switch(command)
{
case 'I':
- Serial.println("Living Keyboard");
+ Serial.print(F("LivingKeyboard\0\n"));
+ Serial.flush();
break;
case 'T':
Serial.print("Translate ");
else
{
//left motor backward
- digitalWrite(leftmotor1, HIGH);
- digitalWrite(leftmotor2, LOW);
+ digitalWrite(leftmotor1, LOW);
+ digitalWrite(leftmotor2, HIGH);
//right motor backward
- digitalWrite(rightmotor1, HIGH);
- digitalWrite(rightmotor2, LOW);
+ digitalWrite(rightmotor1, LOW);
+ digitalWrite(rightmotor2, HIGH);
distance = -distance;
}
/*
Pin numbers adapted
-*/
+ */
#include <Servo.h>
// define the parameters of our machine.
int Z_MOTOR_STEPS = 100;
//our maximum feedrates
-long FAST_XY_FEEDRATE = 2000;
-long FAST_Z_FEEDRATE = 2000;
+long FAST_XY_FEEDRATE = 50000;
+long FAST_Z_FEEDRATE = 50000;
// Units in curve section
#define CURVE_SECTION_INCHES 0.019685
/****************************************************************************************
-* digital i/o pin assignment
-*
-* this uses the undocumented feature of Arduino - pins 14-19 correspond to analog 0-5
-****************************************************************************************/
+ * digital i/o pin assignment
+ *
+ * this uses the undocumented feature of Arduino - pins 14-19 correspond to analog 0-5
+ ****************************************************************************************/
/*
int X_STEP_PIN = 8;
-int X_DIR_PIN = 11;
-int X_ENABLE_PIN = 4;
-int X_MIN_PIN = A4;
-int X_MAX_PIN = A5;
-
-int Y_STEP_PIN = 12;
-int Y_DIR_PIN = 13;
-int Y_ENABLE_PIN = 4;
-int Y_MIN_PIN = A1;
-int Y_MAX_PIN = A0;
-
-int Z_STEP_PIN = A3;
-int Z_DIR_PIN = 9;
-int Z_ENABLE_PIN = 4;
-int Z_MIN_PIN = A1;
-int Z_MAX_PIN = A0;
-int Z_ENABLE_SERVO = 1;*/
+ int X_DIR_PIN = 11;
+ int X_ENABLE_PIN = 4;
+ int X_MIN_PIN = A4;
+ int X_MAX_PIN = A5;
+
+ int Y_STEP_PIN = 12;
+ int Y_DIR_PIN = 13;
+ int Y_ENABLE_PIN = 4;
+ int Y_MIN_PIN = A1;
+ int Y_MAX_PIN = A0;
+
+ int Z_STEP_PIN = A3;
+ int Z_DIR_PIN = 9;
+ int Z_ENABLE_PIN = 4;
+ int Z_MIN_PIN = A1;
+ int Z_MAX_PIN = A0;
+ int Z_ENABLE_SERVO = 1;*/
int X_STEP_PIN = 10;
int X_DIR_PIN = 11;
bool comment = false;
void setup()
{
- //Do startup stuff here
- Serial.begin(115200);
- if(Z_ENABLE_SERVO==1){
- servo.attach(Z_STEP_PIN);
- }
- //other initialization.
- init_process_string();
- init_steppers();
- process_string("G90",3);//Absolute Position
- Serial.println("start");
+ //Do startup stuff here
+ Serial.begin(9600);
+ if(Z_ENABLE_SERVO==1){
+ servo.attach(Z_STEP_PIN);
+ }
+ //other initialization.
+ init_process_string();
+ init_steppers();
+ process_string("G90",3);//Absolute Position
+ //Serial.println("start");
}
void loop()
{
-
- char c;
- //read in characters if we got them.
- if (Serial.available() > 0)
- {
- c = Serial.read();
- no_data = 0;
- //newlines are ends of commands.
- if (c != '\n')
- {
- if(c==0x18){
- Serial.println("Grbl 1.0");
- }else{
- if (c == '('){
- comment = true;
- }
- // If we're not in comment mode, add it to our array.
- if (!comment)
- {
- commands[serial_count] = c;
- serial_count++;
- }
- if (c == ')'){
- comment = false; // End of comment - start listening again
- }
- }
-
- }
- }else
- {
- no_data++;
- delayMicroseconds(100);
-
- //if theres a pause or we got a real command, do it
- if (serial_count && (c == '\n' || no_data > 100))
- {
- //process our command!
- process_string(commands, serial_count);
- //clear command.
- init_process_string();
- }
-
- //no data? turn off steppers
- if (no_data > 1000){
- disable_steppers();
- }
+
+ char c;
+ //read in characters if we got them.
+ if (Serial.available() > 0)
+ {
+ c = Serial.read();
+ no_data = 0;
+ //newlines are ends of commands.
+ if (c != '\n')
+ {
+ if(c=='I')
+ Serial.print(F("XYPlotter\0\n"));
+ else
+ {
+ if (c == '(')
+ comment = true;
+
+ // If we're not in comment mode, add it to our array.
+ if (!comment)
+ {
+ commands[serial_count] = c;
+ serial_count++;
}
-// return;
-// delay(5);
-// int dPos = abs(currentPosServo-targetPosServo);
-// if(currentPosServo<targetPosServo){
-// currentPosServo += dPos>8?6:1;
-// }else if(currentPosServo>targetPosServo){
-// currentPosServo -= dPos>8?6:1;
-// }
-
-
+ if (c == ')')
+ comment = false; // End of comment - start listening again
+ }
+
+ }
+ }
+ else
+ {
+ no_data++;
+ delayMicroseconds(100);
+
+ //if theres a pause or we got a real command, do it
+ if (serial_count && (c == '\n' || no_data > 100))
+ {
+ //process our command!
+ process_string(commands, serial_count);
+ //clear command.
+ init_process_string();
+ }
+
+ //no data? turn off steppers
+ if (no_data > 1000){
+ disable_steppers();
+ }
+ }
+ // return;
+ // delay(5);
+ // int dPos = abs(currentPosServo-targetPosServo);
+ // if(currentPosServo<targetPosServo){
+ // currentPosServo += dPos>8?6:1;
+ // }else if(currentPosServo>targetPosServo){
+ // currentPosServo -= dPos>8?6:1;
+ // }
+
+
}
+
//the character / means delete block... used for comments and stuff.
if (instruction[0] == '/')
{
- Serial.println("ok");
+ //Serial.println("ok");
return;
}
*/
default:
- Serial.print("huh? G");
+ Serial.print("Unknown G");
Serial.println(code,DEC);
}
}
break;
default:
- Serial.print("Huh? M");
+ Serial.print("Unknown M");
Serial.println(code);
}
}
}
//tell our host we're done.
- if(code==0&&size==1){
+ /*if(code==0&&size==1){
Serial.println("start");
}else{
Serial.println("ok");
- }
+ }*/
// Serial.println(line, DEC);
}
void goto_machine_zero()
{
- Serial.println("init");
- Serial.println("calibrate axis x");
+ //Serial.println("init");
+ //Serial.println("calibrate axis x");
move_to_max(X_MIN_PIN, X_STEP_PIN, X_DIR_PIN, 0);
- Serial.println("calibrate axis y");
+ //Serial.println("calibrate axis y");
move_to_max(Y_MIN_PIN, Y_STEP_PIN, Y_DIR_PIN, 0);
- Serial.println("ok");
+ //Serial.println("ok");
}
void move_to_max(int limiter_pin, int stepper_pin, int stepper_dir_pin,int dir)
{
/* Moves to the maximum possible position
*/
- Serial.println("go to max");
+ //Serial.println("go to max");
while(can_step(limiter_pin, limiter_pin, 0, 1, dir)){
do_step(stepper_pin, stepper_dir_pin, 0);
delay(1);
}
- Serial.println("step back");
+ //Serial.println("step back");
// slowly back unitl pin is released
while(!can_step(limiter_pin, limiter_pin, 0, 1, dir)){
do_step(stepper_pin, stepper_dir_pin, 1);
delay(100);
}
- Serial.println("done");
+ //Serial.println("done");
}
void dda_move(long micro_delay)
#include "LivingKeyboard.h"
-LivingKeyboard::LivingKeyboard(QString port)
-: serialPort(new QSerialPort(port)), connected(false)
+#include <QDebug>
+#include <QThread>
+
+#define QIODEVICE_DEBUG
+
+char const *LivingKeyboard::serialports[] = {"ttyUSB0", "ttyUSB1", "ttyUSB2", "ttyUSB3", "ttyUSB4"};
+
+LivingKeyboard::LivingKeyboard()
+: serialPort(NULL)
{
- if(serialPort->open(QIODevice::ReadWrite))
+ //Port discovery
+ for (int i = 0 ; i < 5 && !serialPort ; i++)
{
- serialPort->setBaudRate(QSerialPort::Baud9600,QSerialPort::AllDirections);
- serialPort->setDataBits(QSerialPort::Data8);
- serialPort->setParity(QSerialPort::NoParity);
- serialPort->setStopBits(QSerialPort::TwoStop);
- serialPort->setFlowControl(QSerialPort::NoFlowControl);
- connected = true;
- }
- else
- {
- serialPort->close();
- throw(ErrorMessage("Keyboard: serial port error " + QString::number(serialPort->error())));
+ serialPort = new QSerialPort(serialports[i]);
+ if(serialPort->open(QIODevice::ReadWrite))
+ {
+ serialPort->setBaudRate(QSerialPort::Baud9600, QSerialPort::AllDirections);
+ serialPort->setDataBits(QSerialPort::Data8);
+ serialPort->setParity(QSerialPort::NoParity);
+ serialPort->setStopBits(QSerialPort::OneStop);
+ serialPort->setFlowControl(QSerialPort::NoFlowControl);
+ serialPort->setReadBufferSize(32);
+
+ qDebug() << "Trying port " << serialports[i];
+
+ //ask fo his name
+ serialPort->write("I\n", 2);
+ serialPort->flush();
+ QThread::msleep(500);
+ char buffer[32];
+ //memset(buffer,0, 32*sizeof(char));
+ if (serialPort->waitForReadyRead(10000))
+ {
+ int nb = serialPort->read(buffer, sizeof(buffer) - 1);
+ buffer[nb] = 0;
+ qDebug() << "Received " << nb << " bytes : '" << buffer << "'";
+ if (nb <= 0)
+ {
+ qDebug() << "Communcation problem with port " << serialports[i];
+ serialPort->close();
+ serialPort = NULL;
+ }
+ else if (strcmp(buffer, "LivingKeyboard") == 0)
+ qDebug() << "Found LivingKeyboard on port " << serialports[i];
+ else
+ {
+ qDebug() << "Not LivingKeyboard";
+ serialPort->close();
+ serialPort = NULL;
+ }
+ }
+ else
+ {
+ qDebug() << "Port " << serialports[i] << "not responding";
+ serialPort->close();
+ serialPort = NULL;
+ }
+ }
+ else
+ {
+ serialPort->close();
+ serialPort = NULL;
+ }
}
+ if (! serialPort)
+ throw(ErrorMessage("Cannot find Keyboard"));
}
LivingKeyboard::~LivingKeyboard()
{
- serialPort->close();
- delete serialPort;
+ if (serialPort)
+ {
+ serialPort->close();
+ delete serialPort;
+ }
}
void LivingKeyboard::rotation(LivingKeyboard::tilt t, unsigned int angle)
{
- if (connected)
+ if (serialPort)
{
int a = angle;
if (t == LEFT)
void LivingKeyboard::translation(LivingKeyboard::direction d, unsigned int distance)
{
- if (connected)
+ if (serialPort)
{
int dis = distance;
if (d == BACKWARD)
class LivingKeyboard
{
public:
- LivingKeyboard(QString port);
+ LivingKeyboard();
~LivingKeyboard();
private:
QSerialPort* serialPort;
- bool connected;
+
+ static char const *serialports[];
};
#endif // LIVINGKEYBOARD_H
#include "XYPlotter.h"
#include <QString>
+#include <QDebug>
+#include <QThread>
+char const *XYPlotter::serialports[] = {"ttyUSB0", "ttyUSB1", "ttyUSB2", "ttyUSB3", "ttyUSB4"};
const int XYPlotter::toolDistance = 70;
-XYPlotter::XYPlotter(QString port)
-: serialPort(new QSerialPort(port)), connected(false), posX(0), posY(0), toolUp(false)
+XYPlotter::XYPlotter()
+: serialPort(NULL)
{
- if(serialPort->open(QIODevice::ReadWrite))
+ //Port discovery
+ for (int i = 0 ; i < 5 && !serialPort ; i++)
{
- serialPort->setBaudRate(QSerialPort::Baud115200,QSerialPort::AllDirections);
- serialPort->setDataBits(QSerialPort::Data8);
- serialPort->setParity(QSerialPort::NoParity);
- serialPort->setStopBits(QSerialPort::TwoStop);
- serialPort->setFlowControl(QSerialPort::NoFlowControl);
- connected = true;
- }
- else
- {
- serialPort->close();
- throw(ErrorMessage("XYPlotter: serial port error " + QString::number(serialPort->error())));
+ serialPort = new QSerialPort(serialports[i]);
+ if(serialPort->open(QIODevice::ReadWrite))
+ {
+ serialPort->setBaudRate(QSerialPort::Baud9600, QSerialPort::AllDirections);
+ serialPort->setDataBits(QSerialPort::Data8);
+ serialPort->setParity(QSerialPort::NoParity);
+ serialPort->setStopBits(QSerialPort::OneStop);
+ serialPort->setFlowControl(QSerialPort::NoFlowControl);
+ serialPort->setReadBufferSize(32);
+
+ qDebug() << "Trying port " << serialports[i];
+
+ //ask fo his name
+ QThread::sleep(13);
+ serialPort->write("I\n", 2);
+ serialPort->flush();
+ char buffer[32];
+ //memset(buffer,0, 32*sizeof(char));
+ qDebug() << "Waiting for data";
+ if (serialPort->waitForReadyRead(1500))
+ {
+ int nb = serialPort->read(buffer, sizeof(buffer) - 1);
+ buffer[nb] = 0;
+ qDebug() << "Received " << nb << " bytes : '" << buffer << "'";
+ if (nb <= 0)
+ {
+ qDebug() << "Port " << serialports[i] << "not responding";
+ serialPort->close();
+ serialPort = NULL;
+ }
+ else if (strcmp(buffer, "XYPlotter") == 0)
+ qDebug() << "Found XYPlotter on port " << serialports[i];
+ else
+ {
+ qDebug() << "Not XYPlotter";
+ serialPort->close();
+ serialPort = NULL;
+ }
+ }
+ else
+ {
+ qDebug() << "Port " << serialports[i] << "not responding";
+ serialPort->close();
+ serialPort = NULL;
+ }
+ }
+ else
+ {
+ serialPort->close();
+ serialPort = NULL;
+ }
}
+ if (! serialPort)
+ throw(ErrorMessage("Cannot find XYPlotter"));
}
XYPlotter::~XYPlotter()
{
- serialPort->close();
- delete serialPort;
+ if (serialPort)
+ {
+ serialPort->close();
+ delete serialPort;
+ }
}
void XYPlotter::moveTo(unsigned int x, unsigned int y, bool toolup=true)
{
- if (connected)
+ if (serialPort)
{
- QString buffer = "G01X" + QString::number(x) +
+ QString buffer = "G00X" + QString::number(x) +
"Y" + QString::number(y) +
"Z" + QString::number(toolup * toolDistance) + "\n";
//"F50000\n";
class LIVINGDESKTOPLIBRARYSHARED_EXPORT XYPlotter
{
public:
- XYPlotter(QString port);
+ XYPlotter();
~XYPlotter();
void moveTo(unsigned int x, unsigned int y, bool toolup);
private:
- XYPlotter(){}
-
QSerialPort* serialPort;
- bool connected;
unsigned int posX, posY;
bool toolUp;
static const int toolDistance;
+ static char const *serialports[];
};
#endif // XYPLOTTER_H
: QMainWindow(parent), ui(new Ui::MainWindow)
{
ui->setupUi(this);
- qDebug("Connect mouse");
+ qDebug() << "Connect keyboard";
try
{
- mouse = new XYPlotter("ttyUSB3");
- connect(ui->mousebutton, SIGNAL(clicked()), this, SLOT(moveMouse()));
- ui->mousebutton->setEnabled(true);
+ keyboard = new LivingKeyboard();
+ connect(ui->keyboardbutton, SIGNAL(clicked()), this, SLOT(translateKeyboard()));
+ connect(ui->rotation, SIGNAL(valueChanged(int)), this, SLOT(rotateKeyboard(int)));
+ ui->keyboardbutton->setEnabled(true);
}
catch (ErrorMessage e)
{
- mouse = NULL;
+ keyboard = NULL;
qDebug() << QString(e.what());
}
- qDebug() << "Connect keyboard";
+ qDebug("Connect mouse");
try
{
- keyboard = new LivingKeyboard("ttyUSB2");
- connect(ui->keyboardbutton, SIGNAL(clicked()), this, SLOT(translateKeyboard()));
- connect(ui->rotation, SIGNAL(valueChanged(int)), this, SLOT(rotateKeyboard(int)));
- ui->keyboardbutton->setEnabled(true);
+ //The mouse may require a little time because of calibration (blocking process)
+ mouse = new XYPlotter();
+ connect(ui->mousebutton, SIGNAL(clicked()), this, SLOT(moveMouse()));
+ ui->mousebutton->setEnabled(true);
}
catch (ErrorMessage e)
{
- keyboard = NULL;
+ mouse = NULL;
qDebug() << QString(e.what());
}
}
void MainWindow::moveMouse()
{
unsigned int x = ui->xvalue->value();
- unsigned int y = ui->xvalue->value();
+ unsigned int y = ui->yvalue->value();
bool toolup = ui->toolupvalue->checkState() == Qt::Checked;
if (mouse)
mouse->moveTo(x, y, toolup);
projects / livingdesktop.git / commitdiff