arduino rotary table for dummies free sample
The stepper motor will have to be sized for your application. I used a small 3 rotary table and dont plan on using it for anything other than indexing so a high torque NEMA17 did the job. If youre working with a larger rotary table or want to be able to use it as a 4th axis in the mill you will want at least a NEMA23 size motor. You will have to reach out to the forum for help with selection.
Ok get out the anti-identity thief, pre-paid Visa card and order all the bits, wait for a month and a half for Canada Customs/Canada Post to figure out it isnt anything nasty and youre ready to begin.
Youll have to install the Arduino software (IDE) on your computer. Spark Fun has a good step by step tutorial for completing the install. https://learn.sparkfun.com/tutorials/installing-arduino-ide
In this tutorial we will learn how rotary encoder works and how to use it with Arduino. You can watch the following video or read the written tutorial below.
A rotary encoder is a type of position sensor which is used for determining the angular position of a rotating shaft. It generates an electrical signal, either analog or digital, according to the rotational movement.
There are many different types of rotary encoders which are classified by either Output Signal or Sensing Technology. The particular rotary encoder that we will use in this tutorial is an incremental rotary encoder and it’s the simplest position sensor to measure rotation.
Any of the two outputs can be used for determining the rotated position if we just count the pulses of the signal. However, if we want to determine the rotation direction as well, we need to consider both signals at the same time.
Let’s make a practical example of it using the Arduino. The particular module that I will use for this example comes on a breakout board and it has five pins. The first pin is the output A, the second pin is the output B, the third pin is the Button pin and of course the other two pins are the VCC and the GND pin.
Description of the code: So first we need to define the pins to which our encoder is connected and define some variables needed for the program. In the setup section we need to define the two pins as inputs, start the serial communication for printing the results on the serial monitor, as well as read the initial value of the output A and put the value into the variable aLastState.
That’s all we need for this example. If upload the code, start the Serial Monitor and start rotating the encoder we will start getting the values in the serial monitor. The particular module that I have makes 30 counts each full cycle.
First of all, I´ll put the code that works on ATMEGA2560, understanding the pins changes was not easy for me since there were not in order like ARDUINO UNO... But a good friend of mine helps me to understand how to use the B00110000 and the PINE & 0x30 instead of the ones used by Simon.
volatile byte reading = 0; //somewhere to store the direct values we read from our interrupt pins before checking to see if we have moved a whole detent
attachInterrupt(0,PinA,RISING); // set an interrupt on PinA, looking for a rising edge signal and executing the "PinA" Interrupt Service Routine (below)
attachInterrupt(1,PinB,RISING); // set an interrupt on PinB, looking for a rising edge signal and executing the "PinB" Interrupt Service Routine (below)
In adition I´d love to share the code I´ve write base on Simon´s, but using 2 encoders in Arduino MEGA, the same conection but adding a new encoder in pins 18 and 19 (interrupts 5 and 4)... I leave the code, I hope you find usefull in projects with two encoders instead of one!!!
volatile byte reading = 0; //somewhere to store the direct values we read from our interrupt pins before checking to see if we have moved a whole detent
volatile byte reading2 = 0; //somewhere to store the direct values we read from our interrupt pins before checking to see if we have moved a whole detent
attachInterrupt(0,PinA,RISING); // set an interrupt on PinA, looking for a rising edge signal and executing the "PinA" Interrupt Service Routine (below)
attachInterrupt(1,PinB,RISING); // set an interrupt on PinB, looking for a rising edge signal and executing the "PinB" Interrupt Service Routine (below)
attachInterrupt(5,PinC,RISING); // set an interrupt on PinA, looking for a rising edge signal and executing the "PinA" Interrupt Service Routine (below)
attachInterrupt(4,PinD,RISING); // set an interrupt on PinB, looking for a rising edge signal and executing the "PinB" Interrupt Service Routine (below)
After reviewing the code from the original project (Reference #3 below), and for the reasons mentioned in the above paragraph, I decided to make some major changes. The revised code can be downloaded below (most recent version is listed first). Older versions may contain known bugs and are kept for archival purposes only.
After writing the "conventional" Rotary Table Control program below (final version of the Arduino_Rotary_Table_Control_2019_Rev7 series), I decided to write a completely new program which would enable stepper motor control with acceleration and deceleration, as well as a number of additional features. For a link to this program, as well as additional related information, see this link:
UPDATE JUNE 15, 2022 :A new program update has been posted at the link below. This program has significant improvements over the "conventional" program listed further below. The new program version is therefore recommended.
Below is a "conventional" program based on the methods of the sketch in the original article in Home Model Engineering Machinist (see references below). This program is believed to work properly and offers the basic functions needed for an indexing controller.
[3-35-2019] Beeper Test programThis is a simple Arduino sketch which can be used to test whether a piezo beeper is working, and also to find the loudest (or otherwise most desirable) tone.
The programs below are included for archival purposes only.Note: Version 7 has the stepper motor settings for my setup hard coded in, but these can be easily changed (and changes permanently store) via the keypad. After loading the program, choose the Settings option to update the settings for your equipment. These settings will be maintained (even after power off) unless the program is re-loaded.
Note: Although I believe this code version handles moving in reverse correctly, it does NOT do any backlash compensation. This means that if you move forward X steps and then reverse X steps you will not return to the original position.
The code changes were made so that when stepper motor and rotary table parameters are entered into the program, calculations will be made in two ways:
The determination of the required number of steps to move is in all cases based on the theoretical steps, which are then converted to actual steps. This method provides the best approximation (typically with an error less than 0.01%), and enables the easy use of gear and table ratios which do not divide exactly into 360.
I"ve actually used Arduino"s for a number of projects over the last few years (and PIC"s, but that"s another story) but never used stepper motors, so I"m keen to play with this and see what it will do.
Next step - check out the stepper software. Everything works expect the "Right" button. I have mapped the button values and I get Right - 0, Up - 100, Down - 257, Left - 409 and Select - 639. I have checked that all buttons read, and with different sketches the buttons work, but for some reason "Right" does"t work with the stepper sketch.
Garth, if you download from the DM link you will find three versions of the software in the zip file. The latest (I believe) is ver 2.3. If you open the sketch in the Arduino IDE the first line gives you the version number in confirmation.
Edit: ... or maybe even this one: http://www.model-engineer.co.uk/forums/postings.asp?th=122870 which was "spun-off" from it when the thread lost direction.
Hi i wonder if any one can help i have tried two Arduino Uno boards and two different DF Robot keypads and get the same result that the up and down left keypads go through the menu but pressing select makes no difference they just show the menus .I have downloaded the software on two different computers and get the same result.
while I was looking for a LCD / button shield to buy I found links to modify some of the shields to use PWM backlight control, hence the circuit diagrams in my album
Good evening thank you all for your help but you are talking a completely different language to one i understand on Johns diagram i can find the analog pin on the board i then i need a satnav my understanding of electronics is nil. I can follow a drawing the above means nothing at all.
The information is presented under several different headings and there is quite a bit of overlap and cross-referencing of ideas so I suggest that you should read all of the note at least once. I think it would be possible to miss some important info if you only read the bit that immediately interests you.
This note is intended to provide guidance for the Arduino user who is new to stepper motors. It is not intended to be an expert dissertation on the subject.
The 5-wire motors cannot be driven by a driver designed for a bipolar motor. An example of a 5-wire motor is the small 28BYJ-48 motor which can be seen in many Arduino projects and usually uses a ULN2003 chip as its driver.
Datasheets normally quote the coil current, coil resistance, nominal voltage and holding torque and steps per revolution. For example, for this motor the values are 1 Amp, 2.7 Ohms, 2.7volts, 1.4Kg-cm and 200 steps/rev.
The rated current is normally the current per-coil and when currents are quoted for stepper motor driver boards that is normally also a per-coil figure.
With a DC motor you control the current in order to control the speed of the motor. The usual way to control the current is to vary the voltage - perhaps using the Arduino analogWrite() function to control a Pulse Width Modulated power supply to the motor.
For all practical purposes the nominal voltage of a stepper motor is irrelevant. It is the voltage which would drive the rated current through the coil when the motor is stationary based on Ohms law e.g. 2.7v = 1A * 2.7 Ohms. However, as soon as the motor starts moving the combination of the inductance of the coils and the back-emf generated by the movement will prevent the nominal voltage from producing the rated current.
For this reason stepper motors are normally driven with a much higher voltage. This, in turn, means that a specialized stepper motor driver board is needed which can limit the current to whatever the motor can take. If the current is not limited the high voltage would quickly destroy the motor.
These are specialized components designed to control stepper motors conveniently and efficiently. The Pololu A4988 is a typical example that is often used with Arduinos.
Normally specialized stepper motor driver boards have the ability to limit the current in the motor which allows them to drive the motor with a high voltage (up to 35v for the Pololu A4988) for better high speed performance.
These can be made to control a stepper motor but they are a very poor choice - mainly because they have no method for limiting the current and therefore cannot use high voltages. They are also more trouble to connect to an Arduino (they require more pins) and more trouble to control with an Arduino (more calculations for the Arduino to do).
The important specification is the torque of the motor. Generally speaking the holding torque is quoted. For the motor I linked to above it is 1.4Kg-cm. The available useful torque will decline as the speed increases and at no-load maximum speed it will be zero. Some (probably the more expensive) motor manufactures provide graphs showing how the torque varies with speed.
When you have selected a motor and know what current it requires you can choose a stepper motor driver that can comfortably supply the required current.
Grove Beginner Kit for Arduino is one of the best Arduino Beginner Kit for beginners. It includes one Arduino compatible Board and 10 additional Arduino sensors and all in one-piece of PCB design. All the modules have been connected to the Seeeduino through the PCB stamp holes so no Grove cables are needed to connect. Of course, you can also take the modules out and use Grove cables to connect the modules. You can build any Arduino project you like with this Grove Beginner Kit For Arduino.
The Grove Beginner Kit has a plug and plays unboxing demo, where you first plug in the power to the board, you get the chance to experience all the sensors in one go! Use the button and rotary potentiometer to experience each sensor demo!
Arduino IDE is an integrated development environment for Arduino, which is used for single-chip microcomputer software programming, downloading, testing and so on.
Arduino connects to the PC via a USB cable. The USB driver depends on the type of USB chip you"re using on your Arduino. Note: USB chips are usually printed on the back of the development board.
After the driver installation is completed, connect Arduino to the USB port of PC with a USB cable. For Windows users: You can see it in My Computer -> Properties -> Hardware -> Device Management. A COM will appear.
For Mac OS users: You can navigate to on the top left corner, and choose About this Mac -> System Report... -> USB. A CP2102 USB Driver should appear.
3.Click Tools -> Port to select the correct Port (the Serial Port showed in Device Manager in the previous step). In this case, COM11 is selected. For Mac OS users, it should be /dev/cu.SLAB_USBtoUART.
5.In the upper left corner of the Arduino IDE, there are two buttons, Verify and Upload. First, press the Verify button(✓) to compile. After the compilation is successful, press the upload button(→).
Note: If you installed the portable Arduino IDE from our USB Drive, you can find all the module demos in the Files -> Sketch Book, as well as all the module libraries, are pre-installed with Arduino IDE!
Digital signal: Digital signal refers to the value of the amplitude is discrete, the amplitude is limited to a finite number of values. In our controller, the digital signal has two states: LOW(0V) for 0; HIGH(5V) for 1. So sending a HIGH signal to LED can light it up.
The setup() function is called when a sketch starts. Use it to initialize variables, pin modes, start using libraries, etc. The setup() function will only run once, after each powerup or reset of the Arduino board.
After creating a setup() function, which initializes and sets the initial values, the loop() function does precisely what its name suggests, and loops consecutively, allowing your program to change and respond. Use it to actively control the Arduino board.
As of Arduino 1.0.1, it is possible to enable the internal pull-up resistors with the mode INPUT_PULLUP. Additionally, the INPUT mode explicitly disables the internal pullups.
If the pin has been configured as an OUTPUT with pinMode(), its voltage will be set to the corresponding value: 5V (or 3.3V on 3.3V boards) for HIGH, 0V (ground) for LOW.
If the pin is configured as an INPUT, digitalWrite() will enable (HIGH) or disable (LOW) the internal pullup on the input pin. It is recommended to set the pinMode() to INPUT_PULLUP to enable the internal pull-up resistor. See the Digital Pins tutorial for more information.
In the last section, we studied that button only has two states, ON/OFF state corresponding 0V and 5V, but in practice, we often counter the need for many states, not just 0V and 5V. Then you need to use Analog Signal! Rotary Potentiometer is a classic example that uses an analog signal.
You may find that we define rotatePin and ledPin in different ways. This is because Rotary Potentiometer generates an analog signal, and the LED is controlled by a digital signal.
Reads the value from the specified analog pin. Arduino boards contain a multichannel, 10-bit analog to digital converter. This means that it will map input voltages between 0 and the operating voltage(5V or 3.3V) into integer values between 0 and 1023. On an Arduino UNO, for example, this yields a resolution between readings of: 5 volts / 1024 units or, 0.0049 volts (4.9 mV) per unit.
Returns: The analog reading on the pin. Although it is limited to the resolution of the analog to digital converter (0-1023 for 10 bits or 0-4095 for 12 bits). Data type: int.
Use a Grove cable to connect LED to Seeeduino Lotus"s digital interface D4, and a Grove cable to connect the Grove Rotary Switch to analog signal interface A0.
Just like the LED module, Buzzer is also an output module, instead of lighting up it produces a beep sound. This can be used for many situations for indication purposes.Let"s learn how to generate sound using the buzzer!
In this kit, the Grove-Buzzer is a passive buzzer so that it needs an AC signal to control it. This then leads to the next question, how to generate Square Wave(AC signals) with Arduino! Well, an easy way is to use PWM.
Pulse Width Modulation, or PWM, is a technique for getting analog results with digital means. Digital control is used to create a square wave, a signal switched between on and off. This on-off pattern can simulate voltages in between full on (5 Volts) and off (0 Volts) by changing the portion of the time the signal spends on versus the time that the signal spends off. The duration of "on time" is called the pulse width. To get varying analog values, you change, or modulate, that pulse width. If you repeat this on-off pattern fast enough, the result is as if the signal is a steady voltage between 0 and 5v as a AC signal. Reference: Arduino. This PWM signal can then be used to control the passive buzzer with ease.
D3 is also inter-connected to the Grove-Temperature & Humidity Sensor, and therefore this example cannot be used with Grove-Temperature & Humidity Sensor together.
Does not constrain values to within the range, because out-of-range values are sometimes intended and useful. The constrain() function may be used either before or after this function, if limits to the ranges are desired.
Note that the "lower bounds" of either range may be larger or smaller than the "upper bounds" so the map() function may be used to reverse a range of numbers, for example
Serial Monitor is a useful tool to observe results on Arduino, it can be very useful in terms of printing results from the sensors or debugging in general. You can also send data back to the controller via the serial monitor to do certain tasks! Note: Make sure the Serial data transfer match with the code.
Sets the data rate in bits per second (baud) for serial data transmission. For communicating with Serial Monitor, make sure to use one of the baud rates listed in the menu at the bottom right corner of its screen. You can, however, specify other rates - for example, to communicate over pins 0 and 1 with a component that requires a particular baud rate.
Prints data to the serial port as human-readable ASCII text followed by a carriage return character (ASCII 13, or "\r") and a newline character (ASCII 10, or "\n"). This command takes the same forms as Serial.print().
The sound sensor can detect the sound intensity of the environment, and its output is also simulated. I"m sure you"ve all been exposed to the sound control lights, but now we can do one ourselves, and with the basics, this experiment will be easy for you. Here used Serial Plotter to visualize results.
Serial Plotter is similar to Serial Monitor, allowing you to natively graph serial data from your Arduino to your computer in real-time. This is very useful when data needs to be visualized.
The Arduino environment can be extended through the use of libraries, just like most other programming platforms. Libraries provide extra functionalities for use in sketches, i.e. working with specific hardware or manipulating data. To use a library in a sketch, select it from Sketch ->Include Library.
Install the U8g2 library: Navigate to Sketch -> Include Library -> Manage Libraries... and Search for the keyword "U8g2" in the Library Manager. It"s the u8g2 library by oliver, and click then install.
#include is used to include outside libraries in your sketch. This gives the programmer access to a large group of standard C libraries (groups of pre-made functions), and also libraries written especially for Arduino.
Some displays support a 180-degree rotation of the internal frame buffer. This hardware feature can be controlled with this procedure. Important: Redraw the complete display after changing the flip mode. Best is to clear the display first, then change the flip mode and finally redraw the content. Results will be undefined for any existing content on the screen.
Click "This PC" -> Documents -> Arduino -> libraries -> U8g2 -> src -> U8x8lib.cpp -> Sliding to 1334 line -> delete or disable this line -> save the file.
Protocol signal: the protocol signal we use is I2C, so here is a brief introduction to I2C. I2C bus just needs two wires in the transmission of information connection between the devices: the SDA (Serial Data Line) and SCL (Serial Clock Line).
The host then receives the data sent from the device, and the host terminates the receiving process. In this case. The host is responsible for generating the timing clock and terminating the data transfer.
Grove Air Pressure Sensor(BMP280) is a breakout board for Bosch BMP280 high-precision and low-power digital barometer. This module can be used to measure temperature and atmospheric pressure accurately. As the atmospheric pressure changes with altitude, it can also measure the approximate altitude of a place.
Install the Grove Barometer Sensor library: Navigate to Sketch -> Include Library -> Manage Libraries... and Search for the keyword "Grove BMP280" in the Library Manager, then install.
In this program, Barometer sensor information is sent from the sensor to Seeeduino via I2C bus and then Seeeduino printed them onto the serial monitor. Open the serial monitor to check the result.
In this program, acceleration information is sent from the sensor to Seeeduino via I2C bus and then Seeeduino printed them onto the serial monitor. Open the serial monitor to check the result.
Project description: as the name implies, this project is to make a small lamp controlled by Sound and Light. We need to use the LED module as output. Light sensor and sound sensor are used for input signals. In this way, you can achieve the function of the smart desk lamp: if the surrounding sound level is above certain pre-set value, then the LED light up, or if the surrounding light intensity is below certain value, the LED module also light up.
After this period of study, you already have a systematic understanding of Arduino and open-source hardware, so why not go further and try to make your own module or development board?
KiCad is a free software suite for electronic design automation. It facilitates the design of schematics for electronic circuits and their conversion to PCB designs. It features an integrated environment for schematic capture and PCB layout design. The programs handle Schematic Capture and PCB Layout with Gerber output. The suite runs on Windows, Linux, and macOS and is licensed under GNU GPL v3.
Seeed Studio has its very own Open Parts Library (OPL) which is a collection of over 10,000 commonly used components specifically sourced for the Seeed Fusion PCBA Service. To speed up the process of PCB design, Seeed is building the component libraries for KiCad and Eagle. When all components are sourced from Seeed’s PCBA OPL and used with the Seeed Fusion PCB Assembly (PCBA) service, the entire PCBA production time can be reduced from 20 working days to a mere 7 days.
Looking closely at the Grove Beginner Kit For Arduino you will see that there are 3 small holes between each individual module and the backplane. All you need to do is cut the PCB backplane around the module from the small holes using a pair of diagonal pliers.
Along 3 years I have been trying several leg mechanism, at first I decided to do a simple desing with tibial motor where placed on femur joint.This design had several problems, like it wasn"t very robust and the most importat is that having the motor (with big mass) that far from the rotating axis, caused that in some movements it generate unwanted dynamics to the robot body, making controlability worse.New version have both motors of femur/tibial limb at coxa frame, this ends with a very simple setup and at the same time, the heaviest masses of the mechanism are centered to the rotating axis of coxa limb, so even though the leg do fast movements, inertias won"t be strong enough to affect the hole robot mass, achieving more agility.Inverse Kinematics of the mechanismAfter building it I notice that this mechanism was very special for another reason, at the domain the leg normally moves, it acts as a diferential mecanism, this means that torque is almost all the time shared between both motor of the longer limbs. That was an improvent since with the old mechanism tibial motor had to hold most of the weight and it was more forced than the one for femur.To visualize this, for the same movement, we can see how tibial motor must travel more arc of angel that the one on the new version.In order to solve this mechanism, just some trigonometry is needed. Combining both cosine and sine laws, we can obtain desired angle (the one between femur and tibia) with respect to the angle the motor must achieve.Observing these equations, with can notice that this angle (the one between femur and tibia) depends on both servos angles, which means both motors are contributing to the movement of the tibia.Calibration of servosAnother useful thing to do if we want to control servo precisely is to print a calibration tool for our set up. As shown in the image below, in order to know where real angles are located, angle protactor is placer just in the origin of the rotating joint, and choosing 2 know angles we can match PWM signal to the real angles we want to manipulate simply doing a lineal relation between angles and PWM pulse length.Then a simple program in the serial console can be wrtten to let the user move the motor to the desired angle. This way the calibration process is only about placing motor at certain position and everything is done and we won"t need to manually introduce random values that can be a very tedious task.With this I have achieved very good calibrations on motors, which cause the robot to be very simetrial making the hole system more predictable. Also the calibration procedure now is very easy to do, as all calculations are done automatically. Check Section 1 for the example code for calibration.More about this can be seen in the video below, where all the building process is shown as well as the new leg in action.SECTION 1:In the example code below, you can see how calibration protocol works, it is just a function called calibrationSecuence() which do all the work until calibration is finished. So you only need to call it one time to enter calibration loop, for example by sending a "c" character thought the serial console.Also some useful function are used, like moving motor directly with analogWrite functions which all the calculations involved, this is a good point since no interrupts are used.This code also have the feature to calibrate the potentiometer coming from each motor.#define MAX_PULSE 2500 #define MIN_PULSE 560 /*---------------SERVO PIN DEFINITION------------------------*/ int m1 = 6;//FR int m2 = 5; int m3 = 4; int m4 = 28;//FL int m5 = 29; int m6 = 36; int m7 = 3;//BR int m8 = 2; int m9 = 1; int m10 = 7;//BL int m11 = 24; int m12 = 25; int m13 = 0;//BODY /*----------------- CALIBRATION PARAMETERS OF EACH SERVO -----------------*/ double lowLim[13] = {50, 30, 30, 50, 30, 30, 50, 30, 30, 50, 30, 30, 70}; double highLim[13] = {130, 150, 150, 130, 150, 150, 130, 150, 150, 130, 150, 150, 110}; double a[13] = { -1.08333, -1.06667, -1.07778, //FR -1.03333, 0.97778, 1.01111, //FL 1.03333, 1.05556, 1.07778, //BR 1.07500, -1.07778, -1.00000, //BL 1.06250 }; double b[13] = {179.0, 192.0, 194.5, //FR 193.0, 5.5, -7.5, //FL 7.0, -17.0, -16.0, //BR -13.5, 191.5, 157.0, //BL -0.875 }; double ae[13] = {0.20292, 0.20317, 0.19904 , 0.21256, -0.22492, -0.21321, -0.21047, -0.20355, -0.20095, -0.20265, 0.19904, 0.20337, -0.20226 }; double be[13] = { -18.59717, -5.70512, -2.51697, -5.75856, 197.29411, 202.72169, 185.96931, 204.11902, 199.38663, 197.89534, -5.33768, -32.23424, 187.48058 }; /*--------Corresponding angles you want to meassure at in your system-----------*/ double x1[13] = {120, 135, 90, 60, 135 , 90, 120, 135, 90, 60, 135, 90, 110}; //this will be the first angle you will meassure double x2[13] = {60, 90, 135, 120, 90, 135, 60, 90, 135, 120, 90, 135, 70};//this will be the second angle you will meassure for calibration /*--------You can define a motor tag for each servo--------*/ String motorTag[13] = {"FR coxa", "FR femur", "FR tibia", "FL coxa", "FL femur", "FL tibia", "BR coxa", "BR femur", "BR tibia", "BL coxa", "BL femur", "BL tibia", "Body angle" }; double ang1[13] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}; double ang2[13] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}; float xi[500]; float yi[500]; float fineAngle; float fineL; float fineH; int motorPin; int motor = 0; float calibrationAngle; float res = 1.0; float ares = 0.5; float bres = 1.0; float cres = 4.0; float rawAngle; float orawAngle; char cm; char answer; bool interp = false; bool question = true; bool swing = false; int i; double eang; int freq = 100; // PWM frecuency can be choosen here. void connectServos() { analogWriteFrequency(m1, freq); //FR coxa digitalWrite(m1, LOW); pinMode(m1, OUTPUT); analogWriteFrequency(m2, freq); //femur digitalWrite(m2, LOW); pinMode(m2, OUTPUT); analogWriteFrequency(m3, freq); //tibia digitalWrite(m3, LOW); pinMode(m3, OUTPUT); analogWriteFrequency(m4, freq); //FL coxa digitalWrite(m4, LOW); pinMode(m4, OUTPUT); analogWriteFrequency(m5, freq); //femur digitalWrite(m5, LOW); pinMode(m5, OUTPUT); analogWriteFrequency(m6, freq); //tibia digitalWrite(m6, LOW); pinMode(m6, OUTPUT); analogWriteFrequency(m7, freq); //FR coxa digitalWrite(m7, LOW); pinMode(m7, OUTPUT); analogWriteFrequency(m8, freq); //femur digitalWrite(m8, LOW); pinMode(m8, OUTPUT); analogWriteFrequency(m9, freq); //tibia digitalWrite(m9, LOW); pinMode(m9, OUTPUT); analogWriteFrequency(m10, freq); //FR coxa digitalWrite(m10, LOW); pinMode(m10, OUTPUT); analogWriteFrequency(m11, freq); //femur digitalWrite(m11, LOW); pinMode(m11, OUTPUT); analogWriteFrequency(m12, freq); //tibia digitalWrite(m12, LOW); pinMode(m12, OUTPUT); analogWriteFrequency(m13, freq); //body digitalWrite(m13, LOW); pinMode(m13, OUTPUT); } void servoWrite(int pin , double angle) { float T = 1000000.0f / freq; float usec = float(MAX_PULSE - MIN_PULSE) * (angle / 180.0) + (float)MIN_PULSE; uint32_t duty = int(usec / T * 4096.0f); analogWrite(pin , duty); } double checkLimits(double angle , double lowLim , double highLim) { if ( angle >= highLim ) { angle = highLim; } if ( angle <= lowLim ) { angle = lowLim; } return angle; } int motorInfo(int i) { enc1 , enc2 , enc3 , enc4 , enc5 , enc6 , enc7 , enc8 , enc9 , enc10 , enc11 , enc12 , enc13 = readEncoders(); if (i == 0) { rawAngle = enc1; motorPin = m1; } else if (i == 1) { rawAngle = enc2; motorPin = m2; } else if (i == 2) { rawAngle = enc3; motorPin = m3; } else if (i == 3) { rawAngle = enc4; motorPin = m4; } else if (i == 4) { rawAngle = enc5; motorPin = m5; } else if (i == 5) { rawAngle = enc6; motorPin = m6; } else if (i == 6) { rawAngle = enc7; motorPin = m7; } else if (i == 7) { rawAngle = enc8; motorPin = m8; } else if (i == 8) { rawAngle = enc9; motorPin = m9; } else if (i == 9) { rawAngle = enc10; motorPin = m10; } else if (i == 10) { rawAngle = enc11; motorPin = m11; } else if (i == 11) { rawAngle = enc12; motorPin = m12; } else if (i == 12) { rawAngle = enc13; motorPin = m13; } return rawAngle , motorPin; } void moveServos(double angleBody , struct vector anglesServoFR , struct vector anglesServoFL , struct vector anglesServoBR , struct vector anglesServoBL) { //FR anglesServoFR.tetta = checkLimits(anglesServoFR.tetta , lowLim[0] , highLim[0]); fineAngle = a[0] * anglesServoFR.tetta + b[0]; servoWrite(m1 , fineAngle); anglesServoFR.alpha = checkLimits(anglesServoFR.alpha , lowLim[1] , highLim[1]); fineAngle = a[1] * anglesServoFR.alpha + b[1]; servoWrite(m2 , fineAngle); anglesServoFR.gamma = checkLimits(anglesServoFR.gamma , lowLim[2] , highLim[2]); fineAngle = a[2] * anglesServoFR.gamma + b[2]; servoWrite(m3 , fineAngle); //FL anglesServoFL.tetta = checkLimits(anglesServoFL.tetta , lowLim[3] , highLim[3]); fineAngle = a[3] * anglesServoFL.tetta + b[3]; servoWrite(m4 , fineAngle); anglesServoFL.alpha = checkLimits(anglesServoFL.alpha , lowLim[4] , highLim[4]); fineAngle = a[4] * anglesServoFL.alpha + b[4]; servoWrite(m5 , fineAngle); anglesServoFL.gamma = checkLimits(anglesServoFL.gamma , lowLim[5] , highLim[5]); fineAngle = a[5] * anglesServoFL.gamma + b[5]; servoWrite(m6 , fineAngle); //BR anglesServoBR.tetta = checkLimits(anglesServoBR.tetta , lowLim[6] , highLim[6]); fineAngle = a[6] * anglesServoBR.tetta + b[6]; servoWrite(m7 , fineAngle); anglesServoBR.alpha = checkLimits(anglesServoBR.alpha , lowLim[7] , highLim[7]); fineAngle = a[7] * anglesServoBR.alpha + b[7]; servoWrite(m8 , fineAngle); anglesServoBR.gamma = checkLimits(anglesServoBR.gamma , lowLim[8] , highLim[8]); fineAngle = a[8] * anglesServoBR.gamma + b[8]; servoWrite(m9 , fineAngle); //BL anglesServoBL.tetta = checkLimits(anglesServoBL.tetta , lowLim[9] , highLim[9]); fineAngle = a[9] * anglesServoBL.tetta + b[9]; servoWrite(m10 , fineAngle); anglesServoBL.alpha = checkLimits(anglesServoBL.alpha , lowLim[10] , highLim[10]); fineAngle = a[10] * anglesServoBL.alpha + b[10]; servoWrite(m11 , fineAngle); anglesServoBL.gamma = checkLimits(anglesServoBL.gamma , lowLim[11] , highLim[11]); fineAngle = a[11] * anglesServoBL.gamma + b[11]; servoWrite(m12 , fineAngle); //BODY angleBody = checkLimits(angleBody , lowLim[12] , highLim[12]); fineAngle = a[12] * angleBody + b[12]; servoWrite(m13 , fineAngle); } double readEncoderAngles() { enc1 , enc2 , enc3 , enc4 , enc5 , enc6 , enc7 , enc8 , enc9 , enc10 , enc11 , enc12 , enc13 = readEncoders(); eang1 = ae[0] * enc1 + be[0]; eang2 = ae[1] * enc2 + be[1]; eang3 = ae[2] * enc3 + be[2]; eang4 = ae[3] * enc4 + be[3]; eang5 = ae[4] * enc5 + be[4]; eang6 = ae[5] * enc6 + be[5]; eang7 = ae[6] * enc7 + be[6]; eang8 = ae[7] * enc8 + be[7]; eang9 = ae[8] * enc9 + be[8]; eang10 = ae[9] * enc10 + be[9]; eang11 = ae[10] * enc11 + be[10]; eang12 = ae[11] * enc12 + be[11]; eang13 = ae[12] * enc13 + be[12]; return eang1 , eang2 , eang3 , eang4 , eang5 , eang6 , eang7 , eang8 , eang9 , eang10 , eang11 , eang12 , eang13; } void calibrationSecuence( ) { //set servos at their middle position at firstt for (int i = 0; i <= 12; i++) { rawAngle , motorPin = motorInfo(i); servoWrite(motorPin , 90); } // sensorOffset0 = calibrateContacts(); Serial.println(" "); Serial.println("_________________________________SERVO CALIBRATION ROUTINE_________________________________"); Serial.println("___________________________________________________________________________________________"); Serial.println("(*) Don"t send several caracter at the same time."); delay(500); Serial.println(" "); Serial.println("Keyboard: "x"-> EXIT CALIBRATION. "c"-> ENTER CALIBRATION."); Serial.println(" "i"-> PRINT INFORMATION. "); Serial.println(" "); Serial.println(" "n"-> CHANGE MOTOR (+). "b" -> CHANGE MOTOR (-)."); Serial.println(" "m"-> START CALIBRATION."); Serial.println(" "q"-> STOP CALIBRATION."); Serial.println(" "); Serial.println(" "r"-> CHANGE RESOLUTION."); Serial.println(" "p"-> ADD ANGLE. "o"-> SUBTRACT ANGLE. "); Serial.println(" "s"-> SAVE ANGLE."); delay(500); Serial.println(" "); Serial.println("---------------------------------------------------------------------------------------------------"); Serial.print("SELECTED MOTOR: "); Serial.print(motorTag[motor]); Serial.print(". SELECTED RESOLUTION: "); Serial.println(res); while (CAL == true) { if (Serial.available() > 0) { cm = Serial.read(); if (cm == "x") { Serial.println("Closing CALIBRATION program..."); CAL = false; secuence = false; startDisplay(PAGE); angleBody = 90; anglesIKFR.tetta = 0.0; anglesIKFR.alpha = -45.0; anglesIKFR.gamma = 90.0; anglesIKFL.tetta = 0.0; anglesIKFL.alpha = -45.0; anglesIKFL.gamma = 90.0; anglesIKBR.tetta = 0.0; anglesIKBR.alpha = 45.0; anglesIKBR.gamma = -90.0; anglesIKBL.tetta = 0.0; anglesIKBL.alpha = 45.0; anglesIKBL.gamma = -90.0; } else if (cm == "i") { // + Serial.println(" "); Serial.println("---------------------------------------------------------------------------------------------------"); Serial.println("---------------------------------------------------------------------------------------------------"); Serial.println("(*) Don"t send several caracter at the same time."); delay(500); Serial.println(" "); Serial.println("Keyboard: "x"-> EXIT CALIBRATION. "c"-> ENTER CALIBRATION."); Serial.println(" "i"-> PRINT INFORMATION. "); Serial.println(" "); Serial.println(" "n"-> CHANGE MOTOR (+). "b" -> CHANGE MOTOR (-)."); Serial.println(" "m"-> START CALIBRATION."); Serial.println(" "q"-> STOP CALIBRATION."); Serial.println(" "); Serial.println(" "r"-> CHANGE RESOLUTION."); Serial.println(" "p"-> ADD ANGLE. "o"-> SUBTRACT ANGLE. "s"-> SAVE ANGLE."); Serial.println(" "); delay(500); Serial.println(" "); Serial.println("---------------------------------------------------------------------------------------------------"); Serial.println(" "); Serial.print("SELECTED MOTOR: "); Serial.print(motorTag[motor]); Serial.print(". SELECTED RESOLUTION: "); Serial.println(res); Serial.println("Actual parameters of the motor: "); Serial.print("High limit: "); Serial.print(highLim[motor]); Serial.print(" Low limit: "); Serial.print(lowLim[motor]); Serial.print(" Angle 1: "); Serial.print(ang1[motor]); Serial.print(" Angle 2: "); Serial.println(ang2[motor]); Serial.println("---------------------------------------------------------------------------------------------------"); } else if (cm == "m") { // + secuence = true; } else if (cm == "s") { // + } else if (cm == "n") { // + motor++; if (motor >= 13) { motor = 0; } Serial.print("SELECTED MOTOR: "); Serial.println(motorTag[motor]); } else if (cm == "b") { // + motor--; if (motor < 0) { motor = 13 - 1; } Serial.print("SELECTED MOTOR: "); Serial.println(motorTag[motor]); } else if (cm == "r") { // + if (res == ares) { res = bres; } else if (res == bres) { res = cres; } else if (res == cres) { res = ares; } Serial.print("SELECTED RESOLUTION: "); Serial.println(res); } } if (secuence == true) { Serial.print("Starting secuence for motor: "); Serial.println(motorTag[motor]); for (int i = 0; i <= 30; i++) { delay(20); Serial.print("."); } Serial.println("."); while (question == true) { unsigned long currentMicros = micros(); if (currentMicros - previousMicros >= 100000) { previousMicros = currentMicros; if (Serial.available() > 0) { answer = Serial.read(); if (answer == "y") { question = false; interp = true; secuence = true; } else if (answer == "n") { question = false; interp = false; secuence = true; } else { Serial.println("Please, select Yes(y) or No(n)."); } } } } answer = "t"; question = true; if (interp == false) { Serial.println("___"); Serial.println(" | Place motor at 1ts position and save angle"); Serial.println(" | This position can be the higher one"); rawAngle , motorPin = motorInfo(motor); calibrationAngle = 90; //start calibration at aproximate middle position of the servo. while (secuence == true) { /* find first calibration angle */ if (Serial.available() > 0) { cm = Serial.read(); if (cm == "p") { // + Serial.print(" | +"); Serial.print(res); Serial.print(" : "); calibrationAngle = calibrationAngle + res; servoWrite(motorPin , calibrationAngle); Serial.println(calibrationAngle); } else if (cm == "o") { // - Serial.print(" | -"); Serial.print(res); Serial.print(" : "); calibrationAngle = calibrationAngle - res; servoWrite(motorPin , calibrationAngle); Serial.println(calibrationAngle); } else if (cm == "r") { // + if (res == ares) { res = bres; } else if (res == bres) { res = cres; } else if (res == cres) { res = ares; } Serial.print("SELECTED RESOLUTION: "); Serial.println(res); } else if (cm == "q") { // quit secuence secuence = false; Serial.println(" | Calibration interrupted!!"); } else if (cm == "s") { // save angle ang1[motor] = calibrationAngle; secuence = false; Serial.print(" | Angle saved at "); Serial.println(calibrationAngle); } } } if (cm == "q") { Serial.println(" |"); } else { secuence = true; Serial.println("___"); Serial.println(" | Place motor at 2nd position and save angle"); Serial.println(" | This position can be the lower one"); } while (secuence == true) { /* find second calibration angle */ if (Serial.available() > 0) { cm = Serial.read(); if (cm == "p") { // + Serial.print(" | +"); Serial.print(res); Serial.print(" : "); calibrationAngle = calibrationAngle + res; servoWrite(motorPin , calibrationAngle); Serial.println(calibrationAngle); } else if (cm == "o") { // - Serial.print(" | -"); Serial.print(res); Serial.print(" : "); calibrationAngle = calibrationAngle - res; servoWrite(motorPin , calibrationAngle); Serial.println(calibrationAngle); } else if (cm == "r") { // + if (res == ares) { res = bres; } else if (res == bres) { res = cres; } else if (res == cres) { res = ares; } Serial.print("SELECTED RESOLUTION: "); Serial.println(res); } else if (cm == "q") { // quit secuence secuence = false; Serial.println(" | Calibration interrupted!!"); } else if (cm == "s") { // save angle ang2[motor] = calibrationAngle; secuence = false; Serial.print(" | Angle saved at "); Serial.println(calibrationAngle); } } } /*--------------------start calibration calculations------------------*/ if (cm == "q") { Serial.println("___|"); Serial.println("Calibration finished unespected."); Serial.println(" Select another motor."); Serial.print("SELECTED MOTOR: "); Serial.print(motorTag[motor]); Serial.print(". SELECTED RESOLUTION: "); Serial.println(res); } else { Serial.println("___"); Serial.println(" |___"); Serial.print( " | | Interpolating for motor: "); Serial.println(motorTag[motor]); secuence = true; //real angle is calculated interpolating both angles to a linear relation. a[motor] = (ang2[motor] - ang1[motor]) / (x2[motor] - x1[motor]); b[motor] = ang1[motor] - x1[motor] * (ang2[motor] - ang1[motor]) / (x2[motor] - x1[motor]); Serial.println(" | |"); } interp = true; } /*---------------------------make swing movement to interpolate motor encoder-----*/ if (interp == true and secuence == true) { delay(200); double x; int k = 0; int stp = 180; swing = true; i = 0; orawAngle , motorPin = motorInfo(motor); previousMicros = 0; while (swing == true) { // FIRST unsigned long currentMicros = micros(); if (currentMicros - previousMicros >= 10000) { // save the last time you blinked the LED previousMicros = currentMicros; x = x2[motor]; calibrationAngle = a[motor] * x + b[motor]; servoWrite(motorPin , calibrationAngle); rawAngle , motorPin = motorInfo(motor); if ((i % 3) == 0) { yi[k+1] = x; xi[k] = rawAngle; Serial.print(" | | Real ang: "); Serial.print(x); Serial.print(" -> Servo ang: "); Serial.print(calibrationAngle); Serial.print(" Enc: "); Serial.println(rawAngle); k++; } if (i >= stp) { swing = false; } i++; } } swing = true; i = 0; while (swing == true) { // moving unsigned long currentMicros = micros(); if (currentMicros - previousMicros >= 10000) { // save the last time you blinked the LED previousMicros = currentMicros; x = x2[motor] + float(i) * (x1[motor] - x2[motor]) / stp; calibrationAngle = a[motor] * x + b[motor]; servoWrite(motorPin , calibrationAngle); rawAngle , motorPin = motorInfo(motor); if ((i % 6) == 0) { yi[k+1] = x; xi[k] = rawAngle; Serial.print(" | | Real ang: "); Serial.print(x); Serial.print(" -> Servo ang: "); Serial.print(calibrationAngle); Serial.print(" Enc: "); Serial.println(rawAngle); k++; } if (i >= stp) { swing = false; } i++; } } swing = true; i = 0; while (swing == true) { // SECOND unsigned long currentMicros = micros(); if (currentMicros - previousMicros >= 10000) { // save the last time you blinked the LED previousMicros = currentMicros; x = x1[motor]; calibrationAngle = a[motor] * x + b[motor]; servoWrite(motorPin , calibrationAngle); rawAngle , motorPin = motorInfo(motor); if ((i % 3) == 0) { yi[k+1] = x; xi[k] = rawAngle; Serial.print(" | | Real ang: "); Serial.print(x); Serial.print(" -> Servo ang: "); Serial.print(calibrationAngle); Serial.print(" Enc: "); Serial.println(rawAngle); k++; } if (i >= stp) { swing = false; } i++; } } swing = true; i = 0; while (swing == true) { // moving unsigned long currentMicros = micros(); if (currentMicros - previousMicros >= 10000) { // save the last time you blinked the LED previousMicros = currentMicros; x = x1[motor] + float(i) * (x2[motor] - x1[motor]) / stp; calibrationAngle = a[motor] * x + b[motor]; servoWrite(motorPin , calibrationAngle); rawAngle , motorPin = motorInfo(motor); if ((i % 6) == 0) { yi[k+1] = x; xi[k] = rawAngle; Serial.print(" | | Real ang: "); Serial.print(x); Serial.print(" -> Servo ang: "); Serial.print(calibrationAngle); Serial.print(" Enc: "); Serial.println(rawAngle); k++; } if (i >= stp) { swing = false; } i++; } } swing = true; i = 0; while (swing == true) { // FIRST unsigned long currentMicros = micros(); if (currentMicros - previousMicros >= 10000) { // save the last time you blinked the LED previousMicros = currentMicros; x = x2[motor]; calibrationAngle = a[motor] * x + b[motor]; servoWrite(motorPin , calibrationAngle); rawAngle , motorPin = motorInfo(motor); if ((i % 3) == 0) { yi[k+1] = x; xi[k] = rawAngle; Serial.print(" | | Real ang: "); Serial.print(x); Serial.print(" -> Servo ang: "); Serial.print(calibrationAngle); Serial.print(" Enc: "); Serial.println(rawAngle); k++; } if (i >= stp) { swing = false; } i++; } } swing = true; i = 0; while (swing == true) { // moving unsigned long currentMicros = micros(); if (currentMicros - previousMicros >= 10000) { // save the last time you blinked the LED previousMicros = currentMicros; x = x2[motor] + float(i) * (x1[motor] - x2[motor]) / stp; calibrationAngle = a[motor] * x + b[motor]; servoWrite(motorPin , calibrationAngle); rawAngle , motorPin = motorInfo(motor); if ((i % 6) == 0) { yi[k+1] = x; xi[k] = rawAngle; Serial.print(" | | Real ang: "); Serial.print(x); Serial.print(" -> Servo ang: "); Serial.print(calibrationAngle); Serial.print(" Enc: "); Serial.println(rawAngle); k++; } if (i >= stp) { swing = false; } i++; } } swing = true; i = 0; while (swing == true) { // SECOND unsigned long currentMicros = micros(); if (currentMicros - previousMicros >= 10000) { // save the last time you blinked the LED previousMicros = currentMicros; x = x1[motor]; calibrationAngle = a[motor] * x + b[motor]; servoWrite(motorPin , calibrationAngle); rawAngle , motorPin = motorInfo(motor); if ((i % 3) == 0) { yi[k+1] = x; xi[k] = rawAngle; Serial.print(" | | Real ang: "); Serial.print(x); Serial.print(" -> Servo ang: "); Serial.print(calibrationAngle); Serial.print(" Enc: "); Serial.println(rawAngle); k++; } if (i >= stp) { swing = false; } i++; } } Serial.println(" | | Interpolation finished!"); /*-------Calculate linear interpolation of the encoder from 60 meassures done in swing------*/ double sx = 0; double sy = 0; double sx2 = 0; double sy2 = 0; double sxy = 0; double xmean = 0; double ymean = 0; int n = 300; for (int i = 0 ; i < n ; i++) { sx += xi[i+10]; sy += yi[i+10]; sx2 += xi[i+10] * xi[i+10]; sy2 += yi[i+10] * yi[i+10]; sxy += xi[i+10] * yi[i+10]; } ae[motor] = (n * sxy - sx * sy) / (n * sx2 - sx * sx); //sxy / sx2; // be[motor] = (sy - ae[motor] * sx) / n; //ymean - ae[motor] * xmean; Serial.println(" | | Moving back to ZERO position."); // turn the motor back to middle position swing = true; i = 0; while (swing == true) { unsigned long currentMicros = micros(); if (currentMicros - previousMicros >= 10000) { // save the last time you blinked the LED previousMicros = currentMicros; x = x1[motor] + float(i) * (90 - x1[motor]) / 60; calibrationAngle = a[motor] * x + b[motor]; servoWrite(motorPin , calibrationAngle); rawAngle , motorPin = motorInfo(motor); eang = ae[motor] * rawAngle + be[motor]; if ((i % 4) == 0) { Serial.print(" | | Servo ang: "); Serial.print(calibrationAngle); Serial.print(" -> Real ang: "); Serial.print(x); Serial.print(" -> Encoder ang: "); Serial.println(eang); } if (i >= 60) { swing = false; } i++; } } Serial.println("___|___|"); Serial.println(" | "); Serial.println("___"); Serial.println(" | Calibration finished satisfactory. Results data:"); Serial.print(" | HIGH lim: "); Serial.print(highLim[motor]); Serial.print(" LOW lim: "); Serial.println(lowLim[motor]); Serial.print(" | angle 1: "); Serial.print(ang1[motor]); Serial.print(" angle 2 "); Serial.println(ang2[motor]); Serial.print(" | Regression Motor a: "); Serial.print(a[motor], 5); Serial.print(" b: "); Serial.println(b[motor], 5); Serial.print(" | Regression Encoder a: "); Serial.print(ae[motor], 5); Serial.print(" b: "); Serial.println(be[motor], 5); Serial.println(" |"); Serial.println(" | ______________________________________________________________"); Serial.println(" | | |"); Serial.println(" | | This code won"t be able to save the updated parameters |"); Serial.println(" | | once the robot is shutted down. |"); Serial.println(" | | |"); Serial.println(" | | Please, write down the results |"); Serial.println(" | | and save them in the definition of each variable. |"); Serial.println(" | |_____________________________________________________________|"); Serial.println(" |"); Serial.println("___|"); Serial.println(" Select another motor."); Serial.print("SELECTED MOTOR: "); Serial.print(motorTag[motor]); Serial.print(". SELECTED RESOLUTION: "); Serial.println(res); } interp = false; secuence = false; } } SAFE = false; Serial.println("Calibration killed"); } // END OF CALIBRATION
I was searching around on eBay and came across an interesting little trunnion table, link below. I had seen similar units, but they all used belt drive reductions, which from experience will not have enough reduction, and will likely be chatter with any real cutting, not to mention the belt is exposed. This unit however uses a harmonic drive to get a 50:1 reduction, with essentially zero detectable backlash. on top of that, it actually back drives the stepper motor. Harmonic drives are also sometimes called wave strain drives or flex spline drives. Anyways, the trunnion uses a couple of nema 23 steppers, and the holding torque is fantastic, even with a cheap stepper driver. For simplicity I"m using an arduino based controller that runs grbl 1.1f, and a couple of 5-30v inductive switches, links below. The controller can be controlled by sending gcode over the rx and tx pins, aka rs-232. The trunnion unit itself is very beefy for what it is, and has what look to be waterproof seals around all the bearings, so with a bit more sealing on the motors it can probably handle coolant usage.
I use fusion 360 for all of my CAM, and one of the big draws is it can do multiaxis toolpaths. The second biggest draw, for me at least, is the post processors can be edited. The third thing being the new machine simulation, I was able to use the haas provided model for the CM-1(we have an OM2 at work, but its the same mechanically), and modeled up the trunnion and configured it to behave correctly to simulate indexing.
I modified The pre-ngc 5 axis post and configured it to work with the way I have the trunnion mounted in the machine, then I also modified the output of a and b gcodes for indexing operations appear as shown below.
Im avoiding altering the grbl firmware for now, just editing parameters, so the gcodes the haas will be sending over serial will actually be X and Z codes for the A and B axiis. Ultimately its not necessary to change the firmware to accept a and b codes, however I want to make it right so its more readable, and there"s a few other things I want to change as well.
I"ve done some reading on the Haas DPRNT command, and its very limited. Only A-Z, and +, -, can be put out. The grbl controller has special commands the use the $ symbol, for example to home, or send out positional data over serial. If I edit the firmware I can probably change that and use standard gcodes instead like g28 and g102.
The other issue is the controller doesn"t have specific pin or button to home the axiis, for now I have an offline controller, and with it I can run programs from an sd card, i have a program to home the machine using the illegal $H command lol.
Link to buy on ebay, although I got mine through aliexpress for cheaper. CNC Rotary axis Harmonic Gearbox Dividing Head 5th 4th Axis 50:1 reduction ratio | eBay
Minimal bit-bang send serial 115200 or 38400 baud for 1 MHz or 230400 baud for 8/16 MHz ATtiny clock.Perfect for debugging purposes.Code size is only 76 bytes@38400 baud or 196 bytes@115200 baud (including first call)
This library enables you to use Hardware-based PWM channels on Arduino AVR ATtiny-based boards (ATtiny3217, etc.), using megaTinyCore, to create and output PWM to pins.
This library enables you to use ISR-based PWM channels on Arduino AVR ATtiny-based boards (ATtiny3217, etc.), using megaTinyCore, to create and output PWM any GPIO pin.
Small low-level classes and functions for Arduino: incrementMod(), decToBcd(). strcmp_PP(), PrintStr, PrintStrN, printPad{N}To(), printIntAsFloat(), TimingStats, formUrlEncode(), FCString, KString, hashDjb2(), binarySearch(), linearSearch(), isSorted(), reverse(), and so on.
Cyclic Redundancy Check (CRC) algorithms (crc8, crc16ccitt, crc32) programmatically converted from C99 code generated by pycrc (https://pycrc.org) to Arduino C++ using namespaces and PROGMEM flash memory.
Various sorting algorithms for Arduino, including Bubble Sort, Insertion Sort, Selection Sort, Shell Sort (3 versions), Comb Sort (4 versions), Quick Sort (3 versions).
Date, time, timezone classes for Arduino supporting the full IANA TZ Database to convert epoch seconds to date and time components in different time zones.
Clock classes for Arduino that provides an auto-incrementing count of seconds since a known epoch which can be synchronized from external sources such as an NTP server, a DS3231 RTC chip, or an STM32 RTC chip.
Useful Arduino utilities which are too small as separate libraries, but complex enough to be shared among multiple projects, and often have external dependencies to other libraries.
Fast and compact software I2C implementations (SimpleWireInterface, SimpleWireFastInterface) on Arduino platforms. Also provides adapter classes to allow the use of third party I2C libraries using the same API.
Enables Bluetooth® Low Energy connectivity on the Arduino MKR WiFi 1010, Arduino UNO WiFi Rev.2, Arduino Nano 33 IoT, Arduino Nano 33 BLE and Nicla Sense ME.
Simple Async HTTP Request library, supporting GET, POST, PUT, PATCH, DELETE and HEAD, on top of AsyncTCP library for ESP32/S2/S3/C3, WT32_ETH01 (ESP32 + LAN8720), ESP32 using LwIP ENC28J60, W5500, W6100 or LAN8720.
Simple Async HTTP Request library, supporting GET, POST, PUT, PATCH, DELETE and HEAD, on top of AsyncTCP libraries, such as AsyncTCP, ESPAsyncTCP, AsyncTCP_STM32, etc.. for ESP32 (including ESP32_S2, ESP32_S3 and ESP32_C3), WT32_ETH01 (ESP32 + LAN8720), ESP32 with LwIP ENC28J60, W5500 or W6100, ESP8266 (WiFi, W5x00 or ENC28J60) and currently STM32 with LAN8720 or built-in LAN8742A Ethernet.
Simple Async HTTP Request library, supporting GET, POST, PUT, PATCH, DELETE and HEAD, on top of AsyncTCP_RP2040W library for RASPBERRY_PI_PICO_W with CYW43439 WiFi.
Simple Async HTTPS Request library, supporting GET, POST, PUT, PATCH, DELETE and HEAD, on top of AsyncTCP_SSL library for ESP32/S2/S3/C3, WT32_ETH01 (ESP32 + LAN8720), ESP32 using LwIP ENC28J60, W5500, W6100 or LAN8720.
Simple Async HTTPS Request library, supporting GET, POST, PUT, PATCH, DELETE and HEAD, on top of AsyncTCP_SSL library for ESP32 (including ESP32_S2, ESP32_S3 and ESP32_C3), WT32_ETH01 (ESP32 + LAN8720) and ESP32 with LwIP ENC28J60, W5500 or W6100.
Fully Asynchronous UDP Library for ESP8266 using W5x00 or ENC28J60 Ethernet. The library is easy to use and includes support for Unicast, Broadcast and Multicast environments.
Fully Asynchronous UDP Library for RASPBERRY_PI_PICO_W using CYW43439 WiFi with arduino-pico core. The library is easy to use and includes support for Unicast, Broadcast and Multicast environments.
Fully Asynchronous UDP Library for Teensy 4.1 using QNEthernet. The library is easy to use and includes support for Unicast, Broadcast and Multica
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