Epitech/T-IOT-901_convoyor
4
0
Fork 0
Code Issues 4 Pull Requests Packages Projects 1 Releases Wiki Activity

feat: gestion GRBL STEPPER

Browse Source
This commit is contained in:
Clement
2023-11-23 12:55:08 +01:00
parent 0a43f65ce2
commit caa5b0ceb7
5 changed files with 92 additions and 29 deletions
Download Patch File Download Diff File Expand all files Collapse all files

65
src/main.cpp
View File

@ -12,13 +12,17 @@
#include <Arduino.h>
#include <M5Stack.h>
#include "Module_GRBL_13.2.h"
//#include "Module_GRBL_13.2.h"
#include "GRBL.h"
#define STEPMOTOR_I2C_ADDR 0x70
// #define STEPMOTOR_I2C_ADDR 0x71
Module_GRBL _GRBL = Module_GRBL(STEPMOTOR_I2C_ADDR);
//Module_GRBL _GRBL = Module_GRBL(STEPMOTOR_I2C_ADDR);
/**
* @brief initialise le GRBL pour le stepper
@ -28,30 +32,33 @@ Module_GRBL _GRBL = Module_GRBL(STEPMOTOR_I2C_ADDR);
* @param accel vitesse d'acceleration du mptuer (mm/sec²)
* @param mode mode de fonctionnement (defaut = distance) absolute
*/
void init(int speed, double pas, int accel ,String mode = "distance"){
char s[1024];
// void init(int speed, double pas, int accel ,String mode = "distance"){
// char s[1024];
_GRBL.Init(&Wire);
_GRBL.setMode(mode);
// _GRBL.Init(&Wire);
// _GRBL.setMode(mode);
sprintf(s,"$0=%f", pas); // step/mm
_GRBL.sendGcode(s);
Serial.println(s);
// sprintf(s,"$0=%f", pas); // step/mm
// _GRBL.sendGcode(s);
// Serial.println(s);
sprintf(s,"$4=%d", speed); // speed
_GRBL.sendGcode(s);
Serial.println(s);
// sprintf(s,"$4=%d", speed); // speed
// _GRBL.sendGcode(s);
// Serial.println(s);
sprintf(s,"$8=%d", accel); // acceleration, mm/sec^2
_GRBL.sendGcode(s);
Serial.println(s);
// sprintf(s,"$8=%d", accel); // acceleration, mm/sec^2
// _GRBL.sendGcode(s);
// Serial.println(s);
sprintf(s,"$3=%d", 500); // puse/µsec
_GRBL.sendGcode(s);
Serial.println(s);
}
// sprintf(s,"$3=%d", 500); // puse/µsec
// _GRBL.sendGcode(s);
// Serial.println(s);
// }
GRBL* grbl;
void setup() {
grbl = new GRBL(STEPMOTOR_I2C_ADDR);
M5.begin();
M5.Power.begin();
Wire.begin(21, 22);
@ -66,28 +73,28 @@ void setup() {
M5.Lcd.setCursor(50, 120);
delay(1000);
M5.Lcd.println("Control Motor");
init(STEPER_SPEED, STEPER_PAS, STEPER_ACC);
grbl->init(STEPER_SPEED, STEPER_PAS, STEPER_ACC);
}
void mouveForward(int mm = 5){
char s[1024];
sprintf(s, "G1 X%d", mm);
_GRBL.sendGcode(s);
}
// void mouveForward(int mm = 5){
// char s[1024];
// sprintf(s, "G1 X%d", mm);
// _GRBL.sendGcode(s);
// }
void loop() {
if (M5.BtnA.wasPressed())
{
Serial.print(_GRBL.readStatus());
mouveForward(50);
// Serial.print(_GRBL.readStatus());
grbl->mouveForward(50);
}
if (M5.BtnB.wasPressed()) {
mouveForward(50);
grbl->mouveForward(50);
}
if (M5.BtnC.wasReleased()) {
_GRBL.unLock();
// _GRBL.unLock();
}
M5.update();
}