bdev:filamentextrduer_code
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Filabotextruder code 1
5 motor
#include <PID_v1.h>
#include <AccelStepper.h>
#define motorInterfaceType 1
//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;
int directionA = 0;
int directionB = 0;
int directionC = 0;
int directionD = 0;
int directionE = 0;
int ton = 0;
int buttonastate = 0;
int buttonbstate = 0;
int buttoncstate = 0;
int buttondstate = 0;
int buttonestate = 0;
int afl = 0;
int bfl = 0;
int cfl = 0;
int dfl = 0;
int efl = 0;
String command;
long int currpos;
long int pos;
//Specify the links and initial tuning parameters
PID myPIDA(&Input, &Output, &Setpoint, aggKpA, aggKiA, aggKdA, DIRECT);
#define THERMISTOR_PINA A0
#define TEMPCONTROLA 10
int PS[] = {26, 28, 30, 32, 34, 36, 40, 42, 44, 46, 48, 50, 52, 24};
// Define some steppers and the pins the will use
const int enablePinA = PS[0];
const int directionPinA = PS[1];
const int stepsPinA = PS[2];
const int enablePinB = PS[3];
const int directionPinB = PS[4];
const int stepsPinB = PS[5];
const int enablePinC = PS[6];
const int directionPinC = PS[7];
const int stepsPinC = PS[8];
const int enablePinD = PS[10];
const int directionPinD = PS[11];
const int stepsPinD = PS[12];
const int enablePinE = PS[14];
const int directionPinE = PS[16];
const int stepsPinE = PS[18];
const int speedpotA = A1;
const int gobuttonA = A2;
const int stopbuttonA = A3;
const int stepspinA = LOW;
const int speedpotB = A4;
const int gobuttonB = A5;
const int stopbuttonB = A6;
const int stepspinB = LOW;
const int speedpotC = A7;
const int gobuttonC = A8;
const int stopbuttonC = A9;
const int stepspinC = LOW;
const int speedpotD = A10;
const int gobuttonD = A11;
const int stopbuttonD = A12;
const int stepspinD = LOW;
const int speedpotE = A13;
const int gobuttonE = A14;
const int stopbuttonE = A15;
const int stepspinE = LOW;
AccelStepper stepperA = AccelStepper(motorInterfaceType, stepsPinA, directionPinA);
AccelStepper stepperB = AccelStepper(motorInterfaceType, stepsPinB, directionPinB);
AccelStepper stepperC = AccelStepper(motorInterfaceType, stepsPinC, directionPinC);
AccelStepper stepperD = AccelStepper(motorInterfaceType, stepsPinD, directionPinD);
AccelStepper stepperE = AccelStepper(motorInterfaceType, stepsPinE, directionPinE);
void setup()
{
Serial.begin(115200);
pinMode(stepsPinA, OUTPUT);
pinMode(directionPinA, OUTPUT);
pinMode(enablePinA, OUTPUT);
pinMode(stepsPinB, OUTPUT);
pinMode(directionPinB, OUTPUT);
pinMode(enablePinB, OUTPUT);
pinMode(stepsPinC, OUTPUT);
pinMode(directionPinC, OUTPUT);
pinMode(enablePinC, OUTPUT);
pinMode(stepsPinD, OUTPUT);
pinMode(directionPinD, OUTPUT);
pinMode(enablePinD, OUTPUT);
pinMode(stepsPinE, OUTPUT);
pinMode(directionPinE, OUTPUT);
pinMode(enablePinE, OUTPUT);
pinMode(TEMPCONTROLA, OUTPUT);
digitalWrite(enablePinA,HIGH);
digitalWrite(enablePinB,HIGH);
digitalWrite(enablePinC,HIGH);
digitalWrite(enablePinD,HIGH);
digitalWrite(enablePinE,HIGH);
digitalWrite(directionPinA, LOW);
digitalWrite(directionPinB, LOW);
digitalWrite(directionPinC, LOW);
digitalWrite(directionPinD, LOW);
digitalWrite(directionPinE, LOW);
stepperA.setMaxSpeed(1000*16);
stepperB.setMaxSpeed(1000*16);
stepperC.setMaxSpeed(1000*16);
stepperD.setMaxSpeed(1000*16);
stepperE.setMaxSpeed(1000*16);
//turn the PID on
myPIDA.SetMode(AUTOMATIC);
}
void loop(){
int speedA = map(analogRead(speedpotA), 0, 1023, 1, 2000);
int speedB = map(analogRead(speedpotB), 0, 1023, 1, 2000);
int speedC = map(analogRead(speedpotC), 0, 1023, 1, 2000);
int speedD = map(analogRead(speedpotD), 0, 1023, 1, 2000);
int speedE = map(analogRead(speedpotE), 0, 1023, 1, 2000);
Input = read_temp("A");
double gap = abs(Setpoint-Input); //distance away from setpoint
myPIDA.SetTunings(aggKpA, aggKiA, aggKdA);
myPIDA.Compute();
analogWrite(TEMPCONTROLA,Output);
int rawvalue = analogRead(THERMISTOR_PINA);
int rawvalueA = rawvalue;
float celsiusA = read_temp("A");
if (levelstreamon == 1) {
Serial.print("A: ");
Serial.print(rawvalueA);
Serial.print(" ");
Serial.println(celsiusA);
Serial.print("Settemp: ");
Serial.println(settemp);
delay(500);
}
bfl = motorStop(stopbuttonA, enablePinA, directionA, directionPinA, bfl);
motorMove(gobuttonA, enablePinA);
bfl = motorStop(stopbuttonB, enablePinB, directionB, directionPinB, bfl);
motorMove(gobuttonB, enablePinB);
bfl = motorStop(stopbuttonC, enablePinC, directionC, directionPinC, bfl);
motorMove(gobuttonC, enablePinC);
bfl = motorStop(stopbuttonD, enablePinD, directionD, directionPinD, bfl);
motorMove(gobuttonD, enablePinD);
bfl = motorStop(stopbuttonE, enablePinE, directionE, directionPinE, bfl);
motorMove(gobuttonE, enablePinE);
if (directionA == 1) {stepperA.setSpeed(speedA);}else{stepperA.setSpeed(-speedA);}
if (directionB == 1) {stepperB.setSpeed(speedB);}else{stepperB.setSpeed(-speedB);}
if (directionC == 1) {stepperC.setSpeed(speedC);}else{stepperC.setSpeed(-speedC);}
//if (stepperC.distanceToGo() == 0)
//stepperC.moveTo(-stepperC.currentPosition());
stepperE.runSpeed();
stepperD.runSpeed();
stepperC.runSpeed();
stepperB.runSpeed();
stepperA.runSpeed();
if(Serial.available()){
char c = Serial.read();
if (c== '\n'){
currpos = parseCommand(command, currpos);
command = "";
}
else{
command +=c;
}
}
}
void motorMove(int gobutton, int enablePin){
if (digitalRead(gobutton) == 1){
digitalWrite(enablePin, LOW);
}
}
int motorStop(int stopbutton, int enablePin, int direction, int directionPin, int bfl){
if (digitalRead(stopbutton) ==HIGH){
digitalWrite(enablePin, HIGH);
if (bfl == 0){
if (direction==0){direction = 1; digitalWrite(directionPin, HIGH); }else{direction=0; digitalWrite(directionPin, LOW);}
bfl = 1;
}
} else { bfl = 0; }
return bfl;
}
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);
}
#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;
}
#include <PID_v1.h>
#include <AccelStepper.h>
#define motorInterfaceType 1
//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;
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;
int cfl = 0;
String command;
long int currpos;
long int pos;
int goA, goB, goC;
//Specify the links and initial tuning parameters
PID myPIDA(&Input, &OutputA, &Setpoint, aggKpA, aggKiA, aggKdA, DIRECT);
#define THERMISTOR_PINA A11
#define TEMPCONTROLA 10
// Define some steppers and the pins the will use
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 stepspinA = LOW;
const int gobuttonB = A5;
const int stopbuttonB = A6;
const int speedpotB = A3;
const int stepspinB = LOW;
const int gobuttonC = A7;
const int stopbuttonC = A8;
const int speedpotC = A4;
const int stepspinC = LOW;
AccelStepper stepperA = AccelStepper(motorInterfaceType, stepsPinA, directionPinA);
AccelStepper stepperB = AccelStepper(motorInterfaceType, stepsPinB, directionPinB);
AccelStepper stepperC = AccelStepper(motorInterfaceType, stepsPinC, directionPinC);
void setup()
{
Serial.begin(115200);
pinMode(stepsPinA, OUTPUT);
pinMode(directionPinA, OUTPUT);
pinMode(enablePinA, OUTPUT);
pinMode(stepsPinB, OUTPUT);
pinMode(directionPinB, OUTPUT);
pinMode(enablePinB, OUTPUT);
pinMode(stepsPinC, OUTPUT);
pinMode(directionPinC, OUTPUT);
pinMode(enablePinC, OUTPUT);
pinMode(TEMPCONTROLA, OUTPUT);
digitalWrite(enablePinA,HIGH);
digitalWrite(enablePinB,HIGH);
digitalWrite(enablePinC,HIGH);
digitalWrite(directionPinA, LOW);
digitalWrite(directionPinB, LOW);
digitalWrite(directionPinC, LOW);
stepperA.setMaxSpeed(1000*16);
stepperB.setMaxSpeed(1000*16);
stepperC.setMaxSpeed(1000*16);
//turn the PID on
myPIDA.SetMode(AUTOMATIC);
}
void loop(){
int speedA = map(analogRead(speedpotA), 0, 1023, 1, 2000);
int speedB = map(analogRead(speedpotB), 0, 1023, 1, 2000);
int speedC = map(analogRead(speedpotC), 0, 1023, 1, 2000);
Input = read_temp("A");
double gap = abs(Setpoint-Input); //distance away from setpoint
myPIDA.SetTunings(aggKpA, aggKiA, aggKdA);
myPIDA.Compute();
Serial.print("outputA ");
Serial.println(OutputA);
analogWrite(TEMPCONTROLA,OutputA);
int rawvalue = analogRead(THERMISTOR_PINA);
int rawvalueA = rawvalue;
float celsiusA = read_temp("A");
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){
digitalWrite(enablePinA, HIGH);
goA = 0;
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){
digitalWrite(enablePinA, LOW);
Serial.println("moving A");
goA = 1;
}
if (digitalRead(stopbuttonB) ==HIGH){
digitalWrite(enablePinB, HIGH);
goA = 0;
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){
digitalWrite(enablePinB, LOW);
Serial.println("moving A");
goA = 1;
}
if (digitalRead(stopbuttonC) ==HIGH){
goC = 0;
digitalWrite(enablePinC, HIGH);
if (cfl == 0){
if (directionC==0){directionC = 1; digitalWrite(directionPinC, HIGH); }else{directionC=0; digitalWrite(directionPinC, LOW);}
Serial.print(directionC);
Serial.println(" direction changed");
cfl = 1;
}
} else { cfl = 0; }
if (digitalRead(gobuttonC) == 1){
digitalWrite(enablePinC, LOW);
Serial.println("moving C");
goC = 1;
}
if (directionA == 1) {stepperA.setSpeed(speedA);}else{stepperA.setSpeed(-speedA);}
if (directionB == 1) {stepperB.setSpeed(speedB);}else{stepperB.setSpeed(-speedB);}
if (directionC == 1) {stepperC.setSpeed(speedC);}else{stepperC.setSpeed(-speedC);}
//if (stepperC.distanceToGo() == 0)
//stepperC.moveTo(-stepperC.currentPosition());
stepperC.runSpeed();
stepperB.runSpeed();
stepperA.runSpeed();
if(Serial.available()){
char c = Serial.read();
if (c== '\n'){
currpos = parseCommand(command, currpos);
command = "";
}
else{
command +=c;
}
}
}
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);
}
#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;
}
bdev/filamentextrduer_code.1669674621.txt.gz · Last modified: 2022/11/28 22:30 by richard
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