Mini CNC hecha con 2 grabadoras de DVD.

Hola, acudo a ustedes a ver si me pueden ayudar con un proyecto que estoy haciendo de una mini CNC con 2 grabadoras de DVD, el problema que estoy teniendo es que cuando mando a imprimir alguna imagen en formato .gcode la mini CNC me dibuja garabatos y no la imagen que le envió por medio de GCTRL.

La mini CNC la monte con una shield L293D, un Arduino uno, 2 lectoras de DVD y un micro servo SG90. Le proporciono una alimentación externa de 12v conectada al Arduino.

Debajo les dejo el sketch que estoy usando, el código de GCTRL que ejecuto por medio de Processing 3.4 y adjunto imágenes de como esta ensamblada la mini CNC y como tengo las conexiones en la shield L293D.

Probé varias cosas y no puedo dar con el problema, tanto el código del sketch como el de GCTRL e imágenes en formato .gcode los saque de otros proyectos que funcionaron correctamente.

Les agradecería muchísimo si me pueden ayudar para poder hacer funcionar esta mini CNC.

Desde ya muchísimas gracias!!! :).

743×1024 176 KB

1024×576 135 KB

Saludos.

Codigo del Sketch:

#include <Servo.h>
#include <AFMotor.h>

#define LINE_BUFFER_LENGTH 512

char STEP = MICROSTEP ;

// Servo position for Up and Down 
const int penZUp = 115;
const int penZDown = 73;

// Servo on PWM pin 10
const int penServoPin =10 ;

// Should be right for DVD steppers, but is not too important here
const int stepsPerRevolution = 48; 

// create servo object to control a servo 
Servo penServo;  

// Initialize steppers for X- and Y-axis using this Arduino pins for the L293D H-bridge
AF_Stepper myStepperY(stepsPerRevolution,1);            
AF_Stepper myStepperX(stepsPerRevolution,2);  

/* Structures, global variables    */
struct point { 
  float x; 
  float y; 
  float z; 
};

// Current position of plothead
struct point actuatorPos;

//  Drawing settings, should be OK
float StepInc = 1;
int StepDelay = 0;
int LineDelay =0;
int penDelay = 50;

// Motor steps to go 1 millimeter.
// Use test sketch to go 100 steps. Measure the length of line. 
// Calculate steps per mm. Enter here.
float StepsPerMillimeterX = 100.0;
float StepsPerMillimeterY = 100.0;

// Drawing robot limits, in mm
// OK to start with. Could go up to 50 mm if calibrated well. 
float Xmin = 0;
float Xmax = 40;
float Ymin = 0;
float Ymax = 40;
float Zmin = 0;
float Zmax = 1;

float Xpos = Xmin;
float Ypos = Ymin;
float Zpos = Zmax; 

// Set to true to get debug output.
boolean verbose = false;

//  Needs to interpret 
//  G1 for moving
//  G4 P300 (wait 150ms)
//  M300 S30 (pen down)
//  M300 S50 (pen up)
//  Discard anything with a (
//  Discard any other command!

/**********************
 * void setup() - Initialisations
 ***********************/
void setup() {
  //  Setup
  
  Serial.begin( 9600 );
  
  penServo.attach(penServoPin);
  penServo.write(penZUp);
  delay(100);

  // Decrease if necessary
  myStepperX.setSpeed(600);

  myStepperY.setSpeed(600);  
  

  //  Set & move to initial default position
  // TBD

  //  Notifications!!!
  Serial.println("Mini CNC Plotter alive and kicking!");
  Serial.print("X range is from "); 
  Serial.print(Xmin); 
  Serial.print(" to "); 
  Serial.print(Xmax); 
  Serial.println(" mm."); 
  Serial.print("Y range is from "); 
  Serial.print(Ymin); 
  Serial.print(" to "); 
  Serial.print(Ymax); 
  Serial.println(" mm."); 
}

/**********************
 * void loop() - Main loop
 ***********************/
void loop() 
{
  
  delay(100);
  char line[ LINE_BUFFER_LENGTH ];
  char c;
  int lineIndex;
  bool lineIsComment, lineSemiColon;

  lineIndex = 0;
  lineSemiColon = false;
  lineIsComment = false;

  while (1) {

    // Serial reception - Mostly from Grbl, added semicolon support
    while ( Serial.available()>0 ) {
      c = Serial.read();
      if (( c == '\n') || (c == '\r') ) {             // End of line reached
        if ( lineIndex > 0 ) {                        // Line is complete. Then execute!
          line[ lineIndex ] = '\0';                   // Terminate string
          if (verbose) { 
            Serial.print( "Received : "); 
            Serial.println( line ); 
          }
          processIncomingLine( line, lineIndex );
          lineIndex = 0;
        } 
        else { 
          // Empty or comment line. Skip block.
        }
        lineIsComment = false;
        lineSemiColon = false;
        Serial.println("ok");    
      } 
      else {
        if ( (lineIsComment) || (lineSemiColon) ) {   // Throw away all comment characters
          if ( c == ')' )  lineIsComment = false;     // End of comment. Resume line.
        } 
        else {
          if ( c <= ' ' ) {                           // Throw away whitepace and control characters
          } 
          else if ( c == '/' ) {                    // Block delete not supported. Ignore character.
          } 
          else if ( c == '(' ) {                    // Enable comments flag and ignore all characters until ')' or EOL.
            lineIsComment = true;
          } 
          else if ( c == ';' ) {
            lineSemiColon = true;
          } 
          else if ( lineIndex >= LINE_BUFFER_LENGTH-1 ) {
            Serial.println( "ERROR - lineBuffer overflow" );
            lineIsComment = false;
            lineSemiColon = false;
          } 
          else if ( c >= 'a' && c <= 'z' ) {        // Upcase lowercase
            line[ lineIndex++ ] = c-'a'+'A';
          } 
          else {
            line[ lineIndex++ ] = c;
          }
        }
      }
    }
  }
}

void processIncomingLine( char* line, int charNB ) {
  int currentIndex = 0;
  char buffer[ 64 ];                                 // Hope that 64 is enough for 1 parameter
  struct point newPos;

  newPos.x = 0.0;
  newPos.y = 0.0;

  //  Needs to interpret 
  //  G1 for moving
  //  G4 P300 (wait 150ms)
  //  G1 X60 Y30
  //  G1 X30 Y50
  //  M300 S30 (pen down)
  //  M300 S50 (pen up)
  //  Discard anything with a (
  //  Discard any other command!

  while( currentIndex < charNB ) {
    switch ( line[ currentIndex++ ] ) {              // Select command, if any
    case 'U':
      penUp(); 
      break;
    case 'D':
      penDown(); 
      break;
    case 'G':
      buffer[0] = line[ currentIndex++ ];          // /!\ Dirty - Only works with 2 digit commands
      //      buffer[1] = line[ currentIndex++ ];
      //      buffer[2] = '\0';
      buffer[1] = '\0';

      switch ( atoi( buffer ) ){                   // Select G command
      case 0:                                   // G00 & G01 - Movement or fast movement. Same here
      case 1:
        // /!\ Dirty - Suppose that X is before Y
        char* indexX = strchr( line+currentIndex, 'X' );  // Get X/Y position in the string (if any)
        char* indexY = strchr( line+currentIndex, 'Y' );
        if ( indexY <= 0 ) {
          newPos.x = atof( indexX + 1); 
          newPos.y = actuatorPos.y;
        } 
        else if ( indexX <= 0 ) {
          newPos.y = atof( indexY + 1);
          newPos.x = actuatorPos.x;
        } 
        else {
          newPos.y = atof( indexY + 1);
          indexY = '\0';
          newPos.x = atof( indexX + 1);
        }
        drawLine(newPos.x, newPos.y );
        //        Serial.println("ok");
        actuatorPos.x = newPos.x;
        actuatorPos.y = newPos.y;
        break;
      }
      break;
    case 'M':
      buffer[0] = line[ currentIndex++ ];        // /!\ Dirty - Only works with 3 digit commands
      buffer[1] = line[ currentIndex++ ];
      buffer[2] = line[ currentIndex++ ];
      buffer[3] = '\0';
      switch ( atoi( buffer ) ){
      case 300:
        {
          char* indexS = strchr( line+currentIndex, 'S' );
          float Spos = atof( indexS + 1);
          //         Serial.println("ok");
          if (Spos == 30) { 
            penDown(); 
          }
          if (Spos == 50) { 
            penUp(); 
          }
          break;
        }
      case 114:                                // M114 - Repport position
        Serial.print( "Absolute position : X = " );
        Serial.print( actuatorPos.x );
        Serial.print( "  -  Y = " );
        Serial.println( actuatorPos.y );
        break;
      default:
        Serial.print( "Command not recognized : M");
        Serial.println( buffer );
      }
    }
  }



}

Continua código del Sketch:

/*********************************
 * Draw a line from (x0;y0) to (x1;y1).
 * int (x1;y1) : Starting coordinates
 * int (x2;y2) : Ending coordinates
 **********************************/
void drawLine(float x1, float y1) {

  if (verbose)
  {
    Serial.print("fx1, fy1: ");
    Serial.print(x1);
    Serial.print(",");
    Serial.print(y1);
    Serial.println("");
  }  

  //  Bring instructions within limits
  if (x1 >= Xmax) { 
    x1 = Xmax; 
  }
  if (x1 <= Xmin) { 
    x1 = Xmin; 
  }
  if (y1 >= Ymax) { 
    y1 = Ymax; 
  }
  if (y1 <= Ymin) { 
    y1 = Ymin; 
  }

  if (verbose)
  {
    Serial.print("Xpos, Ypos: ");
    Serial.print(Xpos);
    Serial.print(",");
    Serial.print(Ypos);
    Serial.println("");
  }

  if (verbose)
  {
    Serial.print("x1, y1: ");
    Serial.print(x1);
    Serial.print(",");
    Serial.print(y1);
    Serial.println("");
  }

  //  Convert coordinates to steps
  x1 = (int)(x1*StepsPerMillimeterX);
  y1 = (int)(y1*StepsPerMillimeterY);
  float x0 = Xpos;
  float y0 = Ypos;

  //  Let's find out the change for the coordinates
  long dx = abs(x1-x0);
  long dy = abs(y1-y0);
  int sx = x0<x1 ? StepInc : -StepInc;
  int sy = y0<y1 ? StepInc : -StepInc;

  long i;
  long over = 0;

  if (dx > dy) {
    for (i=0; i<dx; ++i) {
      myStepperX.onestep(sx,STEP);
      over+=dy;
      if (over>=dx) {
        over-=dx;
        myStepperY.onestep(sy,STEP);
      }
    delay(StepDelay);
    }
  }
  else {
    for (i=0; i<dy; ++i) {
      myStepperY.onestep(sy,STEP);
      over+=dx;
      if (over>=dy) {
        over-=dy;
        myStepperX.onestep(sx,STEP);
      }
      delay(StepDelay);
    }    
  }

  if (verbose)
  {
    Serial.print("dx, dy:");
    Serial.print(dx);
    Serial.print(",");
    Serial.print(dy);
    Serial.println("");
  }

  if (verbose)
  {
    Serial.print("Going to (");
    Serial.print(x0);
    Serial.print(",");
    Serial.print(y0);
    Serial.println(")");
  }

  //  Delay before any next lines are submitted
  delay(LineDelay);
  //  Update the positions
  Xpos = x1;
  Ypos = y1;
}

//  Raises pen
void penUp() { 
  penServo.write(penZUp); 
  delay(penDelay); 
  Zpos=Zmax; 
  digitalWrite(15, LOW);
    digitalWrite(16, HIGH);
  if (verbose) { 
    Serial.println("Pen up!"); 
    
  } 
}
//  Lowers pen
void penDown() { 
  penServo.write(penZDown); 
  delay(penDelay); 
  Zpos=Zmin; 
  digitalWrite(15, HIGH);
    digitalWrite(16, LOW);
  if (verbose) { 
    Serial.println("Pen down."); 
    
    
  } 
}

Codigo GCTRL:

import java.awt.event.KeyEvent;
import javax.swing.JOptionPane;
import processing.serial.*;

Serial port = null;

// select and modify the appropriate line for your operating system
// leave as null to use interactive port (press 'p' in the program)
String portname = null;
//String portname = Serial.list()[0]; // Mac OS X
//String portname = "/dev/ttyUSB0"; // Linux
//String portname = "COM6"; // Windows

boolean streaming = false;
float speed = 0.001;
String[] gcode;
int i = 0;

void openSerialPort()
{
  if (portname == null) return;
  if (port != null) port.stop();
  
  port = new Serial(this, portname, 9600);
  
  port.bufferUntil('\n');
}

void selectSerialPort()
{
  String result = (String) JOptionPane.showInputDialog(frame,
    "Select the serial port that corresponds to your Arduino board.",
    "Select serial port",
    JOptionPane.QUESTION_MESSAGE,
    null,
    Serial.list(),
    0);
    
  if (result != null) {
    portname = result;
    openSerialPort();
  }
}

void setup()
{
  size(500, 250);
  openSerialPort();
}

void draw()
{
  background(0);  
  fill(255);
  int y = 24, dy = 12;
  text("INSTRUCTIONS", 12, y); y += dy;
  text("p: select serial port", 12, y); y += dy;
  text("1: set speed to 0.001 inches (1 mil) per jog", 12, y); y += dy;
  text("2: set speed to 0.010 inches (10 mil) per jog", 12, y); y += dy;
  text("3: set speed to 0.100 inches (100 mil) per jog", 12, y); y += dy;
  text("arrow keys: jog in x-y plane", 12, y); y += dy;
  text("page up & page down: jog in z axis", 12, y); y += dy;
  text("$: display grbl settings", 12, y); y+= dy;
  text("h: go home", 12, y); y += dy;
  text("0: zero machine (set home to the current location)", 12, y); y += dy;
  text("g: stream a g-code file", 12, y); y += dy;
  text("x: stop streaming g-code (this is NOT immediate)", 12, y); y += dy;
  y = height - dy;
  text("current jog speed: " + speed + " inches per step", 12, y); y -= dy;
  text("current serial port: " + portname, 12, y); y -= dy;
}

void keyPressed()
{
  if (key == '1') speed = 0.001;
  if (key == '2') speed = 0.01;
  if (key == '3') speed = 0.1;
  
  if (!streaming) {
    if (keyCode == LEFT) port.write("G91\nG20\nG00 X-" + speed + " Y0.000 Z0.000\n");
    if (keyCode == RIGHT) port.write("G91\nG20\nG00 X" + speed + " Y0.000 Z0.000\n");
    if (keyCode == UP) port.write("G91\nG20\nG00 X0.000 Y" + speed + " Z0.000\n");
    if (keyCode == DOWN) port.write("G91\nG20\nG00 X0.000 Y-" + speed + " Z0.000\n");
    if (keyCode == KeyEvent.VK_PAGE_UP) port.write("G91\nG20\nG00 X0.000 Y0.000 Z" + speed + "\n");
    if (keyCode == KeyEvent.VK_PAGE_DOWN) port.write("G91\nG20\nG00 X0.000 Y0.000 Z-" + speed + "\n");
    if (key == 'h') port.write("G90\nG20\nG00 X0.000 Y0.000 Z0.000\n");
    if (key == 'v') port.write("$0=75\n$1=74\n$2=75\n");
    //if (key == 'v') port.write("$0=100\n$1=74\n$2=75\n");
    if (key == 's') port.write("$3=10\n");
    if (key == 'e') port.write("$16=1\n");
    if (key == 'd') port.write("$16=0\n");
    if (key == '0') openSerialPort();
    if (key == 'p') selectSerialPort();
    if (key == '

) port.write("$\n");
 }
 
 if (!streaming && key == 'g') {
   gcode = null; i = 0;
   File file = null;
   println("Loading file...");
   selectInput("Select a file to process:", "fileSelected", file);
 }
 
 if (key == 'x') streaming = false;
}

void fileSelected(File selection) {
 if (selection == null) {
   println("Window was closed or the user hit cancel.");
 } else {
   println("User selected " + selection.getAbsolutePath());
   gcode = loadStrings(selection.getAbsolutePath());
   if (gcode == null) return;
   streaming = true;
   stream();
 }
}

void stream()
{
 if (!streaming) return;
 
 while (true) {
   if (i == gcode.length) {
     streaming = false;
     return;
   }
   
   if (gcode[i].trim().length() == 0) i++;
   else break;
 }
 
 println(gcode[i]);
 port.write(gcode[i] + '\n');
 i++;
}

void serialEvent(Serial p)
{
 String s = p.readStringUntil('\n');
 println(s.trim());
 
 if (s.trim().startsWith("ok")) stream();
 if (s.trim().startsWith("error")) stream(); // XXX: really?
}