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Fix Arduino codes for RAMPS 1.4 #19

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Fix Arduino codes for RAMPS 1.4 #19

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2518931
Fix stepper example
eborghi10 Feb 2, 2019
2b4dca2
Fix MoveIt! code for Arduino
eborghi10 Feb 2, 2019
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44 changes: 29 additions & 15 deletions moveo_moveit/moveo_moveit_arduino/MultiStepperTest/MultiStepperTest.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -7,9 +7,9 @@
#include <MultiStepper.h>

// Joint 1
#define E1_STEP_PIN 36
#define E1_DIR_PIN 34
#define E1_ENABLE_PIN 30
#define E1_STEP_PIN 36
#define E1_DIR_PIN 34
#define E1_ENABLE_PIN 30

// Joint 2
#define Z_STEP_PIN 46
Expand All @@ -26,23 +26,23 @@
#define Y_MAX_PIN 15

// Joint 4
#define X_STEP_PIN 54
#define X_DIR_PIN 55
#define X_ENABLE_PIN 38
#define X_STEP_PIN 54
#define X_DIR_PIN 55
#define X_ENABLE_PIN 38

// Joint 5
#define E0_STEP_PIN 26
#define E0_DIR_PIN 28
#define E0_ENABLE_PIN 24
#define E0_STEP_PIN 26
#define E0_DIR_PIN 28
#define E0_ENABLE_PIN 24


// EG X-Y position bed driven by 2 steppers
// Alas its not possible to build an array of these with different pins for each :-(
AccelStepper joint1(1,E1_STEP_PIN, E1_DIR_PIN);
AccelStepper joint2(1,Z_STEP_PIN, Z_DIR_PIN);
AccelStepper joint3(1,Y_STEP_PIN, Y_DIR_PIN);
AccelStepper joint4(1,X_STEP_PIN, X_DIR_PIN);
AccelStepper joint5(1, E0_STEP_PIN, E0_DIR_PIN);
AccelStepper joint1(AccelStepper::DRIVER, E1_STEP_PIN, E1_DIR_PIN);
AccelStepper joint2(AccelStepper::DRIVER, Z_STEP_PIN, Z_DIR_PIN);
AccelStepper joint3(AccelStepper::DRIVER, Y_STEP_PIN, Y_DIR_PIN);
AccelStepper joint4(AccelStepper::DRIVER, X_STEP_PIN, X_DIR_PIN);
AccelStepper joint5(AccelStepper::DRIVER, E0_STEP_PIN, E0_DIR_PIN);

// Up to 10 steppers can be handled as a group by MultiStepper
MultiStepper steppers;
Expand All @@ -51,7 +51,21 @@ MultiStepper steppers;
unsigned int x = 1000;

void setup() {
Serial.begin(250000);
Serial.begin(115200);

// Declare enable pins as outputs
pinMode(X_ENABLE_PIN, OUTPUT);
pinMode(Y_ENABLE_PIN, OUTPUT);
pinMode(Z_ENABLE_PIN, OUTPUT);
pinMode(E0_ENABLE_PIN, OUTPUT);
pinMode(E1_ENABLE_PIN, OUTPUT);

// Set enable pins with LOW value
digitalWrite(X_ENABLE_PIN, LOW);
digitalWrite(Y_ENABLE_PIN, LOW);
digitalWrite(Z_ENABLE_PIN, LOW);
digitalWrite(E0_ENABLE_PIN, LOW);
digitalWrite(E1_ENABLE_PIN, LOW);

// Configure each stepper
joint1.setMaxSpeed(1500);
Expand Down
38 changes: 33 additions & 5 deletions moveo_moveit/moveo_moveit_arduino/moveo_moveit_arduino.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -57,11 +57,11 @@
#define E0_DIR_PIN 28
#define E0_ENABLE_PIN 24

AccelStepper joint1(1,E1_STEP_PIN, E1_DIR_PIN);
AccelStepper joint2(1,Z_STEP_PIN, Z_DIR_PIN);
AccelStepper joint3(1,Y_STEP_PIN, Y_DIR_PIN);
AccelStepper joint4(1,X_STEP_PIN, X_DIR_PIN);
AccelStepper joint5(1, E0_STEP_PIN, E0_DIR_PIN);
AccelStepper joint1(AccelStepper::DRIVER, E1_STEP_PIN, E1_DIR_PIN);
AccelStepper joint2(AccelStepper::DRIVER, Z_STEP_PIN, Z_DIR_PIN);
AccelStepper joint3(AccelStepper::DRIVER, Y_STEP_PIN, Y_DIR_PIN);
AccelStepper joint4(AccelStepper::DRIVER, X_STEP_PIN, X_DIR_PIN);
AccelStepper joint5(AccelStepper::DRIVER, E0_STEP_PIN, E0_DIR_PIN);

Servo gripper;
MultiStepper steppers;
Expand Down Expand Up @@ -96,6 +96,34 @@ ros::Subscriber<std_msgs::UInt16> gripper_sub("gripper_angle", gripper_cb); //su
//to publish from terminal: rostopic pub gripper_angle std_msgs/UInt16 <0-180>

void setup() {
// Declare stepper control pins as outputs
pinMode(X_STEP_PIN, OUTPUT);
pinMode(X_DIR_PIN, OUTPUT);
pinMode(X_ENABLE_PIN, OUTPUT);

pinMode(Y_STEP_PIN, OUTPUT);
pinMode(Y_DIR_PIN, OUTPUT);
pinMode(Y_ENABLE_PIN, OUTPUT);

pinMode(Z_STEP_PIN, OUTPUT);
pinMode(Z_DIR_PIN, OUTPUT);
pinMode(Z_ENABLE_PIN, OUTPUT);

pinMode(E0_STEP_PIN, OUTPUT);
pinMode(E0_DIR_PIN, OUTPUT);
pinMode(E0_ENABLE_PIN, OUTPUT);

pinMode(E1_STEP_PIN, OUTPUT);
pinMode(E1_DIR_PIN, OUTPUT);
pinMode(E1_ENABLE_PIN, OUTPUT);

// Set enable pins with LOW value
digitalWrite(X_ENABLE_PIN, LOW);
digitalWrite(Y_ENABLE_PIN, LOW);
digitalWrite(Z_ENABLE_PIN, LOW);
digitalWrite(E0_ENABLE_PIN, LOW);
digitalWrite(E1_ENABLE_PIN, LOW);

//put your setup code here, to run once:
//Serial.begin(57600);
pinMode(13,OUTPUT);
Expand Down