انجمن تخصصی رباتیک و الکترونیک

  1. Clash.kingfarsi@gmail.com
  2. میکروکنترلرها و متعلقات آن
  3. دوشنبه, 05 مارس 2018
  4.  اشتراک از طریق ایمیل
سلام من دارم با دوتا ایسی l293 دوتا اسپر موتور که داخل سی دی رایتر هست و یدونه مینی سرو موتور و اردینو یونو یدونه دستگاه سی ان سی میسازم برنامش اینه ولی هر دفعه تو کامپایل مشکل پیش میاد چطوری عوض کنم کاربردش عوض نشه؟ کدش ???1
/*
Mini CNC Plotter firmware, based in TinyCNC https://github.com/MakerBlock/TinyCNC-Sketches
Send GCODE to this Sketch using gctrl.pde https://github.com/damellis/gctrl
Convert SVG to GCODE with MakerBot Unicorn plugin for Inkscape available here https://github.com/martymcguire/inkscape-unicorn

More information about the Mini CNC Plotter here (german, sorry): http://www.makerblog.at/2015/02/projekt-mini-cnc-plotter-aus-alten-cddvd-laufwerken/
*/

#include <Servo.h>
#include <Stepper.h>

#define LINE_BUFFER_LENGTH 512

// Servo position for Up and Down
const int penZUp = 80;
const int penZDown = 40;

// Servo on PWM pin 6
const int penServoPin = 6;

// Should be right for DVD steppers, but is not too important here
const int stepsPerRevolution = 20;

// create servo object to control a servo
Servo penServo;

// Initialize steppers for X- and Y-axis using this Arduino pins for the L293D H-bridge
Stepper myStepperY(stepsPerRevolution, 2,3,4,5);
Stepper myStepperX(stepsPerRevolution, 8,9,10,11);

/* Structures, global variables */
struct point {
float x;
float y;
float z;
};

// Current position of plothead
struct point actuatorPos;

// Drawing settings, should be OK
float StepInc = 1;
int StepDelay = ;
int LineDelay = 50;
int penDelay = 50;

// Motor steps to go 1 millimeter.
// Use test sketch to go 100 steps. Measure the length of line.
// Calculate steps per mm. Enter here.
float StepsPerMillimeterX = 6.0;
float StepsPerMillimeterY = 6.0;

// Drawing robot limits, in mm
// OK to start with. Could go up to 50 mm if calibrated well.
float Xmin = ;
float Xmax = 40;
float Ymin = ;
float Ymax = 40;
float Zmin = ;
float Zmax = 1;

float Xpos = Xmin;
float Ypos = Ymin;
float Zpos = Zmax;

// Set to true to get debug output.
boolean verbose = false;

// Needs to interpret
// G1 for moving
// G4 P300 (wait 150ms)
// M300 S30 (pen down)
// M300 S50 (pen up)
// Discard anything with a (
// Discard any other command!

/**********************
* void setup() - Initialisations
***********************/
void setup() {
// Setup
Serial.begin( 9600 );

penServo.attach(penServoPin);
penServo.write(penZUp);
delay(200);

// Decrease if necessary
myStepperX.setSpeed(250);
myStepperY.setSpeed(250);

// Set & move to initial default position
// TBD

// Notifications!!!
Serial.println("Mini CNC Plotter alive and kicking!";);
Serial.print("X range is from ";);
Serial.print(Xmin);
Serial.print(" to ";);
Serial.print(Xmax);
Serial.println(" mm.";);
Serial.print("Y range is from ";);
Serial.print(Ymin);
Serial.print(" to ";);
Serial.print(Ymax);
Serial.println(" mm.";);
}

/**********************
* void loop() - Main loop
***********************/
void loop()
{
delay(200);
char line[ LINE_BUFFER_LENGTH ];
char c;
int lineIndex;
bool lineIsComment, lineSemiColon;

lineIndex = ;
lineSemiColon = false;
lineIsComment = false;

while (1) {

// Serial reception - Mostly from Grbl, added semicolon support
while ( Serial.available()> ) {
c = Serial.read();
if (( c == '\n') || (c == '\r') ) { // End of line reached
if ( lineIndex > ) { // Line is complete. Then execute!
line[ lineIndex ] = '\0'; // Terminate string
if (verbose) {
Serial.print( "Received : ";);
Serial.println( line );
}
processIncomingLine( line, lineIndex );
lineIndex = ;
}
else {
// Empty or comment line. Skip block.
}
lineIsComment = false;
lineSemiColon = false;
Serial.println("ok";);
}
else {
if ( (lineIsComment) || (lineSemiColon) ) { // Throw away all comment characters
if ( c == ')' ) lineIsComment = false; // End of comment. Resume line.
}
else {
if ( c <= ' ' ) { // Throw away whitepace and control characters
}
else if ( c == '/' ) { // Block delete not supported. Ignore character.
}
else if ( c == '(' ) { // Enable comments flag and ignore all characters until ')' or EOL.
lineIsComment = true;
}
else if ( c == ';' ) {
lineSemiColon = true;
}
else if ( lineIndex >= LINE_BUFFER_LENGTH-1 ) {
Serial.println( "ERROR - lineBuffer overflow" );
lineIsComment = false;
lineSemiColon = false;
}
else if ( c >= 'a' && c <= 'z' ) { // Upcase lowercase
line[ lineIndex++ ] = c-'a'+'A';
}
else {
line[ lineIndex++ ] = c;
}
}
}
}
}
}

void processIncomingLine( char* line, int charNB ) {
int currentIndex = ;
char buffer[ 64 ]; // Hope that 64 is enough for 1 parameter
struct point newPos;

newPos.x = 0.0;
newPos.y = 0.0;

// Needs to interpret
// G1 for moving
// G4 P300 (wait 150ms)
// G1 X60 Y30
// G1 X30 Y50
// M300 S30 (pen down)
// M300 S50 (pen up)
// Discard anything with a (
// Discard any other command!

while( currentIndex < charNB ) {
switch ( line[ currentIndex++ ] ) { // Select command, if any
case 'U':
penUp();
break;
case 'D':
penDown();
break;
case 'G':
buffer[] = line[ currentIndex++ ]; // /!\ Dirty - Only works with 2 digit commands
// buffer[1] = line[ currentIndex++ ];
// buffer[2] = '\0';
buffer[1] = '\0';

switch ( atoi( buffer ) ){ // Select G command
case : // G00 & G01 - Movement or fast movement. Same here
case 1:
// /!\ Dirty - Suppose that X is before Y
char* indexX = strchr( line+currentIndex, 'X' ); // Get X/Y position in the string (if any)
char* indexY = strchr( line+currentIndex, 'Y' );
if ( indexY <= ) {
newPos.x = atof( indexX + 1);
newPos.y = actuatorPos.y;
}
else if ( indexX <= ) {
newPos.y = atof( indexY + 1);
newPos.x = actuatorPos.x;
}
else {
newPos.y = atof( indexY + 1);
indexY = '\0';
newPos.x = atof( indexX + 1);
}
drawLine(newPos.x, newPos.y );
// Serial.println("ok";);
actuatorPos.x = newPos.x;
actuatorPos.y = newPos.y;
break;
}
break;
case 'M':
buffer[] = line[ currentIndex++ ]; // /!\ Dirty - Only works with 3 digit commands
buffer[1] = line[ currentIndex++ ];
buffer[2] = line[ currentIndex++ ];
buffer[3] = '\0';
switch ( atoi( buffer ) ){
case 300:
{
char* indexS = strchr( line+currentIndex, 'S' );
float Spos = atof( indexS + 1);
// Serial.println("ok";);
if (Spos == 30) {
penDown();
}
if (Spos == 50) {
penUp();
}
break;
}
case 114: // M114 - Repport position
Serial.print( "Absolute position : X = " );
Serial.print( actuatorPos.x );
Serial.print( " - Y = " );
Serial.println( actuatorPos.y );
break;
default:
Serial.print( "Command not recognized : M";);
Serial.println( buffer );
}
}
}



}


/*********************************
* Draw a line from (x0;y0) to (x1;y1).
* Bresenham algo from https://www.marginallyclever.com/blog/2013/08/how-to-build-an-2-axis-arduino-cnc-gcode-interpreter/
* int (x1;y1) : Starting coordinates
* int (x2;y2) : Ending coordinates
**********************************/
void drawLine(float x1, float y1) {

if (verbose)
{
Serial.print("fx1, fy1: ";);
Serial.print(x1);
Serial.print(",";);
Serial.print(y1);
Serial.println("";);
}

// Bring instructions within limits
if (x1 >= Xmax) {
x1 = Xmax;
}
if (x1 <= Xmin) {
x1 = Xmin;
}
if (y1 >= Ymax) {
y1 = Ymax;
}
if (y1 <= Ymin) {
y1 = Ymin;
}

if (verbose)
{
Serial.print("Xpos, Ypos: ";);
Serial.print(Xpos);
Serial.print(",";);
Serial.print(Ypos);
Serial.println("";);
}

if (verbose)
{
Serial.print("x1, y1: ";);
Serial.print(x1);
Serial.print(",";);
Serial.print(y1);
Serial.println("";);
}

// Convert coordinates to steps
x1 = (int)(x1*StepsPerMillimeterX);
y1 = (int)(y1*StepsPerMillimeterY);
float x0 = Xpos;
float y0 = Ypos;

// Let's find out the change for the coordinates
long dx = abs(x1-x0);
long dy = abs(y1-y0);
int sx = x0<x1 ? StepInc : -StepInc;
int sy = y0<y1 ? StepInc : -StepInc;

long i;
long over = ;

if (dx > dy) {
for (i=; i<dx; ++i) {
myStepperX.step(sx);
over+=dy;
if (over>=dx) {
over-=dx;
myStepperY.step(sy);
}
delay(StepDelay);
}
}
else {
for (i=; i<dy; ++i) {
myStepperY.step(sy);
over+=dx;
if (over>=dy) {
over-=dy;
myStepperX.step(sx);
}
delay(StepDelay);
}
}

if (verbose)
{
Serial.print("dx, dy:";);
Serial.print(dx);
Serial.print(",";);
Serial.print(dy);
Serial.println("";);
}

if (verbose)
{
Serial.print("Going to (";);
Serial.print(x0);
Serial.print(",";);
Serial.print(y0);
Serial.println(";)";);
}

// Delay before any next lines are submitted
delay(LineDelay);
// Update the positions
Xpos = x1;
Ypos = y1;
}

// Raises pen
void penUp() {
penServo.write(penZUp);
delay(LineDelay);
Zpos=Zmax;
if (verbose) {
Serial.println("Pen up!";);
}
}
// Lowers pen
void penDown() {
penServo.write(penZDown);
delay(LineDelay);
Zpos=Zmin;
if (verbose) {
Serial.println("Pen down.";);
}
}

ممنون میشم کمک کنید

شکلکا بخاطر کنار هم قرار گرفتن پرانتز و نقطه است
پیوست‌ها
noroozi پاسخ پذیرفته شده
سلام
IDE چه اروری میده؟
کامنت ها
هنوز کامنتی ارسال نشده است
saeed پاسخ پذیرفته شده
سلام
اروری که تو کامپایل میده مربوط به چیه؟
کامنت ها
هنوز کامنتی ارسال نشده است
noroozi پاسخ پذیرفته شده
ایرادات نگارشی برنامتون رو تا حدودی اصلاح کردم ، ولی چیزیکه در verify باعث ارور میشه هم مقادیری هست ک تعریف نشده :


/*
Mini CNC Plotter firmware, based in TinyCNC https://github.com/MakerBlock/TinyCNC-Sketches
Send GCODE to this Sketch using gctrl.pde https://github.com/damellis/gctrl
Convert SVG to GCODE with MakerBot Unicorn plugin for Inkscape available here https://github.com/martymcguire/inkscape-unicorn

More information about the Mini CNC Plotter here (german, sorry): http://www.makerblog.at/2015/02/projekt-mini-cnc-plotter-aus-alten-cddvd-laufwerken/
*/

#include <Servo.h>
#include <Stepper.h>

#define LINE_BUFFER_LENGTH 512

// Servo position for Up and Down
const int penZUp = 80;
const int penZDown = 40;

// Servo on PWM pin 6
const int penServoPin = 6;

// Should be right for DVD steppers, but is not too important here
const int stepsPerRevolution = 20;

// create servo object to control a servo
Servo penServo;

// Initialize steppers for X- and Y-axis using this Arduino pins for the L293D H-bridge
Stepper myStepperY(stepsPerRevolution, 2,3,4,5);
Stepper myStepperX(stepsPerRevolution, 8,9,10,11);

/* Structures, global variables */
struct point {
float x;
float y;
float z;
};

// Current position of plothead
struct point actuatorPos;

// Drawing settings, should be OK
float StepInc = 1;
int StepDelay = ;
int LineDelay = 50;
int penDelay = 50;

// Motor steps to go 1 millimeter.
// Use test sketch to go 100 steps. Measure the length of line.
// Calculate steps per mm. Enter here.
float StepsPerMillimeterX = 6.0;
float StepsPerMillimeterY = 6.0;

// Drawing robot limits, in mm
// OK to start with. Could go up to 50 mm if calibrated well.
float Xmin = ;
float Xmax = 40;
float Ymin = ;
float Ymax = 40;
float Zmin = ;
float Zmax = 1;

float Xpos = Xmin;
float Ypos = Ymin;
float Zpos = Zmax;

// Set to true to get debug output.
boolean verbose = false;

// Needs to interpret
// G1 for moving
// G4 P300 (wait 150ms)
// M300 S30 (pen down)
// M300 S50 (pen up)
// Discard anything with a (
// Discard any other command!

/**********************
* void setup() - Initialisations
***********************/
void setup() {
// Setup
Serial.begin( 9600 );

penServo.attach(penServoPin);
penServo.write(penZUp);
delay(200);

// Decrease if necessary
myStepperX.setSpeed(250);
myStepperY.setSpeed(250);

// Set & move to initial default position
// TBD

// Notifications!!!
Serial.println("Mini CNC Plotter alive and kicking!");
Serial.print("X range is from ");
Serial.print(Xmin);
Serial.print(" to ");
Serial.print(Xmax);
Serial.println(" mm.");
Serial.print("Y range is from ");
Serial.print(Ymin);
Serial.print(" to ");
Serial.print(Ymax);
Serial.println(" mm.");
}

/**********************
* void loop() - Main loop
***********************/
void loop()
{
delay(200);
char line[ LINE_BUFFER_LENGTH ];
char c;
int lineIndex;
bool lineIsComment, lineSemiColon;

lineIndex = ;
lineSemiColon = false;
lineIsComment = false;

while (1) {

// Serial reception - Mostly from Grbl, added semicolon support
while ( Serial.available()> ) {
c = Serial.read();
if (( c == '\n') || (c == '\r') ) { // End of line reached
if ( lineIndex > ) { // Line is complete. Then execute!
line[ lineIndex ] = '\0'; // Terminate string
if (verbose) {
Serial.print( "Received : ");
Serial.println( line );
}
processIncomingLine( line, lineIndex );
lineIndex = ;
}
else {
// Empty or comment line. Skip block.
}
lineIsComment = false;
lineSemiColon = false;
Serial.println("ok");
}
else {
if ( (lineIsComment) || (lineSemiColon) ) { // Throw away all comment characters
if ( c == ')' ) lineIsComment = false; // End of comment. Resume line.
}
else {
if ( c <= ' ' ) { // Throw away whitepace and control characters
}
else if ( c == '/' ) { // Block delete not supported. Ignore character.
}
else if ( c == '(' ) { // Enable comments flag and ignore all characters until ')' or EOL.
lineIsComment = true;
}
else if ( c == ';' ) {
lineSemiColon = true;
}
else if ( lineIndex >= LINE_BUFFER_LENGTH-1 ) {
Serial.println( "ERROR - lineBuffer overflow" );
lineIsComment = false;
lineSemiColon = false;
}
else if ( c >= 'a' && c <= 'z' ) { // Upcase lowercase
line[ lineIndex++ ] = c-'a'+'A';
}
else {
line[ lineIndex++ ] = c;
}
}
}
}
}
}

void processIncomingLine( char* line, int charNB ) {
int currentIndex = ;
char buffer[ 64 ]; // Hope that 64 is enough for 1 parameter
struct point newPos;

newPos.x = 0.0;
newPos.y = 0.0;

// Needs to interpret
// G1 for moving
// G4 P300 (wait 150ms)
// G1 X60 Y30
// G1 X30 Y50
// M300 S30 (pen down)
// M300 S50 (pen up)
// Discard anything with a (
// Discard any other command!

while( currentIndex < charNB ) {
switch ( line[ currentIndex++ ] ) { // Select command, if any
case 'U':
penUp();
break;
case 'D':
penDown();
break;
case 'G':
buffer[] = line[ currentIndex++ ]; // /!\ Dirty - Only works with 2 digit commands
// buffer[1] = line[ currentIndex++ ];
// buffer[2] = '\0';
buffer[1] = '\0';

switch ( atoi( buffer ) ){ // Select G command
case : // G00 & G01 - Movement or fast movement. Same here
case 1:
// /!\ Dirty - Suppose that X is before Y
char* indexX = strchr( line+currentIndex, 'X' ); // Get X/Y position in the string (if any)
char* indexY = strchr( line+currentIndex, 'Y' );
if ( indexY <= ) {
newPos.x = atof( indexX + 1);
newPos.y = actuatorPos.y;
}
else if ( indexX <= ) {
newPos.y = atof( indexY + 1);
newPos.x = actuatorPos.x;
}
else {
newPos.y = atof( indexY + 1);
indexY = '\0';
newPos.x = atof( indexX + 1);
}
drawLine(newPos.x, newPos.y );
// Serial.println("ok";);
actuatorPos.x = newPos.x;
actuatorPos.y = newPos.y;
break;
}
break;
case 'M':
buffer[] = line[ currentIndex++ ]; // /!\ Dirty - Only works with 3 digit commands
buffer[1] = line[ currentIndex++ ];
buffer[2] = line[ currentIndex++ ];
buffer[3] = '\0';
switch ( atoi( buffer ) ){
case 300:
{
char* indexS = strchr( line+currentIndex, 'S' );
float Spos = atof( indexS + 1);
// Serial.println("ok";);
if (Spos == 30) {
penDown();
}
if (Spos == 50) {
penUp();
}
break;
}
case 114: // M114 - Repport position
Serial.print( "Absolute position : X = " );
Serial.print( actuatorPos.x );
Serial.print( " - Y = " );
Serial.println( actuatorPos.y );
break;
default:
Serial.print( "Command not recognized : M");
Serial.println( buffer );
}
}
}



}


/*********************************
* Draw a line from (x0;y0) to (x1;y1).
* Bresenham algo from https://www.marginallyclever.com/blog/2013/08/how-to-build-an-2-axis-arduino-cnc-gcode-interpreter/
* int (x1;y1) : Starting coordinates
* int (x2;y2) : Ending coordinates
**********************************/
void drawLine(float x1, float y1) {

if (verbose)
{
Serial.print("fx1, fy1: ");
Serial.print(x1);
Serial.print(",");
Serial.print(y1);
Serial.println("");
}

// Bring instructions within limits
if (x1 >= Xmax) {
x1 = Xmax;
}
if (x1 <= Xmin) {
x1 = Xmin;
}
if (y1 >= Ymax) {
y1 = Ymax;
}
if (y1 <= Ymin) {
y1 = Ymin;
}

if (verbose)
{
Serial.print("Xpos, Ypos: ");
Serial.print(Xpos);
Serial.print(",");
Serial.print(Ypos);
Serial.println("");
}

if (verbose)
{
Serial.print("x1, y1: ");
Serial.print(x1);
Serial.print(",");
Serial.print(y1);
Serial.println("");
}

// Convert coordinates to steps
x1 = (int)(x1*StepsPerMillimeterX);
y1 = (int)(y1*StepsPerMillimeterY);
float x0 = Xpos;
float y0 = Ypos;

// Let's find out the change for the coordinates
long dx = abs(x1-x0);
long dy = abs(y1-y0);
int sx = x0<x1 ? StepInc : -StepInc;
int sy = y0<y1 ? StepInc : -StepInc;

long i;
long over = ;

if (dx > dy) {
for (i=; i<dx; ++i) {
myStepperX.step(sx);
over+=dy;
if (over>=dx) {
over-=dx;
myStepperY.step(sy);
}
delay(StepDelay);
}
}
else {
for (i=; i<dy ; ++i) {
myStepperY.step(sy);
over+=dx;
if (over>=dy) {
over-=dy;
myStepperX.step(sx);
}
delay(StepDelay);
}
}

if (verbose)
{
Serial.print("dx, dy:");
Serial.print(dx);
Serial.print(",");
Serial.print(dy);
Serial.println("");
}

if (verbose)
{
Serial.print("Going to (");
Serial.print(x0);
Serial.print(",");
Serial.print(y0);
Serial.println(";)");
}

// Delay before any next lines are submitted
delay(LineDelay);
// Update the positions
Xpos = x1;
Ypos = y1;
}

// Raises pen
void penUp() {
penServo.write(penZUp);
delay(LineDelay);
Zpos=Zmax;
if (verbose) {
Serial.println("Pen up!");
}
}
// Lowers pen
void penDown() {
penServo.write(penZDown);
delay(LineDelay);
Zpos=Zmin;
if (verbose) {
Serial.println("Pen down.");
}
}


برای مثال ارور های زیر :

int StepDelay = ; LINE 43

float Ymin = ; LINE 57

float Xmin = ; line 55

float Zmin = ; line59

lineIndex = ; line 120

while ( Serial.available()> ) { line127

if ( lineIndex > ) { // Line is complete. Then execute! line130

lineIndex = ; line137

همونطوری که مشخصه مقدار برای متغیر هایی که نوشتید تعریف نشده . این بخشی از اینگونه ارورهاست که در سیستم من برای کد نشون میده . حتی در دستورات for و تعریف آرایه ها هم این ارور وجود داره چون مقدار تعیین نشده . برای مقادیر ایده ای ندارم چون شاید با آنچیزی که شما نیاز دارید متفاوت باشه .
کامنت ها
با وسایلو که تو پست اول گفتم سیمکشیش هم که تو عکس هست میشه یدونه کد شما برام تایین کنید؟ من برنامه نویسی وارد نیستم
  1. Clash.kingfarsi@gmail.com
  2. 6 ماه قبل
سلام من شنبه مسابقه دارم این دستگاه سی ان سی هم برای مسابقات میخوام چیکار کنم؟
  1. Clash.kingfarsi@gmail.com
  2. 6 ماه قبل
هنوز کامنتی ارسال نشده است
saeed پاسخ پذیرفته شده
اینو آپلود کن ببین کار میکنه
پیوست‌ها
کامنت ها
به نظرتون میتونم با برنامه هایی که برای راه اندازی کد قبلی استفاده میشد استفاده کنم؟ من کل موضوع رو تو یه سایت خوندم
  1. Clash.kingfarsi@gmail.com
  2. 6 ماه قبل
سلام خیلی ممنون اپلود شد ولی حالا با چه نرم افزاری راش بندازم؟ ایا سیم کشیش همان گونه است خیلی ممنون از لطفتون
  1. Clash.kingfarsi@gmail.com
  2. 6 ماه قبل
هنوز کامنتی ارسال نشده است
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