Hallo ich bekomme diesen
/**
Polargraph Server for Arduino UNO and MEGA compatible boards.
Written by Sandy Noble
Released under GNU License version 3.
http://www.polargraph.co.uk
https://github.com/euphy/polargraph_server_a1
CONFIGURATION!! Read this! Really.
==================================
Kung fu is like a game of chess. You must think first! Before you move.
This is a unified codebase for a few different versions of Polargraph Server.
You can control how it is compiled by changing the #define lines below.
There are five config sections:
1. Specify what kind of controller board you are using
2. Add some libraries if you have a MEGA
3. Specify what kind of motor driver you are using:
i. Adafruit Motorshield v1
ii. Adafruit Motorshield v2
iii. Discrete stepper drivers (eg EasyDriver, stepstick, Pololu gear).*
iv. Signal amplifier like a UNL2003*
4. Turn on some debugging code
5. Disable program features if you need to free up space
For motor drivers iii and iv, you will need to change the values in
configuration.ino to set the exact pins the drivers are wired up to.
*/
// 1. Specify what kind of controller board you are using
// ======================================================
// UNO or MEGA. Uncomment the line for the kind of board you have.
#ifndef MICROCONTROLLER
#define MICROCONTROLLER MC_UNO
#endif
// 2. Add some libraries if you have a MEGA
// ========================================
// Uncomment the SPI and SD lines below if you have a MEGA.
//
http://forum.arduino.cc/index.php?topic=173584.0
//#include <SPI.h>
//#include <SD.h>
// 3. Specify what kind of motor driver you are using
// ==================================================
// Only ONE set of lines below should be uncommented.
// i. Adafruit Motorshield v1. The original, and still the best.
// -------------------------------------------------------------
#define ADAFRUIT_MOTORSHIELD_V1
// ii. Adafruit Motorshield v2. It's all squealy.
// ----------------------------------------------
//#define ADAFRUIT_MOTORSHIELD_V2
//#include <Wire.h>
//#include <Adafruit_MotorShield.h>
//#include "utility/Adafruit_PWMServoDriver.h"
// iii. Using discrete stepper drivers? (eg EasyDriver, stepstick, Pololu gear)
// ----------------------------------------------------------------------------
// Don't forget to define your pins in 'configuration.ino'.
//#define SERIAL_STEPPER_DRIVERS
// iv. Using a signal amplifier like a UNL2003?
// --------------------------------------------
// Don't forget to define your pins in 'configuration.ino'.
// #define UNL2003_DRIVER
// 4. Turn on some debugging code if you want horror
// =================================================
//#define DEBUG
//#define DEBUG_COMMS
//#define DEBUG_PENLIFT
//#define DEBUG_PIXEL
// 5. Disable program features if you need to free up space
// ===================================================
/* ===========================================================
These variables are common to all polargraph server builds
=========================================================== */
// ==========================================================
// Some microcontroller's names
#define MC_UNO 1
#define MC_MEGA 2
#include <AccelStepper.h>
#include <Servo.h>
#include <EEPROM.h>
#include "EEPROMAnything.h"
const String FIRMWARE_VERSION_NO = "1.2.1";
// EEPROM addresses
const byte EEPROM_MACHINE_WIDTH = 0;
const byte EEPROM_MACHINE_HEIGHT = 2;
const byte EEPROM_MACHINE_MM_PER_REV = 14; // 4 bytes (float)
const byte EEPROM_MACHINE_STEPS_PER_REV = 18;
const byte EEPROM_MACHINE_STEP_MULTIPLIER = 20;
const byte EEPROM_MACHINE_MOTOR_SPEED = 22; // 4 bytes float
const byte EEPROM_MACHINE_MOTOR_ACCEL = 26; // 4 bytes float
const byte EEPROM_MACHINE_PEN_WIDTH = 30; // 4 bytes float
const byte EEPROM_MACHINE_HOME_A = 34; // 4 bytes
const byte EEPROM_MACHINE_HOME_B = 38; // 4 bytes
const byte EEPROM_PENLIFT_DOWN = 42; // 2 bytes
const byte EEPROM_PENLIFT_UP = 44; // 2 bytes
// Pen raising servo
Servo penHeight;
const int DEFAULT_DOWN_POSITION = 90;
const int DEFAULT_UP_POSITION = 180;
static int upPosition = DEFAULT_UP_POSITION; // defaults
static int downPosition = DEFAULT_DOWN_POSITION;
static int penLiftSpeed = 3; // ms between steps of moving motor
const byte PEN_HEIGHT_SERVO_PIN = 9; //UNL2003 driver uses pin 9
boolean isPenUp = false;
// Machine specification defaults
const int DEFAULT_MACHINE_WIDTH = 650;
const int DEFAULT_MACHINE_HEIGHT = 650;
const int DEFAULT_MM_PER_REV = 95;
const int DEFAULT_STEPS_PER_REV = 400;
const int DEFAULT_STEP_MULTIPLIER = 1;
// working machine specification
static int motorStepsPerRev = DEFAULT_STEPS_PER_REV;
static float mmPerRev = DEFAULT_MM_PER_REV;
static byte stepMultiplier = DEFAULT_STEP_MULTIPLIER;
static int machineWidth = DEFAULT_MACHINE_WIDTH;
static int machineHeight = DEFAULT_MACHINE_HEIGHT;
static float currentMaxSpeed = 800.0;
static float currentAcceleration = 400.0;
static boolean usingAcceleration = true;
int startLengthMM = 800;
float mmPerStep = 0.0F;
float stepsPerMM = 0.0F;
long pageWidth = machineWidth * stepsPerMM;
long pageHeight = machineHeight * stepsPerMM;
long maxLength = 0;
//static char rowAxis = 'A';
const int INLENGTH = 50;
const char INTERMINATOR = 10;
const char SEMICOLON = ';';
float penWidth = 0.8F; // line width in mm
boolean reportingPosition = true;
boolean acceleration = true;
extern AccelStepper motorA;
extern AccelStepper motorB;
boolean currentlyRunning = true;
static char inCmd[10];
static char inParam1[14];
static char inParam2[14];
static char inParam3[14];
static char inParam4[14];
static byte inNoOfParams;
char lastCommand[INLENGTH + 1];
boolean commandConfirmed = false;
int rebroadcastReadyInterval = 5000;
long lastOperationTime = 0L;
long motorIdleTimeBeforePowerDown = 600000L;
boolean automaticPowerDown = true;
boolean powerIsOn = false;
long lastInteractionTime = 0L;
#ifdef PIXEL_DRAWING
static boolean lastWaveWasTop = true;
// Drawing direction
const static byte DIR_NE = 1;
const static byte DIR_SE = 2;
const static byte DIR_SW = 3;
const static byte DIR_NW = 4;
static int globalDrawDirection = DIR_NW;
const static byte DIR_MODE_AUTO = 1;
const static byte DIR_MODE_PRESET = 2;
static byte globalDrawDirectionMode = DIR_MODE_AUTO;
#endif
#if MICROCONTROLLER == MC_MEGA
#define READY_STR "READY_100"
#else
#define READY_STR "READY"
#endif
#define RESEND_STR "RESEND"
#define DRAWING_STR "DRAWING"
#define OUT_CMD_SYNC_STR "SYNC,"
char MSG_E_STR[] = "MSG,E,";
char MSG_I_STR[] = "MSG,I,";
char MSG_D_STR[] = "MSG,D,";
const static char COMMA[] = ",";
const static char CMD_END[] = ",END";
const static String CMD_CHANGELENGTH = "C01";
const static String CMD_CHANGEPENWIDTH = "C02";
#ifdef PIXEL_DRAWING
const static String CMD_DRAWPIXEL = "C05";
const static String CMD_DRAWSCRIBBLEPIXEL = "C06";
const static String CMD_CHANGEDRAWINGDIRECTION = "C08";
const static String CMD_TESTPENWIDTHSQUARE = "C11";
#endif
const static String CMD_SETPOSITION = "C09";
#ifdef PENLIFT
const static String CMD_PENDOWN = "C13";
const static String CMD_PENUP = "C14";
const static String CMD_SETPENLIFTRANGE = "C45";
#endif
#ifdef VECTOR_LINES
const static String CMD_CHANGELENGTHDIRECT = "C17";
#endif
const static String CMD_SETMACHINESIZE = "C24";
const static String CMD_GETMACHINEDETAILS = "C26";
const static String CMD_RESETEEPROM = "C27";
const static String CMD_SETMACHINEMMPERREV = "C29";
const static String CMD_SETMACHINESTEPSPERREV = "C30";
const static String CMD_SETMOTORSPEED = "C31";
const static String CMD_SETMOTORACCEL = "C32";
const static String CMD_SETMACHINESTEPMULTIPLIER = "C37";
void setup()
{
Serial.begin(57600); // set up Serial library at 57600 bps
Serial.println("POLARGRAPH ON!");
Serial.print("Hardware: ");
Serial.println(MICROCONTROLLER);
#if MICROCONTROLLER == MC_MEGA
Serial.println("MC_MEGA");
#elif MICROCONTROLLER == MC_UNO
Serial.println("MC_UNO");
#else
Serial.println("No MC");
#endif
configuration_motorSetup();
eeprom_loadMachineSpecFromEeprom();
configuration_setup();
motorA.setMaxSpeed(currentMaxSpeed);
motorA.setAcceleration(currentAcceleration);
motorB.setMaxSpeed(currentMaxSpeed);
motorB.setAcceleration(currentAcceleration);
float startLength = ((float) startLengthMM / (float) mmPerRev) * (float) motorStepsPerRev;
motorA.setCurrentPosition(startLength);
motorB.setCurrentPosition(startLength);
for (int i = 0; i < INLENGTH; i++) {
lastCommand
= 0;
}
comms_ready();
#ifdef PENLIFT
penlift_penUp();
#endif
delay(500);
}
void loop()
{
if (comms_waitForNextCommand(lastCommand))
{
#ifdef DEBUG_COMMS
Serial.print(F("Last comm: "));
Serial.print(lastCommand);
Serial.println(F("..."));
#endif
comms_parseAndExecuteCommand(lastCommand);
}
}
#if MICROCONTROLLER == MC_MEGA
const static String CMD_TESTPENWIDTHSCRIBBLE = "C12";
const static String CMD_DRAWSAWPIXEL = "C15,";
const static String CMD_DRAWCIRCLEPIXEL = "C16";
const static String CMD_SET_ROVE_AREA = "C21";
const static String CMD_DRAWDIRECTIONTEST = "C28";
const static String CMD_MODE_STORE_COMMANDS = "C33";
const static String CMD_MODE_EXEC_FROM_STORE = "C34";
const static String CMD_MODE_LIVE = "C35";
const static String CMD_RANDOM_DRAW = "C36";
const static String CMD_START_TEXT = "C38";
const static String CMD_DRAW_SPRITE = "C39";
const static String CMD_CHANGELENGTH_RELATIVE = "C40";
const static String CMD_SWIRLING = "C41";
const static String CMD_DRAW_RANDOM_SPRITE = "C42";
const static String CMD_DRAW_NORWEGIAN = "C43";
const static String CMD_DRAW_NORWEGIAN_OUTLINE = "C44";
/* End stop pin definitions */
const int ENDSTOP_X_MAX = 17;
const int ENDSTOP_X_MIN = 16;
const int ENDSTOP_Y_MAX = 15;
const int ENDSTOP_Y_MIN = 14;
long ENDSTOP_X_MIN_POSITION = 130;
long
ENDSTOP_Y_MIN_POSITION = 130;
// size and location of rove area
long rove1x = 1000;
long rove1y = 1000;
long roveWidth = 5000;
long roveHeight = 8000;
boolean swirling = false;
String spritePrefix = "";
int textRowSize = 200;
int textCharSize = 180;
boolean useRoveArea = false;
int commandNo = 0;
int errorInjection = 0;
boolean storeCommands = false;
boolean drawFromStore = false;
String commandFilename = "";
// sd card stuff
const int chipSelect = 53;
boolean sdCardInit = false;
// set up variables using the SD utility library functions:
File root;
boolean cardPresent = false;
boolean cardInit = false;
boolean echoingStoredCommands = false;
// the file itself
File pbmFile;
// information we extract about the bitmap file
long pbmWidth, pbmHeight;
float pbmScaling = 1.0;
int pbmDepth, pbmImageoffset;
long pbmFileLength = 0;
float pbmAspectRatio = 1.0;
volatile int speedChangeIncrement = 100;
volatile int accelChangeIncrement = 100;
volatile float penWidthIncrement = 0.05;
volatile int moveIncrement = 400;
boolean currentlyDrawingFromFile = false;
String currentlyDrawingFilename = "";
static float translateX = 0.0;
static float translateY = 0.0;
static float scaleX = 1.0;
static float scaleY = 1.0;
static int rotateTransform = 0;
#endif
Sketch nicht zum laufen habe für mich unlösbare Fehlermeldungen schon beim kompilieren .Er befindet sich hier https://github.com/euphy/polargrap ... 1-26-23-24
es sollten zwei Schritt motoren mit zweihundert schritten und ein servo mit einem Motor Shield v2.0 angesteuert werden
->zoom
