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/**********************************************************************
*************************** Stepper.h ******************************
**********************************************************************
*
* Company: Bits From Bytes Ltd
*
* Software License Agreement
*
* Copyright (C) 2009 Bits From Bytes Ltd. All rights reserved.
*
* Bits From Bytes Ltd licenses to you the right to use, modify,
* copy, and distribute this software under the
* Creative Commons Attribution-Noncommercial-Share Alike 3.0 Unported
* licence (see
* CreativeCommons-by-nc-sa-3.0-summary.pdf which is a copy of the
* text at http://creativecommons.org/licenses/by-nc-sa/3.0/ for a
* summary and CreativeCommons-by-nc-sa-3.0.pdf which is a copy of the
* text at http://creativecommons.org/licenses/by-nc-sa/3.0/legalcode
* for the full legal text).
*
* You should refer to the license agreement (Bits From Bytes Ltd Software
* Licence.pdf) accompanying this Software for additional information
* regarding your rights and obligations.
*
* THE SOFTWARE AND DOCUMENTATION ARE PROVIDED "AS IS" WITHOUT
* WARRANTY OF ANY KIND, EITHER EXPRESS OR IMPLIED, INCLUDING WITHOUT
* LIMITATION, ANY WARRANTY OF MERCHANTABILITY, FITNESS FOR A
* PARTICULAR PURPOSE, TITLE AND NON-INFRINGEMENT. IN NO EVENT SHALL
* BITS FROM BYTES LTD BE LIABLE FOR ANY INCIDENTAL, SPECIAL, INDIRECT
* OR CONSEQUENTIAL DAMAGES, LOST PROFITS OR LOST DATA, COST OF
* PROCUREMENT OF SUBSTITUTE GOODS, TECHNOLOGY OR SERVICES, ANY CLAIMS
* BY THIRD PARTIES (INCLUDING BUT NOT LIMITED TO ANY DEFENSE
* THEREOF), ANY CLAIMS FOR INDEMNITY OR CONTRIBUTION, OR OTHER
* SIMILAR COSTS, WHETHER ASSERTED ON THE BASIS OF CONTRACT, TORT
* (INCLUDING NEGLIGENCE), BREACH OF WARRANTY, OR OTHERWISE.
*
*
* Author(s) Date Comment
*~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
* Tony Fletcher (& Ian Adkins) 16/11/2009 Initial Release
* Erik de Bruijn 11/03/2010 Local changes for Eriks Darwin cartesian bot
***********************************************************************/
#define SHOW_POSITIONS 1
#define HIDE_POSITIONS 0
//General Defines
extern int GX_On;
extern int GY_On;
extern int GZ_On;
extern int GI_On;
extern int GJ_On;
extern float GX;
extern float GY;
extern float GZ;
extern float GI_Val;
extern float GJ_Val;
extern int F_Code;
extern int M_Code;
extern char ExtruderStatus;
int Feed_Rate;
#define INPUT 1
#define OUTPUT 0
//18T MXL Pulley 1/16 Stepping for X & Y Axis
#define StepsPer_mm 61.302// Changed by ERIK. This was: 87.575 // 1/16 Stepping
#define StepsPer_Inch 100 // 1/16 Stepping
#define FeedFactor 57094
//M8 x 1.25 thread
//200 steps per rev 3200 at 1/16 stepping x 1/1.25 = 2560
#define ZStepsPer_mm 2560
// Axis definitions
#define X_Step PORTDbits.RD2 //Digital
#define X_Dir PORTDbits.RD7 //Digital
#define X_Disable PORTDbits.RD3 //Digital
#define Y_Step PORTDbits.RD8 //Digital
#define Y_Dir PORTDbits.RD9 //Digital
#define Y_Disable PORTDbits.RD10 //Digital
#define Z_Step PORTBbits.RB8 //Analog
#define Z_Dir PORTBbits.RB9 //Analog
#define Z_Disable PORTBbits.RB13 //Analog
#define SB_SIZE 512 // Step buffer size
//Flag setup for interrupts
#define _T4IE IEC0bits.T4IE
#define _T4IF IFS0bits.T4IF
#define SAFE_FEED_RATE 2000
#define RAPID_MOVE_FEED_RATE 950 //ERIK was: 750 //was500
#define Z_FEED_RATE 1200 //ERIK was: 750
#define GO_TO_REST_RATE 800
#define X_REST_ABS_MM 130 // ERIK: have a look at this!!
#define Y_REST_ABS_MM -100
#define Z_REST_ABS_MM 0
int G_CodeRapidXYMove;
int G_CodeRapidZMove;
int S_F_Code; //Stepper F code
/****************************************************************/
/* Functions */
/****************************************************************/
//External Functions
extern void Stepper_InitIO(void);
extern void Stepper_LoadNewValues(int Feed_Code, int Machine_Code);
extern void Stepper_CalcSteps(int Units, char G2_G3);
extern void OriginOffset(void);
extern void ResetOrigin(void);
extern void Manual_Mode(char ShowPos);
extern int RapMan_Home(void);
extern void GoToRest();
extern void Stepper_Run3DLine(void);
extern void Axis_Stepper_Motors(int on_off);
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