commit 74be357cfab2304693287fe54d745e477c46c231 Author: Fisch Date: Wed Jan 1 13:17:00 2025 +0100 add working test code diff --git a/movinghead/.gitignore b/movinghead/.gitignore new file mode 100644 index 0000000..89cc49c --- /dev/null +++ b/movinghead/.gitignore @@ -0,0 +1,5 @@ +.pio +.vscode/.browse.c_cpp.db* +.vscode/c_cpp_properties.json +.vscode/launch.json +.vscode/ipch diff --git a/movinghead/.vscode/extensions.json b/movinghead/.vscode/extensions.json new file mode 100644 index 0000000..080e70d --- /dev/null +++ b/movinghead/.vscode/extensions.json @@ -0,0 +1,10 @@ +{ + // See http://go.microsoft.com/fwlink/?LinkId=827846 + // for the documentation about the extensions.json format + "recommendations": [ + "platformio.platformio-ide" + ], + "unwantedRecommendations": [ + "ms-vscode.cpptools-extension-pack" + ] +} diff --git a/movinghead/include/README b/movinghead/include/README new file mode 100644 index 0000000..194dcd4 --- /dev/null +++ b/movinghead/include/README @@ -0,0 +1,39 @@ + +This directory is intended for project header files. + +A header file is a file containing C declarations and macro definitions +to be shared between several project source files. You request the use of a +header file in your project source file (C, C++, etc) located in `src` folder +by including it, with the C preprocessing directive `#include'. + +```src/main.c + +#include "header.h" + +int main (void) +{ + ... +} +``` + +Including a header file produces the same results as copying the header file +into each source file that needs it. Such copying would be time-consuming +and error-prone. With a header file, the related declarations appear +in only one place. If they need to be changed, they can be changed in one +place, and programs that include the header file will automatically use the +new version when next recompiled. The header file eliminates the labor of +finding and changing all the copies as well as the risk that a failure to +find one copy will result in inconsistencies within a program. + +In C, the usual convention is to give header files names that end with `.h'. +It is most portable to use only letters, digits, dashes, and underscores in +header file names, and at most one dot. + +Read more about using header files in official GCC documentation: + +* Include Syntax +* Include Operation +* Once-Only Headers +* Computed Includes + +https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html diff --git a/movinghead/lib/README b/movinghead/lib/README new file mode 100644 index 0000000..2593a33 --- /dev/null +++ b/movinghead/lib/README @@ -0,0 +1,46 @@ + +This directory is intended for project specific (private) libraries. +PlatformIO will compile them to static libraries and link into executable file. + +The source code of each library should be placed in an own separate directory +("lib/your_library_name/[here are source files]"). + +For example, see a structure of the following two libraries `Foo` and `Bar`: + +|--lib +| | +| |--Bar +| | |--docs +| | |--examples +| | |--src +| | |- Bar.c +| | |- Bar.h +| | |- library.json (optional, custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html +| | +| |--Foo +| | |- Foo.c +| | |- Foo.h +| | +| |- README --> THIS FILE +| +|- platformio.ini +|--src + |- main.c + +and a contents of `src/main.c`: +``` +#include +#include + +int main (void) +{ + ... +} + +``` + +PlatformIO Library Dependency Finder will find automatically dependent +libraries scanning project source files. + +More information about PlatformIO Library Dependency Finder +- https://docs.platformio.org/page/librarymanager/ldf.html diff --git a/movinghead/platformio.ini b/movinghead/platformio.ini new file mode 100644 index 0000000..ec4aee3 --- /dev/null +++ b/movinghead/platformio.ini @@ -0,0 +1,23 @@ +; PlatformIO Project Configuration File +; +; Build options: build flags, source filter +; Upload options: custom upload port, speed and extra flags +; Library options: dependencies, extra library storages +; Advanced options: extra scripting +; +; Please visit documentation for the other options and examples +; https://docs.platformio.org/page/projectconf.html + + + +[env:d1_mini] +platform = espressif8266 +board = d1_mini +framework = arduino + +upload_speed=921600 + +monitor_speed=115200 + +lib_deps = + waspinator/AccelStepper@^1.64 diff --git a/movinghead/src/main.cpp b/movinghead/src/main.cpp new file mode 100644 index 0000000..2a3ce1a --- /dev/null +++ b/movinghead/src/main.cpp @@ -0,0 +1,71 @@ +#include + + +#include + +// https://learn.watterott.com/de/silentstepstick/pinconfig/tmc2130/ + + +#define EN_PIN D0 +#define ROLL_STEP_PIN D8 +#define ROLL_DIR_PIN D7 + +#define PITCH_STEP_PIN D6 +#define PITCH_DIR_PIN D5 + +AccelStepper stepperPitch(AccelStepper::DRIVER, PITCH_STEP_PIN, PITCH_DIR_PIN); + +AccelStepper stepperRoll(AccelStepper::DRIVER, ROLL_STEP_PIN, ROLL_DIR_PIN); + +unsigned long stepsPerRotationPitch=16*42*400/12; //12z to 42z, 16x microstepping + +unsigned long stepsPerRotationRoll=16*85*400/17;//17z to 85z, 16x microstepping + +void setup() { + Serial.begin(115200); + + stepperPitch.setMaxSpeed(15000); + stepperPitch.setAcceleration(80000.0); + stepperPitch.moveTo(stepsPerRotationPitch/2); + + stepperRoll.setMaxSpeed(15000); + stepperRoll.setAcceleration(80000.0); + stepperRoll.moveTo(stepsPerRotationRoll/8); +} + +void loop() { + static unsigned long last_change; + + if (stepperPitch.distanceToGo() == 0) { + if (stepperPitch.currentPosition()>100) { + Serial.print("Pitch Moving to: "); Serial.println(0); + stepperPitch.moveTo(0); + }else{ + Serial.print("Pitch Moving to: "); Serial.println(stepsPerRotationPitch/2); + stepperPitch.moveTo(stepsPerRotationPitch/2); + } + } + + if (stepperRoll.distanceToGo() == 0) { + if (stepperRoll.currentPosition()>100) { + Serial.print("Roll Moving to: "); Serial.println(0); + stepperRoll.moveTo(0); + }else{ + Serial.print("Roll Moving to: "); Serial.println(stepsPerRotationRoll/8); + stepperRoll.moveTo(stepsPerRotationRoll/8); + } + } + + bool resultPitch = stepperPitch.run(); + bool resultRoll = stepperRoll.run(); + + + if ( millis() > last_change+500 ) { + last_change=millis(); + //Serial.print("run="); Serial.print(result); + //Serial.print(" dist="); Serial.print(stepperPitch.distanceToGo()); + //Serial.print(" pos="); Serial.print(stepperPitch.currentPosition()); + //Serial.println(); + } + +} \ No newline at end of file diff --git a/movinghead/test/README b/movinghead/test/README new file mode 100644 index 0000000..9b1e87b --- /dev/null +++ b/movinghead/test/README @@ -0,0 +1,11 @@ + +This directory is intended for PlatformIO Test Runner and project tests. + +Unit Testing is a software testing method by which individual units of +source code, sets of one or more MCU program modules together with associated +control data, usage procedures, and operating procedures, are tested to +determine whether they are fit for use. Unit testing finds problems early +in the development cycle. + +More information about PlatformIO Unit Testing: +- https://docs.platformio.org/en/latest/advanced/unit-testing/index.html