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336 lines
9.7 KiB
336 lines
9.7 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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Slider speedSlider;
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Toggle runToggle;
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RadioButton directionButtons;
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Toggle enabledToggle;
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RadioButton microsteppingButtons;
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Slider sgtSlider;
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Button sgtPlus;
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Button sgtMinus;
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Toggle sgFilterToggle;
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Slider currentSlider;
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Slider coolStepMinSlider;
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Slider coolStepMaxSlider;
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Toggle coolStepActiveToggle;
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RadioButton coolStepIncrementButtons;
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RadioButton coolStepDecrementButtons;
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RadioButton coolStepMinButtons;
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List runControls = new LinkedList();
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Button trinamicButton;
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Button motionControlButton;
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void setupRunConfig() {
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//the run configuration
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//controlP5.getControlFont().setSize(10); - the font is too small, try to increase it!
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//add a button te let the motor run
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runToggle = controlP5.addToggle("run", false, 20, 40, 30, 30);
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controlElements.add(runToggle);
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runToggle.moveTo(runTab);
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//add some directions buttons
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directionButtons = controlP5.addRadioButton("direction", 20, 90);
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controlElements.add(directionButtons);
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directionButtons.addItem("forward", 1);
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directionButtons.addItem("backward", -1);
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directionButtons.activate(0);
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directionButtons.moveTo(runTab);
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enabledToggle = controlP5.addToggle("enabled", false, 20, 220, 30, 30);
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controlElements.add(enabledToggle);
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enabledToggle.moveTo(runTab);
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// add a vertical slider for speed
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speedSlider = controlP5.addSlider("speed", 1, 100, 10, 85, 40, 20, 210);
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controlElements.add(speedSlider);
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speedSlider.moveTo(runTab);
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//ad a multilist for the microstepping setting
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microsteppingButtons = controlP5.addRadioButton("microstepping", 150, 40);
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controlElements.add(microsteppingButtons);
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microsteppingButtons.addItem("m_1/1", 1);
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microsteppingButtons.addItem("m_1/2", 2);
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microsteppingButtons.addItem("m_1/4", 4);
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microsteppingButtons.addItem("m_1/8", 8);
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microsteppingButtons.addItem("m_1/16", 16);
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microsteppingButtons.addItem("m_1/32", 32);
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microsteppingButtons.addItem("m_1/64", 64);
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microsteppingButtons.addItem("m_1/128", 128);
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microsteppingButtons.addItem("m_1/256", 256);
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for (Object o:microsteppingButtons.getItems()) {
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Toggle t = (Toggle) o;
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t.setCaptionLabel(t.getName().substring(2));
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}
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microsteppingButtons.showBar();
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microsteppingButtons.moveTo(runTab);
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currentSlider = controlP5.addSlider("current", 0.46, maxCurrent, 0.4, 250, 40, 20, 210);
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controlElements.add(currentSlider);
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currentSlider.moveTo(runTab);
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// add a vertical slider for stallGuard threshold
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sgtPlus = controlP5.addButton("sgtplus", 0, 400, 40, 20, 20);
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controlElements.add(sgtPlus);
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sgtPlus.setCaptionLabel("+");
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sgtPlus.moveTo(runTab);
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sgtMinus = controlP5.addButton("sgtminus", 1, 400, 70, 20, 20);
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controlElements.add(sgtMinus);
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sgtMinus.setCaptionLabel("-");
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sgtMinus.moveTo(runTab);
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sgtSlider = controlP5.addSlider("stallguardthreshold", -64, 63, 0, 350, 40, 20, 150);
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controlElements.add(sgtSlider);
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sgtSlider.setSliderMode(Slider.FIX);
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sgtSlider.setCaptionLabel("Stall Guard Threshold");
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sgtSlider.moveTo(runTab);
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//ading some buttons to have finer sg control
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//adding a button for the filter
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sgFilterToggle = controlP5.addToggle("sgfilter", false, 350, 220, 30, 30);
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controlElements.add(sgFilterToggle);
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sgFilterToggle.setCaptionLabel("Stall GuardFilter");
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sgFilterToggle.moveTo(runTab);
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//add the coolstep sliders
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coolStepMaxSlider = controlP5.addSlider("coolStepUpper", 0, 480, 0, 500, 40, 20, 90);
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controlElements.add(coolStepMaxSlider);
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coolStepMaxSlider.setCaptionLabel("Cool Step Hysteresis");
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coolStepMaxSlider.moveTo(runTab);
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coolStepMinSlider = controlP5.addSlider("coolStepLower", 0, 480, 0, 500, 160, 20, 90);
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controlElements.add(coolStepMinSlider);
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coolStepMinSlider.setCaptionLabel("Cool Step Minimum");
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coolStepMinSlider.moveTo(runTab);
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coolStepActiveToggle = controlP5.addToggle("coolStepActive", false, 600, 220, 30, 30);
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controlElements.add(coolStepActiveToggle);
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coolStepActiveToggle.setCaptionLabel("Enable CoolStep");
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coolStepActiveToggle.moveTo(runTab);
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coolStepIncrementButtons = controlP5.addRadioButton("coolStepIncrement", 600, 40);
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controlElements.add(coolStepIncrementButtons);
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coolStepIncrementButtons.captionLabel().set("Cool Step Increment");
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coolStepIncrementButtons.addItem("i_1", 0);
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coolStepIncrementButtons.addItem("i_2", 1);
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coolStepIncrementButtons.addItem("i_4", 2);
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coolStepIncrementButtons.addItem("i_8", 3);
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for (Object o:coolStepIncrementButtons.getItems()) {
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Toggle t = (Toggle) o;
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t.setCaptionLabel(t.getName().substring(2));
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}
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coolStepIncrementButtons.showBar();
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coolStepIncrementButtons.moveTo(runTab);
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coolStepDecrementButtons = controlP5.addRadioButton("coolStepDecrement", 600, 110);
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controlElements.add(coolStepDecrementButtons);
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coolStepDecrementButtons.captionLabel().set("Cool Step Decrement");
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coolStepDecrementButtons.addItem("d_32", 0);
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coolStepDecrementButtons.addItem("d_8", 1);
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coolStepDecrementButtons.addItem("d_2", 2);
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coolStepDecrementButtons.addItem("d_1", 3);
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for (Object o:coolStepDecrementButtons.getItems()) {
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Toggle t = (Toggle) o;
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t.setCaptionLabel(t.getName().substring(2));
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}
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coolStepDecrementButtons.showBar();
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coolStepDecrementButtons.moveTo(runTab);
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coolStepMinButtons = controlP5.addRadioButton("coolStepMin", 600, 180);
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controlElements.add(coolStepMinButtons);
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coolStepMinButtons.addItem("s_1/2", 0);
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coolStepMinButtons.addItem("s_1/4", 1);
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for (Object o:coolStepMinButtons.getItems()) {
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Toggle t = (Toggle) o;
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t.setCaptionLabel(t.getName().substring(2));
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}
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coolStepMinButtons.showBar();
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coolStepMinButtons.moveTo(runTab);
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trinamicButton = controlP5.addButton("trinamicLogo", 1.0, 750, 40, 200, 100);
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trinamicButton.setImage(TMCLogo);
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trinamicButton.moveTo(runTab);
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controlElements.add(trinamicButton);
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motionControlButton = controlP5.addButton("mcLogo", 1.0, 750, 150, 200, 100);
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motionControlButton.setImage(MCLogo);
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motionControlButton.moveTo(runTab);
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controlElements.add(motionControlButton);
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}
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void speed(int theSpeed) {
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if (!settingStatus) {
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int speed = (int) theSpeed;
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println("setting speed to "+speed);
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sendCommand("S"+speed);
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}
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}
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void run(int value) {
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if (!settingStatus) {
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println("button pressed");
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if (running) {
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println("stopping motor");
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sendCommand("s");
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running = false;
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}
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else {
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println("starting motor");
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sendCommand("r");
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running = true;
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}
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}
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}
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void enabled(int value) {
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if (!settingStatus) {
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println("enabled: "+value);
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sendCommand("e"+value);
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}
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}
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void microstepping(int value) {
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if (!settingStatus) {
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println("microstepping: "+value);
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sendCommand("m"+value);
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}
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}
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void stallguardthreshold(int value) {
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if (!settingStatus) {
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println("stall guard threshold: "+value);
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sendCommand("t"+value);
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}
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if (value==sgtSlider.max()) {
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sgtPlus.lock();
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}
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else {
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sgtPlus.unlock();
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}
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if (value==sgtSlider.min()) {
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sgtMinus.lock();
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}
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else {
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sgtMinus.unlock();
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}
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}
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void sgtplus(int value) {
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sgtSlider.setValue(sgtSlider.value()+1);
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}
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void sgtminus(int value) {
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sgtSlider.setValue(sgtSlider.value()-1);
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}
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void sgfilter(int value) {
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if (!settingStatus) {
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println("filter: "+value);
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sendCommand("f"+value);
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}
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}
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void current(float value) {
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if (!settingStatus) {
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int realValue=(int)(value*1000.0);
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println("current: "+((float)realValue/1000.0)+" = "+realValue);
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sendCommand("c"+realValue);
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if (activeTab!=null && "run".equals(activeTab.name())) {
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motorCurrentBox.setValue(value);
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}
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}
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}
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void coolStepUpper(int value) {
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coolStepMax=value;
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if (!settingStatus) {
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sendCommand("Ku"+value);
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}
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}
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void coolStepLower(int value) {
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coolStepMin = value;
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if (!settingStatus) {
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sendCommand("Kl"+value);
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}
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}
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void setCoolStepIncrement(int value) {
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if (!settingStatus) {
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println("cool step increment :"+value);
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sendCommand("Ki"+value);
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}
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}
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void setCoolStepDecrement(int value) {
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if (!settingStatus) {
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println("cool step decrement :"+value);
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sendCommand("Kn"+value);
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}
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}
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void setCoolStepMin(int value) {
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if (!settingStatus) {
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println("cool step minimum :"+value);
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sendCommand("Km"+value);
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}
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}
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void coolStepActive(int value) {
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if (!settingStatus) {
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coolStepActive = (value!=0);
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sendCommand(coolStepActive? "K+":"K-");
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}
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}
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void setCurrent(int current) {
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currentSlider.setValue((float)current/1000.0);
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}
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void setDirection(int direction) {
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if (!settingStatus) {
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if (direction<0) {
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println("back");
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sendCommand("d-1");
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}
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else {
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sendCommand("d1");
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}
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}
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}
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void trinamicLogo(float value){
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if (value!=0) {
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link(trinamicUrl);
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}
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}
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void mcLogo(float value) {
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if (value!=0) {
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link(mcUrl);
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}
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}
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