Merge changes from GrAndAG for motor shield v1 support.

Configuration.h

@@ -0,0 +1,101 @@
+/*
+ * Copyright 2016 by GrAndAG
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>
+ */
+
+
+#ifndef Configuration_h
+#define Configuration_h
+
+/*
+* Version of Adafruit motor shield used
+*/
+
+//#define ADAFRUIT_MOTOR_SHIELD_VERSION 1
+#define ADAFRUIT_MOTOR_SHIELD_VERSION 2
+
+
+/*
+* PINS definitions
+* Pen arm motor terminals  : M1 & M2
+* Rotation motor terminals : M3 & M4
+* Arm servo port           : SER1 (located closer to PCB corner
+ */
+
+#define PEN_AXIS_PORT         1
+#define ROTATION_AXIS_PORT    2
+
+#define SERVO_PIN             10
+
+/*
+* Steppers Configuration
+*/
+
+/* Full steps per revolution. Well known NEMA17 1.8 degrees motors have 200 steps. */
+#define STEPS_PER_REVOLUTION  200
+
+/* Suitable for Eggbot template and 200 steps/rev steppers at 16x microstepping. */
+#define DEFAULT_ZOOM_FACTOR   1.0
+
+/*
+ * Pen Arm Configuration
+ */
+
+/* Pen servo gets clamped to these values. */
+#define MIN_PEN_POSITION      100
+#define MAX_PEN_POSITION      130
+
+/* Default pen up position. */
+#define PEN_UP_POSITION       107
+
+/* How long to take for pen down moves in ms. */
+#define PEN_DOWN_MOVE_TIME    200
+
+/* X axis gets clamped to these values to prevent inadvertent damage. */
+#define MIN_PEN_AXIS_STEP    -480
+#define MAX_PEN_AXIS_STEP     480
+
+
+
+/* Version dependent stuff */
+#if ADAFRUIT_MOTOR_SHIELD_VERSION == 1
+
+  #include <AFMotor.h>
+
+  #define ADAFRUIT_CLASS      AF_Stepper
+  #define ONE_STEP_TIME       168
+  // steps/s. A no-delay loop takes 0.17 ms per step, so this is the fastest we can go.
+  #define MAX_FEEDRATE        2900.0
+
+#else
+
+  #include <Adafruit_MotorShield.h>
+  //#include <utility/Adafruit_MS_PWMServoDriver.h>
+
+  #define ADAFRUIT_CLASS      Adafruit_StepperMotor
+  #define ONE_STEP_TIME       1290
+  // steps/s. A no-delay loop takes 1.29 ms per step, so this is the fastest we can go.
+  #define MAX_FEEDRATE        775.0
+
+#endif
+
+
+#if ARDUINO >= 100
+  #include "Arduino.h"
+#else
+  #include "WProgram.h"
+#endif
+
+#endif /* Configuration_h */

DualStepper.cpp

@@ -114,15 +114,18 @@ DualStepper::moveTo(int ax, int ay, float speed)
 void
 DualStepper::plotLine(SingleStepper *xAxis, SingleStepper *yAxis, uint8_t xdir, uint8_t ydir, unsigned int dx, unsigned int dy)
 {
-  unsigned long usPerStep = 1000000L / majorAxisSpeed;
+  // usDelay is the nominal number of microseconds each step should take.
+  unsigned long usDelay = 1000000L / majorAxisSpeed;
+  // usPerStep is the actual number of microseconds to wait accounting for the time it takes to make the steps.
+  unsigned long usPerStep;
 
-  // Serial.print("delay: ");
-  // Serial.println(usPerStep);
-
-  if (usPerStep >= 1290)
-    usPerStep = usPerStep - 1290; // loop takes 1.29 ms without any delay.
+  if (usDelay >= ONE_STEP_TIME)
+    usDelay -= ONE_STEP_TIME; // bake in a single x-axis step time
   else
-    usPerStep = 0;
+    usDelay = 0; // clamp to zero so we don't get underflow
+
+  // Serial.print("delay: ");
+  // Serial.println(usDelay);
 
   int error = 2 * dy - dx;
 
@@ -134,12 +137,15 @@ DualStepper::plotLine(SingleStepper *xAxis, SingleStepper *yAxis, uint8_t xdir,
     xAxis->step(xdir);
     if (error > 0) {
       yAxis->step(ydir);
+      // Take off another step delay from the wait time.
+      usPerStep = (usDelay >= ONE_STEP_TIME) ? usDelay - ONE_STEP_TIME : 0;
       error += 2 * dy - 2 * dx;
     } else {
+      usPerStep = usDelay;
       error += 2 * dy;
     }
-    if (usPerStep > 0)
-      delayMicroseconds(usPerStep);
+
+    delayMicroseconds(usPerStep);
   }
 
   // unsigned long endTime = millis();

DualStepper.h

@@ -18,6 +18,7 @@
 #ifndef DualStepper_h
 #define DualStepper_h
 
+#include "Configuration.h"
 #include "SingleStepper.h"
 
 class DualStepper

README.md

@@ -10,6 +10,8 @@ This is a fork of Eberhard Rensch's SphereBot firmware. This version has been mo
 
 **IMPORTANT**: This sketch needs the following non-standard library (install them in the Arduino library directory):
 
+* Adafruit Motor Shield v1: https://github.com/adafruit/Adafruit-Motor-Shield-library
+  OR
 * Adafruit Motor Shield v2: https://github.com/adafruit/Adafruit_Motor_Shield_V2_Library
 
 To use:

SingleStepper.cpp

@@ -17,7 +17,7 @@
 
 #include "SingleStepper.h"
 
-SingleStepper::SingleStepper(Adafruit_StepperMotor *sm)
+SingleStepper::SingleStepper(ADAFRUIT_CLASS *sm)
 {
   stepper = sm;
   pos = 0;

SingleStepper.h

@@ -18,19 +18,20 @@
 #ifndef SingleStepper_h
 #define SingleStepper_h
 
-#include <Adafruit_MotorShield.h>
+#include "Configuration.h"
 
 class SingleStepper {
  public:
-  SingleStepper(Adafruit_StepperMotor *sm);
+  SingleStepper(ADAFRUIT_CLASS *sm);
+
   void step(uint8_t dir);
   void release() { stepper->release(); }
 
   volatile int pos;
   int targetPos;
 
  protected:
-  Adafruit_StepperMotor *stepper;
+  ADAFRUIT_CLASS *stepper;
 };
 
-#endif
+#endif

SphereBot.ino

@@ -18,18 +18,22 @@
  * by Martin Price <http://www.HeliumFrog.com>
  *
  * Updated to run on Adafruit motor shield by Jin Choi <[email protected]>.
+ * Utated to support both versions of Adafruit motor shield by GrAndAG
  *
  * !!!!!!!!
  * This sketch needs the following non-standard library (install it in the Arduino library directory):
 
- * Adafruit Motor Shield: https://github.com/adafruit/Adafruit-Motor-Shield-library
+ * Adafruit Motor Shield:
+ *         v1: https://github.com/adafruit/Adafruit-Motor-Shield-library
+ *         v2: https://github.com/adafruit/Adafruit_Motor_Shield_V2_Library
+ *
+ * Also tune your configuration in "Configuration.h" file.
+ *
  * !!!!!!!!
  */
 
-/* Adafruit Motor Shield libraries */
+#include "Configuration.h"
 #include <Wire.h>
-#include <Adafruit_MotorShield.h>
-#include "utility/Adafruit_PWMServoDriver.h"
 
 /* DualStepper */
 #include "DualStepper.h"
@@ -39,38 +43,6 @@
 
 #include <EEPROM.h>
 
-
-/*
- * PINS
- */
-
-#define PEN_AXIS_PORT 1
-#define ROTATION_AXIS_PORT 2
-
-#define SERVO_PIN 9
-
-/*
- * Other Configuration
- */
-
-/* Pen servo gets clamped to these values. */
-#define MIN_PEN_POSITION 100
-#define MAX_PEN_POSITION 130
-
-/* Default pen up position. */
-#define PEN_UP_POSITION 107
-
-/* How long to take for pen down moves in ms. */
-#define PEN_DOWN_MOVE_TIME 200
-
-
-/* X axis gets clamped to these values to prevent inadvertent damage. */
-#define MIN_PEN_AXIS_STEP -480
-#define MAX_PEN_AXIS_STEP 480
-
-/* Suitable for Eggbot template and 200 steps/rev steppers at 16x microstepping. */
-#define DEFAULT_ZOOM_FACTOR 1.0
-
 enum {
   VALUES_SAVED_EEPROM_LOCATION, MIN_PEN_EEPROM_LOCATION, MAX_PEN_EEPROM_LOCATION, PEN_UP_EEPROM_LOCATION
 };
@@ -85,10 +57,15 @@ byte current_pen_position;
 /* --------- */
 
 /* Set up steppers */
+#if ADAFRUIT_MOTOR_SHIELD_VERSION == 1
+SingleStepper *xStepper = new SingleStepper(new AF_Stepper(STEPS_PER_REVOLUTION, ROTATION_AXIS_PORT));
+SingleStepper *yStepper = new SingleStepper(new AF_Stepper(STEPS_PER_REVOLUTION, PEN_AXIS_PORT));
+#else
 Adafruit_MotorShield MS = Adafruit_MotorShield();
-SingleStepper *xStepper = new SingleStepper(MS.getStepper(200, ROTATION_AXIS_PORT));
-SingleStepper *yStepper = new SingleStepper(MS.getStepper(200, PEN_AXIS_PORT));
-DualStepper *steppers = new DualStepper(xStepper, yStepper, 200 * MICROSTEPS);
+SingleStepper *xStepper = new SingleStepper(MS.getStepper(STEPS_PER_REVOLUTION, ROTATION_AXIS_PORT));
+SingleStepper *yStepper = new SingleStepper(MS.getStepper(STEPS_PER_REVOLUTION, PEN_AXIS_PORT));
+#endif
+DualStepper *steppers = new DualStepper(xStepper, yStepper, STEPS_PER_REVOLUTION * MICROSTEPS);
 
 Servo servo;
 
@@ -106,9 +83,6 @@ boolean absoluteMode = true;
 double feedrate = 160.0; // steps/s
 double zoom = DEFAULT_ZOOM_FACTOR;
 
-// steps/s. A no-delay loop takes 1.29 ms per step, so this is the fastest we can go.
-#define MAX_FEEDRATE 775.0
-
 // ------
 
 void load_pen_configuration()
@@ -164,8 +138,10 @@ void setup()
   Serial.begin(115200);
   clear_buffer();
 
+#if ADAFRUIT_MOTOR_SHIELD_VERSION == 2
   MS.begin();
   TWBR = ((F_CPU / 400000L) - 16) / 2; // Change the i2c clock to 400KHz for faster stepping.
+#endif
   Serial.println("Ready");
 
   steppers->setMaxSpeed(MAX_FEEDRATE);
@@ -381,7 +357,16 @@ void process_commands(char command[], int command_length) // deals with standard
 	break;
       }
     }
-
+  else if (command_length>0 && command[0] == 'N') // N code
+    {
+      // skip line number
+      int i = 1;
+      while (i<command_length && command[i]!=' ') ++i;
+      if (i<command_length-1) {
+        process_commands(command+i+1, command_length-i-1);
+        return;
+      }
+    }
   // done processing commands
   if (Serial.available() <= 0) {
     Serial.print("ok:");