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Added old firmware and pcb design files

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These are all design documents that I thought I had lost. It's may make
me cringe, but it's still cool to use it to see how far I've come.
This commit is contained in:
Corwin Perren
2016-05-12 20:04:43 -07:00
parent a4df0d921d
commit b300c76103
1047 changed files with 379298 additions and 0 deletions
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91
OSU SARL/Control Board Firmware/Pick And Plate/Driver Board Revision 1.1/AxisClass.cpp Normal file
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#include "AxisClass.h"
#include <Arduino.h>
extern const unsigned char Microstep[6][3];
Axis::Axis (unsigned char AxisStep, unsigned char AxisDir, unsigned char AxisM0, unsigned char AxisM1, unsigned char AxisM2, unsigned char AxisFault){
p_Step = AxisStep;
p_Dir = AxisDir;
p_M0 = AxisM0;
p_M1 = AxisM1;
p_M2 = AxisM2;
p_Fault = AxisFault;
DelVal = 8;
pinMode(p_Step, OUTPUT);
pinMode(p_Dir, OUTPUT);
pinMode(p_M0, OUTPUT);
pinMode(p_M1, OUTPUT);
pinMode(p_M2, OUTPUT);
pinMode(p_Fault, INPUT);
SetMicrostep(8);
}
void Axis::SetMicrostep(unsigned char Level){
unsigned char row = -1;
switch (Level){
case 1:
row = 0;
break;
case 2:
row = 1;
break;
case 4:
row = 2;
break;
case 8:
row = 3;
break;
case 16:
row = 4;
break;
case 32:
row = 5;
break;
}
digitalWrite(p_M0, Microstep[row][0]);
digitalWrite(p_M1, Microstep[row][1]);
digitalWrite(p_M2, Microstep[row][2]);
}
void Axis::StepForward(){
digitalWrite(p_Dir, HIGH);
digitalWrite(p_Step, HIGH);
digitalWrite(p_Step, LOW);
}
void Axis::StepBackward(){
digitalWrite(p_Dir, LOW);
digitalWrite(p_Step, HIGH);
digitalWrite(p_Step, LOW);
}
int Axis::SetRPM(int RPM){
int CountVal = ((16000000L/8)/((200L*8*RPM)/60));
cli();
OCR1A = CountVal;
sei();
return CountVal;
}
void Axis::SetDelay(unsigned int delLen){
DelVal = delLen;
}

49
OSU SARL/Control Board Firmware/Pick And Plate/Driver Board Revision 1.1/AxisClass.h Normal file
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#ifndef AXIS_CLASS_H
#define AXIS_CLASS_H
const unsigned char Microstep[6][3] = {
{
0, 0, 0
}
,
{
1, 0, 0
}
,
{
0, 1, 0
}
,
{
1, 1, 0
}
,
{
0, 0, 1
}
,
{
1, 0, 1
}
};
class Axis {
private:
unsigned char p_Step;
unsigned char p_Dir;
unsigned char p_M0;
unsigned char p_M1;
unsigned char p_M2;
unsigned char p_Fault;
unsigned int DelVal;
public:
Axis (unsigned char AxisStep, unsigned char AxisDir, unsigned char AxisM0, unsigned char AxisM1, unsigned char AxisM2, unsigned char AxisFault);
void SetMicrostep(unsigned char Level);
void StepForward();
void StepBackward();
int SetRPM(int RPM);
void SetDelay(unsigned int delLen);
};
#endif

73
OSU SARL/Control Board Firmware/Pick And Plate/Driver Board Revision 1.1/DriverBoardClass.cpp Normal file
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#include "DriverBoardClass.h"
#include <Arduino.h>
DriverBoard::DriverBoard(Axis *XAxisPt,Axis *YAxisPt, Axis *ZAxisPt, unsigned char ServoP, unsigned char StatusLed, unsigned char ErrorLed, unsigned char M_Enable, unsigned char ESTOP, unsigned char LimitESTOP, unsigned char X1_Lim, unsigned char X2_Lim, unsigned char Y1_Lim,
unsigned char Y2_Lim, unsigned char Z1_Lim, unsigned char Z2_Lim, unsigned char A1_Lim, unsigned char A2_Lim, unsigned char XJL, unsigned char XJR, unsigned char YJF, unsigned char YJB, unsigned char ZJU,
unsigned char ZJD, unsigned char AJF, unsigned char AJB, unsigned char JSI, unsigned char JSD){
//Assign Pins to Class Variables
XAxis = XAxisPt;
YAxis = YAxisPt;
ZAxis = ZAxisPt;
p_Servo = ServoP;
p_StatusLed = StatusLed;
p_ErrorLed = ErrorLed;
p_M_Enable = M_Enable;
p_ESTOP = ESTOP;
p_LimitESTOP = LimitESTOP;
p_X1_Lim = X1_Lim;
p_X2_Lim = X2_Lim;
p_Y1_Lim = Y1_Lim;
p_Y2_Lim = Y2_Lim;
p_Z1_Lim = Z1_Lim;
p_Z2_Lim = Z2_Lim;
p_A1_Lim = A1_Lim;
p_A2_Lim = A2_Lim;
p_XJL = XJL;
p_XJR = XJR;
p_YJF = YJF;
p_YJB = YJB;
p_ZJU = ZJU;
p_ZJD = ZJD;
p_AJF = AJF;
p_AJB = AJB;
p_JSI = JSI;
p_JSD = JSD;
//Set pin modes for output pins
pinMode(p_Servo, OUTPUT);
pinMode(p_StatusLed, OUTPUT);
pinMode(p_ErrorLed, OUTPUT);
pinMode(p_M_Enable, OUTPUT);
//Set pin modes for input pins
pinMode(p_ESTOP, INPUT);
pinMode(p_LimitESTOP, INPUT);
pinMode(p_X1_Lim, INPUT);
pinMode(p_X2_Lim, INPUT);
pinMode(p_Y1_Lim, INPUT);
pinMode(p_Y2_Lim, INPUT);
pinMode(p_Z1_Lim, INPUT);
pinMode(p_Z2_Lim, INPUT);
pinMode(p_A1_Lim, INPUT);
pinMode(p_A2_Lim, INPUT);
pinMode(p_XJL, INPUT);
pinMode(p_XJR, INPUT);
pinMode(p_YJF, INPUT);
pinMode(p_YJB, INPUT);
pinMode(p_ZJU, INPUT);
pinMode(p_ZJD, INPUT);
pinMode(p_AJF, INPUT);
pinMode(p_AJB, INPUT);
pinMode(p_JSI, INPUT);
pinMode(p_JSD, INPUT);
digitalWrite(p_M_Enable, LOW); //Enable motor drivers
};
void DriverBoard::MoveToPosition(long XPos){
XAxis->StepForward();
YAxis->StepForward();
ZAxis->StepForward();
}

53
OSU SARL/Control Board Firmware/Pick And Plate/Driver Board Revision 1.1/DriverBoardClass.h Normal file
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#ifndef DRIVERBOARD_CLASS_H
#define DRIVERBOARD_CLASS_H
#include "AxisClass.h"
//extern Axis XAxis;
///extern Axis YAxis;
//extern Axis ZAxis;
class DriverBoard{
private:
float CurXPos;
float CurYPos;
float CurZPos;
unsigned char p_Servo;
unsigned char p_StatusLed;
unsigned char p_ErrorLed;
unsigned char p_M_Enable;
unsigned char p_ESTOP;
unsigned char p_LimitESTOP;
unsigned char p_X1_Lim;
unsigned char p_X2_Lim;
unsigned char p_Y1_Lim;
unsigned char p_Y2_Lim;
unsigned char p_Z1_Lim;
unsigned char p_Z2_Lim;
unsigned char p_A1_Lim;
unsigned char p_A2_Lim;
unsigned char p_XJL;
unsigned char p_XJR;
unsigned char p_YJF;
unsigned char p_YJB;
unsigned char p_ZJU;
unsigned char p_ZJD;
unsigned char p_AJF;
unsigned char p_AJB;
unsigned char p_JSI;
unsigned char p_JSD;
Axis *XAxis;
Axis *YAxis;
Axis *ZAxis;
public:
DriverBoard(Axis *XAxisPt, Axis *YAxisPt, Axis *ZAxisPt, unsigned char ServoP, unsigned char StatusLed, unsigned char ErrorLed, unsigned char M_Enable, unsigned char ESTOP, unsigned char LimitESTOP, unsigned char X1_Lim, unsigned char X2_Lim, unsigned char Y1_Lim,
unsigned char Y2_Lim, unsigned char Z1_Lim, unsigned char Z2_Lim, unsigned char A1_Lim, unsigned char A2_Lim, unsigned char XJL, unsigned char XJR, unsigned char YJF, unsigned char YJB, unsigned char ZJU,
unsigned char ZJD, unsigned char AJF, unsigned char AJB, unsigned char JSI, unsigned char JSD);
void MoveToPosition(long XPos);
};
#endif

159
OSU SARL/Control Board Firmware/Pick And Plate/Driver Board Revision 1.1/PickAndPlaceDriverBoardRev1_1.ino Normal file
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#include <SoftwareSerial.h>
#include "DriverBoardClass.h"
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//Pin Definitions
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//Inputs/////////////////////////////////////////
////////////////////////////////////////////////
const unsigned char p_ESTOP = 2;
const unsigned char p_LimitESTOP = 3;
const unsigned char p_XFault = 27;
const unsigned char p_YFault = 33;
const unsigned char p_AFault = 41;
const unsigned char p_SFault = A13;
const unsigned char p_X1_Lim = A0;
const unsigned char p_X2_Lim = A1;
const unsigned char p_Y1_Lim = A2;
const unsigned char p_Y2_Lim = A3;
const unsigned char p_Z1_Lim = A4;
const unsigned char p_Z2_Lim = A5;
const unsigned char p_A1_Lim = A6;
const unsigned char p_A2_Lim = A7;
const unsigned char p_XJL = 42;
const unsigned char p_XJR = 43;
const unsigned char p_YJF = 44;
const unsigned char p_YJB = 45;
const unsigned char p_ZJU = 46;
const unsigned char p_ZJD = 47;
const unsigned char p_AJF = 48;
const unsigned char p_AJB = 49;
const unsigned char p_JSI = A14;
const unsigned char p_JSD = A15;
/////////////////////////////////////////////////
//Outputs////////////////////////////////////////
////////////////////////////////////////////////
const unsigned char p_M_Enable = 13;
const unsigned char p_StatusLed = 8;
const unsigned char p_ErrorLed = 9;
const unsigned char p_XStep = 22;
const unsigned char p_XDir = 23;
const unsigned char p_XM0 = 24;
const unsigned char p_XM1 = 25;
const unsigned char p_XM2 = 26;
const unsigned char p_YStep = 28;
const unsigned char p_YDir = 29;
const unsigned char p_YM0 = 30;
const unsigned char p_YM1 = 31;
const unsigned char p_YM2 = 32;
const unsigned char p_AStep = 34;
const unsigned char p_ADir = 35;
const unsigned char p_AM0 = 36;
const unsigned char p_AM1 = 37;
const unsigned char p_AM2 = 40;
const unsigned char p_SStep = A8;
const unsigned char p_SDir = A9;
const unsigned char p_SM0 = A10;
const unsigned char p_SM1 = A11;
const unsigned char p_SM2 = A12;
const unsigned char p_Servo = 5;
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//Global Variables and Instantiations
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
Axis XAxis(p_XStep, p_XDir, p_XM0, p_XM1, p_XM2, p_XFault);
Axis YAxis(p_YStep, p_YDir, p_YM0, p_YM1, p_YM2, p_YFault);
Axis ZAxis(p_AStep, p_ADir, p_AM0, p_AM1, p_AM2, p_AFault);
DriverBoard myDriver(&XAxis, &YAxis, &ZAxis, p_Servo, p_StatusLed, p_ErrorLed, p_M_Enable, p_ESTOP, p_LimitESTOP, p_X1_Lim, p_X2_Lim, p_Y1_Lim, p_Y2_Lim,
p_Z1_Lim, p_Z2_Lim, p_A1_Lim, p_A2_Lim, p_XJL, p_XJR, p_YJF, p_YJB, p_ZJU, p_ZJD, p_AJF, p_AJB, p_JSI, p_JSD);
SoftwareSerial MySerial(10, 12);
String ReceiveBuffer = "";
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//Interrupt Service Routines
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
ISR(TIMER1_COMPA_vect){
myDriver.MoveToPosition(1);
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//Arduino Setup Function
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
void setup(){
// cli();
Serial.begin(4800);
MySerial.begin(4800);
TCCR1A = 0;
TCCR1B = 0;
TCNT1 = 0;
PRR1 &= ~(1 << PRTIM1); //Disable power reduction mode on timer 1 ((Might need to be changed...))
TCCR1B |= ((1 << WGM12) | (1 << CS11));// | (1 << CS10)); //Set prescalaer to 64
OCR1A = 2358; //Set count value
TIMSK1 = (1 << OCIE1A);
sei();
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//Arduino Main Program Loop
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
void loop(){
if(MySerial.available()){
ReceiveBuffer = "";
while(MySerial.available()){
int temp = MySerial.read();
if(isDigit(temp)){
ReceiveBuffer += char(temp);
}
}
//XAxis.SetDelay(ReceiveBuffer.toInt());
//YAxis.SetDelay(ReceiveBuffer.toInt());
//ZAxis.SetDelay(ReceiveBuffer.toInt());
MySerial.println(XAxis.SetRPM(ReceiveBuffer.toInt()));
}
//ZAxis.StepForward();
if(digitalRead(p_XJL)){
myDriver.MoveToPosition(1);
}
else if(digitalRead(p_XJR)){
//myDriver.MoveToPosition(1);
}
if(digitalRead(p_YJF)){
//YAxis.StepForward();
}
else if(digitalRead(p_YJB)){
//YAxis.StepBackward();
}
}