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bdev:filamentextruder_recyclebot

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bdev:filamentextruder_recyclebot [2022/10/26 23:09]
richard 		bdev:filamentextruder_recyclebot [2022/11/05 23:52] (current)
richard
Line 1: Line 1:
 ====== Filament extruder recyclebot ====== ====== Filament extruder recyclebot ======
  
 +====== filabotmega.ino ======
  
 +
 +<code>
 +
 +#include <PID_v1.h> 
 +#include <Wire.h>
 +#include <SoftwareSerial.h>
 +#define motorInterfaceType 1
 +
 +
 +#define THERMISTOR_PINA A11
 +#define TEMPCONTROLA 10
 +
 +//Define the aggressive and conservative Tuning Parameters
 +double aggKpA=150, aggKiA=0.5, aggKdA=0;
 +int thermoelectricval = 255;
 +int celsius;
 +int levelstreamon;
 +double settemp = 0;
 +double Setpoint, Input, Output, OutputA, OutputB, OutputC;
 +int tme = 250;
 +
 +//Specify the links and initial tuning parameters
 +PID myPIDA(&Input, &OutputA, &Setpoint, aggKpA, aggKiA, aggKdA, DIRECT);
 +
 +
 +const int stepsPinA = 11;
 +const int directionPinA = 12;
 +const int enablePinA = 2;
 +
 +
 +const int stepsPinB = 3;
 +const int directionPinB = 4;
 +const int enablePinB = 5;
 +
 +const int stepsPinC = 7;
 +const int directionPinC = 8;
 +const int enablePinC = 9;
 +
 +const int gobuttonA = A0;
 +const int stopbuttonA = A1;
 +const int speedpotA = A2;
 +
 +const int gobuttonB = A5;
 +const int stopbuttonB = A6;
 +const int speedpotB = A3;
 +
 +const int gobuttonC = A7;
 +const int stopbuttonC = A10;
 +const int speedpotC = A4;
 +
 +int directionA = 0;
 +int directionB = 0;
 +int directionC = 0;
 +
 +int ton = 0;
 +
 +int buttonastate = 0;
 +int buttonbstate = 0;
 +int buttoncstate = 0;
 +int afl = 0;
 +int bfl = 0;
 +
 +String command;
 +long int currpos;
 +long int pos;
 +
 +void setup() {
 +  // put your setup code here, to run once:
 +  Serial.begin(115200);
 +  pinMode(stepsPinA, OUTPUT);
 +  pinMode(directionPinA, OUTPUT);
 +  pinMode(enablePinA, OUTPUT);
 +  pinMode(stepsPinB, OUTPUT);
 +  pinMode(directionPinB, OUTPUT);
 +  pinMode(enablePinB, OUTPUT);
 +  pinMode(speedpotA, INPUT);
 +  pinMode(gobuttonA, INPUT);
 +  pinMode(stopbuttonA, INPUT);
 +  pinMode(speedpotB, INPUT);
 +  pinMode(gobuttonB, INPUT);
 +  pinMode(stopbuttonB, INPUT);
 +  pinMode(speedpotC, INPUT);
 +  pinMode(gobuttonC, INPUT);
 +  pinMode(stopbuttonC, INPUT);
 +
 +  digitalWrite(enablePinA,LOW);
 +  digitalWrite(enablePinB,LOW);
 +  digitalWrite(directionPinA, LOW);
 +  digitalWrite(directionPinB, LOW);
 +  digitalWrite(directionPinC, LOW);
 +  currpos = 0;
 +}
 +
 +void loop() {
 +
 +   Input = read_temp("A");
 +   double gap = abs(Setpoint-Input); //distance away from setpoint
 +   myPIDA.SetTunings(aggKpA, aggKiA, aggKdA);
 +   myPIDA.Compute();
 +   analogWrite(TEMPCONTROLA,OutputA);
 +
 +   int rawvalue = analogRead(THERMISTOR_PINA);
 +   int rawvalueA = rawvalue;
 +   float celsiusA = read_temp("A");
 +
 +
 +
 +  Serial.print("");
 +  
 +  digitalWrite(stepsPinA, HIGH);
 +  digitalWrite(directionPinA, LOW);
 +  digitalWrite(enablePinA, HIGH);  
 +
 +
 +  digitalWrite(stepsPinB, LOW);
 +  digitalWrite(directionPinB, LOW);
 +  digitalWrite(enablePinB, LOW); 
 +
 +  digitalWrite(stepsPinC, LOW);
 +  digitalWrite(directionPinC, HIGH);
 +  digitalWrite(enablePinC, LOW); 
 +
 +
 +/*
 +  if (levelstreamon == 1) {
 +   Serial.print("A: ");
 +   Serial.print(rawvalueA);
 +   Serial.print(" ");
 +   Serial.println(celsiusA);
 +   Serial.print("Settemp: ");
 +   Serial.println(settemp);   
 +   delay(500);
 +  }
 +
 +
 +
 + if (digitalRead(stopbuttonA) ==HIGH){
 +  if (bfl == 0){
 +   if (directionA==0){directionA = 1; digitalWrite(directionPinA, HIGH); }else{directionA=0; digitalWrite(directionPinA, LOW);}
 +    Serial.print(directionA);
 +    Serial.println(" direction changed");
 +    bfl = 1;
 +   }
 +  } else { bfl = 0; }
 +
 + if (digitalRead(gobuttonA) == 1){
 +   Serial.println("moving A");
 +   runnerA();
 +  }
 +
 + if (digitalRead(stopbuttonB) ==HIGH){
 +  if (bfl == 0){
 +   if (directionB==0){directionB = 1; digitalWrite(directionPinB, HIGH); }else{directionB=0; digitalWrite(directionPinB, LOW);}
 +    Serial.print(directionB);
 +    Serial.println(" direction changed");
 +    bfl = 1;
 +   }
 +  } else { bfl = 0; }
 +
 + if (digitalRead(gobuttonB) == 1){
 +  Serial.println("moving B");
 +   runnerB();
 +  }
 +
 + if (digitalRead(stopbuttonC) ==HIGH){
 +  if (bfl == 0){
 +   if (directionC==0){directionC = 1; digitalWrite(directionPinC, HIGH); }else{directionC=0; digitalWrite(directionPinC, LOW);}
 +    Serial.print(directionC);
 +    Serial.println(" direction changed");
 +    bfl = 1;
 +   }
 +  } else { bfl = 0; }
 +
 + if (digitalRead(gobuttonC) == 1){
 +  Serial.println("moving C");
 +   runnerC();
 +  }
 +  */
 +
 +
 +  
 + if(Serial.available())
 + {
 +    char c = Serial.read();
 +    if (c== '\n')
 +    {
 +      currpos = parseCommand(command, currpos);
 +      command = "";
 +    }
 +    
 +    else
 +    {
 +      command +=c;
 +    }
 + }
 + delay(30);
 +}
 +
 +long int parseCommand(String com, long int currpos)
 +{
 +  //Serial.print("Your command: ");
 +  //Serial.println(com);
 +
 +  if(com.equalsIgnoreCase("readpot")){
 +   readpotentionmetersanity();
 +  }
 +  else if(com.equalsIgnoreCase("info")){
 +    Serial.println("Extruder spool speed controller");
 +  }
 +  else if (com.substring(0,7) == "settemp") {
 +    settemp = com.substring(8).toDouble();
 +    Setpoint = settemp;
 +    Serial.print("settemp: ");
 +    Serial.println(settemp);
 +  }
 +  else if(com.equalsIgnoreCase("levelstreamoff")){
 +   levelstreamon = 0;
 +  } 
 +  else if(com.equalsIgnoreCase("levelstreamon")){
 +   levelstreamon = 1;
 +  } 
 +  else if(com.equalsIgnoreCase("readlevel")){
 +     int rawvalue = analogRead(THERMISTOR_PINA);
 +     float celsius = read_temp("A");
 +     Serial.print("A: ");
 +     Serial.println(celsius);
 +  }
 +  else {
 +   Serial.print("Did not recognize ");
 +   Serial.println(com);
 +  }
 +   return currpos;
 +}
 +
 +int readpotentionmetersanity(){
 + int val = analogRead(speedpotA);
 + Serial.print("speed pinA: ");
 + Serial.println(val);
 + val = analogRead(speedpotB);
 + Serial.print("speed pinB: ");
 + Serial.println(val); 
 + val = analogRead(speedpotC);
 + Serial.print("speed pinC: ");
 + Serial.println(val); 
 +}
 +
 +
 +int runnerA(){
 +   int stpper = 1;
 +   int speed = analogRead(speedpotA);
 +   int stepdelay = map(speed, 0, 1023, 1, 2000);
 +   while(stpper > 0){
 +   speed = analogRead(speedpotA);
 +   stepdelay = map(speed, 0, 1023, 1, 2000);
 +   digitalWrite(stepsPinA,HIGH); // Output high
 +   delayMicroseconds(stepdelay); // Wait 1/2 a ms
 +   digitalWrite(stepsPinA,LOW); // Output high
 +   delayMicroseconds(stepdelay); // Wait 1/2 a ms
 +   if (digitalRead(stopbuttonA) ==HIGH){ break; }
 + }
 + return 0;
 +}
 +
 +int runnerB(){
 +   int stpper = 1;
 +   int speed = analogRead(speedpotB);
 +   int stepdelay = map(speed, 0, 1023, 1, 2000);
 +   while(stpper > 0){
 +   speed = analogRead(speedpotB);
 +   stepdelay = map(speed, 0, 1023, 1, 2000);
 +   digitalWrite(stepsPinB,HIGH); // Output high
 +   delayMicroseconds(stepdelay); // Wait 1/2 a ms
 +   digitalWrite(stepsPinB,LOW); // Output high
 +   delayMicroseconds(stepdelay); // Wait 1/2 a ms
 +   if (digitalRead(stopbuttonB) ==HIGH){ break; }
 + }
 + return 0;
 +}
 +
 +int runnerC(){
 +   int stpper = 1;
 +   int speed = analogRead(speedpotB);
 +   int stepdelay = map(speed, 0, 1023, 1, 2000);
 +   while(stpper > 0){
 +   speed = analogRead(speedpotC);
 +   stepdelay = map(speed, 0, 1023, 1, 2000);
 +   digitalWrite(stepsPinC,HIGH); // Output high
 +   delayMicroseconds(stepdelay); // Wait 1/2 a ms
 +   digitalWrite(stepsPinC,LOW); // Output high
 +   delayMicroseconds(stepdelay); // Wait 1/2 a ms
 +   if (digitalRead(stopbuttonC) ==HIGH){ break; }
 + }
 + return 0;
 +}
 +
 +#define NUMTEMPS 20
 +short temptable[NUMTEMPS][2] = {
 +   {1, 841}, {54, 255},
 +   {107, 209},
 +   {160, 184},
 +   {213, 166},
 +   {266, 153},
 +   {319, 142},
 +   {372, 132},
 +   {425, 124},
 +   {478, 116},
 +   {531, 108},
 +   {584, 101},
 +   {637, 93},
 +   {690, 86},
 +   {743, 78},
 +   {796, 70},
 +   {849, 61},
 +   {902, 50},
 +   {955, 34},
 +   {1008, 3}
 +};
 +
 +float read_temp(String sensor_type)
 +{
 +   int THERMISTOR_PIN = 0;
 +   if (sensor_type == "A"){
 +    THERMISTOR_PIN = THERMISTOR_PINA;
 +   }
 +   int rawtemp = analogRead(THERMISTOR_PIN);
 +   float current_celsius = 0;
 +
 +   byte i;
 +   for (i=1; i<NUMTEMPS; i++)
 +   {
 +      if (temptable[i][0] > rawtemp)
 +      {
 +         float realtemp  = temptable[i-1][1] + (rawtemp - temptable[i-1][0]) * (temptable[i][1] - temptable[i-1][1]) / (temptable[i][0] - temptable[i-1][0]);
 +
 +         if (realtemp > 255)
 +           realtemp = 255; 
 +           current_celsius = realtemp;
 +           break;
 +      }
 +   }
 +
 +   // Overflow: We just clamp to 0 degrees celsius
 +   if (i == NUMTEMPS)
 +   current_celsius = 0;
 +
 +   return current_celsius;
 +}
 +
 +</code>
  
  
Line 52: Line 402:
   pinMode(buttonb, INPUT);   pinMode(buttonb, INPUT);
   digitalWrite(enablePin,LOW);   digitalWrite(enablePin,LOW);
 +  digitalWrite(directionPin, LOW);
   currpos = 0;   currpos = 0;
 } }
Line 57: Line 408:
 void loop() { void loop() {
   // put your main code here, to run repeatedly:   // put your main code here, to run repeatedly:
- buttonastate = analogRead(buttona); + buttonastate = digitalRead(buttona); 
- buttonbstate = analogRead(buttonb);+ buttonbstate = digitalRead(buttonb); 
 + /* 
 + Serial.print("buttonastate "); 
 + Serial.println(buttonastate); 
 + Serial.print("buttonbstate"); 
 + Serial.println(buttonbstate); 
 + delay(100); 
 + */
  
- if (buttonbstate > 1019){+ if (buttonbstate ==HIGH){
   if (bfl == 0){   if (bfl == 0){
-   if (direction==0){direction = 1; }else{direction=0; }+   if (direction==0){direction = 1; digitalWrite(directionPin, HIGH); }else{direction=0; digitalWrite(directionPin, LOW);}
     Serial.print(direction);     Serial.print(direction);
     Serial.println(" direction changed");     Serial.println(" direction changed");
Line 68: Line 426:
    }    }
   } else { bfl = 0; }   } else { bfl = 0; }
-   + if (buttonastate == HIGH){ 
- if (buttonastate > 1019){ +   runner(estepsPin, directionPin, speedpot, buttona); 
-  if (afl == 0){ +
-   if (ton==0){ +
-    ton = 1; +
-    Serial.println("Motor on"); +
-    //runner(estepsPin, directionPin, speedpot);  +
-   } else { ton=0; Serial.println("Motor off");} +
-   afl = 1; +
   }   }
- } else { afl = 0; }+
  
  if(Serial.available())  if(Serial.available())
Line 105: Line 456:
    readpotentionmetersanity(speedpot);    readpotentionmetersanity(speedpot);
   }   }
 +  if(com.equalsIgnoreCase("g")){
 +   readpotentionmetersanity(speedpot);
 +   runner(estepsPin, directionPin, speedpot, buttona);
 +  } 
   else if(com.equalsIgnoreCase("info")){   else if(com.equalsIgnoreCase("info")){
     Serial.println("Extruder spool speed controller");     Serial.println("Extruder spool speed controller");
Line 126: Line 481:
  
  
-int runner(int stepsPin, int directionPin, int speedpot){+int runner(int stepsPin, int directionPin, int speedpot, int buttona){ 
 +  Serial.println("its running ...");
   int stpper = 1;   int stpper = 1;
-   while(stpper > 0){ 
    int speed = analogRead(speedpot);    int speed = analogRead(speedpot);
    int stepdelay = map(speed, 0, 1023, 1, 1000);    int stepdelay = map(speed, 0, 1023, 1, 1000);
 +   while(stpper > 0){
 +   speed = analogRead(speedpot);
 +   stepdelay = map(speed, 0, 1023, 1, 2000);
 +   //stepdelay = 100;
    digitalWrite(stepsPin,HIGH); // Output high    digitalWrite(stepsPin,HIGH); // Output high
    delayMicroseconds(stepdelay); // Wait 1/2 a ms    delayMicroseconds(stepdelay); // Wait 1/2 a ms
    digitalWrite(stepsPin,LOW); // Output high    digitalWrite(stepsPin,LOW); // Output high
    delayMicroseconds(stepdelay); // Wait 1/2 a ms    delayMicroseconds(stepdelay); // Wait 1/2 a ms
 +   if (digitalRead(buttonb) ==HIGH){ break; }
  }  }
 + return 0;
 } }
  
bdev/filamentextruder_recyclebot.1666825791.txt.gz · Last modified: 2022/10/26 23:09 by richard

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