Miért nem tudom beprogramozni az Arduino MEAGA 2560-t? Többi lent!

Itt a program:

/*

https://www.youtube.com/watch?v=opZ9RgmOIpc

*/

#include <Servo.h>

#include <AFMotor.h>

#define LINE_BUFFER_LENGTH 1024

char STEP = MICROSTEP ;

// Servo position for Up and Down

const int penZUp = 115;

const int penZDown = 83;

// Servo on PWM pin 10

const int penServoPin = 10 ;

// Should be right for DVD steppers, but is not too important here

const int stepsPerRevolution = 4096;

// create servo object to control a servo

Servo penServo;

// Initialize steppers for X- and Y-axis using this Arduino pins for the L293D H-bridge

AF_Stepper myStepperY(stepsPerRevolution, 1);

AF_Stepper myStepperX(stepsPerRevolution, 2);

/* Structures, global variables */

struct point {

float x;

float y;

float z;

};

// Current position of plothead

struct point actuatorPos;

// Drawing settings, should be OK

float StepInc = 1;

int StepDelay = 0;

int LineDelay = 0;

int penDelay = 50;

// Motor steps to go 1 millimeter.

// Use test sketch to go 100 steps. Measure the length of line.

// Calculate steps per mm. Enter here.

float StepsPerMillimeterX = 200.0;

float StepsPerMillimeterY = 200.0;

// Drawing robot limits, in mm

// OK to start with. Could go up to 50 mm if calibrated well.

float Xmin = 0;

float Xmax = 150;

float Ymin = 0;

float Ymax = 150;

float Zmin = 0;

float Zmax = 1;

float Xpos = Xmin;

float Ypos = Ymin;

float Zpos = Zmax;

// Set to true to get debug output.

boolean verbose = false;

// Needs to interpret

// G1 for moving

// G4 P300 (wait 150ms)

// M300 S30 (pen down)

// M300 S50 (pen up)

// Discard anything with a (

// Discard any other command!

/**********************

void setup() - Initialisations

***********************/

void setup() {

// Setup

Serial.begin( 9600 );

penServo.attach(penServoPin);

penServo.write(penZUp);

delay(100);

// Decrease if necessary

myStepperX.setSpeed(10000);

myStepperY.setSpeed(10000);

// Set & move to initial default position

// TBD

// Notifications!!!

Serial.println("Mini CNC Plotter alive and kicking!");

Serial.print("X range is from ");

Serial.print(Xmin);

Serial.print(" to ");

Serial.print(Xmax);

Serial.println(" mm.");

Serial.print("Y range is from ");

Serial.print(Ymin);

Serial.print(" to ");

Serial.print(Ymax);

Serial.println(" mm.");

}

/**********************

void loop() - Main loop

***********************/

void loop()

{

delay(100);

char line[ LINE_BUFFER_LENGTH ];

char c;

int lineIndex;

bool lineIsComment, lineSemiColon;

lineIndex = 0;

lineSemiColon = false;

lineIsComment = false;

while (1) {

// Serial reception - Mostly from Grbl, added semicolon support

while ( Serial.available() > 0 ) {

c = Serial.read();

if (( c == '\n') || (c == '\r') ) { // End of line reached

if ( lineIndex > 0 ) { // Line is complete. Then execute!

line[ lineIndex ] = '\0'; // Terminate string

if (verbose) {

Serial.print( "Received : ");

Serial.println( line );

}

processIncomingLine( line, lineIndex );

lineIndex = 0;

}

else {

// Empty or comment line. Skip block.

}

lineIsComment = false;

lineSemiColon = false;

Serial.println("ok");

}

else {

if ( (lineIsComment) || (lineSemiColon) ) { // Throw away all comment characters

if ( c == ')' ) lineIsComment = false; // End of comment. Resume line.

}

else {

if ( c <= ' ' ) { // Throw away whitepace and control characters

}

else if ( c == '/' ) { // Block delete not supported. Ignore character.

}

else if ( c == '(' ) { // Enable comments flag and ignore all characters until ')' or EOL.

lineIsComment = true;

}

else if ( c == ';' ) {

lineSemiColon = true;

}

else if ( lineIndex >= LINE_BUFFER_LENGTH - 1 ) {

Serial.println( "ERROR - lineBuffer overflow" );

lineIsComment = false;

lineSemiColon = false;

}

else if ( c >= 'a' && c <= 'z' ) { // Upcase lowercase

line[ lineIndex++ ] = c - 'a' + 'A';

}

else {

line[ lineIndex++ ] = c;

}

}

}

}

}

}

void processIncomingLine( char* line, int charNB ) {

int currentIndex = 0;

char buffer[ 128 ]; // Hope that 64 is enough for 1 parameter

struct point newPos;

newPos.x = 0.0;

newPos.y = 0.0;

// Needs to interpret

// G1 for moving

// G4 P300 (wait 150ms)

// G1 X60 Y30

// G1 X30 Y50

// M300 S30 (pen down)

// M300 S50 (pen up)

// Discard anything with a (

// Discard any other command!

while ( currentIndex < charNB ) {

switch ( line[ currentIndex++ ] ) { // Select command, if any

case 'U':

penUp();

break;

case 'D':

penDown();

break;

case 'G':

buffer[0] = line[ currentIndex++ ]; // /!\ Dirty - Only works with 2 digit commands

// buffer[1] = line[ currentIndex++ ];

// buffer[2] = '\0';

buffer[1] = '\0';

switch ( atoi( buffer ) ) { // Select G command

case 0: // G00 & G01 - Movement or fast movement. Same here

case 1:

// /!\ Dirty - Suppose that X is before Y

char* indexX = strchr( line + currentIndex, 'X' ); // Get X/Y position in the string (if any)

char* indexY = strchr( line + currentIndex, 'Y' );

if ( indexY <= 0 ) {

newPos.x = atof( indexX + 1);

newPos.y = actuatorPos.y;

}

else if ( indexX <= 0 ) {

newPos.y = atof( indexY + 1);

newPos.x = actuatorPos.x;

}

else {

newPos.y = atof( indexY + 1);

indexY = '\0';

newPos.x = atof( indexX + 1);

}

drawLine(newPos.x, newPos.y );

// Serial.println("ok");

actuatorPos.x = newPos.x;

actuatorPos.y = newPos.y;

break;

}

break;

case 'M':

buffer[0] = line[ currentIndex++ ]; // /!\ Dirty - Only works with 3 digit commands

buffer[1] = line[ currentIndex++ ];

buffer[2] = line[ currentIndex++ ];

buffer[3] = '\0';

switch ( atoi( buffer ) ) {

case 300:

{

char* indexS = strchr( line + currentIndex, 'S' );

float Spos = atof( indexS + 1);

// Serial.println("ok");

if (Spos == 30) {

penDown();

}

if (Spos == 50) {

penUp();

}

break;

}

case 114: // M114 - Repport position

Serial.print( "Absolute position : X = " );

Serial.print( actuatorPos.x );

Serial.print( " - Y = " );

Serial.println( actuatorPos.y );

break;

default:

Serial.print( "Command not recognized : M");

Serial.println( buffer );

}

}

}

}

/*********************************

Draw a line from (x0;y0) to (x1;y1).

int (x1;y1) : Starting coordinates

int (x2;y2) : Ending coordinates

**********************************/

void drawLine(float x1, float y1) {

if (verbose)

{

Serial.print("fx1, fy1: ");

Serial.print(x1);

Serial.print(",");

Serial.print(y1);

Serial.println("");

}

// Bring instructions within limits

if (x1 >= Xmax) {

x1 = Xmax;

}

if (x1 <= Xmin) {

x1 = Xmin;

}

if (y1 >= Ymax) {

y1 = Ymax;

}

if (y1 <= Ymin) {

y1 = Ymin;

}

if (verbose)

{

Serial.print("Xpos, Ypos: ");

Serial.print(Xpos);

Serial.print(",");

Serial.print(Ypos);

Serial.println("");

}

if (verbose)

{

Serial.print("x1, y1: ");

Serial.print(x1);

Serial.print(",");

Serial.print(y1);

Serial.println("");

}

// Convert coordinates to steps

x1 = (int)(x1 * StepsPerMillimeterX);

y1 = (int)(y1 * StepsPerMillimeterY);

float x0 = Xpos;

float y0 = Ypos;

// Let's find out the change for the coordinates

long dx = abs(x1 - x0);

long dy = abs(y1 - y0);

int sx = x0 < x1 ? StepInc : -StepInc;

int sy = y0 < y1 ? StepInc : -StepInc;

long i;

long over = 0;

if (dx > dy) {

for (i = 0; i < dx; ++i) {

myStepperX.onestep(sx, STEP);

over += dy;

if (over >= dx) {

over -= dx;

myStepperY.onestep(sy, STEP);

}

delay(StepDelay);

}

}

else {

for (i = 0; i < dy; ++i) {

myStepperY.onestep(sy, STEP);

over += dx;

if (over >= dy) {

over -= dy;

myStepperX.onestep(sx, STEP);

}

delay(StepDelay);

}

}

if (verbose)

{

Serial.print("dx, dy:");

Serial.print(dx);

Serial.print(",");

Serial.print(dy);

Serial.println("");

}

if (verbose)

{

Serial.print("Going to (");

Serial.print(x0);

Serial.print(",");

Serial.print(y0);

Serial.println(")");

}

// Delay before any next lines are submitted

delay(LineDelay);

// Update the positions

Xpos = x1;

Ypos = y1;

}

// Raises pen

void penUp() {

penServo.write(penZUp);

delay(penDelay);

Zpos = Zmax;

digitalWrite(15, LOW);

digitalWrite(16, HIGH);

if (verbose) {

Serial.println("Pen up!");

}

}

// Lowers pen

void penDown() {

penServo.write(penZDown);

delay(penDelay);

Zpos = Zmin;

digitalWrite(15, HIGH);

digitalWrite(16, LOW);

if (verbose) {

Serial.println("Pen down.");

}

}

Sikerült feltöltsem a programot az Arduino Mega-ra csak sajnos újabb problémába ütköztem. Mikor futtatni akarom a GCODE Executer-t egy darabig elindul, majd megáll és nem csinál semmit Itt az oldal ahol az utasításoknak többé-kevésbé eleget tettem: [link] És ez a Gctrl:

import java.awt.event.KeyEvent;

import javax.swing.JOptionPane;

import processing.serial.*;

Serial port = null;

// select and modify the appropriate line for your operating system

// leave as null to use interactive port (press 'p' in the program)

String portname = null;

//String portname = Serial.list()[0]; // Mac OS X

//String portname = "/dev/ttyUSB0"; // Linux

//String portname = "COM6"; // Windows

boolean streaming = false;

float speed = 0.001;

String[] gcode;

int i = 0;

void openSerialPort()

{

if (portname == null) return;

if (port != null) port.stop();

port = new Serial(this, portname, 9600);

port.bufferUntil('\n');

}

void selectSerialPort()

{

String result = (String) JOptionPane.showInputDialog(frame,

"Select the serial port that corresponds to your Arduino board.",

"Select serial port",

JOptionPane.QUESTION_MESSAGE,

null,

Serial.list(),

0);

if (result != null) {

portname = result;

openSerialPort();

}

}

void setup()

{

size(500, 250);

openSerialPort();

}

void draw()

{

background(0);

fill(255);

int y = 24, dy = 12;

text("INSTRUCTIONS", 12, y); y += dy;

text("p: select serial port", 12, y); y += dy;

text("1: set speed to 0.001 inches (1 mil) per jog", 12, y); y += dy;

text("2: set speed to 0.010 inches (10 mil) per jog", 12, y); y += dy;

text("3: set speed to 0.100 inches (100 mil) per jog", 12, y); y += dy;

text("arrow keys: jog in x-y plane", 12, y); y += dy;

text("page up & page down: jog in z axis", 12, y); y += dy;

text("$: display grbl settings", 12, y); y+= dy;

text("h: go home", 12, y); y += dy;

text("0: zero machine (set home to the current location)", 12, y); y += dy;

text("g: stream a g-code file", 12, y); y += dy;

text("x: stop streaming g-code (this is NOT immediate)", 12, y); y += dy;

y = height - dy;

text("current jog speed: " + speed + " inches per step", 12, y); y -= dy;

text("current serial port: " + portname, 12, y); y -= dy;

}

void keyPressed()

{

if (key == '1') speed = 0.001;

if (key == '2') speed = 0.01;

if (key == '3') speed = 0.1;

if (!streaming) {

if (keyCode == LEFT) port.write("G91\nG20\nG00 X-" + speed + " Y0.000 Z0.000\n");

if (keyCode == RIGHT) port.write("G91\nG20\nG00 X" + speed + " Y0.000 Z0.000\n");

if (keyCode == UP) port.write("G91\nG20\nG00 X0.000 Y" + speed + " Z0.000\n");

if (keyCode == DOWN) port.write("G91\nG20\nG00 X0.000 Y-" + speed + " Z0.000\n");

if (keyCode == KeyEvent.VK_PAGE_UP) port.write("G91\nG20\nG00 X0.000 Y0.000 Z" + speed + "\n");

if (keyCode == KeyEvent.VK_PAGE_DOWN) port.write("G91\nG20\nG00 X0.000 Y0.000 Z-" + speed + "\n");

if (key == 'h') port.write("G90\nG20\nG00 X0.000 Y0.000 Z0.000\n");

if (key == 'v') port.write("$0=75\n$1=74\n$2=75\n");

//if (key == 'v') port.write("$0=100\n$1=74\n$2=75\n");

if (key == 's') port.write("$3=10\n");

if (key == 'e') port.write("$16=1\n");

if (key == 'd') port.write("$16=0\n");

if (key == '0') openSerialPort();

if (key == 'p') selectSerialPort();

if (key == '$') port.write("$$\n");

}

if (!streaming && key == 'g') {

gcode = null; i = 0;

File file = null;

println("Loading file...");

selectInput("Select a file to process:", "fileSelected", file);

}

if (key == 'x') streaming = false;

}

void fileSelected(File selection) {

if (selection == null) {

println("Window was closed or the user hit cancel.");

} else {

println("User selected " + selection.getAbsolutePath());

gcode = loadStrings(selection.getAbsolutePath());

if (gcode == null) return;

streaming = true;

stream();

}

}

void stream()

{

if (!streaming) return;

while (true) {

if (i == gcode.length) {

streaming = false;

return;

}

if (gcode[i].trim().length() == 0) i++;

else break;

}

println(gcode[i]);

port.write(gcode[i] + '\n');

i++;

}

void serialEvent(Serial p)

{

String s = p.readStringUntil('\n');

println(s.trim());

if (s.trim().startsWith("ok")) stream();

if (s.trim().startsWith("error")) stream(); // XXX: really?

}

Miután ezt futtattam kérte GCODE-t. Be tallóztam majd megnyitottam és elvileg le kellet volna futnia a programnak de csak ennyit csinált:

Mini CNC Plotter alive and kicking!

X range is from 0.00 to 150.00 mm.

Y range is from 0.00 to 150.00 mm.

Loading file...

User selected E:\CNC Project\CNC Data\drawing GCODE\Lamborghini Avantador.gcode

(Scribbled version of C:\Users\Tapendra\AppData\Local\Temp\ink_ext_XXXXXX.svgIWUOKY @ 3500.00)

És ennyi!. A motrok se reagálnak semmit. Nem tudom mi lehet megint a baj. Hibaüzenet sincs. Ha tudna segíteni annak nagyon örülnék