Merge branch 'feature/mecha-e1' into develop

laurb9 · Sep 27, 2020 · 2d02707 · 2d02707
2 parents b64c372 + 5759788
commit 2d02707
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Showing 4 changed files with 32 additions and 10 deletions.
diff --git a/examples/PanoController/config.h b/examples/PanoController/config.h
@@ -14,14 +14,15 @@
 #define VCC 3300
 // R1/R2 is the voltage divisor in Ω (GND-R1-A0-R2-Vin)
 // measure resistors and enter actual values for a more accurate voltage
-#define BATT_R1 9980
-#define BATT_R2 46500
+#define BATT_R1 7060
+#define BATT_R2 42600
 
 // MPU (accel/gyro)
 #define MPU_I2C_ADDRESS 0x68
 
 #include "platform_gigapan.h"
 #include "platform_panocontroller_v4.h"
+#include "platform_mecha_e1.h"
 #ifndef MOTOR_STEPS
 #warning "Missing PLATFORM_ setting, default to PLATFORM_GIGAPAN"
 #define PLATFORM_GIGAPAN

diff --git a/examples/PanoController/platform_mecha_e1.h b/examples/PanoController/platform_mecha_e1.h
@@ -0,0 +1,18 @@
+#if defined PLATFORM_MECHA_E1
+/*
+ * Nodal Ninja Mecha E1 
+ * Motors ??, 9-28V
+ * Identical lower and upper units, integrated driver with preset 32 microstep
+ */
+#define MOTOR_STEPS 200
+#define MICROSTEPS 32
+// max RPM 
+#define MOTOR_RPM 480
+// max acceleration/deceleration in steps/sec^2
+#define MOTOR_ACCEL 10000
+#define MOTOR_DECEL 10000
+
+#define HORIZ_GEAR_RATIO 37.7f
+#define VERT_GEAR_RATIO  37.7f
+
+#endif // PLATFORM_MECHA_E1
diff --git a/platformio.ini b/platformio.ini
@@ -28,7 +28,9 @@ lib_deps =
 	adafruit/Adafruit GFX Library@^1.10.1
 	adafruit/Adafruit BusIO@^1.4.2
 build_flags = 
-    -D PLATFORM_PANOCONTROLLER_V4
+    -D PLATFORM_MECHA_E1
+;    -D PLATFORM_PANOCONTROLLER_V4
+;    -D PLATFORM_GIGAPAN
 
 [env:adafruit_feather_m0]
 platform = atmelsam

diff --git a/src/gcode.cpp b/src/gcode.cpp
@@ -264,12 +264,13 @@ void GCode::execute(char buffer[]){
 
 void GCode::move(Motion motion, Coords coords, Position& current, Position& target){
     if (coords == Coords::RELATIVE){
-        motors.rotate(target.a * horiz_gear_ratio, target.c * vert_gear_ratio);
+        motors.rotate(target.a * horiz_gear_ratio, 0.0);
+        motors.rotate(0.0, target.c * vert_gear_ratio);
         current.a += target.a;
         current.c += target.c;                    
     } else {
-        motors.rotate((target.a - current.a) * horiz_gear_ratio, 
-                      (target.c - current.c) * vert_gear_ratio);
+        motors.rotate((target.a - current.a) * horiz_gear_ratio, 0.0);
+        motors.rotate(0.0, (target.c - current.c) * vert_gear_ratio);
         current.a = target.a;
         current.c = target.c;
     };
@@ -283,8 +284,8 @@ void GCode::move(Motion motion, Coords coords, Position& current, Position& targ
  * Set acceleration
  */
 void GCode::setAccel(float horiz_plat_accel, float vert_plat_accel){
-    horiz_accel = min(max_accel, motorAccel(horiz_plat_accel, horiz_motor.getSteps(), horiz_gear_ratio));
-    vert_accel = min(max_accel, motorAccel(vert_plat_accel, vert_motor.getSteps(), vert_gear_ratio));
+    horiz_accel = min(max_accel, (short) motorAccel(horiz_plat_accel, horiz_motor.getSteps(), horiz_gear_ratio));
+    vert_accel = min(max_accel, (short) motorAccel(vert_plat_accel, vert_motor.getSteps(), vert_gear_ratio));
     horiz_decel = horiz_accel;
     vert_decel = vert_accel;
 }
@@ -305,8 +306,8 @@ void GCode::setSpeed(Speed speed, short horiz_speed, short vert_speed){
     case Speed::CONSTANT:
         horiz_motor.setSpeedProfile(Motor::CONSTANT_SPEED);
         vert_motor.setSpeedProfile(Motor::CONSTANT_SPEED);
-        horiz_motor.setRPM(min(horiz_rpm, max_horiz_rpm/10));
-        vert_motor.setRPM(min(vert_rpm, max_vert_rpm/10));
+        horiz_motor.setRPM(min(horiz_rpm, (short) (max_horiz_rpm/10)));
+        vert_motor.setRPM(min(vert_rpm, (short) (max_vert_rpm/10)));
         break;
     }
 }