doc: update README

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+

README.md

@@ -1 +1,18 @@
 # Laser turret Debug
+
+Code de la tourelle de pointage laser du projet bouchons EDF.
+
+> [!WARNING]
+> Code de debuggage uniquement.
+
+# Usage
+
+Compile through Arduino IDE or equivalent.
+
+> [!IMPORTANT]
+> Add [kissStepper](https://github.com/risitt/kissStepper) to your project
+> librairies.
+
+## Contributing
+
+Before `git commit`, run `git clang-format` to format stagged files.

maths.cpp

@@ -0,0 +1,48 @@
+#include "math.h"
+
+// rollH atan((22.5 - 18.5) / 236) ~0.97°
+// rollV ~1°
+
+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 = 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;
+}
+
+double rollCorrection(double x, double max, double width) {
+  double correction = max * (1.0 - cos((10.0 * x) / (width * M_PI))) / 2.0;
+  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
+
+  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);
+}

maths.h

@@ -0,0 +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);

turret.cpp

@@ -0,0 +1,218 @@
+#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) {
+
+  _pin_x_direction = pin_x_direction;
+  _pin_x_pulse = pin_x_pulse;
+  _pin_x_enable = pin_x_enable;
+
+  _pin_y_direction = pin_y_direction;
+  _pin_y_pulse = pin_y_pulse;
+  _pin_y_enable = pin_y_enable;
+
+  _pin_x_home = pin_x_home;
+  _pin_y_home = pin_y_home;
+  _pin_laser = pin_laser;
+}
+
+Turret &Turret::init() {
+  pinMode(_pin_laser, OUTPUT);
+
+  pinMode(_pin_x_direction, OUTPUT);
+  pinMode(_pin_x_pulse, OUTPUT);
+  pinMode(_pin_x_enable, OUTPUT);
+  pinMode(_pin_x_home, INPUT_PULLUP);
+
+  pinMode(_pin_y_direction, OUTPUT);
+  pinMode(_pin_y_pulse, OUTPUT);
+  pinMode(_pin_y_enable, OUTPUT);
+  pinMode(_pin_y_home, INPUT_PULLUP);
+
+  _stepperX.begin();
+  _stepperY.begin();
+
+  return *this;
+}
+
+Turret &Turret::gotoHome() {
+  long xStop = 0;
+  long yStop = 0;
+
+  _stepperX.prepareMove(-1000000l);
+  _stepperY.prepareMove(-1000000l);
+
+  while (true) {
+    _stepperX.move();
+    _stepperY.move();
+
+    if (xStop == 2 && yStop == 2) {
+      _homeX = _stepperX.getPos();
+      _homeY = _stepperY.getPos();
+      break;
+    }
+
+    if (xStop < 2 && digitalRead(_pin_x_home)) {
+      xStop++;
+      _stepperX.stop();
+    }
+
+    if (yStop < 2 && digitalRead(_pin_y_home)) {
+      yStop++;
+      _stepperY.stop();
+    }
+  }
+
+  return *this;
+}
+
+Turret &Turret::gotoZero() {
+  // TODO remove magic numbers
+  _stepperX.prepareMove(_homeX + 9300);
+  _stepperY.prepareMove(_homeY + 3500);
+
+  bool xStop = false;
+  bool yStop = false;
+
+  while (true) {
+    if (xStop && yStop)
+      break;
+    if (!xStop)
+      xStop = _stepperY.move() == STATE_STOPPED;
+    if (!yStop)
+      yStop = _stepperX.move() == STATE_STOPPED;
+  }
+
+  _zeroX = _stepperX.getPos();
+  _zeroY = _stepperY.getPos();
+
+  return *this;
+}
+
+Turret &Turret::calibrate() {
+  gotoHome();
+  gotoZero();
+  return *this;
+}
+
+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);
+  }
+
+  if (unit == Unit::CM) {
+    cartesianToPolar(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);
+  }
+
+  if (unit == Unit::STEP) {
+    stepX = x;
+    stepY = y;
+  }
+
+  if (unit == Unit::RAD) {
+    angleToStep(stepX, stepY, x, y);
+  }
+
+  if (unit == Unit::DEG) {
+    angleToStep(stepX, stepY, degToRad(x), degToRad(y));
+  }
+
+  // TODO min(valueI, -_homeI);
+  _stepperX.prepareMove(_zeroX + stepX);
+  _stepperY.prepareMove(_zeroY + stepY);
+
+  bool xStop = false;
+  bool yStop = false;
+
+  while (true) {
+    if (xStop && yStop)
+      break;
+    if (!xStop)
+      xStop = _stepperX.move() == STATE_STOPPED;
+    if (!yStop)
+      yStop = _stepperY.move() == STATE_STOPPED;
+  }
+
+  _currentX = x;
+  _currentY = y;
+  _currentZ = z;
+
+  return *this;
+}
+
+Turret &Turret::moveBy(double x, double y, double z, Unit unit) {
+  long zeroXStored = _zeroX;
+  long zeroYStored = _zeroY;
+
+  _zeroX += _stepperX.getPos();
+  _zeroY += _stepperY.getPos();
+
+  moveTo(x, y, z, unit);
+
+  _zeroX = zeroXStored;
+  _zeroY = zeroYStored;
+
+  _currentX = x;
+  _currentY = y;
+  _currentZ = z;
+
+  return *this;
+}
+
+Turret &Turret::moveToX(double x, Unit unit) {
+  return moveTo(x, _currentY, _currentZ, unit);
+}
+
+Turret &Turret::moveToY(double y, Unit unit) {
+  return moveTo(_currentX, y, _currentZ, 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::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::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
+  return *this;
+}
+
+Turret &Turret::getZero(double &x, double &y, double &z, Unit unit) {
+  // TODO implement
+  return *this;
+}
+
+Turret &Turret::laserOn() {
+  digitalWrite(_pin_laser, HIGH);
+  return *this;
+}
+
+Turret &Turret::laserOff() {
+  digitalWrite(_pin_laser, LOW);
+  return *this;
+}

turret.h

@@ -0,0 +1,65 @@
+#ifndef TURRET_H
+#define TURRET_H
+
+#include <kissStepper.h>
+
+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 &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 &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 &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 &laserOn();
+  Turret &laserOff();
+
+private:
+  kissStepper _stepperX;
+  kissStepper _stepperY;
+
+  int _homeX;
+  int _homeY;
+
+  int _zeroX;
+  int _zeroY;
+
+  int _currentX;
+  int _currentY;
+  int _currentZ;
+
+  int _pin_x_direction;
+  int _pin_x_pulse;
+  int _pin_x_enable;
+
+  int _pin_y_direction;
+  int _pin_y_pulse;
+  int _pin_y_enable;
+
+  int _pin_x_home;
+  int _pin_y_home;
+  int _pin_laser;
+};
+
+#endif

turret_debug.ino

@@ -0,0 +1,96 @@
+#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);
+
+void setup() {
+  turret.init();
+
+  Serial.begin(BAUDRATE);
+
+  turret.laserOn().calibrate();
+  turret.moveTo(0, 0, 0);
+  delay(5000);
+
+  // test pointage
+  double panelWidth = 124.7;
+  double panelHeight = 145.0;
+  int panelHCount = 3;
+  int panelVCount = 2;
+
+  // double zeroOffsetV = -31.5;
+  double zeroOffsetV = -20.8;
+  // double zeroOffsetH = -184.5;
+  double zeroOffsetH = -195.5;
+
+  // 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) {
+      Serial.print("[step]: ");
+      Serial.println(step);
+      turret.moveTo(step, 87, 0);
+      // turret.moveBy(20.0, 0.0, 0.0);
+      delay(500);
+    }
+
+    for (double step = 0; step < 200.0; step += 10) {
+      Serial.print("[step]: ");
+      Serial.println(step);
+      turret.moveTo(0, step, 0);
+      // turret.moveBy(20.0, 0.0, 0.0);
+      delay(500);
+    }
+
+    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();
+}
+
+void loop() {}