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ClawMachineCosplay
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Progress on more simplicity

This commit is contained in:
BOTAlex 2025-01-23 05:04:09 +01:00
parent a9d468d87c
commit 76e516fa5d
5 changed files with 207 additions and 185 deletions
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69
src/ClawMachineOverhaul.ino
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@ -2,15 +2,78 @@
#ifndef ESP32
#include <Arduino_FreeRTOS.h>
#endif
#include "MotorControlPart.h"
#include "StepperController.h"
#include "ZCodeParser.h"
#include "Shared/MotorMoveParams.h"
#include "Shared/Steppers.h"
// [X, Y, Head]
#define NUM_STEPPERS 3
Stepper steppers[NUM_STEPPERS] = {
{38, 55, 54, 0, false, false, 'x'},
{56, 61, 60, 0, false, false, 'y'},
{30, 34, 36, 0, false, false, 'e'},
};
#pragma region Not gonna mess with this magic
#ifdef ESP32
// Timer Handles
hw_timer_t *timer1 = NULL;
hw_timer_t *timer2 = NULL;
hw_timer_t *timer3 = NULL;
// Interrupt Service Routines for each timer
void IRAM_ATTR timer1ISR()
{
if (motorsEnabled[0])
{
digitalWrite(STEP_PINS[0], !digitalRead(STEP_PINS[0]));
}
}
void IRAM_ATTR timer2ISR()
{
if (motorsEnabled[1])
{
digitalWrite(STEP_PINS[1], !digitalRead(STEP_PINS[1]));
}
}
void IRAM_ATTR timer3ISR()
{
if (motorsEnabled[2])
{
digitalWrite(STEP_PINS[2], !digitalRead(STEP_PINS[2]));
}
}
#else
// Timers for stepping the motors
ISR(TIMER3_COMPA_vect) {
if (steppers[0].steppingEnabled) {
digitalWrite(steppers[0].stepPin, !digitalRead(steppers[0].stepPin));
}
}
ISR(TIMER4_COMPA_vect) {
if (steppers[1].steppingEnabled) {
digitalWrite(steppers[1].stepPin, !digitalRead(steppers[1].stepPin));
}
}
ISR(TIMER5_COMPA_vect) {
if (steppers[2].steppingEnabled) {
digitalWrite(steppers[2].stepPin, !digitalRead(steppers[2].stepPin));
}
}
#endif
#pragma endregion
void anotherFunc(void * params){
MotorMoveParams *pam = (MotorMoveParams *)malloc(sizeof(MotorMoveParams));
pam->motorChar = 'x';
pam->moveTimeMs = 3000;
xTaskCreate(MoveMotor, "Motor", 1024, (void *)pam, 10, NULL);
// xTaskCreate(MoveMotor, "Motor", 1024, (void *)pam, 10, NULL);
vTaskDelay(pdMS_TO_TICKS(50)); // Allow time for other task to accept params
free(pam);
@ -20,7 +83,7 @@ void anotherFunc(void * params){
void setup() {
Serial.begin(115200);
setupMotor();
// setupMotor();
// Create tasks
xTaskCreate(anotherFunc, "Other loop", 1024, NULL, 5, NULL);

182
src/MotorControlPart.h
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@ -1,182 +0,0 @@
#include <Arduino.h>
#ifndef ESP32
#include <Arduino_FreeRTOS.h>
#endif
#include <Shared/ZCommand.h>
#include <Shared/MotorMoveParams.h>
#include <math.h>
// Pin used for the joystick
#define JOYSTICK_PIN 63
struct CharMapping {
char character;
int value;
};
struct Stepper {
uint8_t enPin;
uint8_t dirPin;
uint8_t stepPin;
bool timerEnabled;
bool motorEnabled;
char axis;
};
// [X, Y, Head]
#define NUM_STEPPERS 3
Stepper steppers[NUM_STEPPERS] = {
{38, 55, 54, false, false, 'x'},
{56, 61, 60, false, false, 'y'},
{30, 34, 36, false, false, 'e'},
};
// Critical range for detecting joystick movement
static const int JOY_CRITICAL_POINT = 25;
bool leftMovement = false;
bool rightMovement = false;
#ifdef ESP32
// Timer Handles
hw_timer_t *timer1 = NULL;
hw_timer_t *timer2 = NULL;
hw_timer_t *timer3 = NULL;
// Interrupt Service Routines for each timer
void IRAM_ATTR timer1ISR()
{
if (motorsEnabled[0])
{
digitalWrite(STEP_PINS[0], !digitalRead(STEP_PINS[0]));
}
}
void IRAM_ATTR timer2ISR()
{
if (motorsEnabled[1])
{
digitalWrite(STEP_PINS[1], !digitalRead(STEP_PINS[1]));
}
}
void IRAM_ATTR timer3ISR()
{
if (motorsEnabled[2])
{
digitalWrite(STEP_PINS[2], !digitalRead(STEP_PINS[2]));
}
}
#else
// Timers for stepping the motors
ISR(TIMER3_COMPA_vect) {
if (steppers[0].timerEnabled) {
digitalWrite(steppers[0].stepPin, !digitalRead(steppers[0].stepPin));
}
}
ISR(TIMER4_COMPA_vect) {
if (steppers[1].timerEnabled) {
digitalWrite(steppers[1].stepPin, !digitalRead(steppers[1].stepPin));
}
}
ISR(TIMER5_COMPA_vect) {
if (steppers[2].timerEnabled) {
digitalWrite(steppers[2].stepPin, !digitalRead(steppers[2].stepPin));
}
}
#endif
void ExecuteCommand(void *params){
ZCommand receivedValue = *((ZCommand *)params);
}
int getStepperIndex(const char axis){
for (size_t i = 0; i < NUM_STEPPERS; i++)
{
if (steppers[i].axis == axis) {
Serial.print("Found motor: ");
Serial.println(i);
return i;
}
}
return -1;
}
void MoveMotor(void *params) {
MotorMoveParams *motorParams = ((MotorMoveParams *) params);
char motorChar = motorParams->motorChar;
float moveTimeMs = motorParams->moveTimeMs;
int isBackwards = signbit(moveTimeMs); // Negative means move backwards, positive means move forward.
int index = getStepperIndex(motorChar);
Stepper *currentStepper = &steppers[index];
// Enable motor and set direction
Serial.println("Start motor.");
currentStepper->motorEnabled = true;
currentStepper->timerEnabled = true;
digitalWrite(currentStepper->enPin, !(currentStepper->motorEnabled)); // Inverted for some reason
digitalWrite(currentStepper->dirPin, isBackwards);
vTaskDelay(pdMS_TO_TICKS(moveTimeMs));
// Stop motor
Serial.println("Stop motor.");
currentStepper->motorEnabled = false;
currentStepper->timerEnabled = false;
digitalWrite(currentStepper->enPin, !(currentStepper->motorEnabled)); // Inverted for some reason
vTaskDelete(NULL);
}
// Configures Timer1 for compare match interrupts
void setupMotor() {
for (size_t i = 0; i < NUM_STEPPERS; i++)
{
pinMode(steppers[i].enPin, OUTPUT);
pinMode(steppers[i].dirPin, OUTPUT);
pinMode(steppers[i].stepPin, OUTPUT);
}
#ifdef ESP32
// Timer 1 - Equivalent to TIMER1_COMPA_vect
timer1 = timerBegin(0, 80, true); // Timer 0, prescaler 80 (1us per tick)
timerAttachInterrupt(timer1, &timer1ISR, true);
timerAlarmWrite(timer1, 500, true); // 500us interval
timerAlarmEnable(timer1);
// Timer 2 - Equivalent to TIMER3_COMPA_vect
timer2 = timerBegin(1, 80, true); // Timer 1, prescaler 80 (1us per tick)
timerAttachInterrupt(timer2, &timer2ISR, true);
timerAlarmWrite(timer2, 500, true); // 500us interval
timerAlarmEnable(timer2);
// Timer 3 - Equivalent to TIMER4_COMPA_vect
timer3 = timerBegin(2, 80, true); // Timer 2, prescaler 80 (1us per tick)
timerAttachInterrupt(timer3, &timer3ISR, true);
timerAlarmWrite(timer3, 500, true); // 500us interval
timerAlarmEnable(timer3);
#else
cli();
// Timer 3 (16-bit)
TCCR3A = 0;
TCCR3B = (1 << WGM32) | (1 << CS30); // CTC mode, no prescaler
OCR3A = 499; // Compare match value
TIMSK3 |= (1 << OCIE3A); // Enable Timer1 Compare A Match Interrupt
// Timer 4 (16-bit)
TCCR4A = 0;
TCCR4B = (1 << WGM42) | (1 << CS40); // CTC mode, no prescaler
OCR4A = 499; // Compare match value
TIMSK4 |= (1 << OCIE4A); // Enable Timer3 Compare A Match Interrupt
// Timer 5 (16-bit)
TCCR5A = 0;
TCCR5B = (1 << WGM42) | (1 << CS50); // CTC mode, no prescaler
OCR5A = 499; // Compare match value
TIMSK5 |= (1 << OCIE5A); // Enable Timer1 Compare A Match Interrupt
sei();
#endif
}

11
src/Shared/Steppers.h Normal file
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@ -0,0 +1,11 @@
#include <Arduino.h>
struct Stepper {
uint8_t enPin;
uint8_t dirPin;
uint8_t stepPin;
int moveQueue;
bool steppingEnabled;
bool motorEnabled;
char axis;
};

38
src/StepperController.cpp Normal file
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@ -0,0 +1,38 @@
#include "StepperController.h"
int StepperController::getStepperIndex(const char axis){
for (size_t i = 0; i < NumOfSteppers; i++)
{
if (Steppers[i].axis == axis) {
// Serial.print("Found motor: ");
// Serial.println(i);
return i;
}
}
return -1;
}
void StepperController::SetMovementEnabled(const char axis, bool enabled) {
int index = getStepperIndex(axis);
Steppers[index].steppingEnabled = enabled;
}
void StepperController::SetMoveQueue(const char axis, int moveTimeMs) {
int index = getStepperIndex(axis);
Steppers[index].moveQueue = moveTimeMs;
}
void StepperController::QueueMove(const char axis, int moveTimeMs) {
int index = getStepperIndex(axis);
Steppers[index].moveQueue += moveTimeMs; // Fixed incorrect `=+` operator
}
void StepperController::ClearMoveQueue(const char axis) { // Fixed function name typo
int index = getStepperIndex(axis);
Steppers[index].moveQueue = 0;
}
void StepperController::SetMotorEnabled(const char axis, bool enabled) {
int index = getStepperIndex(axis);
Steppers[index].motorEnabled = enabled;
}

92
src/StepperController.h Normal file
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@ -0,0 +1,92 @@
#ifndef STEPPER_CONTROLLER_H
#define STEPPER_CONTROLLER_H
#include <Arduino.h>
#ifndef ESP32
#include <Arduino_FreeRTOS.h>
#endif
#include <Shared/ZCommand.h>
#include <Shared/MotorMoveParams.h>
#include <Shared/Steppers.h>
class StepperController
{
private:
int NumOfSteppers;
Stepper *Steppers;
int getStepperIndex(const char axis);
public:
StepperController(Stepper *steppers, int numOfSteppers = 3);
void SetMovementEnabled(const char axis, bool enabled);
void SetMoveQueue(const char axis, const int moveTimeMs);
void QueueMove(const char axis, const int moveTimeMs);
void ClearMoveQueue(const char axis);
void SetMotorEnabled(const char axis, bool enabled);
~StepperController();
};
StepperController::StepperController(Stepper steppers[], int numOfSteppers = 3)
{
Steppers = steppers;
NumOfSteppers = numOfSteppers;
for (size_t i = 0; i < NumOfSteppers; i++)
{
pinMode(steppers[i].enPin, OUTPUT);
pinMode(steppers[i].dirPin, OUTPUT);
pinMode(steppers[i].stepPin, OUTPUT);
}
#ifdef ESP32
// Timer 1 - Equivalent to TIMER1_COMPA_vect
timer1 = timerBegin(0, 80, true); // Timer 0, prescaler 80 (1us per tick)
timerAttachInterrupt(timer1, &timer1ISR, true);
timerAlarmWrite(timer1, 500, true); // 500us interval
timerAlarmEnable(timer1);
// Timer 2 - Equivalent to TIMER3_COMPA_vect
timer2 = timerBegin(1, 80, true); // Timer 1, prescaler 80 (1us per tick)
timerAttachInterrupt(timer2, &timer2ISR, true);
timerAlarmWrite(timer2, 500, true); // 500us interval
timerAlarmEnable(timer2);
// Timer 3 - Equivalent to TIMER4_COMPA_vect
timer3 = timerBegin(2, 80, true); // Timer 2, prescaler 80 (1us per tick)
timerAttachInterrupt(timer3, &timer3ISR, true);
timerAlarmWrite(timer3, 500, true); // 500us interval
timerAlarmEnable(timer3);
#else
cli();
// Timer 3 (16-bit)
TCCR3A = 0;
TCCR3B = (1 << WGM32) | (1 << CS30); // CTC mode, no prescaler
OCR3A = 499; // Compare match value
TIMSK3 |= (1 << OCIE3A); // Enable Timer1 Compare A Match Interrupt
// Timer 4 (16-bit)
TCCR4A = 0;
TCCR4B = (1 << WGM42) | (1 << CS40); // CTC mode, no prescaler
OCR4A = 499; // Compare match value
TIMSK4 |= (1 << OCIE4A); // Enable Timer3 Compare A Match Interrupt
// Timer 5 (16-bit)
TCCR5A = 0;
TCCR5B = (1 << WGM42) | (1 << CS50); // CTC mode, no prescaler
OCR5A = 499; // Compare match value
TIMSK5 |= (1 << OCIE5A); // Enable Timer1 Compare A Match Interrupt
sei();
#endif
}
StepperController::~StepperController()
{
// free(Steppers); // Meh, let's go for a memory leak. ez
}
#endif