polar_to_cartesian/polar_to_cartesian.ino

#define module_driver
 
#include "stepdance.hpp"
 
OutputPort output_a;
OutputPort output_b;
OutputPort output_c;
 
Channel channel_a;
Channel channel_b;
Channel channel_z;
 
KinematicsPolarToCartesian polar_kinematics;
KinematicsCoreXY axidraw_kinematics;
 
AnalogInput analog_a1; //foot pedal
 
Encoder encoder_1; //hand lever
 
VelocityGenerator velocity_gen;
 
void setup() {
  output_a.begin(OUTPUT_A);
  output_b.begin(OUTPUT_B);
  output_c.begin(OUTPUT_C);
 
  enable_drivers();
 
  channel_a.begin(&output_a, SIGNAL_E);
  channel_a.set_ratio(25.4, 2874); //axidraw: 1" == 2874 steps
  channel_a.invert_output();
 
  channel_b.begin(&output_b, SIGNAL_E);
  channel_b.set_ratio(25.4, 2874); //axidraw: 1" == 2874 steps
  channel_b.invert_output();
 
  channel_z.begin(&output_c, SIGNAL_E); //servo motor, so we use a long pulse width
  channel_z.set_ratio(1, 1); //straight step pass-thru.
 
  velocity_gen.begin();
  velocity_gen.output.map(&polar_kinematics.input_angle);
 
  encoder_1.begin(ENCODER_1);
  encoder_1.set_ratio(24, 2400); //25mm per revolution
  encoder_1.output.map(&polar_kinematics.input_radius);
  encoder_1.invert();
 
  polar_kinematics.output_x.map(&axidraw_kinematics.input_x);
  polar_kinematics.output_y.map(&axidraw_kinematics.input_y);
  polar_kinematics.begin();
 
  axidraw_kinematics.output_a.map(&channel_a.input_target_position);
  axidraw_kinematics.output_b.map(&channel_b.input_target_position);
  axidraw_kinematics.begin();
 
  analog_a1.set_floor(0, 25);
  analog_a1.set_ceiling(6.28, 1020); //radians per second
  analog_a1.map(&velocity_gen.speed_units_per_sec);
  analog_a1.begin(IO_A1);
 
  dance_start();
}
 
LoopDelay overhead_delay;
 
void loop() {
  overhead_delay.periodic_call(&report_overhead, 500);
  dance_loop();
}
 
void report_overhead(){
  Serial.println(stepdance_get_cpu_usage(), 4);
}