DIY 3축 CNC VMC

구성품 및 소모품

Arduino Nano R3

라즈베리 파이 3 모델 B

SparkFun 스테퍼 모터 드라이버 보드 A4988

Adafruit Arduino Nano 4-스테퍼 1-DC RepRap 실드

OpenBuilds 알루미늄 스페이서

전원 공급 장치 12v/5a

OpenBuilds L 브래킷

OpenBuilds M5 티너트(10팩)

OpenBuilds 로우 프로파일 나사 M5(10팩)

OpenBuilds M3 캡 헤드 나사

OpenBuilds 고정 나사

OpenBuilds 슬롯 와셔 - 15x5x2mm

8mm 미터법 Acme 리드 나사용 OpenBuilds 백래시 방지 너트 블록

OpenBuilds 스레드 로드 플레이트 - NEMA 17 스테퍼 모터

OpenBuilds 8mm 미터법 애크미 리드 나사

8mm 미터법 Acme 리드 나사용 OpenBuilds 백래시 방지 너트 블록

OpenBuilds 볼 베어링 – 625 2RS 5x16x5

부드러운 막대

bldc 냉각 팬

DC 모터(일반)

서보(타워 프로 MG996R)

Texas Instruments 듀얼 H-Bridge 모터 드라이버 L293D

필요한 도구 및 기계

스크류드라이버

드릴 머신

Dremel / 회전식 절단 도구

글루건

납땜 인두(일반)

앵글 그라인더

앱 및 온라인 서비스

리눅스

ArtCAM

GRBL 0.9

오토데스크 퓨전 360

Arduino IDE

Google Android 사물

VNC

이 프로젝트 정보

우리의 프로토타입 모델은 IoT 기반이므로 인터넷 연결이 있는 거의 모든 곳에서 사용할 수 있는 확장 가능한 아키텍처를 제공합니다. 이것은 오픈 소스 모션 제어 소프트웨어(GRBL)에서 실행되는 250mm x 240mm 작업 영역의 350mm x 350mm CNC입니다. 우리의 하드웨어도 대부분 오픈 소스이기 때문에 비용이 크게 절감됩니다. 이 기계는 전적으로 현지에서 구입한 품목으로 만들어지며 나무, 플라스틱, 경질 고무, 경질 수지 등을 가공할 수 있습니다. 우리의 주요 목표는 저가 PCB 제조입니다.

나무에 대한 갈망도 거기에 있습니다.

향후 프로젝트의 일환으로 레이저 가공 지원도 추가할 계획입니다.

시스템은 현재 로컬 인트라넷에서 무선으로 제어할 수 있으므로 이러한 종류의 여러 장치의 생태계를 만들고 연결하는 분산 모델 웹 응용 프로그램을 만들기 위해 더 확장하고 싶습니다.

가능성은 무한합니다.

우리의 프로토타입 모델에는 2020년형 T-슬롯 알루미늄 돌출부와 L-조인트로 만들어진 베이스 프레임이 있습니다. 이 기계는 2000rpm DC 제어 스핀들로 약 80-85와트의 전력을 제공합니다. 3축 모두를 따라 부드러운 작동을 위해 레이디얼 홈 스냅 핏 볼 베어링이 있는 가이드 부드러운 로드가 있는 리드 스크류 및 나사산 로드 이동 방식이 있습니다.

최소 리드 피치는 0.8mm/회전(a2000 단계/회전)이며 모든 축에 대해 1600의 분해능이 있습니다. 우리의 거친 기계 크기는 약 430x430x330mm이고 작업 영역은 0.04mm 위치 정확도로 약 270x170x65mm입니다. Z축 갠트리는 이중 가이딩 로드를 사용하여 처음부터 3D 인쇄됩니다.

Z축은 스핀들 비트가 장착된 상태에서 4.8cm 이동합니다. 우리는 PCB 조각 목적으로 45° V 비트 절단 도구를 사용하고 있으며 0.2mm ~ 1.8mm 엔드 밀 비트도 지원합니다. 우리는 각 축 메인 드라이브에 대해 최대 전류가 3A인 NEMA 23 스테퍼 모터를 사용하고 있습니다. 모터는 최대 마이크로 스테핑 분해능이 1/16인 2.5A A4988 드라이버로 구동되어 매우 경제적인 비용으로 최고의 가공 정밀도를 제공합니다.

IoT 부분은 모바일/태블릿 화면(여기서는 HMI 역할)과 같은 헤드리스 디스플레이에서 인터넷 연결만 있으면 어디서든 CNC 라우터를 제어할 수 있도록 했습니다. 우리는 Raspberry Pi와 인터넷에 연결된 라우터(보안) 배열을 사용하고 CNC를 무선으로 제어하기 위한 인터페이스를 제공하기 위해 웹 서버를 실행하고 있습니다. 우리는 또한 실시간 모터 토크, 전류 소모, 진동, 소음 등과 같은 귀중한 기계 부품 통찰력을 확보하고 더 나은 협업을 위해 웹 플랫폼에서 실시간 통찰력을 끌어낼 계획입니다. 이는 아마도 제조 부문에서 산업용 IoT라고 불릴 것입니다. (산업 4.0) .

<섹션 클래스="섹션 컨테이너 섹션 축소 가능" id="코드">

코드

<울>

샘플 Gcode

스테퍼 코드

도서관

샘플 GcodeVHDL

(C:\Users\ABDERR~1\AppData\Local\Temp\ink_ext_XXXXXX.svgISF45X @ 3000.00의 낙서 버전)( unicorn.py --tab="plotter_setup" --pen-up-angle=50 -- pen-down-angle=30 --start-delay=160 --stop-delay=150 --xy-feedrate=3000 --z-feedrate=150 --z-height=0 --finished-height=0 - -register-pen=true --x-home=0 --y-home=0 --num-copies=1 --continuous=false --pause-on-layer-change=true C:\Users\ABDERR~ 1\AppData\Local\Temp\ink_ext_XXXXXX.svgISF45X )G21(미터법 ftw)G90(절대 모드)G92 X0.00 Y0.00 Z0.00(현재 위치)M300 S30(펜다운)G4 P160(060ms 대기)M3 S50(펜 업)G4 P150(150ms 대기)M18(드라이브 연결 해제)M01(등록 테스트가 성공적이었습니까?)M17(예인 경우 드라이브를 연결하고 계속)M01(플로팅 레이어 'Calque 1')(29개 세그먼트로 구성된 폴리라인. )G1 X16.85 Y4.97 F3000.00M300 S30.00(펜다운)G4 P160(160ms 대기)G1 X14.07 Y5.98 F3000.00G1 X13.33 Y6.40 F3000.00G1 X0 .00G1 X8.14 Y6.49 F3000.00G1 X10.60 Y6.58 F3000.00G1 X13.07 Y6.64 F3000.00G1 X12.75 Y6.98 F3000.00G1 X11. 99 Y8.33 F3000.00G1 X12.30 Y9.13 F3000.00G1 X12.98 Y9.85 F3000.00G1 X14.73 Y10.48 F3000.00G1 X16.40 Y10.34 F89 .00G1 X17.20 Y10.44 F3000.00G1 X17.44 Y10.92 F3000.00G1 X15.95 Y12.12 F3000.00G1 X14.52 Y13.21 F3000.017G1 X10 Y14.85 F3000.00G1 X13.90 Y14.95 F3000.00G1 X13.30 Y15.34 F3000.00G1 X13.02 Y16.08 F3000.00G1 X13.23 Y16.62 F30 00G1 X14.80 Y16.89 F3000.00G1 X15.21 Y16.80 F3000.00G1 X15.35 Y17.02 F3000.00G1 X15.71 Y17.77 F3000.00G1 X10.6 .35 F3000.00G1 X15.47 Y20.24 F3000.00G1 X15.20 Y20.73 F3000.00G1 X13.98 Y20.91 F3000.00G1 X12.47 Y21.26 F3010 YG.26 F3010 X10.23 Y23.00 F3000.00G1 X9.82 Y24.17 F3000.00G1 X9.94 Y24.90 F3000.00G1 X10.41 Y25.47 F3000.00G1 X10.77 Y250.7 X37 F3000.00G1 X10.04 Y28.07 F3000.00G1 X10.02 Y29.68 F3000.00G1 X10.50 Y31.25 F3000.00G1 X11.46 Y32.80 F300030 .75 Y36.02 F3000.00G1 X16.94 Y3 6.57 F3000.00G1 X11.31 Y36.60 F3000.00G1 X5.53 Y36.58 F3000.00G1 X5.38 Y21.60 F3000.00G1 X5.41 Y8.55 F3000.60 F3005.00 .85 Y6.48 F3000.00G1 X5.50 Y6.40 F3000.00G1 X5.14 Y6.40 F3000.00G1 X5.14 Y21.60 F3000.00G1 X5.100 Y36.80 F3000. F3000.00G1 X17.65 Y36.80 F3000.00G1 X18.65 Y37.07 F3000.00G1 X21.13 Y37.54 F3000.00G1 X23.70 Y37.60 F3000.05G2 11 Y37.03 F3000.00G1 X28.70 Y36.80 F3000.00G1 X33.01 Y36.80 F3000.00G1 X37.32 Y36.80 F3000.00G1 X37.32 Y21.030 F37.32 Y21.030 .00G1 X32.21 Y6.40 F3000.00G1 X26.73 Y6.25 F3000.00G1 X22.57 Y5.07 F3000.00G1 X16.85 Y4.97 F3000.00G1 X16.80 F30 (펜 업)G4 P150(150ms 대기)(29개의 세그먼트로 구성된 폴리라인.)G1 X20.57 Y5.03 F3000.00M300 S30.00(펜 다운)G4 P160(160ms 대기)G1 X23.06 Y5.34 F3000 X00G1 X24.86 Y5.94 F3000.00G1 X25.99 Y6.82 F3000.00G1 X26.48 Y8.01 F3000.00G1 X26.11 Y9.51 F3000.00G1 X20.70 F30 .07 F3000.00G1 X22.18 Y10.75 F3 000.00G1 X20.76 Y10.29 F3000.00G1 X20.13 Y9.96 F3000.00G1 X19.83 Y9.40 F3000.00G1 X19.66 Y9.17 F3400.07G1 X10 Y10.61 F3000.00G1 X21.41 Y11.91 F3000.00G1 X21.31 Y12.42 F3000.00G1 X20.85 Y12.91 F3000.00G1 X19.04 Y13.78 F81 00G1 X19.56 Y13.72 F3000.00G1 X20.90 Y13.07 F3000.00G1 X21.48 Y12.71 F3000.00G1 X21.88 Y12.90 F3000.0871 X20.5 .23 F3000.00G1 X23.85 Y15.22 F3000.00G1 X19.04 Y15.20 F3000.00G1 X16.99 Y15.70 F3000.00G1 X15.60 Y16.42 F3010 X16.99 X14.86 Y15.95 F3000.00G1 X14.39 Y14.29 F3000.00G1 X14.89 Y12.97 F3000.00G1 X16.02 Y12.25 F3000.00G1 X17.48 Y301 79 F3000.00G1 X16.90 Y10.01 F3000.00G1 X16.07 Y9.45 F3000.00G1 X16.23 Y9.73 F3000.00G1 X16.50 Y10.15 F3000.00.7 .17 Y9.72 F3000.00G1 X12.44 Y9.03 F3000.00G1 X12.23 Y8.30 F3000.00G1 X12.53 Y7.53 F3000.00G1 X15.34 Y6.71 F300 F3000.00G1 X18.83 Y4.95 F3000.00G1 X20. 57 Y5.03 F3000.00G1 X20.57 Y5.03 F3000.00M300 S50.00(펜업)G4 P150(150ms 대기)(29개의 세그먼트로 구성된 폴리라인.)G1 X27.30 Y6.65 F30000 S3000.0 (펜다운)G4 P160 (160ms 대기)G1 X29.25 Y7.52 F3000.00G1 X30.16 Y8.34 F3000.00G1 X30.46 Y9.06 F3000.00G1 X30.29 Y9.89 F491 Y10.84 F3000.00G1 X28.16 Y11.51 F3000.00G1 X26.25 Y11.62 F3000.00G1 X25.07 Y10.96 F3000.00G1 X25.51 Y10.50 F26 00G1 X26.58 Y8.19 F3000.00G1 X26.44 Y7.12 F3000.00G1 X25.77 Y6.34 F3000.00G1 X25.47 Y6.07 F3000.00G1 X25.60 F30 .65 F3000.00G1 X27.30 Y6.65 F3000.00M300 S50.00(펜업)G4 P150(150ms 대기)(29개의 세그먼트로 구성된 폴리라인.)G1 X37.06 Y21.42 F3000.00M3000.00M Y36.62 F3000.00G1 X33.06 Y36.62 F3000.00G1 X29.16 Y300.590 F. X10 F3000.00G1 X29.73 Y35.05 F3000.00G1 X29.34 Y34.00 F3000.00G1 X28.36 Y33.19 F3000.00G1 X26.70 Y32.58 F3000.2 .11 Y32.04 F3000.00G1 X24.44 Y31.73 F3000.00G1 X25.27 Y31.55 F3000.00G1 X28.11 Y31.00 F3000.00G1 X28.91 Y30.55 F30 00G1 X29.84 Y28.76 F3000.00G1 X30.44 Y28.08 F3000.00G1 X30.69 Y27.27 F3000.00G1 X390.58 Y26.46 F3000.00G1 X30.7 .45 F3000.00G1 X29.90 Y25.05 F3000.00G1 X29.83 Y24.22 F3000.00G1 X28.51 Y23.12 F3000.00G1 X26.38 Y22.66 F3010 X2 X24.68 Y22.25 F3000.00G1 X24.95 Y22.15 F3000.00G1 X26.03 Y21.82 F3000.00G1 X27.25 Y21.07 F3000.00G1 X27.39 Y30 X68 F3000.00G1 X26.21 Y18.82 F3000.00G1 X24.70 Y18.51 F3000.00G1 X24.39 Y18.50 F3000.00G1 X24.42 Y18.22 F3001.40 .63 Y15.61 F3000.00G1 X24.39 Y15.01 F3000.00G1 X23.81 Y14.22 F3000.00G1 X23.52 Y19.85 F3000.00G1 X24.03 Y13.02 F3000.00G1 X24.78 Y12.31 F3000.00G1 X24.54 Y11.48 F3000.00G1 X24.58 Y11.08 F3000.00G1 X25.21 Y11.30 F3000.00G 14 Y11.85 F3000.00G1 X28.29 Y11.66 F3000.00G1 X29.41 Y11.16 F3000.00G1 X30.24 Y10.39 F3000.00G1 X30.57 Y9.37 F3000.00G1 X30.30G2 Y8.29 F3010 X3 X00G1 X28.50 Y6.94 F3000.00G1 X27.96 Y6.65 F3000.00G1 X32.49 Y6.61 F3000.00G1 X37.02 Y6.63 F3000.00G1 X37.06 F0G1 X37.06 Y2 .42 F3000.00M300 S50.00(펜 업)G4 P150(150ms 대기)(29개의 세그먼트로 구성된 폴리라인.)G1 X21.74 Y10.75 F3000.00M300 S30.00(펜 다운)G4 P160(대기)G1160ms X23.52 Y11.21 F3000.00G1 X24.24 Y11.32 F3000.00G1 X24.56 Y12.13 F3000.00G1 X24.48 Y12.99 F3000.00G1 X23.457 Y10 X75 F3000.00G1 X22.69 Y13.25 F3000.00G1 X21.76 Y12.68 F3000.00G1 X21.57 Y12.14 F3000.00G1 X21.40 Y11.41 F3001.00 Y11.41 F3001.0 .54 Y10.34 F3000.00G1 X21.74 Y10.75 F3000.00G1 X21.74 Y10.75 F3000.00M300 S50.00(펜업)G4 P150(150ms 대기)(150ms 대기)(91.4 세그먼트)로 구성된 G1 28 Y15.20 F3000.00M300 S30.00(펜다운)G4 P160(160ms 대기)G1 X14.69 Y15.95 F3000.00G1 X14.87 Y16.70 F3000.00G1 X13.780 F3000.00G1 X13.788 X13.23 Y16.33 F3000.00G1 X13.26 Y15.80 F3000.00G1 X13.54 Y15.32 F3000.00G1 X13.94 Y15.06 F3000.00G1 X14.28 Y10 20 F3000.00M300 S50.00(펜업)G4 P150(150ms 대기)(29개의 세그먼트로 구성된 폴리라인)G1 X23.89 Y15.40 F3000.00M300 S30.00(펜다운)G4 P160(대기)G111 .27 Y15.61 F3000.00G1 X24.44 Y16.05 F3000.00G1 X24.22 Y18.19 F3000.00G1 X24.03 Y18.95 F3000.00G1 X23.02 Y1801 X23.02 Y1802 F3000.00G1 X19.62 Y17.10 F3000.00G1 X18.46 Y17.41 F3000.00G1 X16.91 Y18.21 F3000.00G1 X16.22 Y18.60 F3000.041 83 Y17.68 F3000.00G1 X15.47 Y16.93 F3000.00G1 X16.23 Y16.20 F3000.00G1 X18.05 Y15.51 F3000.00G1 X21.11 Y15.01 X21.11 Y15.20 .00M300 S50.00(펜 업)G4 P150(150ms 대기)(29개의 세그먼트로 구성된 폴리라인)G1 X21.29 Y17.47 F3000.00M300 S30.00(펜 다운)G4 P160(160ms 대기)G1 X Y18.80 F3000.00G1 X25.56 Y20.02 F3000.00G1 X26.14 Y20.17 F3000.00G1 X25.92 Y20.50 F3000.00G1 X24.80 Y21.28 F30 0 F3000.00G1 X22.98 Y21.10 F3000.00G1 X21.95 Y20.78 F3000.00G1 X21.63 Y20.62 F3000.00G1 X21.08 Y19.88 F3000290.0 .03 Y19.22 F3000.00G1 X18.43 Y19.27 F3000.00G1 X17.95 Y19.18 F3000.00G1 X17.51 Y19.96 F3000.00G1 X17.19 Y20.01 F3000.00G1 X16.13 Y20.58 F3000.00G1 X15.93 Y20.86 F3000.00G1 X15.70 Y20.63 F3000.00G1 X15.78 Y19.60 F3000.04G6 13 Y17.31 F3000.00G1 X20.21 Y17.23 F3000.00G1 X21.29 Y17.47 F3000.00G1 X21.29 Y17.47 F3000.00M300 S50.00(펜업) 29개 세그먼트 중)G1 X26.41 Y19.09 F3000.00M300 S30.00(펜다운)G4 P160(160ms 대기)G1 X27.14 Y19.61 F3000.00G1 X27.43 Y20.17 F391 X20.17 F300 Y20.74 F3000.00G1 X26.71 Y21.31 F3000.00G1 X25.56 Y21.85 F3000.00G1 X24.35 Y22.08 F3000.00G1 X21.62 Y21.55 F30 00G1 X21.91 Y20.88 F3000.00G1 X22.79 Y21.19 F3000.00G1 X24.30 Y21.49 F3000.00G1 X26.22 Y21.29 F3000.09G1 X20.7 .20 F300 0.00G1 X25.65 Y19.87 F3000.00G1 X24.63 Y19.41 F3000.00G1 X24.25 Y18.98 F3000.00G1 X24.58 Y18.70 F3000.00G1 X10 Y19.09 F3000.00M300 S50.00(펜 업)G4 P150(150ms 대기)(29개의 세그먼트로 구성된 폴리라인.)G1 X20.47 Y19.52 F3000.00M300 S30.00(펜 다운)G4 P160(펜 다운)대기 X1 X21.59 Y21.02 F3000.00G1 X21.45 Y21.31 F3000.00G1 X20.18 Y21.30 F3000.00G1 X18.93 Y20.60 F3000.00G1 X18.70 F9 .38 F3000.00G1 X19.71 Y19.20 F3000.00G1 X20.47 Y19.52 F3000.00G1 X20.47 Y19.52 F3000.00M300 S50.00 (9ms로 구성됨) G4 P15로 구성된 라인 Y 세그먼트.)G1 X18.40 Y19.46 F3000.00M300 S30.00(펜다운)G4 P160(160ms 대기)G1 X18.59 Y20.01 F3000.00G1 X18.80 Y20.68 F3100.0.5 X20 F3000.00G1 X19.94 Y21.43 F3000.00G1 X19.77 Y21.57 F3000.00G1 X19.01 Y21.70 F3000.00G1 X18.36 Y21.46 F3002.0 .75 Y20.12 F3000.00G1 X18.11 Y19.31 F3000.00G1 X18.40 Y19.46 F3000.00M300 S50.00(펜업)G4 P150(150ms 대기)(폴리라인 구성 X1 X17.34 Y20.21 F3000.00M300 S30.00(펜다운)G4 P160(160ms 대기)G1 X17.57 Y20.59 F3000.00G1 X18.44 Y21.780 F3 77 Y21.86 F3000.00G1 X18.44 Y21.92 F3000.00G1 X17.48 Y21.91 F3000.00G1 X16.63 Y21.60 F3000.00G1 X16.25 Y20.010. .00G1 X17.34 Y20.21 F3000.00G1 X17.34 Y20.21 F3000.00M300 S50.00(펜업)G4 P150(150ms 대기)(29개의 세그먼트로 구성된 폴리라인)G1 X16.34 Y20.21 00M300 S30.00(펜다운)G4 P160(160ms 대기)G1 X17.34 Y22.06 F3000.00G1 X18.96 Y21.93 F3000.00G1 X19.98 Y21.60 F3100.20.06 00G1 X25.66 Y22.90 F3000.00G1 X27.77 Y24.32 F3000.00G1 X28.39 Y24.96 F3000.00G1 X27.58 Y24.90 F3000.03G1 X25. .01 F3000.00G1 X28.53 Y25.22 F3000.00G1 X29.82 Y25.72 F3000.00G1 X30.47 Y26.50 F3000.00G1 X30.47 Y27.56 F30103 X28.52 Y29.02 F3000.00G1 X27.29 Y28.75 F3000.00G1 X26.23 Y27.86 F3000.00G1 X25.65 Y27.41 F3000.00G1 X24.992 Y27 31 F30 00.00G1 X24.86 Y27.34 F3000.00G1 X25.18 Y27.38 F3000.00G1 X24.95 Y27.67 F3000.00G1 X24.54 Y28.237 F3000.00G9 F3000.00G1 X Y30.03 F3000.00G1 X23.26 Y29.99 F3000.00G1 X24.15 Y29.94 F3000.00G1 X24.73 Y30.08 F3000.00G1 X20020 F306 Y30.40 F30 00G1 X25.72 Y30.30 F3000.00G1 X26.44 Y29.84 F3000.00G1 X27.29 Y29.51 F3000.00G1 X2900.00G1 X2901 X2900.00G1 X290. .58 F3000.00G1 X28.98 Y30.21 F3000.00G1 X27.91 Y30.88 F3000.00G1 X25.68 Y31.34 F3000.00G1 X22.80 Y31.52 F80030 X18.50 Y31.23 F3000.00G1 X18.49 Y31.31 F3000.00G1 X22.58 Y31.67 F3000.00G1 X24.11 Y31.73 F3000.00G1 X23.959 Y301 X13 F3000.00G1 X20.76 Y32.50 F3000.00G1 X20.31 Y32.72 F3000.00G1 X21.00 Y32.57 F3000.00G1 X23.09 Y32.33 F3000.5 .74 Y33.07 F3000.00G1 X29.12 Y34.03 F3000.00G1 X29.56 Y35.31 F3000.00G1 X28.81 Y36.44 F3000.00G1 X27.64 Y370.0 F3000.00G1 X21.36 Y37.42 F30 00.00G1 X17.13 Y36.41 F3000.00G1 X13.56 Y34.53 F3000.00G1 X12.16 Y33.30 F3000.00G1 X11.08 Y31.92 F3000.00G1 F3000.00G1 X Y28.79 F3000.00G1 X10.59 Y26.73 F3000.00G1 X10.96 Y25.92 F3000.00G1 X11.64 Y26.09 F3000.00G1 X14.41 Y26.25 F030 00G1 X18.16 Y28.80 F3000.00G1 X19.16 Y29.37 F3000.00G1 X19.89 Y29.55 F3000.00G1 X21.95 Y29.85 F3000.00G1 X20. .07 F3000.00G1 X22.66 Y29.69 F3000.00G1 X23.99 Y28.19 F3000.00G1 X22.32 Y28.67 F3000.00G1 X19.90 Y29.36 F3010 X18.96 Y28.62 F3000.00G1 X18.86 Y28.24 F3000.00G1 X18.84 Y28.58 F3000.00G1 X18.72 Y28.93 F3000.00G1 X16.897 Y27 X36 F3000.00G1 X15.64 Y25.80 F3000.00G1 X16.13 Y25.37 F3000.00G1 X15.74 Y25.56 F3000.00G1 X14.85 Y25.99 F3002 X10. .44 Y25.87 F3000.00G1 X10.64 Y25.45 F3000.00G1 X10.13 Y24.87 F3000.00G1 X10.03 Y23.93 F3000.00G1 X10.90 Y22.01 F3000.00G1 X15.35 Y20.88 F30 00.00G1 X16.11 Y21.33 F3000.00G1 X16.11 Y21.33 F3000.00M300 S50.00(펜업)G4 P150(150ms 대기)(29개의 세그먼트로 구성된 폴리라인.)G1 F220.6 00M300 S30.00(펜다운)G4 P160(160ms 대기)G1 X20.79 Y22.76 F3000.00G1 X21.29 Y23.38 F3000.00G1 X22.37 Y23.78 F3100.0.5 00G1 X23.44 Y23.35 F3000.00G1 X23.10 Y23.48 F3000.00G1 X22.40 Y23.62 F3000.00G1 X21.47 Y23.27 F3000.095G1 X20.7 .34 F3000.00G1 X20.95 Y22.21 F3000.00G1 X20.69 Y22.24 F3000.00M300 S50.00(펜업)G4 P150(150ms 대기)(29개 세그먼트로 구성된 폴리라인 Y224.38)G 80 F3000.00M300 S30.00(펜다운)G4 P160(160ms 대기)G1 X13.38 Y23.55 F3000.00G1 X13.10 Y23.93 F3000.00G1 X13.67 Y210.013. X88 F3000.00G1 X14.63 Y23.70 F3000.00G1 X14.39 Y23.52 F3000.00G1 X14.16 Y23.28 F3000.00G1 X14.51 Y22.88 F3002. .20 Y22.59 F3000.00G1 X14.92 Y22.47 F3000.00G1 X14.38 Y22.80 F3000.00G1 X14.38 Y22.80 F3000.00M300 S50.00 (펜 업) t 150ms)(29개의 세그먼트로 구성된 폴리라인.)G1 X12.06 Y23.03 F3000.00M300 S30.00(펜다운)G4 P160(160ms 대기)G1 X12.09 Y23.74 F3000.00G1 X12 F3000.00G1 X13.76 Y24.43 F3000.00G1 X14.60 Y24.23 F3000.00G1 X16.38 Y23.00 F3000.00G1 X15.54 Y23.51 F3000.012 63 Y24.26 F3000.00G1 X12.46 Y23.91 F3000.00G1 X12.19 Y23.55 F3000.00G1 X12.21 Y23.14 F3000.00G1 X12.23 Y22.010. .00G1 X12.06 Y23.03 F3000.00M300 S50.00(펜 업)G4 P150(150ms 대기)(29개의 세그먼트로 구성된 폴리라인.)G1 X21.77 Y26.53 F3000.00M300(펜 다운)G4 P160 (160ms 대기)G1 X20.93 Y27.02 F3000.00G1 X20.39 Y27.69 F3000.00G1 X20.47 Y29.03 F3000.00G1 X20.47 Y28.66 F3013 Y28.66 F3010 00G1 X20.81 Y27.32 F3000.00G1 X20.97 Y27.19 F3000.00G1 X20.93 Y27.34 F3000.00G1 X2900.01 Y27.75 F3000.04G1 X270. .74 F3000.00G1 X22.19 Y27.29 F3000.00G1 X21.82 Y26.88 F3000.00G1 X21.45 Y26.76 F3000.00G1 X21.85 Y26.63 F3010 000.00G1 X23.47 Y26.76 F3000.00G1 X23.76 Y27.26 F3000.00G1 X23.87 Y27.64 F3000.00G1 X23.99 Y27.52 F3000.00G3 Y26.40 F3000.00G1 X21.77 Y26.53 F3000.00G1 X21.77 Y26.53 F3000.00M300 S50.00(펜업)G4 P150(150ms 대기)(폴리라인)7 222 세그먼트로 구성된 폴리라인. .99 F3000.00M300 S30.00(펜다운)G4 P160(160ms 대기)G1 X29.58 Y24.08 F3000.00G1 X29.65 Y25.26 F3000.00G1 X29.13 Y250.2 .71 F3000.00G1 X26.00 Y22.88 F3000.00G1 X26.04 Y22.79 F3000.00G1 X27.79 Y22.99 F1000.00G1 X27.79 Y22.99 F3000 (150ms 대기)(29개 세그먼트로 구성된 폴리라인) G1 X25.85 Y27.75 F3000.00M300 S30.00(펜다운)G4 P160(160ms 대기)G1 X26.10 Y28.24 F3000.081 Y28.00G1 X25 X87 F3000.00G1 X24.91 Y29.47 F3000.00G1 X24.81 Y29.07 F3000.00G1 X25.01 Y28.67 F3000.00G1 X25.41 Y28.54 F3002.5 .36 Y27.82 F3000.00G1 X25.25 Y27.58 F3000.00G1 X25.43 Y27.46 F3000.00G1 X25.85 Y27.75 F3000.00M300 S50.00 (펜 업) 150ms)(29개의 세그먼트로 구성된 폴리라인.)G1 X23.53 Y28.63 F3000.00M300 S30.00(펜다운)G4 P160(160ms 대기)G1 X22.85 Y29.32 F3000.00G1 X29.6 F3000.00G1 X21.18 Y29.54 F3000.00G1 X20.71 Y29.43 F3000.00G1 X22.20 Y28.86 F3000.00G1 X23.73 Y28.29 F3000.06G3 53 Y28.63 F3000.00M300 S50.00(펜다운)G4 P150(150ms 대기)(29개의 세그먼트로 구성된 폴리라인)G1 X27.46 Y28.97 F3000.00M300 S30.00(펜다운)G4 P16 )G1 X27.72 Y29.09 F3000.00G1 X26.09 Y29.77 F3000.00G1 X25.56 Y29.96 F3000.00G1 X25.77 Y29.98 F3000.00G1 X25.02 Y30.48 F3000.00G1 X25.02 Y30.03 F3000.00G1 X25.02 Y29.65 F3000.00G1 X25.34 Y29.43 F3000.00G1 X26.04 Y28.78 F30 00G1 X26.77 Y28.61 F3000.00G1 X27.46 Y28.97 F3000.00G1 X27.46 Y28.97 F3000.00M300 S50.00(펜업)G4 P150(대기 150ms)로 구성된 세그먼트 X24.71 Y29.72 F3000.00M300 S30.00(펜다운)G4 P160(160ms 대기)G1 X24.20 Y29.82 F3000.00G1 X23.65 Y29.70 F3000.0 (0G1 X24.07 Y29.24 F3000.00G1 X24.53 Y28.81 F3000.00G1 X24.62 Y29.16 F3000.00G1 X24.71 Y29.72 F3000.00G1 X24.00 F300.00G1 X24.07 펜 업)G4 P150(150ms 대기)(29개의 세그먼트로 구성된 폴리라인.)G1 X5.54 Y5.46 F3000.00M300 S30.00(펜 다운)G4 P160(160ms 대기)G1 X5.91 Y5.48 F3000.00 X5.65 Y5.39 F3000.00G1 X5.54 Y5.46 F3000.00G1 X5.54 Y5.46 F3000.00M300 S50.00(펜업)G4 P150(150ms 대기)(폴리라인)G1 29 세그먼트로 구성된 폴리라인. .11 Y5.52 F3000.00M300 S30.00(펜다운)G4 P160(160ms 대기)G1 X6.17 Y5.64 F3000.00G1 X6.18 Y5.47 F3000.00G1 X6.11 Y5.060 .11 Y5.52 F3000.00M300 S50.00(펜 업)G4 P150(150ms 대기)(29개의 세그먼트로 구성된 폴리라인.)G1 X6.34 Y5.49 F3000.00M300 S30.00(펜 다운)G4 P160 160ms)G1 X6.88 Y5.56 F3000.00G1 X7.42 Y5.50 F3000.00G1 X6.88 Y5.43 F3000.00G1 X6.34 Y5.49 F3000.00M300 S50.00M300 S50.00(펜 업) 150ms)(29개의 세그먼트로 구성된 폴리라인.)G1 X7.58 Y5.52 F3000.00M300 S30.00(펜다운)G4 P160(160ms 대기)G1 X7.74 Y5.60 F3000.00G1 X7.8 3 Y5.48 F3000.00G1 X7.58 Y5.52 F3000.00M300 S50.00(펜업)G4 P150(150ms 대기)(29개 세그먼트로 구성된 폴리라인.)G1 X8.50 Y5.49 S3000.00M (펜다운)G4 P160 (160ms 대기)G1 X8.86 Y5.58 F3000.00G1 X9.21 Y5.51 F3000.00G1 X8.86 Y5.42 F3000.00G1 X8.50 Y5.49 F3000.0 (펜 업)G4 P150(150ms 기다림)(29개의 세그먼트로 구성된 폴리라인.)G1 X6.75 Y6.41 F3000.00M300 S30.00(펜 다운)G4 P160(160ms 기다림)G1 X6.93 Y6.46 F3000. 00G1 X6.91 Y6.29 F3000.00G1 X6.75 Y6.41 F3000.00G1 X6.75 Y6.41 F3000.00M300 S50.00(펜업)G4 P150(대기 150ms)(G12로 구성된 세그먼트) X7.49 Y6.39 F3000.00M300 S30.00(펜다운)G4 P160(160ms 대기)G1 X7.53 Y6.53 F3000.00G1 X7.70 Y6.45 F3000.00G1 X7.49 Y6003 X7.49 Y6.39 F3000.00M300 S50.00(펜다운)G4 P150(150ms 대기)(29개의 세그먼트로 구성된 폴리라인.)G1 X16.85 Y4.97 F3000.00M300 S30.00(펜다운)G4 P1 160ms 대기)G1 X14.07 Y5.98 F3000.00G1 X13.33 Y6.40 F3000.00G1 X10.74 Y6.40 F3000.00G1 X8.14 Y6.49 F3000.00G1 X10.6 X.00G1 X13.07 Y6.64 F3000.00G1 X12.75 Y6.98 F3000.00G1 X11.99 Y8.33 F3000.00G1 X12.30 Y9.13 F3000.00G1 X12.90 F3 Y3 Y10.48 F3000.00G1 X16.42 Y10.34 F3000.00G1 X16.89 Y10.16 F3000.00G1 X17.20 Y10.44 F3000.00G1 X17.404 Y10.92 F30 00G1 X14.52 Y13.21 F3000.00G1 X14.17 Y14.50 F3000.00G1 X14.18 Y14.85 F3000.00G1 X13.90 Y14.95 F3000.030G1 X10. .08 F3000.00G1 X13.23 Y16.62 F3000.00G1 X14.03 Y16.94 F3000.00G1 X14.80 Y16.89 F3000.00G1 X15.21 F3000.00G1 X15.21 Y16.80 F3013 X15.71 Y17.77 F3000.00G1 X16.05 Y18.61 F3000.00G1 X15.77 Y19.35 F3000.00G1 X15.47 Y20.24 F3000.00G1 X15.73 Y301 91 F3000.00G1 X12.47 Y21.26 F3000.00G1 X11.32 Y21.88 F3000.00G1 X10.23 Y23.00 F3000.00G1 X9.82 Y24.17 F3000.9 .41 Y25.47 F3000.00G1 X10.77 Y25.78 F3000.00G1 X10.53 Y26.37 F3000.00G1 X10.04 Y28.07 F3000.00G1 X10.02 Y290.6 F3000.00G1 X11.46 Y32.80 F3000.00G1 X 13.34 Y34.54 F3000.00G1 X15.75 Y36.02 F3000.00G1 X16.94 Y36.57 F3000.00G1 X11.31 Y36.60 F3000.00G1 X5.53 Y36.0 .00G1 X5.41 Y8.55 F3000.00G1 X5.62 Y6.61 F3000.00G1 X5.85 Y6.48 F3000.00G1 X5.50 Y6.40 F3000.00G1 X5.14 Y6.40 F Y21.60 F3000.00G1 X5.14 Y36.80 F3000.00G1 X11.39 Y36.80 F3000.00G1 X17.65 Y36.80 F3000.00G1 X18.65 Y37.07 F3000.00G1 X21.13 Y37.54 F3000. 00G1 X23.70 Y37.69 F3000.00G1 X26.12 Y37.52 F3000.00G1 X28.11 Y37.03 F3000.00G1 X28.70 Y36.80 F3000.00G1 X33.01 Y36.80 F3000.00G1 X37.32 Y36 .80 F3000.00G1 X37.32 Y21.60 F3000.00G1 X37.32 Y6.40 F3000.00G1 X32.21 Y6.40 F3000.00G1 X26.73 Y6.25 F3000.00G1 X22.57 Y5.07 F3000.00G1 X16.85 Y4.97 F3000.00G1 X16.85 Y4.97 F3000.00M300 S50.00 (pen up)G4 P150 (wait 150ms)(Polyline consisting of 29 segments.)G1 X20.57 Y5.03 F3000.00M300 S30 .00 (pen down)G4 P160 (wait 160ms)G1 X23.06 Y5.34 F3000.00G1 X24.86 Y5.94 F3000.00G1 X25.99 Y6.82 F3000.00G1 X26.48 Y8.01 F3000.00G1 X26 .11 Y9.51 F3000.00G1 X24.89 Y 10.76 F3000.00G1 X23.73 Y11.07 F3000.00G1 X22.18 Y10.75 F3000.00G1 X20.76 Y10.29 F3000.00G1 X20.13 Y9.96 F3000.00G1 X19.83 Y9.40 F3000.00G1 X19.66 Y9.17 F3000.00G1 X19.74 Y9.72 F3000.00G1 X20.51 Y10.61 F3000.00G1 X21.41 Y11.91 F3000.00G1 X21.31 Y12.42 F3000.00G1 X20.85 Y12.91 F3000.00G1 X19.04 Y13.73 F3000.00G1 X18.83 Y13.81 F3000.00G1 X19.56 Y13.72 F3000.00G1 X20.90 Y13.07 F3000.00G1 X21.48 Y12.71 F3000.00G1 X21.88 Y12.90 F3000.00G1 X23.87 Y14.56 F3000.00G1 X24.34 Y15.23 F3000.00G1 X23.85 Y15.22 F3000.00G1 X19.04 Y15.20 F3000.00G1 X16.99 Y15.70 F3000.00G1 X15.62 Y16.42 F3000.00G1 X15.31 Y16.66 F3000.00G1 X14.86 Y15.95 F3000.00G1 X14.39 Y14.29 F3000.00G1 X14.89 Y12.97 F3000.00G1 X16.02 Y12.25 F3000.00G1 X17.19 Y11.48 F3000.00G1 X17.63 Y10.79 F3000.00G1 X16.90 Y10.01 F3000.00G1 X16.07 Y9.45 F3000.00G1 X16.23 Y9.73 F3000.00G1 X16.50 Y10.15 F3000.00G1 X14.70 Y10.34 F3000.00G1 X13.17 Y9.72 F3000.00G1 X12.44 Y9.03 F3000.00G1 X12.23 Y8.30 F3000.00G1 X12.53 Y7.53 F3000.00G1 X13.34 Y6.71 F3000 .00G1 X15.72 Y5.44 F3000.00G1 X18.83 Y4.95 F3000.00G1 X20.57 Y5.03 F3000.00G1 X20.57 Y5.03 F3000.00M300 S50.00 (pen up)G4 P150 (wait 150ms)(Polyline consisting of 29 segments.)G1 X27.30 Y6.65 F3000.00M300 S30.00 (pen down)G4 P160 (wait 160ms)G1 X29.25 Y7.52 F3000.00G1 X30.16 Y8.34 F3000.00G1 X30.46 Y9.06 F3000.00G1 X30.29 Y9.88 F3000.00G1 X29.49 Y10.84 F3000.00G1 X28.16 Y11.51 F3000.00G1 X26.25 Y11.62 F3000.00G1 X25.07 Y10.96 F3000.00G1 X25.51 Y10.50 F3000.00G1 X26.26 Y9.62 F3000.00G1 X26.58 Y8.19 F3000.00G1 X26.44 Y7.12 F3000.00G1 X25.77 Y6.34 F3000.00G1 X25.47 Y6.07 F3000.00G1 X25.68 Y6.08 F3000.00G1 X27.30 Y6.65 F3000.00G1 X27.30 Y6.65 F3000.00M300 S50.00 (pen up)G4 P150 (wait 150ms)(Polyline consisting of 29 segments.)G1 X37.06 Y21.42 F3000.00M300 S30.00 (pen down)G4 P160 (wait 160ms)G1 X37.02 Y36.41 F3000.00G1 X36.96 Y36.62 F3000.00G1 X33.06 Y36.62 F3000.00G1 X29.16 Y36.58 F3000.00G1 X29.47 Y36.10 F3000.00G1 X29.73 Y35.05 F3000.00G1 X29.34 Y34.00 F3000.00G1 X28.36 Y33.19 F3000.00G 1 X26.78 Y32.58 F3000.00G1 X24.56 Y32.18 F3000.00G1 X24.11 Y32.04 F3000.00G1 X24.44 Y31.73 F3000.00G1 X25.27 Y31.55 F3000.00G1 X28.11 Y31.00 F3000.00G1 X28.91 Y30.55 F3000.00G1 X29.29 Y29.72 F3000.00G1 X29.84 Y28.76 F3000.00G1 X30.44 Y28.08 F3000.00G1 X30.69 Y27.27 F3000.00G1 X30.58 Y26.46 F3000.00G1 X30.11 Y25.77 F3000.00G1 X29.82 Y25.45 F3000.00G1 X29.90 Y25.05 F3000.00G1 X29.83 Y24.22 F3000.00G1 X28.51 Y23.12 F3000.00G1 X26.38 Y22.66 F3000.00G1 X25.09 Y22.48 F3000.00G1 X24.68 Y22.25 F3000.00G1 X24.95 Y22.15 F3000.00G1 X26.03 Y21.82 F3000.00G1 X27.25 Y21.07 F3000.00G1 X27.59 Y20.36 F3000.00G1 X27.42 Y19.68 F3000.00G1 X26.21 Y18.82 F3000.00G1 X24.70 Y18.51 F3000.00G1 X24.39 Y18.50 F3000.00G1 X24.42 Y18.22 F3000.00G1 X24.59 Y16.70 F3000.00G1 X24.63 Y15.61 F3000.00G1 X24.39 Y15.01 F3000.00G1 X23.81 Y14.22 F3000.00G1 X23.52 Y13.85 F3000.00G1 X24.03 Y13.49 F3000.00G1 X24.69 Y12.99 F3000.00G1 X24.78 Y12.31 F3000.00G1 X24.54 Y11.48 F3000.00G1 X24.58 Y11.08 F3000.00G1 X25.21 Y11.31 F3000.00G 1 X26.08 Y11.74 F3000.00G1 X27.14 Y11.85 F3000.00G1 X28.29 Y11.66 F3000.00G1 X29.41 Y11.16 F3000.00G1 X30.24 Y10.39 F3000.00G1 X30.57 Y9.37 F3000.00...This file has been truncated, please download it to see its full contents.

Stepper CodeArduino

//AMIT#include #include #define LINE_BUFFER_LENGTH 512char STEP =MICROSTEP;// Servo position for Up and Down const int penZUp =115;const int penZDown =83;// Servo on PWM pin 10const int penServoPin =10;// Should be right for DVD steppers, but is not too important hereconst int stepsPerRevolution =48; // create servo object to control a servo Servo penServo; // Initialize steppers for X- and Y-axis using this Arduino pins for the L293D H-bridgeAF_Stepper myStepperY(stepsPerRevolution,1); AF_Stepper myStepperX(stepsPerRevolution,2); /* Structures, global variables */struct point { float x; float y; float z; };// Current position of plotheadstruct point actuatorPos;// Drawing settings, should be OKfloat StepInc =1;int StepDelay =0;int LineDelay =0;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 =100.0;float StepsPerMillimeterY =100.0;// Drawing robot limits, in mm// OK to start with. Could go up to 50 mm if calibrated well. float Xmin =0;float Xmax =40;float Ymin =0;float Ymax =40;float Zmin =0;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(100); // Decrease if necessary myStepperX.setSpeed(600); myStepperY.setSpeed(600); // 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(100); char line[ LINE_BUFFER_LENGTH ]; 문자 c; int lineIndex; bool lineIsComment, lineSemiColon; lineIndex =0; lineSemiColon =false; lineIsComment =false; while (1) { // Serial reception - Mostly from Grbl, added semicolon support while ( Serial.available()>0 ) { c =Serial.read(); if (( c =='\n') || (c =='\r') ) { // End of line reached if ( lineIndex> 0 ) { // Line is complete. Then execute! line[ lineIndex ] ='\0'; // Terminate string if (verbose) { Serial.print( "Received :"); Serial.println( line ); } processIncomingLine( line, lineIndex ); lineIndex =0; } 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 =0; 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 =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 dy) { for (i=0; i=dx) { over-=dx; myStepperY.onestep(sy,STEP); } delay(StepDelay); } } else { for (i=0; i=dy) { over-=dy; myStepperX.onestep(sx,STEP); } 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 penvoid penUp() { penServo.write(penZUp); delay(penDelay); Zpos=Zmax; digitalWrite(15, LOW); digitalWrite(16, HIGH); if (verbose) { Serial.println("Pen up!"); } }// Lowers penvoid penDown() { penServo.write(penZDown); delay(penDelay); Zpos=Zmin; digitalWrite(15, HIGH); digitalWrite(16, LOW); if (verbose) { Serial.println("Pen down."); } }

LibrariesArduino

// Adafruit Motor shield library// copyright Adafruit Industries LLC, 2009// this code is public domain, enjoy!#if (ARDUINO>=100) #include "Arduino.h"#else #if defined(__AVR__) #include  #endif #include "WProgram.h"#endif#include "AFMotor.h"static uint8_t latch_state;#if (MICROSTEPS ==8)uint8_t microstepcurve[] ={0, 50, 98, 142, 180, 212, 236, 250, 255};#elif (MICROSTEPS ==16)uint8_t microstepcurve[] ={0, 25, 50, 74, 98, 120, 141, 162, 180, 197, 212, 225, 236, 244, 250, 253, 255};#endifAFMotorController::AFMotorController(void) { TimerInitalized =false;}void AFMotorController::enable(void) { // setup the latch /* LATCH_DDR |=_BV(LATCH); ENABLE_DDR |=_BV(ENABLE); CLK_DDR |=_BV(CLK); SER_DDR |=_BV(SER); */ pinMode(MOTORLATCH, OUTPUT); pinMode(MOTORENABLE, OUTPUT); pinMode(MOTORDATA, OUTPUT); pinMode(MOTORCLK, OUTPUT); latch_state =0; latch_tx(); // "reset" //ENABLE_PORT &=~_BV(ENABLE); // enable the chip outputs! digitalWrite(MOTORENABLE, LOW);}void AFMotorController::latch_tx(void) { uint8_t i; //LATCH_PORT &=~_BV(LATCH); digitalWrite(MOTORLATCH, LOW); //SER_PORT &=~_BV(SER); digitalWrite(MOTORDATA, LOW); for (i=0; i<8; i++) { //CLK_PORT &=~_BV(CLK); digitalWrite(MOTORCLK, LOW); if (latch_state &_BV(7-i)) { //SER_PORT |=_BV(SER); digitalWrite(MOTORDATA, HIGH); } else { //SER_PORT &=~_BV(SER); digitalWrite(MOTORDATA, LOW); } //CLK_PORT |=_BV(CLK); digitalWrite(MOTORCLK, HIGH); } //LATCH_PORT |=_BV(LATCH); digitalWrite(MOTORLATCH, HIGH);}static AFMotorController MC;/****************************************** MOTORS******************************************/inline void initPWM1(uint8_t freq) {#if defined(__AVR_ATmega8__) || \ defined(__AVR_ATmega48__) || \ defined(__AVR_ATmega88__) || \ defined(__AVR_ATmega168__) || \ defined(__AVR_ATmega328P__) // use PWM from timer2A on PB3 (Arduino pin #11) TCCR2A |=_BV(COM2A1) | _BV(WGM20) | _BV(WGM21); // fast PWM, turn on oc2a TCCR2B =freq &0x7; OCR2A =0;#elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) // on arduino mega, pin 11 is now PB5 (OC1A) TCCR1A |=_BV(COM1A1) | _BV(WGM10); // fast PWM, turn on oc1a TCCR1B =(freq &0x7) | _BV(WGM12); OCR1A =0;#elif defined(__PIC32MX__) #if defined(PIC32_USE_PIN9_FOR_M1_PWM) // Make sure that pin 11 is an input, since we have tied together 9 and 11 pinMode(9, OUTPUT); pinMode(11, INPUT); if (!MC.TimerInitalized) { // Set up Timer2 for 80MHz counting fro 0 to 256 T2CON =0x8000 | ((freq &0x07) <<4); // ON=1, FRZ=0, SIDL=0, TGATE=0, TCKPS=, T32=0, TCS=0; // ON=1, FRZ=0, SIDL=0, TGATE=0, TCKPS=0, T32=0, TCS=0 TMR2 =0x0000; PR2 =0x0100; MC.TimerInitalized =true; } // Setup OC4 (pin 9) in PWM mode, with Timer2 as timebase OC4CON =0x8006; // OC32 =0, OCTSEL=0, OCM=6 OC4RS =0x0000; OC4R =0x0000; #elif defined(PIC32_USE_PIN10_FOR_M1_PWM) // Make sure that pin 11 is an input, since we have tied together 9 and 11 pinMode(10, OUTPUT); pinMode(11, INPUT); if (!MC.TimerInitalized) { // Set up Timer2 for 80MHz counting fro 0 to 256 T2CON =0x8000 | ((freq &0x07) <<4); // ON=1, FRZ=0, SIDL=0, TGATE=0, TCKPS=, T32=0, TCS=0; // ON=1, FRZ=0, SIDL=0, TGATE=0, TCKPS=0, T32=0, TCS=0 TMR2 =0x0000; PR2 =0x0100; MC.TimerInitalized =true; } // Setup OC5 (pin 10) in PWM mode, with Timer2 as timebase OC5CON =0x8006; // OC32 =0, OCTSEL=0, OCM=6 OC5RS =0x0000; OC5R =0x0000; #else // If we are not using PWM for pin 11, then just do digital digitalWrite(11, LOW); #endif#else #error "This chip is not supported!"#endif #if !defined(PIC32_USE_PIN9_FOR_M1_PWM) &&!defined(PIC32_USE_PIN10_FOR_M1_PWM) pinMode(11, OUTPUT); #endif}inline void setPWM1(uint8_t s) {#if defined(__AVR_ATmega8__) || \ defined(__AVR_ATmega48__) || \ defined(__AVR_ATmega88__) || \ defined(__AVR_ATmega168__) || \ defined(__AVR_ATmega328P__) // use PWM from timer2A on PB3 (Arduino pin #11) OCR2A =s;#elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) // on arduino mega, pin 11 is now PB5 (OC1A) OCR1A =s;#elif defined(__PIC32MX__) #if defined(PIC32_USE_PIN9_FOR_M1_PWM) // Set the OC4 (pin 9) PMW duty cycle from 0 to 255 OC4RS =s; #elif defined(PIC32_USE_PIN10_FOR_M1_PWM) // Set the OC5 (pin 10) PMW duty cycle from 0 to 255 OC5RS =s; #else // If we are not doing PWM output for M1, then just use on/off if (s> 127) { digitalWrite(11, HIGH); } else { digitalWrite(11, LOW); } #endif#else #error "This chip is not supported!"#endif}inline void initPWM2(uint8_t freq) {#if defined(__AVR_ATmega8__) || \ defined(__AVR_ATmega48__) || \ defined(__AVR_ATmega88__) || \ defined(__AVR_ATmega168__) || \ defined(__AVR_ATmega328P__) // use PWM from timer2B (pin 3) TCCR2A |=_BV(COM2B1) | _BV(WGM20) | _BV(WGM21); // fast PWM, turn on oc2b TCCR2B =freq &0x7; OCR2B =0;#elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) // on arduino mega, pin 3 is now PE5 (OC3C) TCCR3A |=_BV(COM1C1) | _BV(WGM10); // fast PWM, turn on oc3c TCCR3B =(freq &0x7) | _BV(WGM12); OCR3C =0;#elif defined(__PIC32MX__) if (!MC.TimerInitalized) { // Set up Timer2 for 80MHz counting fro 0 to 256 T2CON =0x8000 | ((freq &0x07) <<4); // ON=1, FRZ=0, SIDL=0, TGATE=0, TCKPS=, T32=0, TCS=0; // ON=1, FRZ=0, SIDL=0, TGATE=0, TCKPS=0, T32=0, TCS=0 TMR2 =0x0000; PR2 =0x0100; MC.TimerInitalized =true; } // Setup OC1 (pin3) in PWM mode, with Timer2 as timebase OC1CON =0x8006; // OC32 =0, OCTSEL=0, OCM=6 OC1RS =0x0000; OC1R =0x0000;#else #error "This chip is not supported!"#endif pinMode(3, OUTPUT);}inline void setPWM2(uint8_t s) {#if defined(__AVR_ATmega8__) || \ defined(__AVR_ATmega48__) || \ defined(__AVR_ATmega88__) || \ defined(__AVR_ATmega168__) || \ defined(__AVR_ATmega328P__) // use PWM from timer2A on PB3 (Arduino pin #11) OCR2B =s;#elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) // on arduino mega, pin 11 is now PB5 (OC1A) OCR3C =s;#elif defined(__PIC32MX__) // Set the OC1 (pin3) PMW duty cycle from 0 to 255 OC1RS =s;#else #error "This chip is not supported!"#endif}inline void initPWM3(uint8_t freq) {#if defined(__AVR_ATmega8__) || \ defined(__AVR_ATmega48__) || \ defined(__AVR_ATmega88__) || \ defined(__AVR_ATmega168__) || \ defined(__AVR_ATmega328P__) // use PWM from timer0A / PD6 (pin 6) TCCR0A |=_BV(COM0A1) | _BV(WGM00) | _BV(WGM01); // fast PWM, turn on OC0A //TCCR0B =freq &0x7; OCR0A =0;#elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) // on arduino mega, pin 6 is now PH3 (OC4A) TCCR4A |=_BV(COM1A1) | _BV(WGM10); // fast PWM, turn on oc4a TCCR4B =(freq &0x7) | _BV(WGM12); //TCCR4B =1 | _BV(WGM12); OCR4A =0;#elif defined(__PIC32MX__) if (!MC.TimerInitalized) { // Set up Timer2 for 80MHz counting fro 0 to 256 T2CON =0x8000 | ((freq &0x07) <<4); // ON=1, FRZ=0, SIDL=0, TGATE=0, TCKPS=, T32=0, TCS=0; // ON=1, FRZ=0, SIDL=0, TGATE=0, TCKPS=0, T32=0, TCS=0 TMR2 =0x0000; PR2 =0x0100; MC.TimerInitalized =true; } // Setup OC3 (pin 6) in PWM mode, with Timer2 as timebase OC3CON =0x8006; // OC32 =0, OCTSEL=0, OCM=6 OC3RS =0x0000; OC3R =0x0000;#else #error "This chip is not supported!"#endif pinMode(6, OUTPUT);}inline void setPWM3(uint8_t s) {#if defined(__AVR_ATmega8__) || \ defined(__AVR_ATmega48__) || \ defined(__AVR_ATmega88__) || \ defined(__AVR_ATmega168__) || \ defined(__AVR_ATmega328P__) // use PWM from timer0A on PB3 (Arduino pin #6) OCR0A =s;#elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) // on arduino mega, pin 6 is now PH3 (OC4A) OCR4A =s;#elif defined(__PIC32MX__) // Set the OC3 (pin 6) PMW duty cycle from 0 to 255 OC3RS =s;#else #error "This chip is not supported!"#endif}inline void initPWM4(uint8_t freq) {#if defined(__AVR_ATmega8__) || \ defined(__AVR_ATmega48__) || \ defined(__AVR_ATmega88__) || \ defined(__AVR_ATmega168__) || \ defined(__AVR_ATmega328P__) // use PWM from timer0B / PD5 (pin 5) TCCR0A |=_BV(COM0B1) | _BV(WGM00) | _BV(WGM01); // fast PWM, turn on oc0a //TCCR0B =freq &0x7; OCR0B =0;#elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) // on arduino mega, pin 5 is now PE3 (OC3A) TCCR3A |=_BV(COM1A1) | _BV(WGM10); // fast PWM, turn on oc3a TCCR3B =(freq &0x7) | _BV(WGM12); //TCCR4B =1 | _BV(WGM12); OCR3A =0;#elif defined(__PIC32MX__) if (!MC.TimerInitalized) { // Set up Timer2 for 80MHz counting fro 0 to 256 T2CON =0x8000 | ((freq &0x07) <<4); // ON=1, FRZ=0, SIDL=0, TGATE=0, TCKPS=, T32=0, TCS=0; // ON=1, FRZ=0, SIDL=0, TGATE=0, TCKPS=0, T32=0, TCS=0 TMR2 =0x0000; PR2 =0x0100; MC.TimerInitalized =true; } // Setup OC2 (pin 5) in PWM mode, with Timer2 as timebase OC2CON =0x8006; // OC32 =0, OCTSEL=0, OCM=6 OC2RS =0x0000; OC2R =0x0000;#else #error "This chip is not supported!"#endif pinMode(5, OUTPUT);}inline void setPWM4(uint8_t s) {#if defined(__AVR_ATmega8__) || \ defined(__AVR_ATmega48__) || \ defined(__AVR_ATmega88__) || \ defined(__AVR_ATmega168__) || \ defined(__AVR_ATmega328P__) // use PWM from timer0A on PB3 (Arduino pin #6) OCR0B =s;#elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) // on arduino mega, pin 6 is now PH3 (OC4A) OCR3A =s;#elif defined(__PIC32MX__) // Set the OC2 (pin 5) PMW duty cycle from 0 to 255 OC2RS =s;#else #error "This chip is not supported!"#endif}AF_DCMotor::AF_DCMotor(uint8_t num, uint8_t freq) { motornum =num; pwmfreq =freq; MC.enable(); switch (num) { case 1:latch_state &=~_BV(MOTOR1_A) &~_BV(MOTOR1_B); // set both motor pins to 0 MC.latch_tx(); initPWM1(freq); 부서지다; case 2:latch_state &=~_BV(MOTOR2_A) &~_BV(MOTOR2_B); // set both motor pins to 0 MC.latch_tx(); initPWM2(freq); 부서지다; case 3:latch_state &=~_BV(MOTOR3_A) &~_BV(MOTOR3_B); // set both motor pins to 0 MC.latch_tx(); initPWM3(freq); 부서지다; case 4:latch_state &=~_BV(MOTOR4_A) &~_BV(MOTOR4_B); // set both motor pins to 0 MC.latch_tx(); initPWM4(freq); 부서지다; }}void AF_DCMotor::run(uint8_t cmd) { uint8_t a, b; switch (motornum) { case 1:a =MOTOR1_A; b =MOTOR1_B; 부서지다; case 2:a =MOTOR2_A; b =MOTOR2_B; 부서지다; case 3:a =MOTOR3_A; b =MOTOR3_B; 부서지다; case 4:a =MOTOR4_A; b =MOTOR4_B; 부서지다; default:return; } switch (cmd) { case FORWARD:latch_state |=_BV(a); latch_state &=~_BV(b); MC.latch_tx(); 부서지다; case BACKWARD:latch_state &=~_BV(a); latch_state |=_BV(b); MC.latch_tx(); 부서지다; case RELEASE:latch_state &=~_BV(a); // A and B both low latch_state &=~_BV(b); MC.latch_tx(); 부서지다; }}void AF_DCMotor::setSpeed(uint8_t speed) { switch (motornum) { case 1:setPWM1(speed); 부서지다; case 2:setPWM2(speed); 부서지다; case 3:setPWM3(speed); 부서지다; case 4:setPWM4(speed); 부서지다; }}/****************************************** STEPPERS******************************************/AF_Stepper::AF_Stepper(uint16_t steps, uint8_t num) { MC.enable(); revsteps =steps; steppernum =num; currentstep =0; if (steppernum ==1) { latch_state &=~_BV(MOTOR1_A) &~_BV(MOTOR1_B) &~_BV(MOTOR2_A) &~_BV(MOTOR2_B); // all motor pins to 0 MC.latch_tx(); // enable both H bridges pinMode(11, OUTPUT); pinMode(3, OUTPUT); digitalWrite(11, HIGH); digitalWrite(3, HIGH); // use PWM for microstepping support initPWM1(STEPPER1_PWM_RATE); initPWM2(STEPPER1_PWM_RATE); setPWM1(255); setPWM2(255); } else if (steppernum ==2) { latch_state &=~_BV(MOTOR3_A) &~_BV(MOTOR3_B) &~_BV(MOTOR4_A) &~_BV(MOTOR4_B); // all motor pins to 0 MC.latch_tx(); // enable both H bridges pinMode(5, OUTPUT); pinMode(6, OUTPUT); digitalWrite(5, HIGH); 디지털 쓰기(6, 높음); // use PWM for microstepping support // use PWM for microstepping support initPWM3(STEPPER2_PWM_RATE); initPWM4(STEPPER2_PWM_RATE); setPWM3(255); setPWM4(255); }}void AF_Stepper::setSpeed(uint16_t rpm) { usperstep =60000000 / ((uint32_t)revsteps * (uint32_t)rpm); steppingcounter =0;}void AF_Stepper::release(void) { if (steppernum ==1) { latch_state &=~_BV(MOTOR1_A) &~_BV(MOTOR1_B) &~_BV(MOTOR2_A) &~_BV(MOTOR2_B); // all motor pins to 0 MC.latch_tx(); } else if (steppernum ==2) { latch_state &=~_BV(MOTOR3_A) &~_BV(MOTOR3_B) &~_BV(MOTOR4_A) &~_BV(MOTOR4_B); // all motor pins to 0 MC.latch_tx(); }}void AF_Stepper::step(uint16_t steps, uint8_t dir, uint8_t style) { uint32_t uspers =usperstep; uint8_t ret =0; if (style ==INTERLEAVE) { uspers /=2; } else if (style ==MICROSTEP) { uspers /=MICROSTEPS; steps *=MICROSTEPS;#ifdef MOTORDEBUG Serial.print("steps ="); Serial.println(steps, DEC);#endif } while (steps--) { ret =onestep(dir, style); delay(uspers/1000); // in ms steppingcounter +=(uspers % 1000); if (steppingcounter>=1000) { delay(1); steppingcounter -=1000; } } if (style ==MICROSTEP) { while ((ret !=0) &&(ret !=MICROSTEPS)) { ret =onestep(dir, style); delay(uspers/1000); // in ms steppingcounter +=(uspers % 1000); if (steppingcounter>=1000) { delay(1); steppingcounter -=1000; } } }}uint8_t AF_Stepper::onestep(uint8_t dir, uint8_t style) { uint8_t a, b, c, d; uint8_t ocrb, ocra; ocra =ocrb =255; if (steppernum ==1) { a =_BV(MOTOR1_A); b =_BV(MOTOR2_A); c =_BV(MOTOR1_B); d =_BV(MOTOR2_B); } else if (steppernum ==2) { a =_BV(MOTOR3_A); b =_BV(MOTOR4_A); c =_BV(MOTOR3_B); d =_BV(MOTOR4_B); } else { return 0; } // next determine what sort of stepping procedure we're up to if (style ==SINGLE) { if ((currentstep/(MICROSTEPS/2)) % 2) { // we're at an odd step, weird if (dir ==FORWARD) { currentstep +=MICROSTEPS/2; } else { currentstep -=MICROSTEPS/2; } } else { // go to the next even step if (dir ==FORWARD) { currentstep +=MICROSTEPS; } else { currentstep -=MICROSTEPS; } } } else if (style ==DOUBLE) { if (! (currentstep/(MICROSTEPS/2) % 2)) { // we're at an even step, weird if (dir ==FORWARD) { currentstep +=MICROSTEPS/2; } else { currentstep -=MICROSTEPS/2; } } else { // go to the next odd step if (dir ==FORWARD) { currentstep +=MICROSTEPS; } else { currentstep -=MICROSTEPS; } } } else if (style ==INTERLEAVE) { if (dir ==FORWARD) { currentstep +=MICROSTEPS/2; } else { currentstep -=MICROSTEPS/2; } } if (style ==MICROSTEP) { if (dir ==FORWARD) { currentstep++; } else { // BACKWARDS currentstep--; } currentstep +=MICROSTEPS*4; currentstep %=MICROSTEPS*4; ocra =ocrb =0; if ( (currentstep>
=0) &&(currentstep 
=MICROSTEPS) &&(currentstep 
=MICROSTEPS*2) &&(currentstep 
=MICROSTEPS*3) &&(currentstep  #endif #include "WProgram.h"#endif#include "AFMotor.h"static uint8_t latch_state;#if (MICROSTEPS ==8)uint8_t microstepcurve[] ={0, 50, 98, 142, 180, 212, 236, 250, 255};#elif (MICROSTEPS ==16)uint8_t microstepcurve[] ={0, 25, 50, 74, 98, 120, 141, 162, 180, 197, 212, 225, 236, 244, 250, 253, 255};#endifAFMotorController::AFMotorController(void) { TimerInitalized =false;}void AFMotorController::enable(void) { // setup the latch /* LATCH_DDR |=_BV(LATCH); ENABLE_DDR |=_BV(ENABLE); CLK_DDR |=_BV(CLK); SER_DDR |=_BV(SER); */ pinMode(MOTORLATCH, OUTPUT); pinMode(MOTORENABLE, OUTPUT); pinMode(MOTORDATA, OUTPUT); pinMode(MOTORCLK, OUTPUT); latch_state =0; latch_tx(); // "reset" //ENABLE_PORT &=~_BV(ENABLE); // enable the chip outputs! digitalWrite(MOTORENABLE, LOW);}void AFMotorController::latch_tx(void) { uint8_t i; //LATCH_PORT &=~_BV(LATCH); digitalWrite(MOTORLATCH, LOW); //SER_PORT &=~_BV(SER); digitalWrite(MOTORDATA, LOW); for (i=0; i<8; i++) { //CLK_PORT &=~_BV(CLK); digitalWrite(MOTORCLK, LOW); if (latch_state &_BV(7-i)) { //SER_PORT |=_BV(SER); digitalWrite(MOTORDATA, HIGH); } else { //SER_PORT &=~_BV(SER); digitalWrite(MOTORDATA, LOW); } //CLK_PORT |=_BV(CLK); digitalWrite(MOTORCLK, HIGH); } //LATCH_PORT |=_BV(LATCH); digitalWrite(MOTORLATCH, HIGH);}static AFMotorController MC;/****************************************** MOTORS******************************************/inline void initPWM1(uint8_t freq) {#if defined(__AVR_ATmega8__) || \ defined(__AVR_ATmega48__) || \ defined(__AVR_ATmega88__) || \ defined(__AVR_ATmega168__) || \ defined(__AVR_ATmega328P__) // use PWM from timer2A on PB3 (Arduino pin #11) TCCR2A |=_BV(COM2A1) | _BV(WGM20) | _BV(WGM21); // fast PWM, turn on oc2a TCCR2B =freq &0x7; OCR2A =0;#elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) // on arduino mega, pin 11 is now PB5 (OC1A) TCCR1A |=_BV(COM1A1) | _BV(WGM10); // fast PWM, turn on oc1a TCCR1B =(freq &0x7) | _BV(WGM12); OCR1A =0;#elif defined(__PIC32MX__) #if defined(PIC32_USE_PIN9_FOR_M1_PWM) // Make sure that pin 11 is an input, since we have tied together 9 and 11 pinMode(9, OUTPUT); pinMode(11, INPUT); if (!MC.TimerInitalized) { // Set up Timer2 for 80MHz counting fro 0 to 256 T2CON =0x8000 | ((freq &0x07) <<4); // ON=1, FRZ=0, SIDL=0, TGATE=0, TCKPS=, T32=0, TCS=0; // ON=1, FRZ=0, SIDL=0, TGATE=0, TCKPS=0, T32=0, TCS=0 TMR2 =0x0000; PR2 =0x0100; MC.TimerInitalized =true; } // Setup OC4 (pin 9) in PWM mode, with Timer2 as timebase OC4CON =0x8006; // OC32 =0, OCTSEL=0, OCM=6 OC4RS =0x0000; OC4R =0x0000; #elif defined(PIC32_USE_PIN10_FOR_M1_PWM) // Make sure that pin 11 is an input, since we have tied together 9 and 11 pinMode(10, OUTPUT); pinMode(11, INPUT); if (!MC.TimerInitalized) { // Set up Timer2 for 80MHz counting fro 0 to 256 T2CON =0x8000 | ((freq &0x07) <<4); // ON=1, FRZ=0, SIDL=0, TGATE=0, TCKPS=, T32=0, TCS=0; // ON=1, FRZ=0, SIDL=0, TGATE=0, TCKPS=0, T32=0, TCS=0 TMR2 =0x0000; PR2 =0x0100; MC.TimerInitalized =true; } // Setup OC5 (pin 10) in PWM mode, with Timer2 as timebase OC5CON =0x8006; // OC32 =0, OCTSEL=0, OCM=6 OC5RS =0x0000; OC5R =0x0000; #else // If we are not using PWM for pin 11, then just do digital digitalWrite(11, LOW); #endif#else #error "This chip is not supported!"#endif #if !defined(PIC32_USE_PIN9_FOR_M1_PWM) &&!defined(PIC32_USE_PIN10_FOR_M1_PWM) pinMode(11, OUTPUT); #endif}inline void setPWM1(uint8_t s) {#if defined(__AVR_ATmega8__) || \ defined(__AVR_ATmega48__) || \ defined(__AVR_ATmega88__) || \ defined(__AVR_ATmega168__) || \ defined(__AVR_ATmega328P__) // use PWM from timer2A on PB3 (Arduino pin #11) OCR2A =s;#elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) // on arduino mega, pin 11 is now PB5 (OC1A) OCR1A =s;#elif defined(__PIC32MX__) #if defined(PIC32_USE_PIN9_FOR_M1_PWM) // Set the OC4 (pin 9) PMW duty cycle from 0 to 255 OC4RS =s; #elif defined(PIC32_USE_PIN10_FOR_M1_PWM) // Set the OC5 (pin 10) PMW duty cycle from 0 to 255 OC5RS =s; #else // If we are not doing PWM output for M1, then just use on/off if (s> 127) { digitalWrite(11, HIGH); } else { digitalWrite(11, LOW); } #endif#else #error "This chip is not supported!"#endif}inline void initPWM2(uint8_t freq) {#if defined(__AVR_ATmega8__) || \ defined(__AVR_ATmega48__) || \ defined(__AVR_ATmega88__) || \ defined(__AVR_ATmega168__) || \ defined(__AVR_ATmega328P__) // use PWM from timer2B (pin 3) TCCR2A |=_BV(COM2B1) | _BV(WGM20) | _BV(WGM21); // fast PWM, turn on oc2b TCCR2B =freq &0x7; OCR2B =0;#elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) // on arduino mega, pin 3 is now PE5 (OC3C) TCCR3A |=_BV(COM1C1) | _BV(WGM10); // fast PWM, turn on oc3c TCCR3B =(freq &0x7) | _BV(WGM12); OCR3C =0;#elif defined(__PIC32MX__) if (!MC.TimerInitalized) { // Set up Timer2 for 80MHz counting fro 0 to 256 T2CON =0x8000 | ((freq &0x07) <<4); // ON=1, FRZ=0, SIDL=0, TGATE=0, TCKPS=, T32=0, TCS=0; // ON=1, FRZ=0, SIDL=0, TGATE=0, TCKPS=0, T32=0, TCS=0 TMR2 =0x0000; PR2 =0x0100; MC.TimerInitalized =true; } // Setup OC1 (pin3) in PWM mode, with Timer2 as timebase OC1CON =0x8006; // OC32 =0, OCTSEL=0, OCM=6 OC1RS =0x0000; OC1R =0x0000;#else #error "This chip is not supported!"#endif pinMode(3, OUTPUT);}inline void setPWM2(uint8_t s) {#if defined(__AVR_ATmega8__) || \ defined(__AVR_ATmega48__) || \ defined(__AVR_ATmega88__) || \ defined(__AVR_ATmega168__) || \ defined(__AVR_ATmega328P__) // use PWM from timer2A on PB3 (Arduino pin #11) OCR2B =s;#elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) // on arduino mega, pin 11 is now PB5 (OC1A) OCR3C =s;#elif defined(__PIC32MX__) // Set the OC1 (pin3) PMW duty cycle from 0 to 255 OC1RS =s;#else #error "This chip is not supported!"#endif}inline void initPWM3(uint8_t freq) {#if defined(__AVR_ATmega8__) || \ defined(__AVR_ATmega48__) || \ defined(__AVR_ATmega88__) || \ defined(__AVR_ATmega168__) || \ defined(__AVR_ATmega328P__) // use PWM from timer0A / PD6 (pin 6) TCCR0A |=_BV(COM0A1) | _BV(WGM00) | _BV(WGM01); // fast PWM, turn on OC0A //TCCR0B =freq &0x7; OCR0A =0;#elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) // on arduino mega, pin 6 is now PH3 (OC4A) TCCR4A |=_BV(COM1A1) | _BV(WGM10); // fast PWM, turn on oc4a TCCR4B =(freq &0x7) | _BV(WGM12); //TCCR4B =1 | _BV(WGM12); OCR4A =0;#elif defined(__PIC32MX__) if (!MC.TimerInitalized) { // Set up Timer2 for 80MHz counting fro 0 to 256 T2CON =0x8000 | ((freq &0x07) <<4); // ON=1, FRZ=0, SIDL=0, TGATE=0, TCKPS=, T32=0, TCS=0; // ON=1, FRZ=0, SIDL=0, TGATE=0, TCKPS=0, T32=0, TCS=0 TMR2 =0x0000; PR2 =0x0100; MC.TimerInitalized =true; } // Setup OC3 (pin 6) in PWM mode, with Timer2 as timebase OC3CON =0x8006; // OC32 =0, OCTSEL=0, OCM=6 OC3RS =0x0000; OC3R =0x0000;#else #error "This chip is not supported!"#endif pinMode(6, OUTPUT);}inline void setPWM3(uint8_t s) {#if defined(__AVR_ATmega8__) || \ defined(__AVR_ATmega48__) || \ defined(__AVR_ATmega88__) || \ defined(__AVR_ATmega168__) || \ defined(__AVR_ATmega328P__) // use PWM from timer0A on PB3 (Arduino pin #6) OCR0A =s;#elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) // on arduino mega, pin 6 is now PH3 (OC4A) OCR4A =s;#elif defined(__PIC32MX__) // Set the OC3 (pin 6) PMW duty cycle from 0 to 255 OC3RS =s;#else #error "This chip is not supported!"#endif}inline void initPWM4(uint8_t freq) {#if defined(__AVR_ATmega8__) || \ defined(__AVR_ATmega48__) || \ defined(__AVR_ATmega88__) || \ defined(__AVR_ATmega168__) || \ defined(__AVR_ATmega328P__) // use PWM from timer0B / PD5 (pin 5) TCCR0A |=_BV(COM0B1) | _BV(WGM00) | _BV(WGM01); // fast PWM, turn on oc0a //TCCR0B =freq &0x7; OCR0B =0;#elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) // on arduino mega, pin 5 is now PE3 (OC3A) TCCR3A |=_BV(COM1A1) | _BV(WGM10); // fast PWM, turn on oc3a TCCR3B =(freq &0x7) | _BV(WGM12); //TCCR4B =1 | _BV(WGM12); OCR3A =0;#elif defined(__PIC32MX__) if (!MC.TimerInitalized) { // Set up Timer2 for 80MHz counting fro 0 to 256 T2CON =0x8000 | ((freq &0x07) <<4); // ON=1, FRZ=0, SIDL=0, TGATE=0, TCKPS=, T32=0, TCS=0; // ON=1, FRZ=0, SIDL=0, TGATE=0, TCKPS=0, T32=0, TCS=0 TMR2 =0x0000; PR2 =0x0100; MC.TimerInitalized =true; } // Setup OC2 (pin 5) in PWM mode, with Timer2 as timebase OC2CON =0x8006; // OC32 =0, OCTSEL=0, OCM=6 OC2RS =0x0000; OC2R =0x0000;#else #error "This chip is not supported!"#endif pinMode(5, OUTPUT);}inline void setPWM4(uint8_t s) {#if defined(__AVR_ATmega8__) || \ defined(__AVR_ATmega48__) || \ defined(__AVR_ATmega88__) || \ defined(__AVR_ATmega168__) || \ defined(__AVR_ATmega328P__) // use PWM from timer0A on PB3 (Arduino pin #6) OCR0B =s;#elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) // on arduino mega, pin 6 is now PH3 (OC4A) OCR3A =s;#elif defined(__PIC32MX__) // Set the OC2 (pin 5) PMW duty cycle from 0 to 255 OC2RS =s;#else #error "This chip is not supported!"#endif}AF_DCMotor::AF_DCMotor(uint8_t num, uint8_t freq) { motornum =num; pwmfreq =freq; MC.enable(); switch (num) { case 1:latch_state &=~_BV(MOTOR1_A) &~_BV(MOTOR1_B); // set both motor pins to 0 MC.latch_tx(); initPWM1(freq); 부서지다; case 2:latch_state &=~_BV(MOTOR2_A) &~_BV(MOTOR2_B); // set both motor pins to 0 MC.latch_tx(); initPWM2(freq); 부서지다; case 3:latch_state &=~_BV(MOTOR3_A) &~_BV(MOTOR3_B); // set both motor pins to 0 MC.latch_tx(); initPWM3(freq); 부서지다; case 4:latch_state &=~_BV(MOTOR4_A) &~_BV(MOTOR4_B); // set both motor pins to 0 MC.latch_tx(); initPWM4(freq); 부서지다; }}void AF_DCMotor::run(uint8_t cmd) { uint8_t a, b; switch (motornum) { case 1:a =MOTOR1_A; b =MOTOR1_B; 부서지다; case 2:a =MOTOR2_A; b =MOTOR2_B; 부서지다; case 3:a =MOTOR3_A; b =MOTOR3_B; 부서지다; case 4:a =MOTOR4_A; b =MOTOR4_B; 부서지다; default:return; } switch (cmd) { case FORWARD:latch_state |=_BV(a); latch_state &=~_BV(b); MC.latch_tx(); 부서지다; case BACKWARD:latch_state &=~_BV(a); latch_state |=_BV(b); MC.latch_tx(); 부서지다; case RELEASE:latch_state &=~_BV(a); // A and B both low latch_state &=~_BV(b); MC.latch_tx(); 부서지다; }}void AF_DCMotor::setSpeed(uint8_t speed) { switch (motornum) { case 1:setPWM1(speed); 부서지다; case 2:setPWM2(speed); 부서지다; case 3:setPWM3(speed); 부서지다; case 4:setPWM4(speed); 부서지다; }}/****************************************** STEPPERS******************************************/AF_Stepper::AF_Stepper(uint16_t steps, uint8_t num) { MC.enable(); revsteps =steps; steppernum =num; currentstep =0; if (steppernum ==1) { latch_state &=~_BV(MOTOR1_A) &~_BV(MOTOR1_B) &~_BV(MOTOR2_A) &~_BV(MOTOR2_B); // all motor pins to 0 MC.latch_tx(); // enable both H bridges pinMode(11, OUTPUT); pinMode(3, OUTPUT); digitalWrite(11, HIGH); digitalWrite(3, HIGH); // use PWM for microstepping support initPWM1(STEPPER1_PWM_RATE); initPWM2(STEPPER1_PWM_RATE); setPWM1(255); setPWM2(255); } else if (steppernum ==2) { latch_state &=~_BV(MOTOR3_A) &~_BV(MOTOR3_B) &~_BV(MOTOR4_A) &~_BV(MOTOR4_B); // all motor pins to 0 MC.latch_tx(); // enable both H bridges pinMode(5, OUTPUT); pinMode(6, OUTPUT); digitalWrite(5, HIGH); 디지털 쓰기(6, 높음); // use PWM for microstepping support // use PWM for microstepping support initPWM3(STEPPER2_PWM_RATE); initPWM4(STEPPER2_PWM_RATE); setPWM3(255); setPWM4(255); }}void AF_Stepper::setSpeed(uint16_t rpm) { usperstep =60000000 / ((uint32_t)revsteps * (uint32_t)rpm); steppingcounter =0;}void AF_Stepper::release(void) { if (steppernum ==1) { latch_state &=~_BV(MOTOR1_A) &~_BV(MOTOR1_B) &~_BV(MOTOR2_A) &~_BV(MOTOR2_B); // all motor pins to 0 MC.latch_tx(); } else if (steppernum ==2) { latch_state &=~_BV(MOTOR3_A) &~_BV(MOTOR3_B) &~_BV(MOTOR4_A) &~_BV(MOTOR4_B); // all motor pins to 0 MC.latch_tx(); }}void AF_Stepper::step(uint16_t steps, uint8_t dir, uint8_t style) { uint32_t uspers =usperstep; uint8_t ret =0; if (style ==INTERLEAVE) { uspers /=2; } else if (style ==MICROSTEP) { uspers /=MICROSTEPS; steps *=MICROSTEPS;#ifdef MOTORDEBUG Serial.print("steps ="); Serial.println(steps, DEC);#endif } while (steps--) { ret =onestep(dir, style); delay(uspers/1000); // in ms steppingcounter +=(uspers % 1000); if (steppingcounter>=1000) { delay(1); steppingcounter -=1000; } } if (style ==MICROSTEP) { while ((ret !=0) &&(ret !=MICROSTEPS)) { ret =onestep(dir, style); delay(uspers/1000); // in ms steppingcounter +=(uspers % 1000); if (steppingcounter>=1000) { delay(1); steppingcounter -=1000; } } }}uint8_t AF_Stepper::onestep(uint8_t dir, uint8_t style) { uint8_t a, b, c, d; uint8_t ocrb, ocra; ocra =ocrb =255; if (steppernum ==1) { a =_BV(MOTOR1_A); b =_BV(MOTOR2_A); c =_BV(MOTOR1_B); d =_BV(MOTOR2_B); } else if (steppernum ==2) { a =_BV(MOTOR3_A); b =_BV(MOTOR4_A); c =_BV(MOTOR3_B); d =_BV(MOTOR4_B); } else { return 0; } // next determine what sort of stepping procedure we're up to if (style ==SINGLE) { if ((currentstep/(MICROSTEPS/2)) % 2) { // we're at an odd step, weird if (dir ==FORWARD) { currentstep +=MICROSTEPS/2; } else { currentstep -=MICROSTEPS/2; } } else { // go to the next even step if (dir ==FORWARD) { currentstep +=MICROSTEPS; } else { currentstep -=MICROSTEPS; } } } else if (style ==DOUBLE) { if (! (currentstep/(MICROSTEPS/2) % 2)) { // we're at an even step, weird if (dir ==FORWARD) { currentstep +=MICROSTEPS/2; } else { currentstep -=MICROSTEPS/2; } } else { // go to the next odd step if (dir ==FORWARD) { currentstep +=MICROSTEPS; } else { currentstep -=MICROSTEPS; } } } else if (style ==INTERLEAVE) { if (dir ==FORWARD) { currentstep +=MICROSTEPS/2; } else { currentstep -=MICROSTEPS/2; } } if (style ==MICROSTEP) { if (dir ==FORWARD) { currentstep++; } else { // BACKWARDS currentstep--; } currentstep +=MICROSTEPS*4; currentstep %=MICROSTEPS*4; ocra =ocrb =0; if ( (currentstep>
=0) &&(currentstep 
=MICROSTEPS) &&(currentstep 
=MICROSTEPS*2) &&(currentstep 
=MICROSTEPS*3) &&(currentstep   맞춤형 부품 및 인클로저  
  cnc_contour_SNa09InGkY.gm1 cnc_coppertop_PIxEVyoMWI.gtl

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