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--- bdev:gripper [2020/11/06 22:35]
richard created
+++ bdev:gripper [2021/08/16 22:22] (current)
@@ Line 1: / Line 1: @@
 ====== Gripper ======
+Gripper files {{ :bdev:gripper_files.zip |}}
+More files {{ :bdev:gripper.zip |}}
 |{{ :bdev:gripper_track_12.8.stl |}}|{{ :bdev:gripper_track_12.8.png?200 |}}|
@@ Line 9: / Line 15: @@
+{{ :bdev:gripper_pic1.png?200 |}}
+{{ :bdev:gripper_pic2.png?200 |}}
+{{ :bdev:gripper_pic3.png?200 |}}
+{{ :bdev:gripper_pic4.png?200 |}}
+{{ :bdev:gripper_pic5.png?200 |}}
+{{ :bdev:gripper_pcb.png?200 |}}
+<code>
+#include <AccelStepper.h>
+#include <Wire.h>
+#include <SoftwareSerial.h>
+#define dirPin 4
+#define stepPin 3
+#define motorInterfaceType 1
+AccelStepper stepper = AccelStepper(motorInterfaceType, stepPin, dirPin);
+const float stepsperul = 131.53; //resolution of 1ml disposable syringes
+//const float stepsperul = 272.12; //resolution of 250ul glass syringe
+int enablePin = 5;
+int directionPin = 4;
+int elimitPin = A1;
+int estepsPin = 3;
+int esteps = 1000;
+int esteprate = 500;
+int estepsincrement = 0;
+int estepcount = 0;
+int acc = 30;
+String command;
+long int currpos;
+long int pos;
+void setup() {
+  stepper.setMaxSpeed(1000*16);
+  Serial.begin(115200);
+  pinMode(elimitPin, INPUT);           // set pin to input
+  digitalWrite(elimitPin, LOW);
+  pinMode(enablePin, OUTPUT);
+  pinMode(directionPin, OUTPUT);
+  pinMode(estepsPin, OUTPUT);
+  digitalWrite(enablePin,LOW);
+  digitalWrite(directionPin,LOW);
+  digitalWrite(estepsPin, LOW);
+  currpos = 0;
+  stepper.setAcceleration(acc);
+}
+void loop() {
+  // put your main code here, to run repeatedly:
+ 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);
+  //"G1E10F200";
+  String part1 = com.substring(0,com.indexOf("e"));
+  if (part1.equalsIgnoreCase("g1")){
+    String part2 = com.substring(com.indexOf("e")+1,com.indexOf("s"));
+    String part3 = com.substring(com.indexOf("s")+1,com.indexOf("a"));
+    String part4 = com.substring(com.indexOf("a")+1);
+    int vpos = part2.toInt();
+    pos = vpos * stepsperul;
+    int vfeed = part3.toInt();
+    int feed = vfeed * stepsperul;
+    int acc = part4.toInt();
+    if ((pos-currpos) < 0) {
+      feed = feed * -1;
+    }
+    moveacc((pos-currpos), feed, acc);
+    currpos = pos;
+  }
+  else if(com.equalsIgnoreCase("m114")){
+   Serial.print("Step Position: ");
+   Serial.println(pos);
+  }
+  else if(com.equalsIgnoreCase("g28e0")){
+   currpos = homing(estepsPin,directionPin,elimitPin);
+   currpos = 0;
+   pos = 0;
+  }
+  else if(com.equalsIgnoreCase("readinput")){
+   Serial.print("Read pin: ");
+   Serial.println(digitalRead(elimitPin));
+  }
+  else if(com.equalsIgnoreCase("info")){
+    Serial.println("solostepper");
+  }
+  else {
+   Serial.print("Did not recognize ");
+   Serial.println(com);
+  }
+   return currpos;
+}
+void moveacc(long int inc, int spd, int acc){
+ //speed is in steps per second
+ stepper.setCurrentPosition(0);
+ stepper.setAcceleration(acc);
+ while(stepper.currentPosition() != inc){
+    stepper.setSpeed(spd);
+    stepper.runSpeed();
+ }
+}
+int homing(int stepsPin, int directionPin, int limitPin){
+  digitalWrite(directionPin,LOW); // Set Dir high
+  int checker = 1;
+  int cnter = 0;
+  int stpper = 1;
+   while(stpper > 0){
+    checker = digitalRead(limitPin);
+    if (checker == 1){
+      cnter = cnter + 1;
+    }
+    else {
+      cnter = 0;
+    }
+    if (cnter > 4){
+      stpper = 0;
+    }
+    digitalWrite(stepsPin,HIGH); // Output high
+    delayMicroseconds(800); // Wait 1/2 a ms
+    digitalWrite(stepsPin,LOW); // Output low
+    delayMicroseconds(800); // Wait 1/2 a ms
+   }
+   digitalWrite(directionPin,HIGH); // Set Dir high
+   for(int x = 0; x < 200; x++){ // Loop 200 times
+    digitalWrite(stepsPin,HIGH); // Output high
+    delayMicroseconds(1000); // Wait 1/2 a ms
+    digitalWrite(stepsPin,LOW); // Output low
+    delayMicroseconds(1000); // Wait 1/2 a ms
+   }
+    int stepcount = 0;
+    return stepcount;
+}
+</code>

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