rotor 0.1.00 → 0.1.1

checksums.yaml

@@ -1,7 +1,7 @@
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data/README.md

@@ -12,33 +12,62 @@ or ULN2800 Integrated Controllers.
 
     gem install wiringpi
 
+  If you are using GPIO Pins from a A+/B+, you may need to update your
+  WiringPi libraries. You can pull from my repo https://github.com/kobaltz/WiringPi-Ruby
+
+  I did not write any of the WiringPi-Ruby platform. I simply pulled the latest C libraries
+  and recompiled the gem. 
+
   Install Rotor
 
     gem install rotor
 
 # Notes
 
-  Class Stepper
+  This gem has been built for my personal project. I do not and cannot know if this will
+  work with your setup. However, put in an issue if you're having troubles with this gem
+  and I will try to help you as best as I can.
+
+  I am using two stepper motors (NEMA17 Bipolar 20Ncm 12V) and two L293D motor drivers. This
+  gem has also been tested with a small 5V Unipolar Stepper Motor and 12V Unipolar Stepper Motor.
+
+  My Steps Per MM is based on a 200 step per revolution motor and a threaded rod with 20 threads per inch.
+  This means that I will have to step 4000 times to move the coupler one inch.
+
+# Usage
+
+  ## Class Stepper
+
+  MAKE SURE THAT YOU HAVE CONFIGURED THE Rotor::Stepper WITH THE CORRECT GPIO PIN NUMBERS. CHECK AND 
+  DOUBLE CHECK THESE BEFORE RUNNING YOUR CODE.
 
-    stepper = Rotor::Stepper.new(initialize(coil_A_1_pin, coil_A_2_pin, coil_B_1_pin, coil_B_2_pin, enable_pin=nil, homing_switch, homing_normally)
-    stepper.forward(delay=5,steps=100)
+    stepper = Rotor::Stepper.new(coil_A_1_pin, coil_A_2_pin, coil_B_1_pin, coil_B_2_pin, enable_pin=nil, homing_switch, homing_normally,steps_per_mm)
+    stepper.forward(delay=5,steps=100) # stepper.forward(1,100)
     stepper.backwards(delay=5,steps=100)
     stepper.set_home(direction) #:forward or :backwards
     stepper.at_home?
-    stepper.at_safe_area? #opposite of at_home?
+    stepper.at_safe_area? # opposite of at_home?
 
-  Class Servo
+  After running your GCode, you may want to consider to power down the motor by sending a
+  LOW to each step.
+
+    stepper.power_down
+
+  ## Class Servo
 
     servo = Rotor::Servo.new(pin=18)
     servo.rotate(direction) # :up or :down
 
-  Class GCode
+  ## Class GCode
 
-    gcode = Rotor::Gcode.new(stepper_x=nil,stepper_y=nil,stepper_z=nil,scale=1,servo=nil)
-    gcode.open(file)
-    gcode.simulate
+  The plot points are streamed to output.txt file on your computer.
 
-# Usage
+  You can test the outputs of your GCODE and the XY plots it creates by Rotor.
+
+    File.open("output.txt", 'wb') { |file| file.write("x,y,xm,ym\n") }
+    gcode = Rotor::Gcode.new(nil,nil,nil,1,nil)
+    gcode.open('output.nc')
+    gcode.simulate
 
   The goal of this gem is to make controlling your robotics easier than
   other solutions.
@@ -49,8 +78,8 @@ or ULN2800 Integrated Controllers.
   that the panel is moving in and therefore know which side it has hit. This
   was to reduce the number of GPIO pins required.
 
-    stepper_x = Rotor::Stepper.new(23,12,17,24,nil,13,LOW)
-    stepper_y = Rotor::Stepper.new(25, 4,21,22,nil,19,LOW)
+    stepper_x = Rotor::Stepper.new(23,12,17,24,nil,13,0,157.48)
+    stepper_y = Rotor::Stepper.new(25, 4,21,22,nil,19,0,157.48)
 
   You can use a servo to control the marker (or leave blank if you're using a Z Axis Stepper)
   This will be built out so that the strength control of the servo (for laser power) can be
@@ -65,8 +94,8 @@ or ULN2800 Integrated Controllers.
     # stepper_x.forward(1,100)
     # stepper_y.set_home(:forward)
 
-    stepper_x = Rotor::Stepper.new(4,17,23,24,18)
-    stepper_y = Rotor::Stepper.new(25,12,16,21,18)
+    stepper_x = Rotor::Stepper.new(23,12,17,24,nil,13,LOW,157.48)
+    stepper_y = Rotor::Stepper.new(25, 4,21,22,nil,19,LOW,157.48)
     
     loop do
       puts "Enter steps forward::"
@@ -114,6 +143,55 @@ keep this at 1).
     threads << Thread.new { stepper_y.forward(5,text.to_i) }
     threads.each { |thr| thr.join }
 
+# Sample Code
+
+  ## Production (Moving Stepper and Servo)
+  
+  Here is the real world sample code that I am using to plot
+
+    require 'rotor'
+    begin
+      stepper_x = Rotor::Stepper.new(23,12,17,24,nil,13,0,157.48)
+      stepper_y = Rotor::Stepper.new(25, 4,21,22,nil,19,0,157.48)
+      servo = Rotor::Servo.new(18)
+
+      stepper_x.set_home(:backwards)
+      stepper_y.set_home(:backwards)
+      stepper_x.forward(1,4000)
+      stepper_y.forward(1,4000)
+
+      gcode = Rotor::Gcode.new(stepper_x,stepper_y,nil,1,servo)
+      gcode.open('output.nc')
+      gcode.simulate
+
+    ensure
+      servo.rotate(:up)
+
+      stepper_x.set_home(:backwards)
+      stepper_y.set_home(:backwards)
+      stepper_x.forward(1,4000)
+      stepper_y.forward(1,4000)
+
+      stepper_x.power_down
+      stepper_y.power_down
+
+      [23,12,17,24,13,25,4,21,22,19,13].each do |pin|
+       `echo #{pin} > /sys/class/gpio/unexport`
+      end
+    end
+
+  ## Development (Exporting Plot Points for Graphing)
+
+  Before wasting more materials, I try to plot my points to a file and view them in Excel.
+  Within the root of this repository, there is an Excel file, called Visual.xlsx, and 
+  you can import the output.txt into the first four columns. By doing so, you can see the 
+  plot points and the scatter of movements.
+
+    File.open("output.txt", 'wb') { |file| file.write("x,y,xm,ym\n") }
+    gcode = Rotor::Gcode.new(nil,nil,nil,1,nil)
+    gcode.open('output.nc')
+    gcode.simulate
+
 # License
 
 Copyright (c) 2015 kobaltz

data/lib/rotor/gcode.rb

@@ -17,8 +17,17 @@ module Rotor
       @y = 0
       @z = 0
 
+      line_num = 0
+      last_parsed_line = nil
+
       @file.each_line do |line|
+        puts "last_parsed_line::#{last_parsed_line}"
+        line = line.gsub("J-0.000000","J-0.000001") if last_parsed_line && last_parsed_line[:j] && last_parsed_line[:j] > 0.0
+        line = line.gsub("J-0.000000","J0.000001") if last_parsed_line && last_parsed_line[:j] && last_parsed_line[:j] < 0.0
+
         parsed_line = parse_line(line)
+        
+        line_num += 1
         if parsed_line[:g]
           #Move to this origin point.
           if parsed_line[:g] == 0
@@ -39,13 +48,15 @@ module Rotor
             elsif parsed_line[:z] && parsed_line[:f].nil? && parsed_line[:x].nil? && parsed_line[:y].nil? 
               puts "Raising marker::#{parsed_line}"
               @servo.rotate(:up) if @servo
+            elsif parsed_line[:z].nil? && parsed_line[:f] && parsed_line[:x].nil? && parsed_line[:y].nil? 
+              # Set feed/spin rate
             else
               puts "Move Stepper::#{parsed_line}"
-              move_stepper(parsed_line,25)
+              move_stepper(parsed_line,10)
             end
           elsif parsed_line[:g] == 2 || parsed_line[:g] == 3
             # Get my ARC on
-            puts "DEBUG::#{parsed_line}"
+            # puts "DEBUG::#{parsed_line}"
             x_start = @x
             x_end = parsed_line[:x]
 
@@ -53,7 +64,11 @@ module Rotor
             y_end = parsed_line[:y]
 
             x_offset = parsed_line[:i]
+            x_offset = 0.0001 if x_offset == 0.0
+            x_offset = -0.0001 if x_offset == -0.0
             y_offset = parsed_line[:j]
+            y_offset = 0.0001 if y_offset == 0.0
+            y_offset = -0.0001 if y_offset == -0.0
 
             x_origin = x_offset + x_start
             y_origin = y_offset + y_start
@@ -63,23 +78,28 @@ module Rotor
             start_angle = Math.atan2((y_start - y_origin),(x_start - x_origin))
             end_angle = Math.atan2((y_end - y_origin),(x_end - x_origin))
 
-            steps = (end_angle - start_angle) / 25
+            number_of_precision = 5
+
+            steps = (end_angle - start_angle) / number_of_precision
 
             current_degrees = start_angle
 
-            25.times do
-              arc_line = {}
-              arc_line[:x] = x_origin + radius * Math.cos(current_degrees)
-              arc_line[:y] = y_origin + radius * Math.sin(current_degrees)
-              arc_line[:z] = nil
-              current_degrees += steps
-              puts "Move Arc Stepper::#{arc_line}"
-              move_stepper(arc_line,25)
+            number_of_precision.times do |i|
+              # unless i == (number_of_precision - 1)
+                current_degrees += steps
+                arc_line = {}
+                arc_line[:g] = parsed_line[:g]
+                arc_line[:x] = radius * Math.cos(current_degrees) + x_origin
+                arc_line[:y] = radius * Math.sin(current_degrees) + y_origin
+                arc_line[:z] = nil
+                puts "Move Arc Stepper (#{line_num})::#{arc_line},#{current_degrees}::#{y_offset}"
+                move_stepper(arc_line,10)
+              # end
             end
 
-
           else
             # puts "GLINE - Something else"
+            puts "DEBUG::GLINE - Something else::#{parsed_line}"
           end
         elsif parsed_line[:m]
           if line[0..2] == "M03"
@@ -90,10 +110,13 @@ module Rotor
             @servo.rotate(:up) if @servo
           else
             # puts "MLINE - Something else"
+            puts "DEBUG::MLINE - Something else::#{parsed_line}"
           end
         else
           # puts "Something else"
+          puts "DEBUG::????? - Something else::#{parsed_line}"
         end
+        last_parsed_line = parsed_line
       end
     end
 
@@ -101,31 +124,68 @@ module Rotor
 
     def move_stepper(parsed_line,delay)
       threads = []
-      [:x,:y,:z].each do |element|
-        ets = element.to_s
-        instance_variable_set(:"@#{ets}_move",nil)    
-        if parsed_line[element]
-          instance_variable_set(:"@#{ets}_move",parsed_line[element])          
-          instance_variable_set(:"@#{ets}_move",0) unless instance_variable_get(:"@#{ets}_move")
-          instance_variable_set(:"@#{ets}_move",instance_variable_get(:"@#{ets}_move") * @scale)
-
-          instance_variable_set(:"@#{ets}_movement", (instance_variable_get(:"@#{ets}_move") - instance_variable_get(:"@#{ets}")).abs)
-
-          if instance_variable_get(:"@#{ets}_move").to_f > instance_variable_get(:"@#{ets}") #move to the right
-            if instance_variable_get(:"@stepper_#{ets}") && instance_variable_get(:"@stepper_#{ets}").at_safe_area?
-              threads << Thread.new { instance_variable_get(:"@stepper_#{ets}").forward(delay, instance_variable_get(:"@#{ets}_movement")) }
-            end
-          elsif instance_variable_get(:"@#{ets}_move").to_f < instance_variable_get(:"@#{ets}") #move to the left
-            if instance_variable_get(:"@stepper_#{ets}") && instance_variable_get(:"@stepper_#{ets}").at_safe_area?
-              threads << Thread.new { instance_variable_get(:"@stepper_#{ets}").backwards(delay, instance_variable_get(:"@#{ets}_movement")) } 
-            end
+      @x_move = nil    
+      if parsed_line[:x]
+        @x_move = parsed_line[:x]        
+        @x_move ||= 0
+        @x_move *= @scale
+
+        @x_movement = (@x_move - @x).abs
+
+        if @x_move.to_f > @x #move to the right
+          if @stepper_x # && @stepper_x.at_safe_area?
+            threads << Thread.new { @stepper_x.forward(delay, @x_movement) }
+          end
+        elsif @x_move.to_f < @x #move to the left
+          if @stepper_x # && @stepper_x.at_safe_area?
+            threads << Thread.new { @stepper_x.backwards(delay, @x_movement) } 
           end
-          instance_variable_set(:"@#{ets}",instance_variable_get(:"@#{ets}_move"))
         end
+        @x = @x_move
       end
 
-      #puts "Moving to G#{parsed_line[:g]} #{instance_variable_get(:"@x_move")}, #{instance_variable_get(:"@y_move")}, #{instance_variable_get(:"@z_move")}"
+      @y_move = nil    
+      if parsed_line[:y]
+        @y_move = parsed_line[:y]        
+        @y_move ||= 0
+        @y_move *= @scale
+
+        @y_movement = (@y_move - @y).abs
+
+        if @y_move.to_f > @y #move to the right
+          if @stepper_y # && @stepper_y.at_safe_area?
+            threads << Thread.new { @stepper_y.forward(delay, @y_movement) }
+          end
+        elsif @y_move.to_f < @y #move to the left
+          if @stepper_y # && @stepper_y.at_safe_area?
+            threads << Thread.new { @stepper_y.backwards(delay, @y_movement) } 
+          end
+        end
+        @y = @y_move
+      end
+
+      @z_move = nil    
+      if parsed_line[:z]
+        @z_move = parsed_line[:z]        
+        @z_move ||= 0
+        @z_move *= @scale
+
+        @z_movement = (@z_move - @z).abs
+
+        if @z_move.to_f > @z #move to the right
+          if @stepper_z # && @stepper_z.at_safe_area?
+            threads << Thread.new { @stepper_z.forward(delay, @z_movement) }
+          end
+        elsif @z_move.to_f < @z #move to the left
+          if @stepper_z # && @stepper_z.at_safe_area?
+            threads << Thread.new { @stepper_z.backwards(delay, @z_movement) } 
+          end
+        end
+        @z = @z_move
+      end      
+      # puts "Moving to G#{parsed_line[:g]} #{@x_move}(#{@x_movement}), #{@y_move}(#{@y_movement}), #{@z_move}(#{@z_movement})"
       threads.each { |thr| thr.join }
+      File.open("output.txt", 'a') { |file| file.write("#{@x_move},#{@y_move},#{@x_movement},#{@y_movement}\n") } if File.exists?("output.txt")
     end    
 
     def parse_line(line)
@@ -142,6 +202,8 @@ module Rotor
       data = line.match /#{node}(?<data>\d+[,.]\d+)/
       data ||= line.match /#{node}(?<data>\d+)/
       data ||= line.match /#{node}(?<data>-\d+[,.]\d+)/
+      data ||= line.match /#{node}(?<data>\d+[,.])/
+      data ||= line.match /#{node}(?<data>-\d+[,.])/
       if data
         case element
         when :g, :m

data/lib/rotor/stepper.rb

@@ -2,17 +2,20 @@ require 'wiringpi'
 
 module Rotor
   class Stepper
-    def initialize(coil_A_1_pin, coil_A_2_pin, coil_B_1_pin, coil_B_2_pin, enable_pin=nil, homing_switch, homing_normally)
+    def initialize(coil_A_1_pin, coil_A_2_pin, coil_B_1_pin, coil_B_2_pin, enable_pin=nil, homing_switch, homing_normally,steps_per_mm)
       @io = WiringPi::GPIO.new(WPI_MODE_GPIO)
       @coil_A_1_pin = coil_A_1_pin
       @coil_A_2_pin = coil_A_2_pin
       @coil_B_1_pin = coil_B_1_pin
       @coil_B_2_pin = coil_B_2_pin
       @enable_pin = enable_pin
-
+      @steps_per_mm = steps_per_mm
       @homing_switch = homing_switch
       @homing_normally = homing_normally
 
+      @step = 0
+      @ps = [[1,0,1,0],[0,1,1,0],[0,1,0,1],[1,0,0,1]]
+
       [@coil_A_1_pin, @coil_A_2_pin, @coil_B_1_pin, @coil_B_2_pin].each do |pin|
         `echo #{pin} > /sys/class/gpio/unexport`
         @io.mode(pin,OUTPUT)
@@ -34,39 +37,32 @@ module Rotor
 
     def forward(delay=5,steps=100)
       delay_time = delay/1000.0
-      (0..steps).each do |i|
-        set_step(1, 0, 1, 0)
-        sleep delay_time
-        set_step(0, 1, 1, 0)
-        sleep delay_time
-        set_step(0, 1, 0, 1)
-        sleep delay_time
-        set_step(1, 0, 0, 1)
+      (0..(steps * @steps_per_mm)).each do |i|
+        set_step(@ps[@step][0],@ps[@step][1],@ps[@step][2],@ps[@step][3])
+        @step += 1
+        @step = 0 if @step == 4
         sleep delay_time
       end
     end
 
+
     def backwards(delay=5,steps=100)
       delay_time = delay/1000.0
-      (0..steps).each do |i|
-        set_step(1, 0, 0, 1)
-        sleep delay_time
-        set_step(0, 1, 0, 1)
-        sleep delay_time
-        set_step(0, 1, 1, 0)
-        sleep delay_time
-        set_step(1, 0, 1, 0)
+      (0..(steps * @steps_per_mm)).each do |i|
+        set_step(@ps[@step][0],@ps[@step][1],@ps[@step][2],@ps[@step][3])
+        @step -= 1
+        @step = 3 if @step == -1
         sleep delay_time
       end
-    end
-
+      
+    end    
 
     def set_home(direction)
       puts "Setting #{direction} with Homing on GPIO #{@homing_switch}"
       @move = true
       while @move == true
-        backwards(2,1) if direction == :backwards #&& @io.read(@homing_switch) == @homing_normally
-        forward(2,1) if direction == :forward #&& @io.read(@homing_switch) == @homing_normally
+        backwards(1,1) if direction == :backwards #&& @io.read(@homing_switch) == @homing_normally
+        forward(1,1) if direction == :forward #&& @io.read(@homing_switch) == @homing_normally
         @move = false unless @io.read(@homing_switch) == @homing_normally
       end
     end
@@ -87,6 +83,10 @@ module Rotor
       end
     end
 
+    def power_down
+      set_step(0, 0, 0, 0)
+    end
+
     private
 
     def set_step(w1, w2, w3, w4)
@@ -94,6 +94,6 @@ module Rotor
       @io.write(@coil_A_2_pin, w2)
       @io.write(@coil_B_1_pin, w3)
       @io.write(@coil_B_2_pin, w4)
-    end  
+    end
   end
 end

data/lib/rotor/version.rb

@@ -1,3 +1,3 @@
 module Rotor
-  VERSION = "0.1.00"
+  VERSION = "0.1.1"
 end

metadata

@@ -1,14 +1,14 @@
 --- !ruby/object:Gem::Specification
 name: rotor
 version: !ruby/object:Gem::Version
-  version: 0.1.00
+  version: 0.1.1
 platform: ruby
 authors:
 - kobaltz
 autorequire: 
 bindir: bin
 cert_chain: []
-date: 2015-01-20 00:00:00.000000000 Z
+date: 2015-01-23 00:00:00.000000000 Z
 dependencies:
 - !ruby/object:Gem::Dependency
   name: bundler
@@ -74,6 +74,7 @@ files:
 - lib/rotor/version.rb
 - rotor.gemspec
 - sample.nc
+- visual.xlsx
 homepage: https://github.com/kobaltz/rotor
 licenses:
 - MIT