julien.oculi/technoshop.laser_turret_debug
1
0
Fork 0
Code Issues Pull requests Actions Packages Projects Releases Wiki Activity

feat!: remove magic numbers for step ratios and offsets

Browse source
This commit is contained in:
Julien Oculi 2025-06-10 11:35:26 +02:00
parent 4f79010aa2
commit 82ea36bda2
4 changed files with 47 additions and 30 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

22
maths.cpp
View file

@ -4,30 +4,24 @@ double degToRad(double deg) { return deg * M_PI / 180.0; }
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 = 6000 / M_PI;
double stepRatioY = 6500 / M_PI;
void angleToStep(double stepRatioX, double stepRatioY, long &stepX, long &stepY,
double angleX, double angleY) {
stepX = angleX * stepRatioX;
stepY = angleY * stepRatioY;
}
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(double stepRatioX, double stepRatioY, double offsetX,
double offsetY, double offsetZ, long &stepX, long &stepY,
double zeroX, double zeroY, double x, double y,
double z) {
// x = -x; // natural axis direction
y = -y; // natural axis direction
double dX = x + offsetX;
double dY = y + offsetY;
double dZ = z + distance;
double dZ = z + offsetZ;
double angleY = atan2(dZ, dY) - M_PI / 2;
double angleX = atan2(dZ, dX) - M_PI / 2;
angleToStep(stepX, stepY, angleX, angleY);
angleToStep(stepRatioX, stepRatioY, stepX, stepY, angleX, angleY);
}

8
maths.h
View file

@ -1,5 +1,7 @@
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 angleToStep(double stepRatioX, double stepRatioY, long &stepX, long &stepY,
double angleX, double angleY);
void cartesianToPolar(double stepRatioX, double stepRatioY, double offsetX,
double offsetY, double offsetZ, long &stepX, long &stepY,
double zeroX, double zeroY, double x, double y, double z);

33
turret.cpp
View file

@ -3,9 +3,11 @@
#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)
Turret::Turret(double stepRatioX, double stepRatioY, double offsetX,
double offsetY, double offsetZ, 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) {
@ -20,6 +22,13 @@ Turret::Turret(int pin_x_direction, int pin_x_pulse, int pin_x_enable,
_pin_x_home = pin_x_home;
_pin_y_home = pin_y_home;
_pin_laser = pin_laser;
_step_ratio_x = stepRatioX;
_step_ratio_y = stepRatioY;
_offset_x = offsetX;
_offset_y = offsetY;
_offset_z = offsetZ;
}
Turret &Turret::init() {
@ -106,17 +115,20 @@ Turret &Turret::moveTo(double x, double y, double z, Unit unit) {
long stepY;
if (unit == Unit::MM) {
cartesianToPolar(stepX, stepY, _zeroX, _zeroY, x / 10.0, y / 10.0,
z / 10.0);
cartesianToPolar(_step_ratio_x, _step_ratio_y, _offset_x, _offset_y,
_offset_z, stepX, stepY, _zeroX, _zeroY, x / 10.0,
y / 10.0, z / 10.0);
}
if (unit == Unit::CM) {
cartesianToPolar(stepX, stepY, _zeroX, _zeroY, x, y, z);
cartesianToPolar(_step_ratio_x, _step_ratio_y, _offset_x, _offset_y,
_offset_z, stepX, stepY, _zeroX, _zeroY, x, y, z);
}
if (unit == Unit::M) {
cartesianToPolar(stepX, stepY, _zeroX, _zeroY, x * 100.0, y * 100.0,
z * 100.0);
cartesianToPolar(_step_ratio_x, _step_ratio_y, _offset_x, _offset_y,
_offset_z, stepX, stepY, _zeroX, _zeroY, x * 100.0,
y * 100.0, z * 100.0);
}
if (unit == Unit::STEP) {
@ -125,11 +137,12 @@ Turret &Turret::moveTo(double x, double y, double z, Unit unit) {
}
if (unit == Unit::RAD) {
angleToStep(stepX, stepY, x, y);
angleToStep(_step_ratio_x, _step_ratio_y, stepX, stepY, x, y);
}
if (unit == Unit::DEG) {
angleToStep(stepX, stepY, degToRad(x), degToRad(y));
angleToStep(_step_ratio_x, _step_ratio_y, stepX, stepY, degToRad(x),
degToRad(y));
}
// TODO min(valueI, -_homeI);

14
turret.h
View file

@ -7,9 +7,10 @@ class Turret {
public:
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(double stepRatioX, double stepRatioY, double offsetX, double offsetY,
double offsetZ, 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();
@ -60,6 +61,13 @@ private:
int _pin_x_home;
int _pin_y_home;
int _pin_laser;
double _step_ratio_x;
double _step_ratio_y;
double _offset_x; // turret to screen
double _offset_y; // laser to stand
double _offset_z; // unused
};
#endif