diff --git a/Moteur DC/ServoStrap/ServoStrap_Port_manipulation_LD293D/ServoStrap_Port_manipulation_LD293D-1.0.pde b/Moteur DC/ServoStrap/ServoStrap_Port_manipulation_LD293D/ServoStrap_Port_manipulation_LD293D-1.0/ServoStrap_Port_manipulation_LD293D-1.0.pde similarity index 97% rename from Moteur DC/ServoStrap/ServoStrap_Port_manipulation_LD293D/ServoStrap_Port_manipulation_LD293D-1.0.pde rename to Moteur DC/ServoStrap/ServoStrap_Port_manipulation_LD293D/ServoStrap_Port_manipulation_LD293D-1.0/ServoStrap_Port_manipulation_LD293D-1.0.pde index 2c6cd1c..8539e13 100644 --- a/Moteur DC/ServoStrap/ServoStrap_Port_manipulation_LD293D/ServoStrap_Port_manipulation_LD293D-1.0.pde +++ b/Moteur DC/ServoStrap/ServoStrap_Port_manipulation_LD293D/ServoStrap_Port_manipulation_LD293D-1.0/ServoStrap_Port_manipulation_LD293D-1.0.pde @@ -1,203 +1,203 @@ -#include -//this is to use DWF library, it will increase the speed of digitalRead/Write command -//used in the interrupt function doEncoderMotor0, but may be used everywhere. -/* -https://github.com/danithebest91/ServoStrap - i have made this code for the LMD18245 motor controller, - i have merged the pid code of Josh Kopel - whith the code of makerbot servo-controller board, - you can use this code on the some board changing some values. - Daniele Poddighe - external ardware require a quadrature encoder, timing slit strip and a dc motor, - all you can find inside an old printer, i have took it from canon and hp printers(psc1510) - - for motor controll you can choose different type of H-bridge, i have used LMD18245, - you can order 3 of it on ti.com sample request, the hardware needed is explained on the datasheet but i'm drowing - the schematic and PCB layout on eagle. - - - read a rotary encoder with interrupts - Encoder hooked up with common to GROUND, - encoder0PinA to pin 2, encoder0PinB to pin 4 (or pin 3 see below) - it doesn't matter which encoder pin you use for A or B - - is possible to change PID costants by sending on serial interfaces the values separated by ',' in this order: KP,KD,KI - example: 5.2,3.1,0 so we have KP=5.2 KD=3.1 KI=0 is only for testing purposes, but i will leave this function with eeprom storage - - This code use Port manipulation : - Port registers allow for lower-level and faster manipulation of the i/o pins of the microcontroller on an Arduino board. The chips used on the Arduino board - (the ATmega8 and ATmega168) have three ports: - B (digital pin 8 to 13) - C (analog input pins) - D (digital pins 0 to 7) - https://www.arduino.cc/en/Reference/PortManipulation - - https://www.arduino.cc/en/Hacking/PinMapping - https://www.arduino.cc/en/Hacking/PinMapping168 -*/ - -#define encoder0PinA 2 // PD2 (INT0) You can't modify port mapping here because this code use Port manipulation (I2) -#define encoder0PinB 8 // PB0; (I8) - -#define SpeedPin 6 (I6) -#define DirectionPin 15 //PC1; (A1) - -//from ramps 1.4 stepper driver -#define STEP_PIN 3 //PD3 (INT1) (I3) -#define DIR_PIN 14 //PC0; (A0) -//#define ENABLE_PIN 13 //PB5; for now is USELESS (I13) - -//to use current motor as speed control, the LMD18245 has 4 bit cuttent output -//#define M0 9 //assign 4 bit from PORTB register to current control -> Bxx0000x (x mean any) -//#define M1 10 // PB1; PB2; PB3; PB4 -//#define M2 11 -//#define M3 12 - - -volatile long encoder0Pos = 0; - -long target = 0; -long target1 = 0; -int amp=212; -//correction = Kp * error + Kd * (error - prevError) + kI * (sum of errors) -//PID controller constants -float KP = 6.0 ; //position multiplier (gain) 2.25 -float KI = 0.1; // Intergral multiplier (gain) .25 -float KD = 1.3; // derivative multiplier (gain) 1.0 - -int lastError = 0; -int sumError = 0; - -//Integral term min/max (random value and not yet tested/verified) -int iMax = 100; -int iMin = 0; - -long previousTarget = 0; -long previousMillis = 0; // will store last time LED was updated -long interval = 5; // interval at which to blink (milliseconds) - -//for motor control ramps 1.4 -bool newStep = false; -bool oldStep = false; -bool dir = false; - -void setup() { - pinModeFast(2, INPUT); - pinModeFast(encoder0PinA, INPUT); - pinModeFast(encoder0PinB, INPUT); - - pinModeFast(DirectionPin, OUTPUT); - //pinMode(SpeedPin, OUTPUT); - - //ramps 1.4 motor control - pinModeFast(STEP_PIN, INPUT); - pinModeFast(DIR_PIN, INPUT); - //pinModeFast(M0,OUTPUT); - //pinModeFast(M1,OUTPUT); - //pinModeFast(M2,OUTPUT); - //pinModeFast(M3,OUTPUT); - - attachInterrupt(0, doEncoderMotor0, CHANGE); // encoder pin on interrupt 0 - pin 2 - attachInterrupt(1, countStep, RISING); //on pin 3 - - Serial.begin (115200); - Serial.println("start"); // a personal quirk - -} - -void loop(){ - - while (Serial.available() > 0) { - KP = Serial.parseFloat(); - KD = Serial.parseFloat(); - KI = Serial.parseFloat(); - - - Serial.println(KP); - Serial.println(KD); - Serial.println(KI); -} - - if(millis() - previousTarget > 1000){ //enable this code only for test purposes because it loss a lot of time - Serial.print(encoder0Pos); - Serial.print(','); - Serial.println(target1); - previousTarget=millis(); - } - - target = target1; - docalc(); -} - -void docalc() { - - if (millis() - previousMillis > interval) - { - previousMillis = millis(); // remember the last time we blinked the LED - - long error = encoder0Pos - target ; // find the error term of current position - target - - //generalized PID formula - //correction = Kp * error + Kd * (error - prevError) + kI * (sum of errors) - long ms = KP * error + KD * (error - lastError) +KI * (sumError); - - lastError = error; - sumError += error; - - //scale the sum for the integral term - if(sumError > iMax) { - sumError = iMax; - } else if(sumError < iMin){ - sumError = iMin; - } - - if(ms > 0){ - PORTC |=B00000010; //digitalWriteFast2 ( DirectionPin ,HIGH ); write PC1 HIGH (A1) - } - if(ms < 0){ - PORTC &=(B11111101); //digitalWriteFast2 ( DirectionPin , LOW ); write PC1 LOW (A1) - ms = -1 * ms; - } - - int motorspeed = map(ms,0,amp,0,255); - if( motorspeed >= 255) motorspeed=255; - //PORTB |=(motorspeed<<1); // is a sort of: digitalwrite(M0 M1 M2 M3, 0 0 0 0 to 1 1 1 1); it set directly PORTB to B**M3M2M1M0*; - //analogWrite ( SpeedPin, (255 - motorSpeed) ); - analogWrite ( SpeedPin, motorspeed ); - //Serial.print ( ms ); - //Serial.print ( ',' ); - //Serial.println ( motorspeed ); - } -} - -void doEncoderMotor0(){ - if (((PIND&B0000100)>>2) == HIGH) { // found a low-to-high on channel A; if(digitalRead(encoderPinA)==HIGH){.... read PD2 (I2) - - if ((PINB&B0000001) == LOW) { // check channel B to see which way; if(digitalRead(encoderPinB)==LOW){.... read PB0 (I8) - // encoder is turning - encoder0Pos-- ; // CCW - } - else { - encoder0Pos++ ; // CW - } - } - else // found a high-to-low on channel A - { - if ((PINB&B0000001) == LOW) { // check channel B to see which way; if(digitalRead(encoderPinB)==LOW){.... read PB0 (I8) - // encoder is turning - encoder0Pos++ ; // CW - } - else { - encoder0Pos-- ; // CCW - } - - } - -} - -void countStep(){ - dir = (PINC&B0000001); // dir=digitalRead(dir_pin) read PC0, 14 digital; - //here will be (PINB&B0000001) to not use shift in the stable version - if (dir) target1++; - else target1--; +#include +//this is to use DWF library, it will increase the speed of digitalRead/Write command +//used in the interrupt function doEncoderMotor0, but may be used everywhere. +/* +https://github.com/danithebest91/ServoStrap + i have made this code for the LMD18245 motor controller, + i have merged the pid code of Josh Kopel + whith the code of makerbot servo-controller board, + you can use this code on the some board changing some values. + Daniele Poddighe + external ardware require a quadrature encoder, timing slit strip and a dc motor, + all you can find inside an old printer, i have took it from canon and hp printers(psc1510) + + for motor controll you can choose different type of H-bridge, i have used LMD18245, + you can order 3 of it on ti.com sample request, the hardware needed is explained on the datasheet but i'm drowing + the schematic and PCB layout on eagle. + + + read a rotary encoder with interrupts + Encoder hooked up with common to GROUND, + encoder0PinA to pin 2, encoder0PinB to pin 4 (or pin 3 see below) + it doesn't matter which encoder pin you use for A or B + + is possible to change PID costants by sending on serial interfaces the values separated by ',' in this order: KP,KD,KI + example: 5.2,3.1,0 so we have KP=5.2 KD=3.1 KI=0 is only for testing purposes, but i will leave this function with eeprom storage + + This code use Port manipulation : + Port registers allow for lower-level and faster manipulation of the i/o pins of the microcontroller on an Arduino board. The chips used on the Arduino board + (the ATmega8 and ATmega168) have three ports: + B (digital pin 8 to 13) + C (analog input pins) + D (digital pins 0 to 7) + https://www.arduino.cc/en/Reference/PortManipulation + + https://www.arduino.cc/en/Hacking/PinMapping + https://www.arduino.cc/en/Hacking/PinMapping168 +*/ + +#define encoder0PinA 2 // PD2 (INT0) You can't modify port mapping here because this code use Port manipulation (I2) +#define encoder0PinB 8 // PB0; (I8) + +#define SpeedPin 6 (I6) +#define DirectionPin 15 //PC1; (A1) + +//from ramps 1.4 stepper driver +#define STEP_PIN 3 //PD3 (INT1) (I3) +#define DIR_PIN 14 //PC0; (A0) +//#define ENABLE_PIN 13 //PB5; for now is USELESS (I13) + +//to use current motor as speed control, the LMD18245 has 4 bit cuttent output +//#define M0 9 //assign 4 bit from PORTB register to current control -> Bxx0000x (x mean any) +//#define M1 10 // PB1; PB2; PB3; PB4 +//#define M2 11 +//#define M3 12 + + +volatile long encoder0Pos = 0; + +long target = 0; +long target1 = 0; +int amp=212; +//correction = Kp * error + Kd * (error - prevError) + kI * (sum of errors) +//PID controller constants +float KP = 6.0 ; //position multiplier (gain) 2.25 +float KI = 0.1; // Intergral multiplier (gain) .25 +float KD = 1.3; // derivative multiplier (gain) 1.0 + +int lastError = 0; +int sumError = 0; + +//Integral term min/max (random value and not yet tested/verified) +int iMax = 100; +int iMin = 0; + +long previousTarget = 0; +long previousMillis = 0; // will store last time LED was updated +long interval = 5; // interval at which to blink (milliseconds) + +//for motor control ramps 1.4 +bool newStep = false; +bool oldStep = false; +bool dir = false; + +void setup() { + pinModeFast(2, INPUT); + pinModeFast(encoder0PinA, INPUT); + pinModeFast(encoder0PinB, INPUT); + + pinModeFast(DirectionPin, OUTPUT); + //pinMode(SpeedPin, OUTPUT); + + //ramps 1.4 motor control + pinModeFast(STEP_PIN, INPUT); + pinModeFast(DIR_PIN, INPUT); + //pinModeFast(M0,OUTPUT); + //pinModeFast(M1,OUTPUT); + //pinModeFast(M2,OUTPUT); + //pinModeFast(M3,OUTPUT); + + attachInterrupt(0, doEncoderMotor0, CHANGE); // encoder pin on interrupt 0 - pin 2 + attachInterrupt(1, countStep, RISING); //on pin 3 + + Serial.begin (115200); + Serial.println("start"); // a personal quirk + +} + +void loop(){ + + while (Serial.available() > 0) { + KP = Serial.parseFloat(); + KD = Serial.parseFloat(); + KI = Serial.parseFloat(); + + + Serial.println(KP); + Serial.println(KD); + Serial.println(KI); +} + + if(millis() - previousTarget > 1000){ //enable this code only for test purposes because it loss a lot of time + Serial.print(encoder0Pos); + Serial.print(','); + Serial.println(target1); + previousTarget=millis(); + } + + target = target1; + docalc(); +} + +void docalc() { + + if (millis() - previousMillis > interval) + { + previousMillis = millis(); // remember the last time we blinked the LED + + long error = encoder0Pos - target ; // find the error term of current position - target + + //generalized PID formula + //correction = Kp * error + Kd * (error - prevError) + kI * (sum of errors) + long ms = KP * error + KD * (error - lastError) +KI * (sumError); + + lastError = error; + sumError += error; + + //scale the sum for the integral term + if(sumError > iMax) { + sumError = iMax; + } else if(sumError < iMin){ + sumError = iMin; + } + + if(ms > 0){ + PORTC |=B00000010; //digitalWriteFast2 ( DirectionPin ,HIGH ); write PC1 HIGH (A1) + } + if(ms < 0){ + PORTC &=(B11111101); //digitalWriteFast2 ( DirectionPin , LOW ); write PC1 LOW (A1) + ms = -1 * ms; + } + + int motorspeed = map(ms,0,amp,0,255); + if( motorspeed >= 255) motorspeed=255; + //PORTB |=(motorspeed<<1); // is a sort of: digitalwrite(M0 M1 M2 M3, 0 0 0 0 to 1 1 1 1); it set directly PORTB to B**M3M2M1M0*; + //analogWrite ( SpeedPin, (255 - motorSpeed) ); + analogWrite ( SpeedPin, motorspeed ); + //Serial.print ( ms ); + //Serial.print ( ',' ); + //Serial.println ( motorspeed ); + } +} + +void doEncoderMotor0(){ + if (((PIND&B0000100)>>2) == HIGH) { // found a low-to-high on channel A; if(digitalRead(encoderPinA)==HIGH){.... read PD2 (I2) + + if ((PINB&B0000001) == LOW) { // check channel B to see which way; if(digitalRead(encoderPinB)==LOW){.... read PB0 (I8) + // encoder is turning + encoder0Pos-- ; // CCW + } + else { + encoder0Pos++ ; // CW + } + } + else // found a high-to-low on channel A + { + if ((PINB&B0000001) == LOW) { // check channel B to see which way; if(digitalRead(encoderPinB)==LOW){.... read PB0 (I8) + // encoder is turning + encoder0Pos++ ; // CW + } + else { + encoder0Pos-- ; // CCW + } + + } + +} + +void countStep(){ + dir = (PINC&B0000001); // dir=digitalRead(dir_pin) read PC0, 14 digital; + //here will be (PINB&B0000001) to not use shift in the stable version + if (dir) target1++; + else target1--; } \ No newline at end of file diff --git a/imprimante_3d_fablab 20mm/CNC/support_plateau.DXF b/imprimante_3d_fablab 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+290 + 0 + 0 +SCALE + 5 +5D +102 +{ACAD_REACTORS +330 +47 +102 +} +330 +47 +100 +AcDbScale + 70 + 0 +300 +3/32" = 1'-0" +140 +0.09375 +141 +12.0 +290 + 0 + 0 +SCALE + 5 +5E +102 +{ACAD_REACTORS +330 +47 +102 +} +330 +47 +100 +AcDbScale + 70 + 0 +300 +1/8" = 1'-0" +140 +0.125 +141 +12.0 +290 + 0 + 0 +SCALE + 5 +5F +102 +{ACAD_REACTORS +330 +47 +102 +} +330 +47 +100 +AcDbScale + 70 + 0 +300 +3/16" = 1'-0" +140 +0.1875 +141 +12.0 +290 + 0 + 0 +SCALE + 5 +60 +102 +{ACAD_REACTORS +330 +47 +102 +} +330 +47 +100 +AcDbScale + 70 + 0 +300 +1/4" = 1'-0" +140 +0.25 +141 +12.0 +290 + 0 + 0 +SCALE + 5 +61 +102 +{ACAD_REACTORS +330 +47 +102 +} +330 +47 +100 +AcDbScale + 70 + 0 +300 +3/8" = 1'-0" +140 +0.375 +141 +12.0 +290 + 0 + 0 +SCALE + 5 +62 +102 +{ACAD_REACTORS +330 +47 +102 +} +330 +47 +100 +AcDbScale + 70 + 0 +300 +1/2" = 1'-0" +140 +0.5 +141 +12.0 +290 + 0 + 0 +SCALE + 5 +63 +102 +{ACAD_REACTORS +330 +47 +102 +} +330 +47 +100 +AcDbScale + 70 + 0 +300 +3/4" = 1'-0" +140 +0.75 +141 +12.0 +290 + 0 + 0 +SCALE + 5 +64 +102 +{ACAD_REACTORS +330 +47 +102 +} +330 +47 +100 +AcDbScale + 70 + 0 +300 +1" = 1'-0" +140 +1.0 +141 +12.0 +290 + 0 + 0 +SCALE + 5 +65 +102 +{ACAD_REACTORS +330 +47 +102 +} +330 +47 +100 +AcDbScale + 70 + 0 +300 +1-1/2" = 1'-0" +140 +1.5 +141 +12.0 +290 + 0 + 0 +SCALE + 5 +66 +102 +{ACAD_REACTORS +330 +47 +102 +} +330 +47 +100 +AcDbScale + 70 + 0 +300 +3" = 1'-0" +140 +3.0 +141 +12.0 +290 + 0 + 0 +SCALE + 5 +67 +102 +{ACAD_REACTORS +330 +47 +102 +} +330 +47 +100 +AcDbScale + 70 + 0 +300 +6" = 1'-0" +140 +6.0 +141 +12.0 +290 + 0 + 0 +SCALE + 5 +68 +102 +{ACAD_REACTORS +330 +47 +102 +} +330 +47 +100 +AcDbScale + 70 + 0 +300 +1'-0" = 1'-0" +140 +12.0 +141 +12.0 +290 + 0 + 0 +ENDSEC + 0 +EOF diff --git a/imprimante_3d_fablab 20mm/Imprimante_3d_fablab.SLDASM b/imprimante_3d_fablab 20mm/Imprimante_3d_fablab.SLDASM index 1680844..2fb1e7d 100644 Binary files a/imprimante_3d_fablab 20mm/Imprimante_3d_fablab.SLDASM and b/imprimante_3d_fablab 20mm/Imprimante_3d_fablab.SLDASM differ diff --git a/imprimante_3d_fablab 20mm/sous_assemblages/Plateau_complet/HeatingBed_214x214mm.SLDPRT b/imprimante_3d_fablab 20mm/sous_assemblages/Plateau_complet/HeatingBed_214x214mm.SLDPRT deleted file mode 100644 index dacdbe6..0000000 Binary files a/imprimante_3d_fablab 20mm/sous_assemblages/Plateau_complet/HeatingBed_214x214mm.SLDPRT and /dev/null differ diff --git a/imprimante_3d_fablab 20mm/sous_assemblages/Plateau_complet/NORDEX-ABX-C3-8.SLDPRT b/imprimante_3d_fablab 20mm/sous_assemblages/Plateau_complet/NORDEX-ABX-C3-8.SLDPRT deleted file mode 100644 index aa8761a..0000000 Binary files a/imprimante_3d_fablab 20mm/sous_assemblages/Plateau_complet/NORDEX-ABX-C3-8.SLDPRT and /dev/null differ diff --git a/imprimante_3d_fablab 20mm/sous_assemblages/Plateau_complet/Vis_Axe_Guidage_8mm.SLDPRT b/imprimante_3d_fablab 20mm/sous_assemblages/Plateau_complet/Vis_Axe_Guidage_8mm.SLDPRT new file mode 100644 index 0000000..5bda7a6 Binary files /dev/null and b/imprimante_3d_fablab 20mm/sous_assemblages/Plateau_complet/Vis_Axe_Guidage_8mm.SLDPRT differ diff --git a/imprimante_3d_fablab 20mm/sous_assemblages/Plateau_complet/plaque_verre_428x210mm.SLDPRT b/imprimante_3d_fablab 20mm/sous_assemblages/Plateau_complet/plaque_verre_428x210mm.SLDPRT index 9769e7b..b626197 100644 Binary files a/imprimante_3d_fablab 20mm/sous_assemblages/Plateau_complet/plaque_verre_428x210mm.SLDPRT and b/imprimante_3d_fablab 20mm/sous_assemblages/Plateau_complet/plaque_verre_428x210mm.SLDPRT differ diff --git a/imprimante_3d_fablab 20mm/sous_assemblages/Plateau_complet/plateau_complet.SLDASM b/imprimante_3d_fablab 20mm/sous_assemblages/Plateau_complet/plateau_complet.SLDASM index b995ac6..4ea08ae 100644 Binary files a/imprimante_3d_fablab 20mm/sous_assemblages/Plateau_complet/plateau_complet.SLDASM and b/imprimante_3d_fablab 20mm/sous_assemblages/Plateau_complet/plateau_complet.SLDASM differ diff --git a/imprimante_3d_fablab 20mm/sous_assemblages/Plateau_complet/support_plateau.SLDPRT b/imprimante_3d_fablab 20mm/sous_assemblages/Plateau_complet/support_plateau.SLDPRT index c4e9b36..a185b97 100644 Binary files a/imprimante_3d_fablab 20mm/sous_assemblages/Plateau_complet/support_plateau.SLDPRT and b/imprimante_3d_fablab 20mm/sous_assemblages/Plateau_complet/support_plateau.SLDPRT differ