julien.oculi/technoshop.laser_turret_debug
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style: apply fmt with clang-format

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Julien Oculi 2025-06-05 15:27:35 +02:00
parent 3ef45566d5
commit 5575f0cb3c
5 changed files with 93 additions and 108 deletions
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38
maths.cpp
View file

@ -1,21 +1,17 @@
#include "math.h"
//rollH atan((22.5 - 18.5) / 236) ~0.97°
//rollV ~1°
// rollH atan((22.5 - 18.5) / 236) ~0.97°
// rollV ~1°
double degToRad(double deg) {
return deg * M_PI / 180.0;
}
double degToRad(double deg) { return deg * M_PI / 180.0; }
double radToDeg(double rad) {
return rad * 180.0 / M_PI;
}
double radToDeg(double rad) { return rad * 180.0 / M_PI; }
void angleToStep(long &stepX, long &stepY, double angleX, double angleY) {
//TODO remove magic numbers
double stepRatioX = M_PI / ((51.2 / 15.0) * (100.0 * 64.0));
double stepRatioY = M_PI / ((48.0 / 15.0) * (100.0 * 64.0));
// TODO remove magic numbers
double stepRatioX = M_PI / ((51.2 / 15.0) * (100.0 * 64.0));
double stepRatioY = M_PI / ((48.0 / 15.0) * (100.0 * 64.0));
stepX = angleX / stepRatioX;
stepY = angleY / stepRatioY;
}
@ -25,28 +21,28 @@ double rollCorrection(double x, double max, double width) {
return x - correction;
}
void cartesianToPolar(long &stepX, long &stepY, double zeroX, double zeroY, double x, double y, double z) {
//TODO remove magic numbers
double distance = 166.0; //turret to screen
double offsetY = 21.0; //laser to stand
double offsetX = 0.0; //unused
void cartesianToPolar(long &stepX, long &stepY, double zeroX, double zeroY,
double x, double y, double z) {
// TODO remove magic numbers
double distance = 166.0; // turret to screen
double offsetY = 21.0; // laser to stand
double offsetX = 0.0; // unused
x = -x; //natural axis direction
x = -x; // natural axis direction
double dX = x + offsetX;
double dY = rollCorrection(y + offsetY, 0.2, 400.0);
double dZ = z + distance;
double roll = atan2(4.0, 236.0);
double rollY = dX * tan(roll);
double rollX = dY * tan(roll);
double dXr = dX + rollX;
double dYr = dY + rollY;
double rho = sqrt(pow(dXr, 2.0) + pow(dYr, 2.0) + pow(dZ, 2.0));
double angleY = M_PI / 2.0 - acos(dYr / rho);
double angleX = atan2(dXr, dZ);
angleToStep(stepX, stepY, angleX, angleY);
angleToStep(stepX, stepY, angleX, angleY);
}

3
maths.h
View file

@ -1,4 +1,5 @@
double degToRad(double deg);
double radToDeg(double rad);
void angleToStep(long &stepX, long &stepY, double angleX, double angleY);
void cartesianToPolar(long &stepX, long &stepY, double zeroX, double zeroY, double x, double y, double z);
void cartesianToPolar(long &stepX, long &stepY, double zeroX, double zeroY,
double x, double y, double z);

89
turret.cpp
View file

@ -1,12 +1,13 @@
#include <kissStepper.h>
#include "config.h"
#include "turret.h"
#include "config.h"
#include "maths.h"
#include <kissStepper.h>
Turret::Turret(
int pin_x_direction, int pin_x_pulse, int pin_x_enable, int pin_x_home,
int pin_y_direction, int pin_y_pulse, int pin_y_enable, int pin_y_home,
int pin_laser) : _stepperX(pin_x_direction, pin_x_pulse, pin_x_enable), _stepperY(pin_y_direction, pin_y_pulse, pin_y_enable) {
Turret::Turret(int pin_x_direction, int pin_x_pulse, int pin_x_enable,
int pin_x_home, int pin_y_direction, int pin_y_pulse,
int pin_y_enable, int pin_y_home, int pin_laser)
: _stepperX(pin_x_direction, pin_x_pulse, pin_x_enable),
_stepperY(pin_y_direction, pin_y_pulse, pin_y_enable) {
_pin_x_direction = pin_x_direction;
_pin_x_pulse = pin_x_pulse;
@ -21,7 +22,7 @@ Turret::Turret(
_pin_laser = pin_laser;
}
Turret& Turret::init() {
Turret &Turret::init() {
pinMode(_pin_laser, OUTPUT);
pinMode(_pin_x_direction, OUTPUT);
@ -40,7 +41,7 @@ Turret& Turret::init() {
return *this;
}
Turret& Turret::gotoHome() {
Turret &Turret::gotoHome() {
long xStop = 0;
long yStop = 0;
@ -71,8 +72,8 @@ Turret& Turret::gotoHome() {
return *this;
}
Turret& Turret::gotoZero() {
//TODO remove magic numbers
Turret &Turret::gotoZero() {
// TODO remove magic numbers
_stepperX.prepareMove(_homeX + 9300);
_stepperY.prepareMove(_homeY + 3500);
@ -80,9 +81,12 @@ Turret& Turret::gotoZero() {
bool yStop = false;
while (true) {
if (xStop && yStop) break;
if (!xStop) xStop = _stepperY.move() == STATE_STOPPED;
if (!yStop) yStop = _stepperX.move() == STATE_STOPPED;
if (xStop && yStop)
break;
if (!xStop)
xStop = _stepperY.move() == STATE_STOPPED;
if (!yStop)
yStop = _stepperX.move() == STATE_STOPPED;
}
_zeroX = _stepperX.getPos();
@ -91,18 +95,19 @@ Turret& Turret::gotoZero() {
return *this;
}
Turret& Turret::calibrate() {
Turret &Turret::calibrate() {
gotoHome();
gotoZero();
return *this;
}
Turret& Turret::moveTo(double x, double y, double z, Unit unit) {
Turret &Turret::moveTo(double x, double y, double z, Unit unit) {
long stepX;
long stepY;
if (unit == Unit::MM) {
cartesianToPolar(stepX, stepY, _zeroX, _zeroY, x / 10.0, y / 10.0, z / 10.0);
cartesianToPolar(stepX, stepY, _zeroX, _zeroY, x / 10.0, y / 10.0,
z / 10.0);
}
if (unit == Unit::CM) {
@ -110,7 +115,8 @@ Turret& Turret::moveTo(double x, double y, double z, Unit unit) {
}
if (unit == Unit::M) {
cartesianToPolar(stepX, stepY, _zeroX, _zeroY, x * 100.0, y * 100.0, z * 100.0);
cartesianToPolar(stepX, stepY, _zeroX, _zeroY, x * 100.0, y * 100.0,
z * 100.0);
}
if (unit == Unit::STEP) {
@ -126,7 +132,7 @@ Turret& Turret::moveTo(double x, double y, double z, Unit unit) {
angleToStep(stepX, stepY, degToRad(x), degToRad(y));
}
//TODO min(valueI, -_homeI);
// TODO min(valueI, -_homeI);
_stepperX.prepareMove(_zeroX + stepX);
_stepperY.prepareMove(_zeroY + stepY);
@ -134,11 +140,14 @@ Turret& Turret::moveTo(double x, double y, double z, Unit unit) {
bool yStop = false;
while (true) {
if (xStop && yStop) break;
if (!xStop) xStop = _stepperX.move() == STATE_STOPPED;
if (!yStop) yStop = _stepperY.move() == STATE_STOPPED;
if (xStop && yStop)
break;
if (!xStop)
xStop = _stepperX.move() == STATE_STOPPED;
if (!yStop)
yStop = _stepperY.move() == STATE_STOPPED;
}
_currentX = x;
_currentY = y;
_currentZ = z;
@ -146,7 +155,7 @@ Turret& Turret::moveTo(double x, double y, double z, Unit unit) {
return *this;
}
Turret& Turret::moveBy(double x, double y, double z, Unit unit) {
Turret &Turret::moveBy(double x, double y, double z, Unit unit) {
long zeroXStored = _zeroX;
long zeroYStored = _zeroY;
@ -165,51 +174,45 @@ Turret& Turret::moveBy(double x, double y, double z, Unit unit) {
return *this;
}
Turret& Turret::moveToX(double x, Unit unit) {
Turret &Turret::moveToX(double x, Unit unit) {
return moveTo(x, _currentY, _currentZ, unit);
}
Turret& Turret::moveToY(double y, Unit unit) {
Turret &Turret::moveToY(double y, Unit unit) {
return moveTo(_currentX, y, _currentZ, unit);
}
Turret& Turret::moveToZ(double z, Unit unit) {
Turret &Turret::moveToZ(double z, Unit unit) {
return moveTo(_currentX, _currentY, z, unit);
}
Turret& Turret::moveByX(double x, Unit unit) {
return moveBy(x, 0, 0, unit);
}
Turret &Turret::moveByX(double x, Unit unit) { return moveBy(x, 0, 0, unit); }
Turret& Turret::moveByY(double y, Unit unit) {
return moveTo(0, y, 0, unit);
}
Turret &Turret::moveByY(double y, Unit unit) { return moveTo(0, y, 0, unit); }
Turret& Turret::moveByZ(double z, Unit unit) {
return moveTo(0, 0, z, unit);
}
Turret &Turret::moveByZ(double z, Unit unit) { return moveTo(0, 0, z, unit); }
Turret& Turret::getPosition(double &x, double &y, double &z, Unit unit) {
//TODO implement
Turret &Turret::getPosition(double &x, double &y, double &z, Unit unit) {
// TODO implement
return *this;
}
Turret& Turret::getHome(double &x, double &y, double &z, Unit unit) {
//TODO implement
Turret &Turret::getHome(double &x, double &y, double &z, Unit unit) {
// TODO implement
return *this;
}
Turret& Turret::getZero(double &x, double &y, double &z, Unit unit) {
//TODO implement
Turret &Turret::getZero(double &x, double &y, double &z, Unit unit) {
// TODO implement
return *this;
}
Turret& Turret::laserOn() {
Turret &Turret::laserOn() {
digitalWrite(_pin_laser, HIGH);
return *this;
}
Turret& Turret::laserOff() {
Turret &Turret::laserOff() {
digitalWrite(_pin_laser, LOW);
return *this;
}

57
turret.h
View file

@ -4,49 +4,38 @@
#include <kissStepper.h>
class Turret {
public:
public:
enum Unit { MM, CM, M, RAD, DEG, STEP };
enum Unit {
MM,
CM,
M,
RAD,
DEG,
STEP
};
Turret(int pin_x_direction, int pin_x_pulse, int pin_x_enable, int pin_x_home,
int pin_y_direction, int pin_y_pulse, int pin_y_enable, int pin_y_home,
int pin_laser);
Turret(
int pin_x_direction, int pin_x_pulse, int pin_x_enable, int pin_x_home,
int pin_y_direction, int pin_y_pulse, int pin_y_enable, int pin_y_home,
int pin_laser
);
Turret &init();
Turret &gotoHome();
Turret &gotoZero();
Turret& init();
Turret& gotoHome();
Turret& gotoZero();
Turret &moveTo(double x, double y, double z, Unit unit = Turret::Unit::CM);
Turret &moveBy(double x, double y, double z, Unit unit = Turret::Unit::CM);
Turret& moveTo(double x, double y, double z, Unit unit = Turret::Unit::CM);
Turret& moveBy(double x, double y, double z, Unit unit = Turret::Unit::CM);
Turret &moveToX(double x, Unit unit = Turret::Unit::CM);
Turret &moveToY(double y, Unit unit = Turret::Unit::CM);
Turret &moveToZ(double z, Unit unit = Turret::Unit::CM);
Turret& moveToX(double x, Unit unit = Turret::Unit::CM);
Turret& moveToY(double y, Unit unit = Turret::Unit::CM);
Turret& moveToZ(double z, Unit unit = Turret::Unit::CM);
Turret &moveByX(double x, Unit unit = Turret::Unit::CM);
Turret &moveByY(double y, Unit unit = Turret::Unit::CM);
Turret &moveByZ(double z, Unit unit = Turret::Unit::CM);
Turret& moveByX(double x, Unit unit = Turret::Unit::CM);
Turret& moveByY(double y, Unit unit = Turret::Unit::CM);
Turret& moveByZ(double z, Unit unit = Turret::Unit::CM);
Turret &getPosition(double &x, double &y, double &z, Unit unit);
Turret &getHome(double &x, double &y, double &z, Unit unit);
Turret &getZero(double &x, double &y, double &z, Unit unit);
Turret& getPosition(double &x, double &y, double &z, Unit unit);
Turret& getHome(double &x, double &y, double &z, Unit unit);
Turret& getZero(double &x, double &y, double &z, Unit unit);
Turret &calibrate();
Turret& calibrate();
Turret& laserOn();
Turret& laserOff();
private:
Turret &laserOn();
Turret &laserOff();
private:
kissStepper _stepperX;
kissStepper _stepperY;

14
turret_debug.ino
View file

@ -1,11 +1,9 @@
#include "config.h"
#include "turret.h"
Turret turret(
PIN_X_DIRECTION, PIN_X_PULSE, PIN_X_ENABLE, PIN_X_HOME,
PIN_Y_DIRECTION, PIN_Y_PULSE, PIN_Y_ENABLE, PIN_Y_HOME,
PIN_LASER
);
Turret turret(PIN_X_DIRECTION, PIN_X_PULSE, PIN_X_ENABLE, PIN_X_HOME,
PIN_Y_DIRECTION, PIN_Y_PULSE, PIN_Y_ENABLE, PIN_Y_HOME,
PIN_LASER);
void setup() {
turret.init();
@ -70,7 +68,7 @@ void setup() {
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) {
@ -95,6 +93,4 @@ void setup() {
turret.gotoZero();
}
void loop() {
}
void loop() {}