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Current lasic sketch version
This commit is contained in:
Petr Baudis
commit
781fe97c3e
1 changed files with 408 additions and 0 deletions
408
sketch/lasic.pde
Normal file
408
sketch/lasic.pde
Normal file
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#include <Stepper.h>
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char InCmd[16];
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byte InCmdIndex = 0;
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byte InByte = 0;
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unsigned long lastTime = 0;
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int LaserPIN = 14;
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int Ypojezd = 19;
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int Xpojezd = 18;
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unsigned posX = 0;
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unsigned posY = 0;
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#define STEPS 200
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Stepper stepperX(STEPS, 4, 2, 3, 5);
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Stepper stepperY(STEPS, 12, 10, 11, 13);
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void setup() {
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Serial.begin(115200);
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stepperX.setSpeed(10);
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stepperY.setSpeed(10);
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pinMode(LaserPIN, OUTPUT);
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digitalWrite(LaserPIN, LOW);
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pinMode(Ypojezd, INPUT);
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digitalWrite(Ypojezd, HIGH);
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pinMode(Xpojezd, INPUT);
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digitalWrite(Xpojezd, HIGH);
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}
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void loop() {
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while(Serial.available()) {
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lastTime = millis();
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InByte = Serial.read();
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if (InCmdIndex >= sizeof(InCmd)){
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InCmdIndex = 0;
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Serial.println("INPUT COMMAND OVERFLOW");
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}
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if (InByte == 10 || InByte == 13 ) {
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//Serial.println(sizeof(InCmd),DEC);
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ExeCmd(InCmd);
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/*
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for (InCmdIndex++; InCmdIndex>0; InCmdIndex--) {
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InCmd[InCmdIndex] = 0;
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}
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*/
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InCmdIndex = 0;
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}
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else{
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InCmd[InCmdIndex++] = InByte;
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}// Serial.println(InCmdIndex, DEC);
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}
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if ( (lastTime + 15000) < millis() ) {
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digitalWrite(LaserPIN, LOW);
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digitalWrite(2, LOW);
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digitalWrite(3, LOW);
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digitalWrite(4, LOW);
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digitalWrite(5, LOW);
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digitalWrite(6, LOW);
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digitalWrite(7, LOW);
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digitalWrite(8, LOW);
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digitalWrite(9, LOW);
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digitalWrite(10, LOW);
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digitalWrite(11, LOW);
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digitalWrite(12, LOW);
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digitalWrite(13, LOW);
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}
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}
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void ExeCmd(char *InCmd){
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byte MotorIndex;
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byte MotorSpeed;
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int MotorSteps;
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byte SeqID;
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byte LaserPower;
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byte SCommand;
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SCommand = 0;
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LaserPower = 0;
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SeqID = 0;
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MotorSteps = 0;
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MotorSpeed = 0;
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MotorIndex = 0;
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int toX = 0;
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int toY = 0;
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// for (int i = 0;i<CmdIndex;i++){
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// Serial.print(InCmd[i]);
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// }
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// Serial.println();
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//Serial.println(InCmd[0], DEC);
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switch (InCmd[0]){
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case 'm':
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while (*InCmd != ' ') InCmd++;
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while (isspace(*InCmd)) InCmd++;
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if (atoi(InCmd) > 0 && atoi(InCmd) < 255){
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MotorIndex = atoi(InCmd);
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//Serial.println(MotorIndex, DEC);
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}
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else{
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Serial.println("Wrong Motor Index (1-254)");
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break;
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}
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while (*InCmd != ' ') InCmd++;
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while (isspace(*InCmd)) InCmd++;
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if (atoi(InCmd) > 0 && atoi(InCmd) < 255){
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MotorSpeed = atoi(InCmd);
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//Serial.println(MotorSpeed, DEC);
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}
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else{
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Serial.println("Wrong Motor Speed (1-254)");
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break;
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}
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while (*InCmd != ' ') InCmd++;
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while (isspace(*InCmd)) InCmd++;
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if (atoi(InCmd) > -10001 && atoi(InCmd) < 10001 ){
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MotorSteps = atoi(InCmd);
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//Serial.println(MotorSteps, DEC);
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}
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else{
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Serial.println("Wrong Steps (-10000 - +10000)");
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break;
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}
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while (*InCmd != ' ') InCmd++;
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while (isspace(*InCmd)) InCmd++;
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if (atoi(InCmd) > 0 && atoi(InCmd) < 255){
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SeqID = atoi(InCmd);
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//Serial.println(SeqID, DEC);
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}
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else{
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Serial.println("Wrong Sequence ID (1-254)");
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break;
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}
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switch (MotorIndex){
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case 1:
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stepperX.setSpeed(MotorSpeed);
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stepperX.step(MotorSteps);
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posX += MotorSteps;
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break;
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case 2:
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stepperY.setSpeed(MotorSpeed);
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stepperY.step(MotorSteps * 3);
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posY += MotorSteps;
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break;
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}
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Serial.println(SeqID, DEC);
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break;
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case 'l':
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while (*InCmd != ' ') InCmd++;
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while (isspace(*InCmd)) InCmd++;
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if (atoi(InCmd) >= 0 && atoi(InCmd) < 255){
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LaserPower = atoi(InCmd);
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//Serial.println(LaserPower, DEC);
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if (LaserPower == 254) {
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digitalWrite(LaserPIN, HIGH);
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}
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else{
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digitalWrite(LaserPIN, LOW);
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}
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//Serial.println(LaserPower, DEC);
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}
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else{
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Serial.println("Wrong Laser Power (0-254)");
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break;
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}
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while (*InCmd != ' ') InCmd++;
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while (isspace(*InCmd)) InCmd++;
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if (atoi(InCmd) > 0 && atoi(InCmd) < 255){
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SeqID = atoi(InCmd);
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//Serial.println(SeqID, DEC);
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}
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else{
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Serial.println("Wrong Sequence ID (1-254)");
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break;
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}
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Serial.println(SeqID, DEC);
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break;
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case 's':
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while (*InCmd != ' ') InCmd++;
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while (isspace(*InCmd)) InCmd++;
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if (atoi(InCmd) > 0 && atoi(InCmd) < 255){
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SCommand=(atoi(InCmd));
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}
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else{
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Serial.println("Wrong Command Number (1-254)");
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break;
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}
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while (*InCmd != ' ') InCmd++;
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while (isspace(*InCmd)) InCmd++;
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if (atoi(InCmd) > 0 && atoi(InCmd) < 255){
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SeqID = atoi(InCmd);
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//Serial.println(SeqID, DEC);
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}
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else{
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Serial.println("Wrong Sequence ID (1-254)");
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break;
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}
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switch (SCommand){
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case 1:
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XYReset();
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Serial.println(SeqID, DEC);
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break;
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default:
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Serial.print("Unknow Command: ");
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Serial.println(SCommand,DEC );
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break;
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}
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break;
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case 'v':
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while (*InCmd != ' ') InCmd++;
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while (isspace(*InCmd)) InCmd++;
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if (atoi(InCmd) > 0 && atoi(InCmd) < 255){
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MotorSpeed = atoi(InCmd);
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//Serial.println(MotorSpeed, DEC);
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}
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else{
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Serial.println("Wrong Motor Speed (1-254)");
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break;
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}
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while (*InCmd != ' ') InCmd++;
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while (isspace(*InCmd)) InCmd++;
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if (atoi(InCmd) >= 0 && atoi(InCmd) < 10001 ){
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toX = atoi(InCmd);
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//Serial.println(MotorSteps, DEC);
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}
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else{
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Serial.println("Wrong Steps (0 - +10000)");
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break;
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}
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while (*InCmd != ' ') InCmd++;
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while (isspace(*InCmd)) InCmd++;
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if (atoi(InCmd) >= 0 && atoi(InCmd) < 10001 ){
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toY = atoi(InCmd);
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//Serial.println(MotorSteps, DEC);
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}
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else{
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Serial.println("Wrong Steps (0 - +10000)");
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break;
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}
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while (*InCmd != ' ') InCmd++;
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while (isspace(*InCmd)) InCmd++;
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if (atoi(InCmd) > 0 && atoi(InCmd) < 255){
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SeqID = atoi(InCmd);
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//Serial.println(SeqID, DEC);
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}
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else{
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Serial.println("Wrong Sequence ID (1-254)");
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break;
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}
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stepperX.setSpeed(MotorSpeed);
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stepperY.setSpeed(MotorSpeed);
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line(posX, posY, toX, toY);
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Serial.println(SeqID, DEC);
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break;
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case 'h':
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PrintHelp();
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break;
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Serial.println(SeqID, DEC);
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break;
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default:
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Serial.println("WTF?");
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break;
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}
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}
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void line(int x1, int y1, int x2, int y2)
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{
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int dx, dy, inx, iny, e, stepX, stepY;
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dx = x2 - x1;
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dy = y2 - y1;
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stepperX.step(1);
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posX++;
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if(dx*(posY-y1)-(posX-x1)*dy*(dy*dx)>0) {
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stepperX.step(1);
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posX++;
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} else {
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stepperY.step(1);
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posY++;
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}
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}
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void linebtr(int x1, int y1, int x2, int y2)
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{
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int dx, dy, inx, iny, e, stepX, stepY;
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dx = x2 - x1;
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dy = y2 - y1;
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inx = dx > 0 ? 1 : -1;
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iny = dy > 0 ? 1 : -1;
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stepX = 0;
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stepY = 0;
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dx = abs(dx);
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dy = abs(dy);
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if(dx >= dy) {
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dy <<= 1;
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e = dy - dx;
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dx <<= 1;
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while (x1 != x2) {
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// setpixel(x1, y1, color);
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if(e >= 0) {
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y1 += iny;
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stepperY.step(iny);
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e-= dx;
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}
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e += dy;
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x1 += inx;
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stepperX.step(inx);
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}
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}
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else {
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dx <<= 1;
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e = dx - dy;
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dy <<= 1;
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while (y1 != y2) {
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// setpixel(x1, y1, color);
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if(e >= 0) {
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x1 += inx;
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stepperX.step(inx);
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e -= dy;
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}
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e += dx;
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y1 += iny;
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stepperY.step(iny);
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}
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}
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// setpixel(x1, y1, color);
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posX = x1;
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posY = y1;
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Serial.println(posX, DEC);
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Serial.println(posY, DEC);
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}
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void XYReset(){
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posX = 0;
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posY = 0;
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stepperY.setSpeed(75);
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while (digitalRead(Ypojezd)==true){
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stepperY.step(-1);
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}
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stepperY.setSpeed(150);
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stepperY.step(1600);
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stepperX.setSpeed(75);
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while (digitalRead(Xpojezd)==true){
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stepperX.step(-1);
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}
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stepperX.setSpeed(150);
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stepperX.step(600);
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}
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void PrintHelp(){
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Serial.println("-----------------------------------------");
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Serial.println("----------BrmLab Laser Bordel------------");
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Serial.println("-----------------------------------------");
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Serial.println();
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Serial.println("Toto by mela byt napoveda.....");
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Serial.println("A casem take mozna bude........");
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Serial.println();
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Serial.println("-----------------------------------------");
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}
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