR3_A; b =MOTOR3_B;壊す; case 4:a =MOTOR4_A; b =MOTOR4_B;壊す; default:return; } switch (cmd) { case FORWARD:latch_state |=_BV(a); latch_state &=~_BV(b); MC.latch_tx();壊す; case BACKWARD:latch_state &=~_BV(a); latch_state |=_BV(b); MC.latch_tx();壊す; case RELEASE:latch_state &=~_BV(a); // A and B both low latch_state &=~_BV(b); MC.latch_tx();壊す; }}void AF_DCMotor::setSpeed(uint8_t speed) { switch (motornum) { case 1:setPWM1(speed);壊す; case 2:setPWM2(speed);壊す; case 3:setPWM3(speed);壊す; case 4:setPWM4(speed);壊す; }}/****************************************** 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、OUTPUT); digitalWrite(5, HIGH); digitalWrite(6、HIGH); // 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  

カスタムパーツとエンクロージャー

cnc_contour_SNa09InGkY.gm1 cnc_coppertop_PIxEVyoMWI.gtl

回路図


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