1)I am using Arduino UNO.
2)3 Step motors for 3 axis.
The code that i have used was :
#define BAUD (57600) // How fast is the Arduino talking?
#define MAX_BUF (64) // What is the longest message Arduino can store?
char buffer[MAX_BUF]; // where we store the message until we get a ';'
int sofar; // how much is in the buffer
/**
- First thing this machine does on startup. Runs only once.
*/
void setup() {
Serial.begin(BAUD); // open coms
help(); // say hello
set_feedrate(200); // set default speed
ready();
}
/**
- display helpful information
*/
void help() {
Serial.print(F("CNC Robot "));
Serial.println(VERSION);
Serial.println(F("Commands:"));
Serial.println(F("G00 [X(steps)] [Y(steps)] [F(feedrate)]; - linear move"));
Serial.println(F("G01 [X(steps)] [Y(steps)] [F(feedrate)]; - linear move"));
Serial.println(F("G04 P[seconds]; - delay"));
Serial.println(F("G90; - absolute mode"));
Serial.println(F("G91; - relative mode"));
Serial.println(F("G92 [X(steps)] [Y(steps)]; - change logical position"));
Serial.println(F("M18; - disable motors"));
Serial.println(F("M100; - this help message"));
Serial.println(F("M114; - report position and feedrate"));
}
/**
- prepares the input buffer to receive a new message and
- tells the serial connected device it is ready for more.
/
void ready() {
sofar=0; // clear input buffer
Serial.print(F("> ")); // signal ready to receive input
}
/* - After setup() this machine will repeat loop() forever.
*/
void loop() {
// listen for commands
if( Serial.available() ) { // if something is available
char c = Serial.read(); // get it
Serial.print(c); // optional: repeat back what I got for debugging
// store the byte as long as there's room in the buffer.
// if the buffer is full some data might get lost
if(sofar < MAX_BUF) buffer[sofar++]=c;
// if we got a return character (\n) the message is done.
if(c=='\n') {
Serial.print(F("\r\n")); // optional: send back a return for debugging
// strings must end with a \0.
buffer[sofar]=0;
processCommand(); // do something with the command
ready();
}
}
}
/**
- Read the input buffer and find any recognized commands. One G or M command per line.
*/
void processCommand() {
// look for commands that start with 'G'
int cmd=parsenumber('G',-1);
switch(cmd) {
case 0: // move in a line
case 1: // move in a line
set_feedrate(parsenumber('F',fr));
line( parsenumber('X',(mode_abs?px:0)) + (mode_abs?0:px),
parsenumber('Y',(mode_abs?py:0)) + (mode_abs?0:py) );
break;
// case 2: // clockwise arc
// case 3: // counter-clockwise arc
case 4: pause(parsenumber('P',0)*1000); break; // wait a while
case 90: mode_abs=1; break; // absolute mode
case 91: mode_abs=0; break; // relative mode
case 92: // set logical position
position( parsenumber('X',0),
parsenumber('Y',0) );
break;
default: break;
}
// look for commands that start with 'M'
cmd=parsenumber('M',-1);
switch(cmd) {
case 18: // turns off power to steppers (releases the grip)
m1.release();
m2.release();
break;
case 100: help(); break;
case 114: where(); break; // prints px, py, fr, and mode.
default: break;
}
// if the string has no G or M commands it will get here and the Arduino will silently ignore it
}
parsenumber(key,default)
/**
- Uses Bresenham's line algorithm to move both motors
- @input newx the destination x position
-
@input newy the destination y position
**/
void line(float newx,float newy) {
long dx=newx-px; // distance to move (delta)
long dy=newy-py;
int dirx=dx > 0?1:-1; // direction to move
int diry=dy > 0?1:-1;
dx=abs(dx); // absolute delta
dy=abs(dy);
long i;
long over=0;
if(dx > dy) {
for(i=0;i < dx;++i) {
m1.onestep(dirx);
over+=dy;
if(over>=dx) {
over-=dx;
m2.onestep(diry);
}
pause(step_delay); // step_delay is a global connected to feed rate.
// test limits and/or e-stop here
}
} else {
for(i=0;i < dy;++i) { m2.onestep(diry); over+=dx; if(over>=dy) { over-=dy; m1.onestep(dirx); } pause(step_delay); // step_delay is a global connected to feed rate. // test limits and/or e-stop here } } // update the logical position. We don't just = newx because // px + dx * dirx == newx could be false by a tiny margin and we don't want rounding errors. px+= dxdirx; py+= dydiry; } /** * delay for the appropriate number of microseconds * @input ms how many milliseconds to wait / void pause(long ms) { delay(ms/1000); delayMicroseconds(ms%1000); // delayMicroseconds doesn't work for values > ~16k. } /* * Set the feedrate (speed motors will move) * @input nfr the new speed in steps/second */ void set_feedrate(float nfr) { if(fr==nfr) return; // same as last time? quit now. if(nfr > MAX_FEEDRATE || nfr < MIN_FEEDRATE) { // don't allow crazy feed rates
Serial.print(F("New feedrate must be greater than "));
Serial.print(MIN_FEEDRATE);
Serial.print(F("steps/s and less than "));
Serial.print(MAX_FEEDRATE);
Serial.println(F("steps/s."));
return;
}
step_delay = 1000000.0/nfr;
fr=nfr;
}
Which corrections would be helpful.Thank you.