Week 14

The Application interface controlled the two nema motors and set both distance and acceleration. What the code does is create a simil G-code string to send to the Arduino, after parsing the strings, it is generating commands for controlling the motors. I have uploaded his files in my repository. The Arduino sketch used Adafruit library AFMOTOR and AccelStepper library. There are comment to explain below: #include //import AccelStepper library #include // import Adafruit Motor Shield Library //setting AccelStepper working with Adafruit Motor Sield AF_Stepper motor1(200, 1); // set the first motor AF_Stepper motor2(200, 2); // set the second motor // setting steps for the first motor void forwardstep1() { motor1.onestep(FORWARD, SINGLE); } void backwardstep1() { motor1.onestep(BACKWARD, SINGLE); } // and for the second motor! void forwardstep2() { motor2.onestep(FORWARD, SINGLE); } void backwardstep2() { motor2.onestep(BACKWARD, SINGLE); } AccelStepper Stepper1(forwardstep1, backwardstep1); AccelStepper Stepper2(forwardstep2, backwardstep2); // end settings for Adafruit void setup() { Serial.begin(9600); //start serial at 9600 baudrate // satting some basic motor parameters for the first stepper Stepper1.setMaxSpeed(600); Stepper1.setAcceleration(200); Stepper1.setSpeed(0); // satting some basic motor parameters for the second stepper Stepper2.setMaxSpeed(600); Stepper2.setAcceleration(200); Stepper2.setSpeed(0); long x = 0L; //x home long y = 0L; // y home void SetPosition (long x, long y); //set home } void loop() { // set some variables int TiltSpeed = 0; int PanSpeed = 0; String IncomingByte; int gox = 0; int goy = 0; String dummy="#"; Stepper1.runSpeed(); Stepper2.runSpeed(); String readString; // prepare the string while (Serial.available()) { //loop delay(10); if (Serial.available() >0) { // check is there is a serial connection char c = Serial.read(); //gets one byte from serial buffer readString += c; //makes the string readString Serial.println(readString); //print on screen } } //readString = "#A1750B1750X1011Y1461"; IncomingByte = readString.substring(0, 1); //read the first character if (IncomingByte==dummy) //if is a # start reading { TiltSpeed=readString.substring(2, 6).toInt(); // jump a char (A), read next 4 chars, record it on a variable Serial.println(TiltSpeed); // print the variable value PanSpeed=readString.substring(7, 11).toInt(); // jump a char (B), read next 4 chars, record it on a variable Serial.println(PanSpeed); // print the variable value gox=readString.substring(12, 16).toInt(); // jump a char (X), read next 4 chars, record it on a variable Serial.println(gox); // print the variable value goy=readString.substring(17, 21).toInt(); // jump a char (Y), read next 4 chars, record it on a variable Serial.println(goy); // print the variable value SetSpeed(&Stepper1, TiltSpeed); // set the speed af the first motor SetSpeed(&Stepper2, PanSpeed); // set the speed af the second motor SetPosition(gox, goy); // move to point } } // function used to set the speed of the motor void SetSpeed(AccelStepper* pStepper, int MotorSpeed) { pStepper->setSpeed(MotorSpeed*30); // adjust the motor speed } // function that move the motors void SetPosition(int x, int y) { x=x*100; //multiply for pulley or for simulate y=y*100; //multiply for pulley or for simulate Stepper1.moveTo(x); Stepper2.moveTo(y); // trick that make fluid the movement while (abs(x - Stepper1.currentPosition()) > 0) { Stepper1.run(); Stepper2.run(); } } The Processing File, at first, I was unable to test drive it. Processing verbose alway gave me this error code while when I press "Play" to run the sketch and show the interface.

I looked on Processing reference library on declaring serial port and this is what I have learned: I have to declare my serial port according to what this println(Serial.list()); printed a list of all the available serial ports:. I learned that my port is /dev/tty.usbmodemFA141 so I updated the code to be the one below myPort = new Serial(this, "/dev/tty.usbmodemFD131", 9600); I added in the import cc.arduino.*; // This import the Arduino Library for it to work since we do not use FIRMATA in this case and it looked like this: import processing.serial.*; import cc.arduino.*; // This import the Arduino Library int x=11; // start from x zero int x2=750; //start A from center int y=461; // start from y zero int y2=750; //start B from center // some variables: nothing to explain int x1; int x3; int y1; int y3; int vel; int acx; int acy; int mx; int my; int a1; int a2; int mvx; int mvy; String stringamx; String stringamy; String stringaax; String stringaay; PFont f; PImage bg; Serial myPort; // start setting the drawable area void setup() { size(930, 650); // 930px per 700px window f = createFont("Arial",16,true); // Create Font println(Serial.list()); //print all the serial ports so you can set your own below myPort = new Serial(this, "/dev/cu.usbmodemFA141", 9600); // setting the usb serial port to 9600 baudrate bg = loadImage("bg.jpg"); // load my face } // let's populate the window void draw() { background(bg); // put my face as background image //Motor X--------------------- rectMode(CORNER); stroke(#000000); // draw a rectangle with border black fill(#60b246); // and background green rect(10,310,300,30); // that starts from point x=10px, y=310px, 300px width and 30pz height stroke(#cccccc); // draw a rectangle with border grey fill(#ffffff); // backgroung white rect(x,310,20,30); // that starts from x variable and y=310px, 20px width and 30px height textFont(f,16); // Specify font to be used fill(255); // Specify font color text("X Motor Movement",100,300); // Display fixed text in right position text(mvx,160,370); // Display variable text in right position String xm = nf(x-11, 4); stringamx = 'X' + xm; if(mouseX>10 && mouseX<290 && mouseY > 310 && mouseY< 340 && mousePressed) { // listen when user press the mouse button inside the main rectangle area x=mouseX; // x variable is where the mouse is (inside the area) mx=constrain(x,10,290); // record the mouse position inside the max x mouvement inside the area mvx=abs(x-11); // to obtain a real value, I substract the x starting point. xm = nf(mvx, 4); // to obtain always 4 digit (is useful for parsing) stringamx = 'X' + xm; // record the value in a string putting an X ahead. println(stringamx); // print the value delay(500); // wait 500ms } // FROM THIS POINT I COMMENT ONLY NEW CODE //motor Y -------------------------- rectMode(CORNER); stroke(#000000); fill(#60b246); rect(450, 180, 30, 300); stroke(#cccccc); fill(#ffffff); rect(450, y, 30, 20); textFont(f,16); fill(255); text("Y Motor Movement",393,150); text(mvy,455,500); String ym = nf(abs(y-461), 4); stringamy = 'Y' + ym; if (mouseX>450 && mouseX<480 && mouseY > 180 && mouseY< 460 && mousePressed) { y=mouseY; my=constrain(y, 180, 461); mvy=abs(y-461); // i want an high value up and low value down ym = nf(mvy, 4); stringamy = 'Y' + ym; println(stringamy); delay(500); // wait 500ms } //X motor acceleration --------------------- rectMode(CORNER); stroke(#000000); fill(#60b246); rect(610,250,300,30); stroke(#cccccc); fill(#ffffff); rect(x2,250,20,30); textFont(f,16); fill(255); text("X Motor Acceleration",690,240); a2 = x2-610; text(a2,580,270); String ax = nf(abs(x2-610), 4); stringaax = 'A' + ax; if(mouseX>610 && mouseX<891 && mouseY > 250 && mouseY< 280 && mousePressed) { x2=mouseX; acx=constrain(x2,610,891); a2=abs(acx-610); ax = nf(a2, 4); stringaax = 'B' + ax; println(stringaax); delay(500); // wait 500ms } //Y motor acceleration-------------------------- rectMode(CORNER); stroke(#000000); fill(#60b246); rect(610,310,300,30); stroke(#cccccc); fill(#ffffff); rect(y2,310,20,30); textFont(f,16); fill(255); text("Y Motor Acceleration",690,305); a1 = y2-610; text(a1,580,330); String ay = nf(abs(y2-610), 4); stringaay = 'B' + ay; if (mouseX>610 && mouseX<891 && mouseY > 310 && mouseY< 340 && mousePressed) { y2=mouseX; acy=constrain(y2, 610, 891); a1=abs(acy-610); ay = nf(a1, 4); stringaay = 'B' + ay; println(stringaay); delay(500); // wait 500ms } //BUTTON--------------- rectMode(CORNER); stroke(#60b246); fill(#000000); rect(820,370,90,30); textFont(f,16); fill(255); text("START",840,392); if(mouseX>820 && mouseX<910 && mouseY > 370 && mouseY< 400 && mousePressed) { String gcode='#' + stringaax + stringaay + stringamx + stringamy ; // join all the sctring and put at the begin myPort.write(gcode); // write on serial port println(gcode); // print on screen delay(500); // wait 500ms } }