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328 lines
10 KiB
328 lines
10 KiB
/*
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TMC26XMotorTest.pde - - TMC26X Stepper Tester for Processing
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Copyright (c) 2011, Interactive Matter, Marcus Nowotny
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal
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in the Software without restriction, including without limitation the rights
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to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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copies of the Software, and to permit persons to whom the Software is
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furnished to do so, subject to the following conditions:
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The above copyright notice and this permission notice shall be included in
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all copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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THE SOFTWARE.
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*/
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//our graph dimensions
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int plotBottom, plotTop;
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int plotLeft, plotRight;
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//we already know the minima and maxima of certain dates
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int stallGuardMin = 0;
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int stallGuardMax =1024;
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int positionMin = 0;
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int positionMax = 1024;
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int dataPointsWidth = 3;
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int dataLineWidth = 2;
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int highLightWidth = 7;
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int numberOfDataPoints=1000;
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int legendTitleSize = 10;
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int legendTextSize = 10;
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int currentLabelInterval = 500;
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int currentMinorTickInterval = 25;
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DecimalFormat currentLabelFormat = new DecimalFormat("#0.0A");
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int stallGuardLabelInterval = 100;
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int stallGuardMinorTickInterval = 10;
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int positionLabelInterval = 64;
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int positionMinorTickInterval = 8;
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int coolStepActiveStroke = 2;
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int coolStepInactiveStroke = 1;
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int stallGuardHighLightDistance = 1;
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int positionHighLightDistance = 3;
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int currentHighLightDistance = 3;
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DataTable stallGuardTable = new DataTable(numberOfDataPoints);
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DataTable positionTable = new DataTable(numberOfDataPoints);
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DataTable currentTable = new DataTable(numberOfDataPoints);
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int logoLeft = 10;
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int logoTop = 50;
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int logoWidth = 75;
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int logoHeight = 75;
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void setupData() {
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plotBottom = height-50;
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plotTop = 300;
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plotLeft = 150;
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plotRight= width-50;
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//recalculate the image dimension for the Logo
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logoHeight = (int)((float)logoWidth/(float)TMCLogo.width*(float)TMCLogo.height);
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logoTop = height - 10 - logoHeight;
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}
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void drawData() {
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if (motor_connected && activeTab!=null && runTab.equals(activeTab)) {
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fill(diagramBackgroundColor);
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noStroke();
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rect(plotLeft, plotTop, plotRight, plotBottom);
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noFill();
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rectMode(CORNERS);
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noStroke();
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//rect(plotLeft, plotBottom, plotRight, plotTop);
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strokeWeight(dataLineWidth);
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stroke(positionColor);
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drawDataLine(positionTable, positionMin, positionMax);
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drawDataHighLight(positionTable, positionMin, positionMax, positionHighLightDistance, labelColor, "Microstep Position", false);
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strokeWeight(dataLineWidth);
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stroke(coolStepColor);
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drawCurrentLine(currentTable);
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drawCurrentHighLight(positionTable, currentHighLightDistance, labelColor, "Current Ratio", false);
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strokeWeight(dataPointsWidth);
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stroke(stallGuardColor);
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drawDataPoints(stallGuardTable, stallGuardMin, stallGuardMax);
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drawDataHighLight(stallGuardTable, stallGuardMin, stallGuardMax, stallGuardHighLightDistance, labelColor, "Stall Guard", true);
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if (coolStepActive) {
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strokeWeight(coolStepActiveStroke);
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} else {
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strokeWeight(coolStepInactiveStroke);
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}
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stroke(coolStepColor);
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float coolStepMinHeight = map(coolStepMin, 0, stallGuardMax, plotBottom, plotTop);
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line(plotLeft,coolStepMinHeight, plotRight, coolStepMinHeight);
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float coolStepMaxHeight = map(coolStepMin+coolStepMax+1, 0, stallGuardMax, plotBottom, plotTop);
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line(plotLeft,coolStepMaxHeight, plotRight, coolStepMaxHeight);
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textSize(legendTitleSize);
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textAlign(RIGHT);
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fill(coolStepColor);
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text("Motor Current", plotLeft - 50, plotTop - 10);
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textSize(legendTextSize);
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textAlign(RIGHT);
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strokeWeight(1);
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stroke(coolStepColor);
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int currentScaleMax = (int)(maxCurrent*1000.0);
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for (int i=0; i<=currentScaleMax; i++) {
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float y = map(i, 0, currentScaleMax, plotBottom, plotTop);
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if (i % currentLabelInterval == 0) {
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if (i==0) {
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textAlign(RIGHT, BOTTOM);
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}
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else if (i==currentScaleMax) {
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textAlign(RIGHT, TOP);
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}
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else {
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textAlign(RIGHT, CENTER);
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}
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text(currentLabelFormat.format((float)i/1000.0), plotLeft-58, y);
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line (plotLeft-55, y, plotLeft-50, y);
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}
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else if (i % currentMinorTickInterval == 0) {
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line (plotLeft-53, y, plotLeft-50, y);
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}
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}
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textSize(legendTitleSize);
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textAlign(LEFT);
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fill(stallGuardColor);
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text("Stall Guard Reading", plotLeft - 30, plotTop - 10);
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textSize(legendTextSize);
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textAlign(RIGHT);
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strokeWeight(1);
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stroke(stallGuardColor);
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for (int i=stallGuardMin; i<=stallGuardMax; i++) {
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float y = map(i, stallGuardMin, stallGuardMax, plotBottom, plotTop);
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if (i % stallGuardLabelInterval == 0) {
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if (i==stallGuardMin) {
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textAlign(RIGHT, BOTTOM);
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}
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else if (i==stallGuardMax) {
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textAlign(RIGHT, TOP);
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}
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else {
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textAlign(RIGHT, CENTER);
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}
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text(i, plotLeft-8, y);
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line (plotLeft-5, y, plotLeft, y);
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}
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else if (i % stallGuardMinorTickInterval == 0) {
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line (plotLeft-3, y, plotLeft, y);
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}
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}
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textSize(legendTitleSize);
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fill(positionColor);
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textAlign(RIGHT);
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text("Position", plotRight + 30, plotTop - 10);
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textSize(legendTextSize);
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textAlign(LEFT);
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strokeWeight(1);
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stroke(positionColor);
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for (int i=positionMin; i<=positionMax; i++) {
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float y = map(i, positionMin, positionMax, plotBottom, plotTop);
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if (i % positionLabelInterval == 0) {
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if (i==positionMin) {
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textAlign(LEFT, BOTTOM);
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}
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else if (i==stallGuardMax) {
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textAlign(LEFT, TOP);
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}
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else {
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textAlign(LEFT, CENTER);
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}
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text(i, plotRight+8, y);
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line (plotRight, y, plotRight+5, y);
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}
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else if (i % positionMinorTickInterval == 0) {
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line (plotRight, y, plotRight+3, y);
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}
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}
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//draw the channel status
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textSize(legendTextSize);
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textAlign(CENTER);
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strokeWeight(1);
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int statusY = height - 20;
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int channelAX = width/4;
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int temperatureX = width/2;
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int channelBX = width/4*3;
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if (channelAStatus==null) {
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fill(goodStatusColor);
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text("Channel A: OK", channelAX, statusY);
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}
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else {
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fill(badStatusColor);
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text("Channel A: "+channelAStatus, channelAX, statusY);
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}
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if (channelBStatus==null) {
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fill(goodStatusColor);
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text("Channel B: OK", channelBX, statusY);
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}
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else {
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fill(badStatusColor);
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text("Channel B: "+channelBStatus, channelBX, statusY);
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}
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if (temperatureStatus==null) {
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fill(goodStatusColor);
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text("Temperature: OK", temperatureX, statusY);
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}
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else {
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fill(badStatusColor);
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text("Temperature: "+temperatureStatus, temperatureX, statusY);
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}
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}
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}
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void drawDataPoints(DataTable table, int minValue, int maxValue) {
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int dataCount = table.getSize();
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for (int i=0; i<dataCount; i++) {
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int value = table.getEntry(i);
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float x = map(i, 0, numberOfDataPoints-1, plotLeft+dataPointsWidth, plotRight-dataPointsWidth);
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float y = map(value, minValue, maxValue, plotBottom-dataPointsWidth, plotTop+dataPointsWidth);
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point(x, y);
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}
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}
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void drawDataLine(DataTable table, int minValue, int maxValue) {
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beginShape();
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int dataCount = table.getSize();
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for (int i=0; i<dataCount; i++) {
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int value = table.getEntry(i);
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float x = map(i, 0, numberOfDataPoints-1, plotLeft+dataPointsWidth, plotRight-dataPointsWidth);
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float y = map(value, minValue, maxValue, plotBottom-dataPointsWidth, plotTop+dataPointsWidth);
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vertex(x, y);
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}
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endShape();
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}
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void drawDataHighLight(DataTable table, int minValue, int maxValue, int distance, color textColor, String name, boolean top) {
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int dataCount = table.getSize();
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for (int i=0; i<dataCount; i++) {
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int value = table.getEntry(i);
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float x = map(i, 0, numberOfDataPoints-1, plotLeft+dataPointsWidth, plotRight-dataPointsWidth);
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float y = map(value, minValue, maxValue, plotBottom-dataPointsWidth, plotTop+dataPointsWidth);
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if (dist(mouseX, mouseY, x, y) < distance) {
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strokeWeight(highLightWidth);
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point(x, y);
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fill(textColor);
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textSize(10);
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textAlign(CENTER);
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if (top) {
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text(name+": "+value, x, y-8);
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}
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else {
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text(name+": "+value, x, y+8);
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}
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}
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}
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}
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void drawCurrentLine(DataTable table) {
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noFill();
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beginShape();
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int dataCount = table.getSize();
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for (int i=0; i<dataCount; i++) {
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float value = (table.getEntry(i)+1)/1000.0;
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float x = map(i, 0, numberOfDataPoints-1, plotLeft+dataPointsWidth, plotRight-dataPointsWidth);
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float y = map(value, 0.0, maxCurrent, (float)plotBottom-dataPointsWidth, (float)plotTop+dataPointsWidth);
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vertex(x, y);
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}
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endShape();
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}
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void drawCurrentHighLight(DataTable table, int distance, color textColor, String name, boolean top) {
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int dataCount = table.getSize();
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for (int i=0; i<dataCount; i++) {
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float value = (table.getEntry(i)+1)/1000.0;
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float x = map(i, 0, numberOfDataPoints-1, plotLeft+dataPointsWidth, plotRight-dataPointsWidth);
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float y = map(value, 0.0, maxCurrent, plotBottom-dataPointsWidth, plotTop+dataPointsWidth);
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if (dist(mouseX, mouseY, x, y) < distance) {
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strokeWeight(highLightWidth);
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point(x, y);
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fill(textColor);
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textSize(10);
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textAlign(CENTER);
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if (top) {
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text(name+": "+value, x, y-8);
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}
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else {
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text(name+": "+value, x, y+8);
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}
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}
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}
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}
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void addStallGuardReading(int value) {
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stallGuardTable.addData(value);
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}
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void addPositionReading(int value) {
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positionTable.addData(value);
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}
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void addCurrentReading(int value) {
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currentTable.addData(value);
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}
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