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BOTAlex 2024-06-01 02:22:57 +02:00
commit e801abda06
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7
.vscode/arduino.json vendored Normal file
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{
"sketch": "ClawMachineOverhaul.ino",
"configuration": "cpu=atmega2560",
"board": "arduino:avr:mega",
"output": "./build",
"port": "COM7"
}

539
.vscode/c_cpp_properties.json vendored Normal file
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}

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.vscode/settings.json vendored Normal file
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{
"files.associations": {
"*.z": "c"
}
}

56
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#include "StepperController.h"
#include "StepperXController.h"
#include "Time.h"
#define LeftPin 3
#define RightPin 2
Time time;
void setup(){
// Start serial communication at 115200 baud
Serial.begin(115200);
// Set the pin mode for the defined pins
pinMode(LeftPin, INPUT_PULLUP);
pinMode(RightPin, INPUT_PULLUP);
initSteppers();
initXStepper();
moveStepper(StepperAxis::Y, 10000, 1000);
}
float position = 0;
void loop(){
// Updates deltatime
time.update();
stepperXLoop();
bool left = digitalRead(LeftPin) == LOW;
bool right = digitalRead(RightPin) == LOW;
processJoystickInput(left, right);
// //Serial.print(millis());
// Serial.print("Left state: ");
// Serial.print(left);
// Serial.print(" | ");
// Serial.print("Right state: ");
// Serial.println(right);
if (Serial.available() > 0){
Serial.flush();
}
delay(10); // delay in milliseconds
}
void beginGrabSequence(){
moveStepper(StepperAxis::Y, 10000, -1000);
moveStepper(StepperAxis::Y, 10000, -1000);
}

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#include <SpeedyStepper.h>
#define NUM_STEPPERS 3
// [X, Y, Head]
const int stepPins[NUM_STEPPERS] = {60, 26};
const int dirPins[NUM_STEPPERS] = {61, 28};
const int enablePins[NUM_STEPPERS] = {56, 24};
enum StepperAxis{
Y,
Head
};
SpeedyStepper steppers[NUM_STEPPERS];
bool isMoving[NUM_STEPPERS];
void initSteppers(){
for (int i = 0; i < NUM_STEPPERS; i++) {
pinMode(stepPins[i], OUTPUT);
pinMode(dirPins[i], OUTPUT);
pinMode(enablePins[i], OUTPUT);
// Enable the stepper motor
digitalWrite(enablePins[i], HIGH); // Assuming HIGH disables the motor
}
for (int i = 0; i < NUM_STEPPERS; i++) {
digitalWrite(enablePins[i], LOW); // Assuming LOW enables the motor
// Attach the stepper motor to the pins
steppers[i].connectToPins(stepPins[i], dirPins[i]);
steppers[i].setStepsPerRevolution(200);
}
}
// void stepperLoop(){
// for (int i = 0; i < NUM_STEPPERS; i++) {
// SpeedyStepper* selectedStepper = &(steppers[i]);
// if (!selectedStepper->motionComplete())
// {
// selectedStepper->processMovement();
// }
// }
// }
void moveStepperByIndex(int stepperIndex, int speed, int position, int accel = 2000){
isMoving[stepperIndex] = true;
SpeedyStepper* selectedStepper = &(steppers[stepperIndex]);
selectedStepper->setAccelerationInMillimetersPerSecondPerSecond(accel);
selectedStepper->setSpeedInStepsPerSecond(speed);
selectedStepper->setupMoveInMillimeters(position);
while (!selectedStepper->motionComplete())
{
selectedStepper->processMovement();
}
}
void moveStepper(StepperAxis axis, int speed, int position, int accel = 2000) {moveStepperByIndex(axis, speed, position, accel);}
void stopStepperByIndex(int stepperIndex){
if (!isMoving[stepperIndex]) return;
if (!steppers[stepperIndex].motionComplete()) return;
steppers[stepperIndex].setupStop();
isMoving[stepperIndex] = false;
}
void stopStepper(StepperAxis axis){stopStepperByIndex(axis);}

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#include <ContinuousStepper.h>
#include <ContinuousStepper/Tickers/Tone.hpp>
ContinuousStepper<StepperDriver, ToneTicker> stepper;
void initXStepper(){
stepper.begin(/*step=*/54, /*dir=*/55);
stepper.setAcceleration(10000000);
pinMode(38, OUTPUT);
}
void stepperXLoop(){
stepper.loop();
}
bool isMovingLeft = false;
void processJoystickInput(bool left, bool right){
if (left){
// if (!isMovingLeft){
// isMovingLeft = true;
// stepper.stop();
// }
stepper.spin(16000);
}
else if (right){
// if (isMovingLeft){
// isMovingLeft = false;
// stepper.stop();
// }
stepper.spin(-16000);
}
else
stepper.stop();
}

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class Time {
private:
unsigned long lastTime;
float m_deltaTime;
public:
Time() {
lastTime = millis();
m_deltaTime = 0.0f;
}
void update() {
unsigned long currentTime = millis();
m_deltaTime = (currentTime - lastTime) / 1000.0f; // Convert to seconds
lastTime = currentTime;
}
float deltaTime() {
return m_deltaTime;
}
};

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# 1 "C:\\FastAccessFiles\\CloudSync\\CodeProjects\\2024\\ClawMachineOverhaul\\ClawMachineOverhaul.ino"
# 2 "C:\\FastAccessFiles\\CloudSync\\CodeProjects\\2024\\ClawMachineOverhaul\\ClawMachineOverhaul.ino" 2
# 3 "C:\\FastAccessFiles\\CloudSync\\CodeProjects\\2024\\ClawMachineOverhaul\\ClawMachineOverhaul.ino" 2
# 4 "C:\\FastAccessFiles\\CloudSync\\CodeProjects\\2024\\ClawMachineOverhaul\\ClawMachineOverhaul.ino" 2
Time time;
void setup(){
// Start serial communication at 115200 baud
Serial.begin(115200);
// Set the pin mode for the defined pins
pinMode(3, 0x2);
pinMode(2, 0x2);
initSteppers();
initXStepper();
moveStepper(StepperAxis::Y, 10000, 1000);
}
float position = 0;
void loop(){
// Updates deltatime
time.update();
stepperXLoop();
bool left = digitalRead(3) == 0x0;
bool right = digitalRead(2) == 0x0;
processJoystickInput(left, right);
// //Serial.print(millis());
// Serial.print("Left state: ");
// Serial.print(left);
// Serial.print(" | ");
// Serial.print("Right state: ");
// Serial.println(right);
if (Serial.available() > 0){
Serial.flush();
}
delay(10); // delay in milliseconds
}
void beginGrabSequence(){
moveStepper(StepperAxis::Y, 10000, -1000);
moveStepper(StepperAxis::Y, 10000, -1000);
}

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}

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#line 1 "C:\\FastAccessFiles\\CloudSync\\CodeProjects\\2024\\ClawMachineOverhaul\\.vscode\\settings.json"
{
"files.associations": {
"*.z": "c"
}
}

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build/sketch/ClawMachineOverhaul.ino.cpp Normal file
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#include <Arduino.h>
#line 1 "C:\\FastAccessFiles\\CloudSync\\CodeProjects\\2024\\ClawMachineOverhaul\\ClawMachineOverhaul.ino"
#include "StepperController.h"
#include "StepperXController.h"
#include "Time.h"
#define LeftPin 3
#define RightPin 2
Time time;
#line 10 "C:\\FastAccessFiles\\CloudSync\\CodeProjects\\2024\\ClawMachineOverhaul\\ClawMachineOverhaul.ino"
void setup();
#line 26 "C:\\FastAccessFiles\\CloudSync\\CodeProjects\\2024\\ClawMachineOverhaul\\ClawMachineOverhaul.ino"
void loop();
#line 53 "C:\\FastAccessFiles\\CloudSync\\CodeProjects\\2024\\ClawMachineOverhaul\\ClawMachineOverhaul.ino"
void beginGrabSequence();
#line 10 "C:\\FastAccessFiles\\CloudSync\\CodeProjects\\2024\\ClawMachineOverhaul\\ClawMachineOverhaul.ino"
void setup(){
// Start serial communication at 115200 baud
Serial.begin(115200);
// Set the pin mode for the defined pins
pinMode(LeftPin, INPUT_PULLUP);
pinMode(RightPin, INPUT_PULLUP);
initSteppers();
initXStepper();
moveStepper(StepperAxis::Y, 10000, 1000);
}
float position = 0;
void loop(){
// Updates deltatime
time.update();
stepperXLoop();
bool left = digitalRead(LeftPin) == LOW;
bool right = digitalRead(RightPin) == LOW;
processJoystickInput(left, right);
// //Serial.print(millis());
// Serial.print("Left state: ");
// Serial.print(left);
// Serial.print(" | ");
// Serial.print("Right state: ");
// Serial.println(right);
if (Serial.available() > 0){
Serial.flush();
}
delay(10); // delay in milliseconds
}
void beginGrabSequence(){
moveStepper(StepperAxis::Y, 10000, -1000);
moveStepper(StepperAxis::Y, 10000, -1000);
}

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build/sketch/ClawMachineOverhaul.ino.cpp.d Normal file
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C:\FastAccessFiles\CloudSync\CodeProjects\2024\ClawMachineOverhaul\build\sketch\ClawMachineOverhaul.ino.cpp.o: \
C:\FastAccessFiles\CloudSync\CodeProjects\2024\ClawMachineOverhaul\build\sketch\ClawMachineOverhaul.ino.cpp \
C:\Users\BOTAlex\AppData\Local\Arduino15\packages\arduino\hardware\avr\1.8.6\cores\arduino/Arduino.h \
C:\Users\BOTAlex\AppData\Local\Arduino15\packages\arduino\hardware\avr\1.8.6\cores\arduino/binary.h \
C:\Users\BOTAlex\AppData\Local\Arduino15\packages\arduino\hardware\avr\1.8.6\cores\arduino/WCharacter.h \
C:\Users\BOTAlex\AppData\Local\Arduino15\packages\arduino\hardware\avr\1.8.6\cores\arduino/WString.h \
C:\Users\BOTAlex\AppData\Local\Arduino15\packages\arduino\hardware\avr\1.8.6\cores\arduino/HardwareSerial.h \
C:\Users\BOTAlex\AppData\Local\Arduino15\packages\arduino\hardware\avr\1.8.6\cores\arduino/Stream.h \
C:\Users\BOTAlex\AppData\Local\Arduino15\packages\arduino\hardware\avr\1.8.6\cores\arduino/Print.h \
C:\Users\BOTAlex\AppData\Local\Arduino15\packages\arduino\hardware\avr\1.8.6\cores\arduino/Printable.h \
C:\Users\BOTAlex\AppData\Local\Arduino15\packages\arduino\hardware\avr\1.8.6\cores\arduino/USBAPI.h \
C:\Users\BOTAlex\AppData\Local\Arduino15\packages\arduino\hardware\avr\1.8.6\cores\arduino/Arduino.h \
C:\Users\BOTAlex\AppData\Local\Arduino15\packages\arduino\hardware\avr\1.8.6\variants\mega/pins_arduino.h \
C:\FastAccessFiles\CloudSync\CodeProjects\2024\ClawMachineOverhaul\build\sketch\StepperController.h \
C:\Users\BOTAlex\Documents\Arduino\libraries\SpeedyStepper\src/SpeedyStepper.h \
C:\Users\BOTAlex\AppData\Local\Arduino15\packages\arduino\hardware\avr\1.8.6\cores\arduino/arduino.h \
C:\FastAccessFiles\CloudSync\CodeProjects\2024\ClawMachineOverhaul\build\sketch\StepperXController.h \
C:\Users\BOTAlex\Documents\Arduino\libraries\ContinuousStepper\src/ContinuousStepper.h \
C:\Users\BOTAlex\Documents\Arduino\libraries\ContinuousStepper\src/ContinuousStepper.hpp \
C:\Users\BOTAlex\Documents\Arduino\libraries\ContinuousStepper\src/ContinuousStepper/ContinuousStepperImpl.hpp \
C:\Users\BOTAlex\Documents\Arduino\libraries\ContinuousStepper\src/ContinuousStepper/OutputPin.hpp \
C:\Users\BOTAlex\Documents\Arduino\libraries\ContinuousStepper\src/ContinuousStepper/StepperInterfaces.hpp \
C:\Users\BOTAlex\Documents\Arduino\libraries\ContinuousStepper\src/ContinuousStepper/Tickers/Tone.hpp \
C:\Users\BOTAlex\Documents\Arduino\libraries\ContinuousStepper\src/ContinuousStepper/Tickers/OscillatorTicker.hpp \
C:\FastAccessFiles\CloudSync\CodeProjects\2024\ClawMachineOverhaul\build\sketch\Time.h

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build/sketch/ClawMachineOverhaul.ino.cpp.o Normal file
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#line 1 "C:\\FastAccessFiles\\CloudSync\\CodeProjects\\2024\\ClawMachineOverhaul\\StepperController.h"
#include <SpeedyStepper.h>
#define NUM_STEPPERS 3
// [X, Y, Head]
const int stepPins[NUM_STEPPERS] = {60, 26};
const int dirPins[NUM_STEPPERS] = {61, 28};
const int enablePins[NUM_STEPPERS] = {56, 24};
enum StepperAxis{
Y,
Head
};
SpeedyStepper steppers[NUM_STEPPERS];
bool isMoving[NUM_STEPPERS];
void initSteppers(){
for (int i = 0; i < NUM_STEPPERS; i++) {
pinMode(stepPins[i], OUTPUT);
pinMode(dirPins[i], OUTPUT);
pinMode(enablePins[i], OUTPUT);
// Enable the stepper motor
digitalWrite(enablePins[i], HIGH); // Assuming HIGH disables the motor
}
for (int i = 0; i < NUM_STEPPERS; i++) {
digitalWrite(enablePins[i], LOW); // Assuming LOW enables the motor
// Attach the stepper motor to the pins
steppers[i].connectToPins(stepPins[i], dirPins[i]);
steppers[i].setStepsPerRevolution(200);
}
}
// void stepperLoop(){
// for (int i = 0; i < NUM_STEPPERS; i++) {
// SpeedyStepper* selectedStepper = &(steppers[i]);
// if (!selectedStepper->motionComplete())
// {
// selectedStepper->processMovement();
// }
// }
// }
void moveStepperByIndex(int stepperIndex, int speed, int position, int accel = 2000){
isMoving[stepperIndex] = true;
SpeedyStepper* selectedStepper = &(steppers[stepperIndex]);
selectedStepper->setAccelerationInMillimetersPerSecondPerSecond(accel);
selectedStepper->setSpeedInStepsPerSecond(speed);
selectedStepper->setupMoveInMillimeters(position);
while (!selectedStepper->motionComplete())
{
selectedStepper->processMovement();
}
}
void moveStepper(StepperAxis axis, int speed, int position, int accel = 2000) {moveStepperByIndex(axis, speed, position, accel);}
void stopStepperByIndex(int stepperIndex){
if (!isMoving[stepperIndex]) return;
if (!steppers[stepperIndex].motionComplete()) return;
steppers[stepperIndex].setupStop();
isMoving[stepperIndex] = false;
}
void stopStepper(StepperAxis axis){stopStepperByIndex(axis);}

35
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#line 1 "C:\\FastAccessFiles\\CloudSync\\CodeProjects\\2024\\ClawMachineOverhaul\\StepperXController.h"
#include <ContinuousStepper.h>
#include <ContinuousStepper/Tickers/Tone.hpp>
ContinuousStepper<StepperDriver, ToneTicker> stepper;
void initXStepper(){
stepper.begin(/*step=*/54, /*dir=*/55);
stepper.setAcceleration(10000000);
pinMode(38, OUTPUT);
}
void stepperXLoop(){
stepper.loop();
}
bool isMovingLeft = false;
void processJoystickInput(bool left, bool right){
if (left){
// if (!isMovingLeft){
// isMovingLeft = true;
// stepper.stop();
// }
stepper.spin(16000);
}
else if (right){
// if (isMovingLeft){
// isMovingLeft = false;
// stepper.stop();
// }
stepper.spin(-16000);
}
else
stepper.stop();
}

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#line 1 "C:\\FastAccessFiles\\CloudSync\\CodeProjects\\2024\\ClawMachineOverhaul\\Time.h"
class Time {
private:
unsigned long lastTime;
float m_deltaTime;
public:
Time() {
lastTime = millis();
m_deltaTime = 0.0f;
}
void update() {
unsigned long currentTime = millis();
m_deltaTime = (currentTime - lastTime) / 1000.0f; // Convert to seconds
lastTime = currentTime;
}
float deltaTime() {
return m_deltaTime;
}
};

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build/sketch/classes/CommandTypes.h Normal file
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#line 1 "C:\\FastAccessFiles\\CloudSync\\CodeProjects\\2024\\ClawMachineOverhaul\\classes\\CommandTypes.h"
enum CommandType{
Move,
Chain,
Power,
Speed,
Accel
};

7
build/sketch/classes/ICommand.h Normal file
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#line 1 "C:\\FastAccessFiles\\CloudSync\\CodeProjects\\2024\\ClawMachineOverhaul\\classes\\ICommand.h"
#include "CommandTypes.h"
class ICommand {
public:
CommandType getCommandType();
};

7
classes/CommandTypes.h Normal file
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enum CommandType{
Move,
Chain,
Power,
Speed,
Accel
};

6
classes/ICommand.h Normal file
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#include "CommandTypes.h"
class ICommand {
public:
CommandType getCommandType();
};