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feat: gestion GRBL STEPPER

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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
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22
lib/GRBL/include/GRBL.h Normal file
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@ -0,0 +1,22 @@
#ifndef GRBL_H
#define GRBL_H
#include <Arduino.h>
#include "Module_GRBL_13.2.h"
class iGRBL{
public:
virtual void init(int speed, double pas, int accel, String mode = "distance") = 0;
virtual void mouveForward(int mm = 5) = 0;
};
class GRBL : public iGRBL{
public:
GRBL(int grblAddr);
void init(int speed, double pas, int accel, String mode = "distance") override;
void mouveForward(int mm = 5) override;
private:
Module_GRBL* grbl;
};
#endif

34
lib/GRBL/src/GRBL.cpp Normal file
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@ -0,0 +1,34 @@
#include "../include/GRBL.h"
GRBL::GRBL(int grblAddr){
this->grbl = new Module_GRBL(grblAddr);
}
void GRBL::init(int speed, double pas, int accel, String mode){
char s[1024];
this->grbl->Init(&Wire);
this->grbl->setMode(mode);
sprintf(s,"$0=%f", pas); // step/mm
this->grbl->sendGcode(s);
Serial.println(s);
sprintf(s,"$4=%d", speed); // speed
this->grbl->sendGcode(s);
Serial.println(s);
sprintf(s,"$8=%d", accel); // acceleration, mm/sec^2
this->grbl->sendGcode(s);
Serial.println(s);
sprintf(s,"$3=%d", 500); // puse/µsec
this->grbl->sendGcode(s);
Serial.println(s);
}
void GRBL::mouveForward(int mm = 5){
char s[1024];
sprintf(s, "G1 X%d", mm);
this->grbl->sendGcode(s);
}

0
lib/Stepper/include/Stepper.h
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0
lib/Stepper/src/Stepper.cpp
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65
src/main.cpp
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@ -12,13 +12,17 @@
#include <Arduino.h> #include <Arduino.h>
#include <M5Stack.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 0x70
// #define STEPMOTOR_I2C_ADDR 0x71 // #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 * @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 accel vitesse d'acceleration du mptuer (mm/sec²)
* @param mode mode de fonctionnement (defaut = distance) absolute * @param mode mode de fonctionnement (defaut = distance) absolute
*/ */
void init(int speed, double pas, int accel ,String mode = "distance"){ // void init(int speed, double pas, int accel ,String mode = "distance"){
char s[1024]; // char s[1024];
_GRBL.Init(&Wire); // _GRBL.Init(&Wire);
_GRBL.setMode(mode); // _GRBL.setMode(mode);
sprintf(s,"$0=%f", pas); // step/mm // sprintf(s,"$0=%f", pas); // step/mm
_GRBL.sendGcode(s); // _GRBL.sendGcode(s);
Serial.println(s); // Serial.println(s);
sprintf(s,"$4=%d", speed); // speed // sprintf(s,"$4=%d", speed); // speed
_GRBL.sendGcode(s); // _GRBL.sendGcode(s);
Serial.println(s); // Serial.println(s);
sprintf(s,"$8=%d", accel); // acceleration, mm/sec^2 // sprintf(s,"$8=%d", accel); // acceleration, mm/sec^2
_GRBL.sendGcode(s); // _GRBL.sendGcode(s);
Serial.println(s); // Serial.println(s);
sprintf(s,"$3=%d", 500); // puse/µsec // sprintf(s,"$3=%d", 500); // puse/µsec
_GRBL.sendGcode(s); // _GRBL.sendGcode(s);
Serial.println(s); // Serial.println(s);
} // }
GRBL* grbl;
void setup() { void setup() {
grbl = new GRBL(STEPMOTOR_I2C_ADDR);
M5.begin(); M5.begin();
M5.Power.begin(); M5.Power.begin();
Wire.begin(21, 22); Wire.begin(21, 22);
@ -66,28 +73,28 @@ void setup() {
M5.Lcd.setCursor(50, 120); M5.Lcd.setCursor(50, 120);
delay(1000); delay(1000);
M5.Lcd.println("Control Motor"); 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){ // void mouveForward(int mm = 5){
char s[1024]; // char s[1024];
sprintf(s, "G1 X%d", mm); // sprintf(s, "G1 X%d", mm);
_GRBL.sendGcode(s); // _GRBL.sendGcode(s);
} // }
void loop() { void loop() {
if (M5.BtnA.wasPressed()) if (M5.BtnA.wasPressed())
{ {
Serial.print(_GRBL.readStatus()); // Serial.print(_GRBL.readStatus());
mouveForward(50); grbl->mouveForward(50);
} }
if (M5.BtnB.wasPressed()) { if (M5.BtnB.wasPressed()) {
mouveForward(50); grbl->mouveForward(50);
} }
if (M5.BtnC.wasReleased()) { if (M5.BtnC.wasReleased()) {
_GRBL.unLock(); // _GRBL.unLock();
} }
M5.update(); M5.update();
} }