Merge branch 'dev' into v6.17.0

Makelangelo-firmware.ino

@@ -445,6 +445,7 @@ void set_tool_offset(int toolID, float *pos) {
 
 
 /**
+ * @param results array of NUM_AXIES floats
  * @return the position + active tool offset
  */
 void get_end_plus_offset(float *results) {
@@ -697,11 +698,22 @@ void parseMessage() {
 #endif
 }
 
+/**
+ * M203 X2000 Y5000 Z200 etc...
+ * adjust the max feedrate of each axis
+ */
+void adjustMaxFeedRates() { 
+  int i;
+  for(i=0;i<NUM_MOTORS;++i) {
+    maxFeedRate[i] = parseNumber(MotorNames[i], maxFeedRate[i]);
+  }
+}
 
 /**
  * M226 P[a] S[b] 
- * Wait for pin a to be in state b (1 or 0).  if P or S are missing, wait for user to press click wheel on LCD
- * Command is ignored if there is no LCD panel (and no button to press)
+ * Wait for pin a to be in state b (1 or 0).  
+ * If there is an LCD and P or S are missing, wait for user to press click wheel on LCD.
+ * If there is no LCD, P must be specified.
  */
 void pauseForUserInput() {
   wait_for_empty_segment_buffer();
@@ -759,6 +771,8 @@ void processCommand() {
     case   6:  toolChange(parseNumber('T', current_tool));  break;
     case  17:  motor_engage();  break;
     case  18:  motor_disengage();  break;
+    case  20:  SD_listFiles();  break;
+    case  42:  adjustPinState();  break;
     case 100:  help();  break;
     case 101:  parseLimits();  break;
     case 102:  printConfig();  break;
@@ -779,9 +793,9 @@ void processCommand() {
     case  3:  parseArc(0);  break;  // counter-clockwise
     case  4:  parseDwell();  break;
     case 28:  robot_findHome();  break;
-    #if MACHINE_STYLE == POLARGRAPH
+#if MACHINE_STYLE == POLARGRAPH
     case 29:  calibrateBelts();  break;
-    #endif
+#endif
     case 54:
     case 55:
     case 56:
@@ -811,11 +825,15 @@ void processCommand() {
               break;
 #if MACHINE_STYLE == POLARGRAPH
     case 11:  makelangelo5Setup();  break;
-    case 12:  recordHome();
+    case 12:  recordHome();  break;
 #endif
 #ifdef MACHINE_HAS_LIFTABLE_PEN
     case 13:  setPenAngle(parseNumber('Z',axies[2].pos));  break;
 #endif
+    case 14:  // get machine style
+              Serial.print(F("D14 "));
+              Serial.println(MACHINE_STYLE_NAME);
+              break;
     default:  break;
   }
 }
@@ -1003,7 +1021,9 @@ void setup() {
   for(int i=0;i<NUM_AXIES;++i) {
     pos[i]=0;
   }
+#ifdef MACHINE_HAS_LIFTABLE_PEN
   if(NUM_AXIES>=3) pos[2]=PEN_UP_ANGLE;
+#endif
   teleport(pos);
 #ifdef MACHINE_HAS_LIFTABLE_PEN
   setPenAngle(PEN_UP_ANGLE);
@@ -1029,7 +1049,7 @@ void Serial_listen() {
     if (c == '\r') continue;
     if (sofar < MAX_BUF) serialBuffer[sofar++] = c;
     if (c == '\n') {
-      serialBuffer[sofar] = 0;
+      serialBuffer[sofar-1] = 0;
 
       // echo confirmation
       //      Serial.println(F(serialBuffer));

Vector3.h

@@ -242,12 +242,12 @@ class Vector3 {
   }
 
 
-  Vector3 operator * ( const Vector3 &b ) const { // vector * vector
+  Vector3 operator * ( const Vector3 &b ) const { // dot(this,b)
     return Vector3( x * b.x, y * b.y, z * b.z );
   }
 
 
-  Vector3 operator ^ ( const Vector3 &b ) const { // cross(a,b)
+  Vector3 operator ^ ( const Vector3 &b ) const { // cross(this,b)
     float nx, ny, nz;
 
     nx = y * b.z - z * b.y;
@@ -263,6 +263,10 @@ class Vector3 {
   }
 
 
+  /**
+   * @axis vector3 axis around which to rotate counter-clockwise
+   * @param angle radians
+   */
   void rotate( Vector3 &axis, float angle ) {
     float sa = (float)sin( angle );
     float ca = (float)cos( angle );

board_mks.h

@@ -0,0 +1,86 @@
+#ifndef BOARD_MKS_H
+#define BOARD_MKS_H
+//------------------------------------------------------------------------------
+// Makelangelo - firmware for various robot kinematic models
+// [email protected] 2013-12-26
+// Copyright at end of file.  Please see
+// http://www.github.com/MarginallyClever/makelangeloFirmware for more information.
+//------------------------------------------------------------------------------
+
+// NOTE: MKS boards are identical to RAMPS boards, except that they have a few extra features.
+
+#if MOTHERBOARD == BOARD_MKS
+
+#define MAX_MOTORS                 (5)
+
+#define MOTOR_0_DIR_PIN           (55)
+#define MOTOR_0_STEP_PIN          (54)
+#define MOTOR_0_ENABLE_PIN        (38)
+#define MOTOR_0_LIMIT_SWITCH_PIN  (3)   /* X min */
+
+#define MOTOR_1_DIR_PIN           (61)
+#define MOTOR_1_STEP_PIN          (60)
+#define MOTOR_1_ENABLE_PIN        (56)
+#define MOTOR_1_LIMIT_SWITCH_PIN  (14)  /* Y min */
+
+#define MOTOR_2_DIR_PIN           (48)
+#define MOTOR_2_STEP_PIN          (46)
+#define MOTOR_2_ENABLE_PIN        (62)
+#define MOTOR_2_LIMIT_SWITCH_PIN  (18)  /* Z Min */
+
+#define MOTOR_3_DIR_PIN           (28)
+#define MOTOR_3_STEP_PIN          (26)
+#define MOTOR_3_ENABLE_PIN        (24)
+#define MOTOR_3_LIMIT_SWITCH_PIN  (2)   /* X Max */
+
+#define MOTOR_4_DIR_PIN           (34)
+#define MOTOR_4_STEP_PIN          (36)
+#define MOTOR_4_ENABLE_PIN        (30)
+#define MOTOR_4_LIMIT_SWITCH_PIN  (15)  /* Y Max */
+
+#define MAX_BOARD_SERVOS          (4)
+#define SERVO0_PIN                (11)   /* Servo 1 */
+#define SERVO1_PIN                (6)
+#define SERVO2_PIN                (5)
+#define SERVO3_PIN                (4)
+
+#define LIMIT_SWITCH_PIN_LEFT     (MOTOR_0_LIMIT_SWITCH_PIN)
+#define LIMIT_SWITCH_PIN_RIGHT    (MOTOR_1_LIMIT_SWITCH_PIN)
+
+// Smart controller settings
+#define BEEPER             37   /* Pin on SMART Adapter */
+#define LCD_PINS_RS        16   /* Pin on SMART Adapter */
+#define LCD_PINS_ENABLE    17   /* Pin on SMART Adapter */ 
+#define LCD_PINS_D4        23   /* Pin on SMART Adapter */
+#define LCD_PINS_D5        25   /* Pin on SMART Adapter */
+#define LCD_PINS_D6        27   /* Pin on SMART Adapter */
+#define LCD_PINS_D7        29   /* Pin on SMART Adapter */
+
+// Encoder rotation values
+#define BTN_EN1            31   /* Pin on SMART Adapter */
+#define BTN_EN2            33   /* Pin on SMART Adapter */
+#define BTN_ENC            35  /* Pin on SMART Adapter */
+
+#define KILL_PIN    41    /* Pin on SMART Adapter */
+
+// SD card settings
+#define SDPOWER            -1
+#define SDSS               53
+#define SDCARDDETECT       49
+
+#define LCD_HEIGHT         4
+#define LCD_WIDTH          20
+
+#define BLEN_C             2
+#define BLEN_B             1
+#define BLEN_A             0
+#define encrot0            0
+#define encrot1            2
+#define encrot2            3
+#define encrot3            1
+
+#endif  // BOARD_MKS
+
+
+#endif  // BOARD_MKS_H
+

board_teensylu.h

@@ -1,5 +1,5 @@
-#ifndef BOARD_RAMPS_H
-#define BOARD_RAMPS_H
+#ifndef BOARD_TEENSYLU_H
+#define BOARD_TEENSYLU_H
 //------------------------------------------------------------------------------
 // Makelangelo - firmware for various robot kinematic models
 // [email protected] 2013-12-26
@@ -27,5 +27,5 @@
 #endif
 
 
-#endif  // BOARD_RAMPS_H
+#endif  // BOARD_TEENSYLU_H
 

configure.h

@@ -70,6 +70,10 @@
 #error "The number of servos needed is more than this board supports."
 #endif
 
+#if NUM_SERVOS + NUM_MOTORS != NUM_AXIES
+// not always the case!  Skycam has more motors than axies.  
+//#error "NUM_SERVOS + NUM_MOTORS != NUM_AXIES"
+#endif
 
 // for serial comms
 #define BAUD                 (57600)  // How fast is the Arduino talking?
@@ -194,8 +198,9 @@ extern float acceleration;
 extern Motor motors[NUM_MOTORS+NUM_SERVOS];
 extern const char *AxisNames;
 extern const char *MotorNames;
+extern float maxFeedRate[NUM_MOTORS];
 
-extern char lcd_message[LCD_MESSAGE_LENGTH];
+extern char lcd_message[LCD_MESSAGE_LENGTH+1];
 
 
 #endif // CONFIGURE_H

lcd.ino

@@ -71,7 +71,7 @@ int lcd_turn     = 0;
 char lcd_click_old = HIGH;
 char lcd_click_now = false;
 uint8_t speed_adjust = 100;
-char lcd_message[LCD_MESSAGE_LENGTH];
+char lcd_message[LCD_MESSAGE_LENGTH+1];
 
 int menu_position_sum = 0, menu_position = 0, screen_position = 0, num_menu_items = 0, ty, screen_end;
 
@@ -133,8 +133,17 @@ void LCD_status_menu() {
   get_end_plus_offset(offset);
   lcd.setCursor( 0, 0);  lcd.print('X');  LCD_print_float(offset[0]);
   lcd.setCursor(10, 0);  lcd.print('Z');  LCD_print_float(offset[2]);
+#if MACHINE_STYLE == POLARGRAPH && defined(USE_LIMIT_SWITCH)
+  lcd.setCursor(19, 0);  lcd.print(( digitalRead(LIMIT_SWITCH_PIN_LEFT) == LOW ) ? '*':' ');
+#endif
+
   lcd.setCursor( 0, 1);  lcd.print('Y');  LCD_print_float(offset[1]);
   lcd.setCursor(10, 1);  lcd.print('F');  LCD_print_long(speed_adjust);  lcd.print(F("% "));
+#if MACHINE_STYLE == POLARGRAPH && defined(USE_LIMIT_SWITCH)
+  lcd.setCursor(19, 1);  lcd.print(( digitalRead(LIMIT_SWITCH_PIN_RIGHT) == LOW ) ? '*':' ');
+#endif
+
+
   //lcd.setCursor(10, 1);  lcd.print('F');  LCD_print_float(feed_rate);
   //lcd.setCursor( 0, 1);  lcd.print(F("Makelangelo #"));  lcd.print(robot_uid);
   lcd.setCursor( 0, 2);
@@ -346,7 +355,6 @@ void LCD_start_menu() {
   MENU_END
 }
 
-
 void LCD_update_long(char *name, long &value) {
   lcd.clear();
   do {
@@ -463,6 +471,7 @@ void LCD_init() {
   lcd.begin(LCD_WIDTH, LCD_HEIGHT);
   pinMode(BEEPER,OUTPUT);
   digitalWrite(BEEPER,LOW);
+
   pinMode(BTN_EN1, INPUT);
   pinMode(BTN_EN2, INPUT);
   pinMode(BTN_ENC, INPUT);
@@ -471,11 +480,11 @@ void LCD_init() {
   digitalWrite(BTN_ENC, HIGH);
   current_menu = LCD_status_menu;
   menu_position_sum = 1;  /* 20160313-NM-Added so the clicking without any movement will display a menu */
+
   lcd_message[0] = 0;
 #endif  // HAS_LCD
 }
 
-
 /**
    This file is part of makelangelo-firmware.
 

motor.ino

@@ -15,6 +15,7 @@
 //------------------------------------------------------------------------------
 // GLOBALS
 //------------------------------------------------------------------------------
+
 Motor motors[NUM_MOTORS+NUM_SERVOS];
 Segment line_segments[MAX_SEGMENTS];
 Segment *working_seg = NULL;
@@ -23,8 +24,6 @@ volatile int last_segment=0;
 int step_multiplier, nominal_step_multiplier;
 unsigned short nominal_OCR1A;
 
-Servo servos[NUM_SERVOS];
-
 // used by timer1 to optimize interrupt inner loop
 int steps_total;
 int steps_taken;
@@ -72,7 +71,8 @@ int global_step_dir_5;
 
 
 const char *MotorNames="LRUVWT";
-const char *AxisNames="XYZUVW";
+const char *AxisNames="XYZUVWT";
+float maxFeedRate[NUM_MOTORS];
 
 
 //------------------------------------------------------------------------------
@@ -155,6 +155,7 @@ void motor_setup() {
     // set the switch pin
     pinMode(motors[i].limit_switch_pin,INPUT);
     digitalWrite(motors[i].limit_switch_pin,HIGH);
+    maxFeedRate[i] = MAX_FEEDRATE;
   }
 
   long steps[NUM_MOTORS+NUM_SERVOS];
@@ -229,6 +230,12 @@ void motor_engage() {
   for(i=0;i<NUM_MOTORS;++i) {
     digitalWrite(motors[i].enable_pin,LOW);
   }
+/*
+#if MACHINE_STYLE == ARM6
+  // DM320T drivers want high for enabled
+  digitalWrite(motors[4].enable_pin,HIGH);
+  digitalWrite(motors[5].enable_pin,HIGH);
+#endif*/
 }
 
 
@@ -237,7 +244,12 @@ void motor_disengage() {
   int i;
   for(i=0;i<NUM_MOTORS;++i) {
     digitalWrite(motors[i].enable_pin,HIGH);
-  }
+  }/*
+#if MACHINE_STYLE == ARM6
+  // DM320T drivers want low for disabled
+  digitalWrite(motors[4].enable_pin,LOW);
+  digitalWrite(motors[5].enable_pin,LOW);
+#endif*/
 }
 
 
@@ -563,7 +575,6 @@ ISR(TIMER1_COMPA_vect) {
       #endif
 
       #if NUM_SERVOS>0
-      //move the z axis
       servos[0].write(working_seg->a[NUM_MOTORS].step_count);
       #endif
 
@@ -806,7 +817,6 @@ void motor_line(long *n,float new_feed_rate) {
     //Serial.print('\t');    Serial.print(old_seg.a[i].step_count);
     //Serial.print('\t');    Serial.print(new_seg.a[i].step_count);
     //Serial.print('\t');    Serial.print(new_seg.a[i].dir);
-    //Serial.print('\t');    Serial.print(new_seg.a[i].dir);
     //Serial.print('\t');    Serial.print(new_seg.a[i].absdelta);
     //Serial.println();
   }