julien.oculi/technoshop.laser_turret_debug
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feat!: rewrite setup to test new turret mecha

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Julien Oculi 2025-06-05 16:12:29 +02:00
parent 547d51dfc7
commit 52ccdaefb3
1 changed files with 13 additions and 66 deletions
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71
turret_debug.ino
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@ -10,8 +10,7 @@ void setup() {
Serial.begin(BAUDRATE);
turret.laserOn().calibrate();
turret.moveTo(0, 0, 0);
turret.laserOn().calibrate().moveTo(0, 0, 0);
delay(5000);
// test pointage
@ -20,74 +19,22 @@ void setup() {
int panelHCount = 3;
int panelVCount = 2;
// double zeroOffsetV = -31.5;
double zeroOffsetV = -20.8;
// double zeroOffsetH = -184.5;
double zeroOffsetH = -195.5;
double zeroOffsetV = -21;
double zeroOffsetH = -163;
// double zeroOffsetH = -147;
// Test constant step h,v
Serial.println("Start demo_0");
for (int i = 0; i < 20; i++) {
Serial.print("> ");
Serial.println(i);
for (double step = -198.5; step < 176.0; step += 10) {
for (double step = 0; step < 160; step += 10) {
Serial.print("[step]: ");
Serial.println(step);
turret.moveTo(step, 87, 0);
// turret.moveBy(20.0, 0.0, 0.0);
delay(500);
turret.moveTo(step, 0, 0);
delay(5000);
}
for (double step = 0; step < 200.0; step += 10) {
for (double step = 0; step > -160; step -= 10) {
Serial.print("[step]: ");
Serial.println(step);
turret.moveTo(0, step, 0);
// turret.moveBy(20.0, 0.0, 0.0);
delay(500);
}
turret.moveTo(step, 0, 0);
delay(5000);
turret.moveTo(0, 0, 0);
delay(5000);
}
// Test rollX
turret.moveTo(0 * panelWidth + zeroOffsetH, 0, 0);
delay(5000);
turret.moveTo((panelHCount * panelWidth) / 2 + zeroOffsetH, 0, 0);
delay(5000);
turret.moveTo(panelHCount * panelWidth + zeroOffsetH, 0, 0);
delay(5000);
turret.gotoZero();
// Test rollY
turret.moveTo(0, 0 * panelHeight + zeroOffsetV, 0);
delay(5000);
turret.moveTo(0, (panelVCount * panelHeight) / 2 + zeroOffsetV, 0);
delay(5000);
turret.moveTo(0, panelVCount * panelHeight + zeroOffsetV, 0);
delay(5000);
turret.gotoZero();
// Test align to panels
for (double panelH = 0; panelH < panelHCount + 1; panelH += 0.5) {
for (double panelV = 0; panelV < panelVCount + 1; panelV += 0.5) {
double x = panelH * panelWidth + zeroOffsetH;
double y = panelV * panelHeight + zeroOffsetV;
double z = 0;
Serial.print("Goto (x, y, z) => (");
Serial.print(x);
Serial.print(", ");
Serial.print(y);
Serial.print(", ");
Serial.print(z);
Serial.println(")");
turret.moveTo(x, y, z);
delay(2000);
}
}
turret.gotoZero();