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Merge pull request #4 from DeeEmm/VCR-Control
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Update motion to use VCR control
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@DeeEmm
DeeEmm authored Dec 30, 2019
2 parents 6445c0c + dba142c commit 68a69de
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Showing 3 changed files with 111 additions and 95 deletions.
101 changes: 64 additions & 37 deletions Marlin-CNC-Pendant/Marlin-CNC-Pendant.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -12,8 +12,8 @@
***/

// Development and release version - Don't forget to update the changelog!!
#define VERSION "V1.0-Alpha"
#define BUILD "19123001"
#define VERSION "V1.0-Beta"
#define BUILD "19123003.VCR"



Expand All @@ -23,7 +23,7 @@

#include <Arduino.h>
#include "configuration.h"

#include <SPI.h>


/****************************************
Expand Down Expand Up @@ -51,7 +51,7 @@ volatile int clickCount = 0;
volatile int clickStore = 0;
volatile bool jogActive = false;
volatile bool stepActive = false;
volatile int jogDirection = 0;
volatile int moveVector = 0;

volatile unsigned long lastTriggeredTimeMs;
volatile unsigned long targetTimeMs;
Expand Down Expand Up @@ -86,13 +86,20 @@ void setup ()
pinMode(Z_AXIS_SELECT_PIN, INPUT_PULLUP);

pinMode(ENABLE_OUT_PIN, OUTPUT);
pinMode(X_AXIS_OUT_PIN, OUTPUT);
pinMode(Y_AXIS_OUT_PIN, OUTPUT);
pinMode(Z_AXIS_OUT_PIN, OUTPUT);
pinMode(X_AXIS_CS_PIN, OUTPUT);
pinMode(Y_AXIS_CS_PIN, OUTPUT);
pinMode(Z_AXIS_CS_PIN, OUTPUT);

currentTimeMs = millis();
targetTimeMs = millis();
stepActive = false;

// initialize SPI:
SPI.begin();

digitalWrite(X_AXIS_CS_PIN, HIGH);
digitalWrite(Y_AXIS_CS_PIN, HIGH);
digitalWrite(Z_AXIS_CS_PIN, HIGH);

}

Expand Down Expand Up @@ -131,11 +138,11 @@ void jogwheelInterrupt() {
// Decode the direction
if(counterValue >= 4) {
counterValue -= 4;
jogDirection = 1;
moveVector = 1;

} else if(counterValue <= -4) {
counterValue += 4;
jogDirection = -1;
moveVector = -1;
}

lastTriggeredTimeMs = millis();
Expand Down Expand Up @@ -182,18 +189,27 @@ int getSpeed() {




/****************************************
* SEND JOG SIGNAL
***/
void sendJogSignal(int selectedAxis, int selectedSpeed, int jogDirection) {
void sendJogSignal(int selectedAxis, int selectedSpeed, int moveDirection) {

int wiperPosition;
int moveVector;
int xCenter = ((JOY_X_VALUE / 16384) * 256);
int yCenter = ((JOY_Y_VALUE / 16384) * 256);
int zCenter = ((JOY_Z_VALUE / 16384) * 256);

float xCenter = (JOY_X_CENTER_VALUE / 16384) * VCR_POT_RES;
float yCenter = (JOY_Y_CENTER_VALUE / 16384) * VCR_POT_RES;
float zCenter = (JOY_Z_CENTER_VALUE / 16384) * VCR_POT_RES;

byte address = BYTE_ADDRESS;

#ifdef SERIAL_DEBUG
// Serial.println(xCenter);
#endif

//check we have not already moved this click
if (clickCount == clickStore) {
if ((clickCount == clickStore) && (moveVector != 0)) {
return;
} else {
clickCount = clickStore;
Expand All @@ -204,42 +220,53 @@ void sendJogSignal(int selectedAxis, int selectedSpeed, int jogDirection) {
{

case JOG_SPEED_X1_SELECTED:
moveVector = (xCenter + JOG_SPEED_X1) * jogDirection;
moveVector = JOG_SPEED_X1 * moveDirection;
break;

case JOG_SPEED_X10_SELECTED:
moveVector = (yCenter + JOG_SPEED_X10) * jogDirection;
moveVector = JOG_SPEED_X10 * moveDirection;
break;

case JOG_SPEED_X100_SELECTED:
moveVector = (zCenter + JOG_SPEED_X100) * jogDirection;
moveVector = JOG_SPEED_X100 * moveDirection;
break;
}

#ifdef SERIAL_DEBUG
// Serial.println(moveVector);
#endif

// Select the axis and send the output. Lets also make sure other axis are not moved.
// Select the correct VCR and set the wiper position.
switch (selectedAxis)
{
case X_AXIS_SELECTED:
analogWrite(X_AXIS_OUT_PIN, moveVector);
analogWrite(Y_AXIS_OUT_PIN, yCenter);
analogWrite(Z_AXIS_OUT_PIN, zCenter);
wiperPosition = xCenter + moveVector;
digitalWrite(X_AXIS_CS_PIN, LOW);
SPI.transfer(address);
SPI.transfer(wiperPosition);
digitalWrite(X_AXIS_CS_PIN, HIGH);
break;

case Y_AXIS_SELECTED:
analogWrite(X_AXIS_OUT_PIN, xCenter);
analogWrite(Y_AXIS_OUT_PIN, moveVector);
analogWrite(Z_AXIS_OUT_PIN, zCenter);
wiperPosition = yCenter + moveVector;
digitalWrite(Y_AXIS_CS_PIN, LOW);
SPI.transfer(address);
SPI.transfer(wiperPosition);
digitalWrite(Y_AXIS_CS_PIN, HIGH);
break;

case Z_AXIS_SELECTED:
analogWrite(X_AXIS_OUT_PIN, xCenter);
analogWrite(Y_AXIS_OUT_PIN, yCenter);
analogWrite(Z_AXIS_OUT_PIN, moveVector);
wiperPosition = zCenter + moveVector;
digitalWrite(Z_AXIS_CS_PIN, LOW);
SPI.transfer(address);
SPI.transfer(wiperPosition);
digitalWrite(Z_AXIS_CS_PIN, HIGH);
break;

}

#ifdef SERIAL_DEBUG
Serial.println(wiperPosition);
#endif
}


Expand Down Expand Up @@ -270,20 +297,20 @@ void loop(){
if (stepActive == true) {
stepActive = false;
} else {
jogDirection = 0;
moveVector = 0;
}

// Do the move
sendJogSignal(selectedAxis, selectedSpeed, jogDirection);
sendJogSignal(selectedAxis, selectedSpeed, moveVector);

//delay by pulse width
delay(X1_PULSE_WIDTH);

#if defined SERIAL_DEBUG
if (jogDirection == 1){
#ifdef SERIAL_DEBUG
if (moveVector == 1){
Serial.println("> > > > > > >");
}
if (jogDirection == -1){
if (moveVector == -1){
Serial.println("< < < < < < <");
}
#endif
Expand All @@ -292,13 +319,13 @@ void loop(){
} else if ((currentTimeMs - smoothingFactor) < lastTriggeredTimeMs) {

// Do the move
sendJogSignal(selectedAxis, selectedSpeed, jogDirection);
sendJogSignal(selectedAxis, selectedSpeed, moveVector);

#if defined SERIAL_DEBUG
if (jogDirection == 1){
#ifdef SERIAL_DEBUG
if (moveVector == 1){
Serial.println(">>>>>>>>>>>>>>>>>>");
}
if (jogDirection == -1){
if (moveVector == -1){
Serial.println("<<<<<<<<<<<<<<<<<<");
}
#endif
Expand Down
100 changes: 43 additions & 57 deletions Marlin-CNC-Pendant/configuration.h
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Original file line number Diff line number Diff line change
Expand Up @@ -15,26 +15,12 @@
* JOY_EN_PIN - AUX2 pin D44 (logical Pin 64)
*
*
* PWM OUTPUT SMOOTHING
* You will need to connect an R/C network to smooth the PWM output into a 'steady' state DC voltage.
* For this you will need one 100uf capacitor and a resistor between 160-330 ohms connected as follows:
*
* O/P o-----[ 330R ]-------------o CNC
* |
* ___
* ___ 100uf
* |
* |
* o GND (0v)
*
* This will filter much of the square wave PWM output into a much smaller ripple
*
* ___ ___
* | | | | Will become... /\/\/\/\/\/\/\/
* _| |__| |_
*
* There's still some small ripple there, so we need to open up the dead band in the joystick settings to compensate...
*
* MCP4151 VCR (VOLTAGE CONTROLLED RESISTOR) (10kohm)
* This chip works over SPI comms, which means you need to connect MOSI (serial data) and
* SCK (serial clock) lines between the arduino and MCP4151. In addition to this you also
* need to enable each chip individually to identify which chip you are writing to.
* This is done by holding the CS (Chip Select) line low.
* The MCP4151 chip will revert to mid-scale when powered up, other variants may not.
*
* MARLIN CONFIGURATION
* The following values can be found in Configuration_adv.h in Marlin
Expand All @@ -46,26 +32,19 @@
* For the Gcode command to work you will need to add the following line
* #define JOYSTICK_DEBUG
*
* Then issue the M119 command a nuber of times and average out the reading. This is the centre (the 7300 value below)
* Next you want to addjust the deadband limits (the +/-1300 value below). This value has to be larger than any of the readings you
* got from the M119 command.
* Then issue the M119 command a number of times and average out the reading. This is the centre value (the 8175 value below).
* This value should be half of the full 14 bit range (16384/2 = 8192) but may differ depending on the resistance of the circuit.
* If the value differs a little then adjust the values in Marlin.
*
* #define JOY_X_LIMITS { 5600, 7300-1300, 7300+1300, 10800 } // min, deadzone start, deadzone end, max
* #define JOY_Y_LIMITS { 5600, 7300-1300, 7300+1300, 11000 }
* #define JOY_Z_LIMITS { 4800, 7300-1300, 7300+1300, 11550 }
* Next you want to addjust the deadband limits (the +/-100 value below). This value has to be larger than any of the readings you
* got from the M119 command. There should not really be any reason to change this
*
* #define JOY_X_LIMITS { 5600, 8175-100, 8175-100, 10800 } // min, deadzone start, deadzone end, max
* #define JOY_Y_LIMITS { 5600, 8175-100, 8175-100, 11000 }
* #define JOY_Z_LIMITS { 4800, 8175-100, 8175-100, 11550 }
*
* Notes:
*
* Nano O/P resolution = 256 steps
* .: center position = 128 steps
* Marlin joystick range = 2^10 = 16384 (10 bit resolution)
* .: 16384 points / 256 = 64 points per step
* Voltage range = 5v
* 5/256 = 19.6mv per step
* Approx deadband required for a 10khz RC low pass filter
* 2600 points (approx 41 steps or 0.8v)
* .: 128+21 or 128-21 steps before movement (approx 0.4v)
* Notes:
*
***/

Expand All @@ -83,18 +62,21 @@
* GENERAL SETTINGS
***/

//#define SERIAL_DEBUG // Enable Serial debug mode
#define SERIAL_DEBUG // Enable Serial debug mode

#define VCR_POT_RES 256 // 128 or 256 depeonding on VCR chip resolution and settings
#define BYTE_ADDRESS 0x00 // 0x00 is pot wiper address

#define JOY_X_VALUE 5627 // X value returned when stationary using M119
#define JOY_Y_VALUE 7759 // Y value returned when stationary using M119
#define JOY_Z_VALUE 7635 // Z value returned when stationary using M119
#define JOY_X_CENTER_VALUE (float) 8192 // 14 BIT ADC resolution = 2^14 = 16384
#define JOY_Y_CENTER_VALUE (float) 8192 // Mid range (center position) = 16384 / 2 = 8192
#define JOY_Z_CENTER_VALUE (float) 8192 // Should be same as returned by M119 but may differ slightly depending on resistance of VCR / circuits

#define X1_PULSE_WIDTH 10 // Jog pulse duration in ms (X1 speed only)
#define SMOOTHING_FACTOR 100 // Increase to smooth movement (Disabled for X1 speed)
#define VECTOR_VALUE 1 // Vector multiplier (Default 1).
#define JOG_SPEED_X1 30 // Speed adjustment (yCenter + JOG_SPEED_X1 * VECTOR_VALUE = move speed)
#define JOG_SPEED_X10 40
#define JOG_SPEED_X100 50
#define SMOOTHING_FACTOR 100 // Increase to smooth movement (Disabled for X1 speed)

#define JOG_SPEED_X1 5 // NOTE: Speed range is between 0 ~ 64 (0 ~ 100%)
#define JOG_SPEED_X10 10 // Choose values to suit your setup
#define JOG_SPEED_X100 20 // e.g. 16 = 25%

#define SPEED_SWITCH_ENABLE true // Disable system if speed selector switch is open: [0] - X1 - X10 - X100
// Otherwise enable signal should be mnaged externally with a physical switch
Expand All @@ -119,24 +101,28 @@

// Define Physical Pins:
// (colour codes for generic MPG handwheel pendant included)

// Inputs
#define JOGWHEEL_PIN_A 2 // MPG - green
#define JOGWHEEL_PIN_B 3 // MPG - white

#define JOG_SPEED_X1_PIN 4 // MPG - orange
#define JOG_SPEED_X10_PIN 5 // MPG - grey/black
#define JOG_SPEED_X100_PIN 13 // MPG - grey
#define JOG_SPEED_X1_PIN 4 // MPG - orange
#define JOG_SPEED_X10_PIN 5 // MPG - grey/black
#define JOG_SPEED_X100_PIN 6 // MPG - grey

#define X_AXIS_SELECT_PIN 6 // MPG - yellow
#define Y_AXIS_SELECT_PIN 7 // MPG - yellow/black
#define Z_AXIS_SELECT_PIN 8 // MPG - brown
#define X_AXIS_SELECT_PIN 7 // MPG - yellow
#define Y_AXIS_SELECT_PIN 8 // MPG - yellow/black
#define Z_AXIS_SELECT_PIN 9 // MPG - brown


// Define outputs
// See notes at top RE pin connection schema for RAMPs / RUMBA
// NOTE: must be PWM pins
#define X_AXIS_OUT_PIN 9 // JOY_X_PIN
#define Y_AXIS_OUT_PIN 10 // JOY_Y_PIN
#define Z_AXIS_OUT_PIN 11 // JOY_Z_PIN
#define ENABLE_OUT_PIN 12 // JOY_EN_PIN

#define MOSI 11 // pin 3 on all MCP4151s (SDI/SDO)
#define SCK 13 // pin 2 on all MCP4151s (SCK)
#define X_AXIS_CS_PIN 14 // pin 1 on X Axis MCP4151 (CS)
#define Y_AXIS_CS_PIN 15 // pin 1 on Y Axis MCP4151 (CS)
#define Z_AXIS_CS_PIN 16 // pin 1 on Z Axis MCP4151 (CS)

#define ENABLE_OUT_PIN 17 // JOY_EN_PIN

#endif
5 changes: 4 additions & 1 deletion docs/changelog
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Original file line number Diff line number Diff line change
@@ -1,4 +1,7 @@
19122801 - Added C/R low pass filter and tweaked move values
19123003.VCR - VCR control added
- Tested and working
19123002.VCR - VCR Control branch initial commit
19123001 - Added C/R low pass filter and tweaked move values
- Changed speed multipliers for fixed speed values
- Added usage explaination and comments
19122801 - Added X10 / X100 output smoothing
Expand Down

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