[kacpo1]

Witam.

Jestem w trakcie budowy małego plottera cnc na Arduino i do tej pory korzystałem z Processinga do streamowania gcodu, ale przez to plotter jest mało mobilny, więc chcę dodać drugie arduino które będzie sczytywało z karty SD gcode i wysyłało go do Arduino sterującego silnikami. Ktoś ma jakiś pomysł jak to zrobić? Można powiedzieć, że jestem zielony w obsłudze interfejsu portu szeregowego. Znaczy potrafię coś wyświetlić itp. ale za ciula nie potrafię wysłać np. z całego pliku tylko linijkę zaczynającą się np. od G, taką jaka jest w gcodzie.

Więc byłbym bardzo wdzięczny za pomoc.

Jeśli to pomoże, załączam kody do Arduino i Processinga.

Arduino:

Kod:

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

#define LINE_BUFFER_LENGTH 512

const int penZUp = 40;
const int penZDown = 80;

const int penServoPin = 6;

const int stepsPerRevolution = 32;

Servo penServo;

Stepper myStepperY(stepsPerRevolution, 5,3,4,2);
Stepper myStepperX(stepsPerRevolution, 11,9,10,8);

struct point {
float x;
float y;
float z;
};

struct point actuatorPos;

float StepInc = 1;
int StepDelay = 0;
int LineDelay = 50;
int penDelay = 50;

float StepsPerMillimeterX = 100.0;
float StepsPerMillimeterY = 100.0;

float Xmin = 0;
float Xmax = 100;
float Ymin = 0;
float Ymax = 100;
float Zmin = 0;
float Zmax = 1;

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

boolean verbose = false;

void setup() {
Serial.begin( 9600 );

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

myStepperX.setSpeed(200);
myStepperY.setSpeed(200);

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()
{
delay(200);
char line[ LINE_BUFFER_LENGTH ];
char c;
int lineIndex;
bool lineIsComment, lineSemiColon;

lineIndex = 0;
lineSemiColon = false;
lineIsComment = false;

while (1) {

while ( Serial.available()>0 ) {
c = Serial.read();
if (( c == '\n') || (c == '\r') ) {
if ( lineIndex > 0 ) {
line[ lineIndex ] = '\0';
if (verbose) {
Serial.print( "Received : ");
Serial.println( line );
}
processIncomingLine( line, lineIndex );
lineIndex = 0;
}
else {

}
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 < charNB ) {
switch ( line[ currentIndex++ ] ) { // Select command, if any
case 'U':
penUp();
break;
case 'D':
penDown();
break;
case 'G':
buffer[0] = 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 0: // 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 <= 0 ) {
newPos.x = atof( indexX + 1);
newPos.y = actuatorPos.y;
}
else if ( indexX <= 0 ) {
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[0] = 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 );
}
}
}



}



void drawLine(float x1, float y1) {

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


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 = 0;

if (dx > dy) {
for (i=0; i<dx; ++i) {
myStepperX.step(sx);
over+=dy;
if (over>=dx) {
over-=dx;
myStepperY.step(sy);
}
delay(StepDelay);
}
}
else {
for (i=0; 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(LineDelay);

Xpos = x1;
Ypos = y1;
}


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

Processing :

Kod:

import java.awt.event.KeyEvent;
import javax.swing.JOptionPane;
import processing.serial.*;

Serial port = null;

// select and modify the appropriate line for your operating system
// leave as null to use interactive port (press 'p' in the program)
String portname = null;
//String portname = Serial.list()[0]; // Mac OS X
//String portname = "/dev/ttyUSB0"; // Linux
//String portname = "COM6"; // Windows

boolean streaming = false;
float speed = 0.001;
String[] gcode;
int i = 0;

void openSerialPort()
{
 if (portname == null) return;
 if (port != null) port.stop();
 
 port = new Serial(this, portname, 9600);
 
 port.bufferUntil('\n');
}

void selectSerialPort()
{
 String result = (String) JOptionPane.showInputDialog(frame,
   "Select the serial port that corresponds to your Arduino board.",
   "Select serial port",
   JOptionPane.QUESTION_MESSAGE,
   null,
   Serial.list(),
   0);
   
 if (result != null) {
   portname = result;
   openSerialPort();
 }
}

void setup()
{
 size(600, 400);
 openSerialPort();
}

void draw()
{
 background(155);  
 fill(0);
 int y = 24, dy = 12;
 text("INSTRUCTIONS", 12, y); y += dy;
 text("p: select serial port", 12, y); y += dy;
 text("1: set speed to 0.001 inches (1 mil) per jog", 12, y); y += dy;
 text("2: set speed to 0.010 inches (10 mil) per jog", 12, y); y += dy;
 text("3: set speed to 0.100 inches (100 mil) per jog", 12, y); y += dy;
 text("arrow keys: jog in x-y plane", 12, y); y += dy;
 text("page up & page down: jog in z axis", 12, y); y += dy;
 text("$: display grbl settings", 12, y); y+= dy;
 text("h: go home", 12, y); y += dy;
 text("0: zero machine (set home to the current location)", 12, y); y += dy;
 text("g: stream a g-code file", 12, y); y += dy;
 text("x: stop streaming g-code (this is NOT immediate)", 12, y); y += dy;
 y = height - dy;
 text("current jog speed: " + speed + " inches per step", 12, y); y -= dy;
 text("current serial port: " + portname, 12, y); y -= dy;
}

void keyPressed()
{
 if (key == '1') speed = 0.001;
 if (key == '2') speed = 0.01;
 if (key == '3') speed = 0.1;
 
 if (!streaming) {
   if (keyCode == LEFT) port.write("G91\nG20\nG00 X-" + speed + " Y0.000 Z0.000\n");
   if (keyCode == RIGHT) port.write("G91\nG20\nG00 X" + speed + " Y0.000 Z0.000\n");
   if (keyCode == UP) port.write("G91\nG20\nG00 X0.000 Y" + speed + " Z0.000\n");
   if (keyCode == DOWN) port.write("G91\nG20\nG00 X0.000 Y-" + speed + " Z0.000\n");
   if (keyCode == KeyEvent.VK_PAGE_UP) port.write("G91\nG20\nG00 X0.000 Y0.000 Z" + speed + "\n");
   if (keyCode == KeyEvent.VK_PAGE_DOWN) port.write("G91\nG20\nG00 X0.000 Y0.000 Z-" + speed + "\n");
   if (key == 'h') port.write("G90\nG20\nG00 X0.000 Y0.000 Z0.000\n");
   if (key == 'v') port.write("$0=75\n$1=74\n$2=75\n");
   //if (key == 'v') port.write("$0=100\n$1=74\n$2=75\n");
   if (key == 's') port.write("$3=10\n");
   if (key == 'e') port.write("$16=1\n");
   if (key == 'd') port.write("$16=0\n");
   if (key == '0') openSerialPort();
   if (key == 'p') selectSerialPort();
   if (key == '$') port.write("$$\n");
 }
 
 if (!streaming && key == 'g') {
   gcode = null; i = 0;
   File file = null;
   println("Loading file...");
   selectInput("Select a file to process:", "fileSelected", file);
 }
 
 if (key == 'x') streaming = false;
}

void fileSelected(File selection) {
 if (selection == null) {
   println("Window was closed or the user hit cancel.");
 } else {
   println("User selected " + selection.getAbsolutePath());
   gcode = loadStrings(selection.getAbsolutePath());
   if (gcode == null) return;
   streaming = true;
   stream();
 }
}

void stream()
{
 if (!streaming) return;
 
 while (true) {
   if (i == gcode.length) {
     streaming = false;
     return;
   }
   
   if (gcode[i].trim().length() == 0) i++;
   else break;
 }
 
 println(gcode[i]);
 port.write(gcode[i] + '\n');
 i++;
}

void serialEvent(Serial p)
{
 String s = p.readStringUntil('\n');
 println(s.trim());
 
 if (s.trim().startsWith("ok")) stream();
 if (s.trim().startsWith("error")) stream();
}