#define module_driver
#include "stepdance.hpp"
InputPort input_a;
OutputPort output_a;
OutputPort output_b;
OutputPort output_c;
OutputPort output_d;
Channel channel_a;
Channel channel_b;
Channel channel_z;
Channel channel_e;
KinematicsPolarToCartesian polar_kinematics;
AnalogInput analog_a1; //foot pedal
AnalogInput analog_a2; //linear pot
AnalogInput analog_a3; //linear pot
AnalogInput analog_a4; //rotary pot
Button digital_d1; //toggle button
Button digital_d2; //toggle button
Encoder encoder_1; //hand lever
Encoder encoder_2; //z babystep
VelocityGenerator velocity_gen;
ScalingFilter1D z_gen;
ScalingFilter1D x_stretch;
PathLengthGenerator2D e_gen; //generates extruder signal
WaveGenerator1D xy_wave_generator;
WaveGenerator1D z_wave_generator;
float64_t layerHeight = 2.0;
float64_t nozzleDiameter = 4.0;
volatile float64_t extrusionRate = 0;
void setup() {
input_a.begin(INPUT_A);
input_a.set_ratio(0.05); //needs to match the output ratio in physical_ui_module.ino
input_a.output_y.set_ratio(1); //frequency should be an integer
input_a.output_z.set_ratio(0.01);
output_a.begin(OUTPUT_A);
output_b.begin(OUTPUT_B);
output_c.begin(OUTPUT_C);
output_d.begin(OUTPUT_D);
enable_drivers();
channel_a.begin(&output_a, SIGNAL_E);
channel_a.set_ratio(1, 40);
channel_a.invert_output();
channel_a.enable_filtering(200);
channel_b.begin(&output_b, SIGNAL_E);
channel_b.set_ratio(1, 40);
channel_b.enable_filtering(200);
//channel_b.invert_output();
channel_z.begin(&output_c, SIGNAL_E);
channel_z.set_ratio(1, 1201); // testing with an 8mm lead leadscrew
channel_z.invert_output();
channel_e.begin(&output_d, SIGNAL_E);
channel_e.set_ratio(1, 8.75); // testing with an 8mm lead leadscrew
channel_e.invert_output();
channel_e.enable_filtering(1000);
velocity_gen.begin();
velocity_gen.output.map(&polar_kinematics.input_angle);
encoder_1.begin(ENCODER_1);
encoder_1.set_ratio(1, 2400); //25mm per revolution
encoder_1.output.map(&polar_kinematics.input_radius);
encoder_1.invert();
encoder_2.begin(ENCODER_2);
encoder_2.set_ratio(1, 2400); //25mm per revolution
encoder_2.output.map(&channel_z.input_target_position);
encoder_2.invert();
xy_wave_generator.input.map(&polar_kinematics.input_angle,INCREMENTAL);
xy_wave_generator.output.map(&polar_kinematics.input_radius);
xy_wave_generator.disable();
xy_wave_generator.begin();
z_wave_generator.input.map(&polar_kinematics.input_angle,INCREMENTAL);
z_wave_generator.output.map(&channel_z.input_target_position);
z_wave_generator.disable();
z_wave_generator.begin();
polar_kinematics.output_x.map(&channel_a.input_target_position);
polar_kinematics.output_x.map(&x_stretch.input);
polar_kinematics.output_y.map(&channel_b.input_target_position);
polar_kinematics.begin();
z_gen.begin();
z_gen.set_ratio(layerHeight, TWO_PI); //1mm per rev
z_gen.input.map(&polar_kinematics.input_angle);
z_gen.output.map(&channel_z.input_target_position);
x_stretch.begin(ABSOLUTE);
x_stretch.output.map(&channel_a.input_target_position);
e_gen.begin();
e_gen.input_1.map(&channel_a.input_target_position);
e_gen.input_2.map(&channel_b.input_target_position);
e_gen.output.map(&channel_e.input_target_position);
//pedal
analog_a1.set_floor(0, 25);
analog_a1.set_ceiling(2.75, 1020); //radians per second
analog_a1.map(&velocity_gen.speed_units_per_sec);
analog_a1.begin(IO_A1);
//xy amplitude
analog_a2.set_floor(-10, 25);
analog_a2.set_ceiling(10, 1020);
analog_a2.map(&xy_wave_generator.amplitude);
analog_a2.begin(IO_A2);
//xy frequency
analog_a3.set_floor(0, 25);
analog_a3.set_ceiling(10, 1020);
analog_a3.map(&xy_wave_generator.phase);
analog_a3.begin(IO_A3);
//xy phase
analog_a4.set_floor(0, 25);
analog_a4.set_ceiling(10, 1020);
analog_a4.map(&xy_wave_generator.frequency);
analog_a4.begin(IO_A4);
//toggle button
digital_d1.set_callback_on_toggle(&button_toggle1);
digital_d1.begin(IO_D1, INPUT_PULLDOWN);
digital_d1.set_mode(BUTTON_MODE_TOGGLE);
//toggle button
digital_d2.set_callback_on_toggle(&button_toggle2);
digital_d2.begin(IO_D2, INPUT_PULLDOWN);
digital_d2.set_mode(BUTTON_MODE_TOGGLE);
dance_start();
}
LoopDelay overhead_delay;
void loop() {
float64_t z_amp = input_a.output_x.read(ABSOLUTE);
float64_t z_freq = input_a.output_y.read(ABSOLUTE);
// float64_t z_phase = input_a.output_z.read(ABSOLUTE);
x_stretch.ratio = (input_a.output_z.absolute_buffer*0.015) + 0.5; //0->1 --> 0.5->2
float64_t z_phase = 1.0;
z_wave_generator.amplitude = z_amp;
z_wave_generator.frequency = z_freq;
z_wave_generator.phase = z_phase;
extrusionRate = input_a.output_e.read(ABSOLUTE);
e_gen.set_ratio(extrusionRate);
dance_loop();
// report_overhead();
overhead_delay.periodic_call(&report_overhead, 100);
}
void button_toggle1(){
uint8_t state = digital_d1.read();
if(state == 0){
z_wave_generator.disable();
}
else if(state == 1){
z_wave_generator.enable();
}
}
void button_toggle2(){
uint8_t state = digital_d2.read();
if(state == 0){
xy_wave_generator.disable();
}
else if(state == 1){
xy_wave_generator.enable();
}
}
void report_overhead(){
/*Serial.print(", input_x:");
Serial.print(input_a.output_x.absolute_buffer);
Serial.print(", input_y:");
Serial.print(input_a.output_y.absolute_buffer);
Serial.print(", input_z:");
Serial.print(input_a.output_z.absolute_buffer);
Serial.print(", input_e:");
Serial.print(input_a.output_e.absolute_buffer);*/
Serial.print(", extrusionRate:");
Serial.print(extrusionRate);
Serial.print(", xy_amp:");
Serial.print(xy_wave_generator.amplitude);
Serial.print(", xy_freq:");
Serial.print(xy_wave_generator.frequency);
Serial.print(", xy_phase:");
Serial.print(xy_wave_generator.phase);
Serial.print(",z_amp:");
Serial.print(z_wave_generator.amplitude);
Serial.print(", z_freq:");
Serial.print(z_wave_generator.frequency);
Serial.print(", z_phase:");
Serial.print(z_wave_generator.phase);
Serial.print(", x_stretch:");
Serial.println(x_stretch.ratio);
//wave_generator1D.debugPrint();
//Serial.println(stepdance_get_cpu_usage(), 4);
// Serial.println(e_gen.input_1_position, 4);
// Serial.println(e_gen.input_2_position, 4);
/*Serial.print("extrusion_multiplier: ");
Serial.print(extrusionMultiplier);
*/
//Serial.println(tiny_circles.radius);
//Serial.println(tiny_circles.output_x.read(INCREMENTAL));
//Serial.println(tiny_circles.output_y.read(INCREMENTAL));*/
}
1.14.0