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Support for JoySticks

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Added new functionality for the use of JoySticks for MPG commands
This commit is contained in:
Alexander Richter 2023-07-23 10:43:43 +02:00
parent 14122bca26
commit 0577013c17
2 changed files with 265 additions and 113 deletions
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157
LinuxCNC_ArduinoConnector.ino
View File

@ -9,7 +9,7 @@
You can create as many digital & analog Inputs, Outputs and PWM Outputs as your Arduino can handle. You can create as many digital & analog Inputs, Outputs and PWM Outputs as your Arduino can handle.
You can also generate "virtual Pins" by using latching Potentiometers, which are connected to one analog Pin, but are read in Hal as individual Pins. You can also generate "virtual Pins" by using latching Potentiometers, which are connected to one analog Pin, but are read in Hal as individual Pins.
Currently the Software provides: Currently the Software Supports:
- analog Inputs - analog Inputs
- latching Potentiometers - latching Potentiometers
- 1 binary encoded selector Switch - 1 binary encoded selector Switch
@ -29,6 +29,8 @@
Analog Inputs = 'A' -write only -Pin State: 0-1024 Analog Inputs = 'A' -write only -Pin State: 0-1024
Latching Potentiometers = 'L' -write only -Pin State: 0-max Position Latching Potentiometers = 'L' -write only -Pin State: 0-max Position
binary encoded Selector = 'K' -write only -Pin State: 0-32 binary encoded Selector = 'K' -write only -Pin State: 0-32
rotary encoder = 'R' -write only -Pin State: up/ down / -32768 to 32767
joystick = 'R' -write only -Pin State: up/ down / -32768 to 32767
Keyboard Input: Keyboard Input:
Matrix Keypad = 'M' -write only -Pin State: Number of Matrix Key. Matrix Keypad = 'M' -write only -Pin State: Number of Matrix Key.
@ -61,20 +63,20 @@ Communication Status = 'E' -read/Write -Pin State: 0:0
//###################################################IO's################################################### //###################################################IO's###################################################
#define INPUTS //Use Arduino IO's as Inputs. Define how many Inputs you want in total and then which Pins you want to be Inputs. //#define INPUTS //Use Arduino IO's as Inputs. Define how many Inputs you want in total and then which Pins you want to be Inputs.
#ifdef INPUTS #ifdef INPUTS
const int Inputs = 5; //number of inputs using internal Pullup resistor. (short to ground to trigger) const int Inputs = 5; //number of inputs using internal Pullup resistor. (short to ground to trigger)
int InPinmap[] = {37,38,39,40,41}; int InPinmap[] = {37,38,39,40,41};
#endif #endif
//Use Arduino IO's as Toggle Inputs, which means Inputs (Buttons for example) keep HIGH State after Release and Send LOW only after beeing Pressed again. //Use Arduino IO's as Toggle Inputs, which means Inputs (Buttons for example) keep HIGH State after Release and Send LOW only after beeing Pressed again.
#define SINPUTS //Define how many Toggle Inputs you want in total and then which Pins you want to be Toggle Inputs. //#define SINPUTS //Define how many Toggle Inputs you want in total and then which Pins you want to be Toggle Inputs.
#ifdef SINPUTS #ifdef SINPUTS
const int sInputs = 5; //number of inputs using internal Pullup resistor. (short to ground to trigger) const int sInputs = 5; //number of inputs using internal Pullup resistor. (short to ground to trigger)
int sInPinmap[] = {32,33,34,35,36}; int sInPinmap[] = {32,33,34,35,36};
#endif #endif
#define OUTPUTS //Use Arduino IO's as Outputs. Define how many Outputs you want in total and then which Pins you want to be Outputs. //#define OUTPUTS //Use Arduino IO's as Outputs. Define how many Outputs you want in total and then which Pins you want to be Outputs.
#ifdef OUTPUTS #ifdef OUTPUTS
const int Outputs = 9; //number of outputs const int Outputs = 9; //number of outputs
int OutPinmap[] = {10,9,8,7,6,5,4,3,2,21}; int OutPinmap[] = {10,9,8,7,6,5,4,3,2,21};
@ -89,8 +91,8 @@ Communication Status = 'E' -read/Write -Pin State: 0:0
//#define AINPUTS //Use Arduino ADC's as Analog Inputs. Define how many Analog Inputs you want in total and then which Pins you want to be Analog Inputs. //#define AINPUTS //Use Arduino ADC's as Analog Inputs. Define how many Analog Inputs you want in total and then which Pins you want to be Analog Inputs.
//Note that Analog Pin numbering is different to the Print on the PCB. //Note that Analog Pin numbering is different to the Print on the PCB.
#ifdef AINPUTS #ifdef AINPUTS
const int AInputs = 1; const int AInputs = 2;
int AInPinmap[] = {1}; //Potentiometer for SpindleSpeed override int AInPinmap[] = {0,2}; //Potentiometer for SpindleSpeed override
int smooth = 200; //number of samples to denoise ADC, try lower numbers on your setup 200 worked good for me. int smooth = 200; //number of samples to denoise ADC, try lower numbers on your setup 200 worked good for me.
#endif #endif
@ -113,7 +115,7 @@ Note that Analog Pin numbering is different to the Print on the PCB.
//#define LPOTIS //#define LPOTIS
#ifdef LPOTIS #ifdef LPOTIS
const int LPotis = 2; const int LPotis = 2;
int LPotiPins[LPotis][2] = { const int LPotiPins[LPotis][2] = {
{2,9}, //Latching Knob Spindle Overdrive on A1, has 9 Positions {2,9}, //Latching Knob Spindle Overdrive on A1, has 9 Positions
{3,4} //Latching Knob Feed Resolution on A2, has 4 Positions {3,4} //Latching Knob Feed Resolution on A2, has 4 Positions
}; };
@ -126,6 +128,64 @@ Note that Analog Pin numbering is different to the Print on the PCB.
#endif #endif
#define ROTENC
//Support for Rotatary Encoders with Quadrature Output. Define Pins for A and B Signals for your encoders. Visit https://www.pjrc.com/teensy/td_libs_Encoder.html for further explanation.
#ifdef ROTENC
#include <Encoder.h>
const int RotEncs = 2; //how many Rotary Encoders do you want?
// Encoders have 2 signals, which must be connected to 2 pins. There are three options.
//Best Performance: Both signals connect to interrupt pins.
//Good Performance: First signal connects to an interrupt pin, second to a non-interrupt pin.
//Low Performance: Both signals connect to non-interrupt pins, details below.
//Board Interrupt Pins LED Pin(do not use)
//Teensy 4.0 - 4.1 All Digital Pins 13
//Teensy 3.0 - 3.6 All Digital Pins 13
//Teensy LC 2 - 12, 14, 15, 20 - 23 13
//Teensy 2.0 5, 6, 7, 8 11
//Teensy 1.0 0, 1, 2, 3, 4, 6, 7, 16
//Teensy++ 2.0 0, 1, 2, 3, 18, 19, 36, 37 6
//Teensy++ 1.0 0, 1, 2, 3, 18, 19, 36, 37
//Arduino Due All Digital Pins 13
//Arduino Uno 2, 3 13
//Arduino Leonardo 0, 1, 2, 3 13
//Arduino Mega 2, 3, 18, 19, 20, 21 13
//Sanguino 2, 10, 11 0
Encoder Encoder0(2,3); //A,B Pin
Encoder Encoder1(18,19); //A,B Pin
//Encoder Encoder2(A,B);
//Encoder Encoder3(A,B);
//Encoder Encoder4(A,B);
const int RotEncData[] = {1,2}; //define wich kind of Signal you want to generate.
//1= send up or down signal (typical use for selecting modes in hal)
//2= send position signal (typical use for MPG wheel)
const int RotEncMp[] = {1,4}; //some Rotary encoders send multiple Electronical Impulses per mechanical pulse. How many Electrical impulses are send for each mechanical Latch?
#endif
#define JOYSTICK //Support of an Rotating Knob that was build in my Machine. It encodes 32 Positions with 5 Pins in Binary. This will generate 32 Pins in LinuxCNC Hal.
#ifdef JOYSTICK
const int JoySticks = 1;
const int JoyStickPins[JoySticks][2] = {
{A0,A2},//Analog Pins JoyStick 1 is connected to
//{2,3}//Analog Pins JoyStick 2 is connected to
};
const int JoyStickDeadband = 50; //Area around Middle Position that gets ignored.
const int JoyStickSpeed = 100; //Multiplier to slow down the Output Speed if in counter mode. Higher number = slower.
const int JoyStickMaxVal = 500; //The Analog Input gets transformed from 0-1023 to -JoyStickMaxVal to +JoyStickMaxVal, so that the Middle Position of the Joystick is 0. I don't think you should change this.
#endif
//The Software will detect if there is an communication issue. When you power on your machine, the Buttons etc won't work, till LinuxCNC is running. THe StatusLED will inform you about the State of Communication. //The Software will detect if there is an communication issue. When you power on your machine, the Buttons etc won't work, till LinuxCNC is running. THe StatusLED will inform you about the State of Communication.
// Slow Flash = Not Connected // Slow Flash = Not Connected
// Steady on = connected // Steady on = connected
@ -266,7 +326,15 @@ const int debounceDelay = 50;
#ifdef KEYPAD #ifdef KEYPAD
byte KeyState = 0; byte KeyState = 0;
#endif #endif
#ifdef ROTENC
long EncCount[RotEncs];
long OldEncCount[RotEncs];
#endif
#ifdef JOYSTICK
//int oldJoyStick[JoySticks];
long JoyStickCount[JoySticks][2];
#endif
//### global Variables setup### //### global Variables setup###
//Please don't touch them //Please don't touch them
@ -286,8 +354,6 @@ char cmd = 0;
uint16_t io = 0; uint16_t io = 0;
uint16_t value = 0; uint16_t value = 0;
void setup() { void setup() {
#ifdef INPUTS #ifdef INPUTS
@ -351,6 +417,15 @@ for(int col = 0; col < numCols; col++) {
} }
#endif #endif
#ifdef JOYSTICK
for(int i= 0; i<JoySticks;i++){
JoyStickCount[i][0] = 0;
JoyStickCount[i][1] = 0;
pinMode(JoyStickPins[i][0], INPUT);
pinMode(JoyStickPins[i][1], INPUT);
}
#endif
//Setup Serial //Setup Serial
Serial.begin(115200); Serial.begin(115200);
while (!Serial){} while (!Serial){}
@ -391,9 +466,65 @@ void loop() {
readKeypad(); //read Keyboard & send data readKeypad(); //read Keyboard & send data
#endif #endif
#ifdef ROTENC
readEncoders(); //read Encoders & send data
#endif
#ifdef JOYSTICK
readJoySticks(); //read Encoders & send data
#endif
} }
#ifdef JOYSTICK
void readJoySticks(){
for(int i= 0;i<JoySticks; i++){
long var0 = 0;
long var1 = 0;
for(int d= 0;d<5; d++){// take couple samples to denoise signal
var0 = var0+ analogRead(JoyStickPins[i][0]);
var1 = var1+ analogRead(JoyStickPins[i][1]);
}
var0 = var0 / 5; //0-1023
var1 = var1 / 5; //0-1023
if(var0 > 510+JoyStickDeadband || var0 < 510-JoyStickDeadband){
var0 = map(var0,0,1023,JoyStickMaxVal*-1,JoyStickMaxVal);
JoyStickCount[i][0] = JoyStickCount[i][0] + (var0*2);
sendData('R',JoyStickPins[i][0],JoyStickCount[i][0]/(JoyStickMaxVal*JoyStickSpeed));
}
if(var1 > 510 + JoyStickDeadband || var1 < 510 - JoyStickDeadband){
var1 = map(var1,0,1023,JoyStickMaxVal*-1,JoyStickMaxVal);
JoyStickCount[i][1] = JoyStickCount[i][1] + (var1*2) ;
sendData('R',JoyStickPins[i][1],JoyStickCount[i][1]/(JoyStickMaxVal*JoyStickSpeed));
}
}
}
#endif
void readEncoders(){
if(RotEncs>=1){
EncCount[0] = RotEncMp[0]* Encoder0.read();
}
if(RotEncs>=2){
EncCount[1] = RotEncMp[1]* Encoder1.read();
}
if(RotEncs>=3){
//EncCount[2] = RotEncMp[2]* Encoder2.read();
}
if(RotEncs>=4){
//EncCount[3] = RotEncMp[3]* Encoder3.read();
}
if(RotEncs>=5){
//EncCount[4] = RotEncMp[4]* Encoder4.read();
}
for(int i=0; i<=RotEncs;i++){
if(OldEncCount[i] != EncCount[i]){
//sendData("R",i,EncCount[i]);
OldEncCount[i] = EncCount[i];
}
}
}
void comalive(){ void comalive(){
#ifdef STATUSLED #ifdef STATUSLED
@ -510,10 +641,10 @@ int readLPoti(){
#ifdef AINPUTS #ifdef AINPUTS
int readAInputs(){ int readAInputs(){
unsigned long var = 0;
for(int i= 0;i<AInputs; i++){ for(int i= 0;i<AInputs; i++){
int State = analogRead(AInPinmap[i]); unsigned long var = 0;
for(int i= 0;i<smooth; i++){// take couple samples to denoise signal for(int d= 0;d<smooth; d++){// take couple samples to denoise signal
var = var+ analogRead(AInPinmap[i]); var = var+ analogRead(AInPinmap[i]);
} }
var = var / smooth; var = var / smooth;

209
arduino.py
View File

@ -51,16 +51,16 @@ connection = '/dev/ttyACM0' #this is the port your Arduino is connected to. You
# Set how many Inputs you have programmed in Arduino and which pins are Inputs, Set Inputs = 0 to disable # Set how many Inputs you have programmed in Arduino and which pins are Inputs, Set Inputs = 0 to disable
Inputs = 5 Inputs = 0
InPinmap = [37,38,39,40,41] InPinmap = [37,38,39,40,41]
# Set how many Toggled ("sticky") Inputs you have programmed in Arduino and which pins are Toggled Inputs , Set SInputs = 0 to disable # Set how many Toggled ("sticky") Inputs you have programmed in Arduino and which pins are Toggled Inputs , Set SInputs = 0 to disable
SInputs = 5 SInputs = 0
sInPinmap = [32,33,34,35,36] sInPinmap = [32,33,34,35,36]
# Set how many Outputs you have programmed in Arduino and which pins are Outputs, Set Outputs = 0 to disable # Set how many Outputs you have programmed in Arduino and which pins are Outputs, Set Outputs = 0 to disable
Outputs = 9 #9 Outputs, Set Outputs = 0 to disable Outputs = 0 #9 Outputs, Set Outputs = 0 to disable
OutPinmap = [10,9,8,7,6,5,4,3,2,21] OutPinmap = [10,9,8,7,6,5,4,3,2,21]
# Set how many PWM Outputs you have programmed in Arduino and which pins are PWM Outputs, you can set as many as your Arduino has PWM pins. List the connected pins below. # Set how many PWM Outputs you have programmed in Arduino and which pins are PWM Outputs, you can set as many as your Arduino has PWM pins. List the connected pins below.
@ -93,6 +93,17 @@ BinSelKnobPos = 32
SetBinSelKnobValue = [1] SetBinSelKnobValue = [1]
BinSelKnobvalues = [[180,190,200,0,0,0,0,0,0,0,0,0,0,0,0,10,20,30,40,50,60,70,80,90,100,110,120,130,140,150,160,170], BinSelKnobvalues = [[180,190,200,0,0,0,0,0,0,0,0,0,0,0,0,10,20,30,40,50,60,70,80,90,100,110,120,130,140,150,160,170],
[0.001,0.01,0.1,1]] [0.001,0.01,0.1,1]]
#Quadrature Encoders
#Joystick
JoySticks = 1
JoyStickPins = [[54,56],
[3,1]]
# Set how many Digital LED's you have connected. # Set how many Digital LED's you have connected.
DLEDcount = 0 DLEDcount = 0
@ -115,8 +126,8 @@ DLEDcount = 0
Keypad = 0 # Set to 1 to Activate Keypad = 0 # Set to 1 to Activate
LinuxKeyboardInput = 1 #Activate direct Keyboard integration to Linux. LinuxKeyboardInput = 1 #Activate direct Keyboard integration to Linux.
Columns = 4 Columns = 24
Rows = 4 Rows = 8
Chars = [ #here you must define as many characters as your Keypad has keys. calculate columns * rows . for example 4 *4 = 16. You can write it down like in the example for ease of readability. Chars = [ #here you must define as many characters as your Keypad has keys. calculate columns * rows . for example 4 *4 = 16. You can write it down like in the example for ease of readability.
"1", "2", "3", "A", "1", "2", "3", "A",
"4", "5", "6", "B", "4", "5", "6", "B",
@ -204,6 +215,10 @@ if Keypad > 0:
pass #if destination is set to Linux, don't register a Hal Pin for this key. pass #if destination is set to Linux, don't register a Hal Pin for this key.
else: else:
c.newpin("Keypad.{}".format(Chars[port]), hal.HAL_BIT, hal.HAL_IN) c.newpin("Keypad.{}".format(Chars[port]), hal.HAL_BIT, hal.HAL_IN)
#setup JoyStick Pins
if JoySticks > 0:
for port in range(JoySticks):
c.newpin("Jsk.{}".format(JoyStickPins[port]), hal.HAL_FLOAT, hal.HAL_OUT)
c.ready() c.ready()
#setup Serial connection #setup Serial connection
@ -272,110 +287,116 @@ def managageOutputs():
while True: while True:
time.wait(0.01)
try: if(arduino.in_waiting()>0):
data = arduino.readline().decode('utf-8') #read Data received from Arduino and decode it
if (Debug):print ("I received:{}".format(data))
data = data.split(":",1)
try: try:
cmd = data[0][0] data = arduino.readline().decode('utf-8') #read Data received from Arduino and decode it
if cmd == "": if (Debug):print ("I received:{}".format(data))
if (Debug):print ("No Command!:{}.".format(cmd)) data = data.split(":",1)
try:
cmd = data[0][0]
if cmd == "":
if (Debug):print ("No Command!:{}.".format(cmd))
else:
if not data[0][1]:
io = 0
else: else:
io = extract_nbr(data[0]) if not data[0][1]:
value = extract_nbr(data[1]) io = 0
if value<0: value = 0
if cmd == "I":
firstcom = 1
if value == 1:
c["dIn.{}".format(io)] = 1
c["dIn.{}-invert".format(io)] = 0
if(Debug):print("dIn{}:{}".format(io,1))
if value == 0:
c["dIn.{}".format(io)] = 0
c["dIn.{}-invert".format(io)] = 1
if(Debug):print("dIn{}:{}".format(io,0))
else:pass
elif cmd == "A":
firstcom = 1
c["aIn.{}".format(io)] = value
if (Debug):print("aIn.{}:{}".format(io,value))
elif cmd == "L":
firstcom = 1
for Poti in range(LPoti):
if LPotiLatches[Poti][0] == io and SetLPotiValue[Poti] == 0:
for Pin in range(LPotiLatches[Poti][1]):
if Pin == value:
c["LPoti.{}.{}" .format(io,Pin)] = 1
if(Debug):print("LPoti.{}.{} =1".format(io,Pin))
else:
c["LPoti.{}.{}" .format(io,Pin)] = 0
if(Debug):print("LPoti.{}.{} =0".format(io,Pin))
if LPotiLatches[Poti][0] == io and SetLPotiValue[Poti] == 1:
c["LPoti.{}.{}" .format(io,"out")] = LPotiValues[Poti][value]
if(Debug):print("LPoti.{}.{} = 0".format("out",LPotiValues[Poti][value]))
elif cmd == "K":
firstcom = 1
if SetBinSelKnobValue == 0:
for port in range(BinSelKnobPos):
if port == value:
c["BinSelKnob.{}".format(port)] = 1
if(Debug):print("BinSelKnob.{}:{}".format(port,1))
else:
c["BinSelKnob.{}".format(port)] = 0
if(Debug):print("BinSelKnob.{}:{}".format(port,0))
else: else:
c["BinSelKnob.{}.{}" .format(0,"out")] = BinSelKnobvalues[value] io = extract_nbr(data[0])
value = extract_nbr(data[1])
if value<0: value = 0
elif cmd == "M": if cmd == "I":
firstcom = 1 firstcom = 1
if value == 1: if value == 1:
if Destination[io] == 0 and LinuxKeyboardInput == 1: c["dIn.{}".format(io)] = 1
subprocess.call(["xdotool", "key", Chars[io]]) c["dIn.{}-invert".format(io)] = 0
if(Debug):print("Emulating Keypress{}".format(Chars[io])) if(Debug):print("dIn{}:{}".format(io,1))
if value == 0:
c["dIn.{}".format(io)] = 0
c["dIn.{}-invert".format(io)] = 1
if(Debug):print("dIn{}:{}".format(io,0))
else:pass
elif cmd == "A":
firstcom = 1
c["aIn.{}".format(io)] = value
if (Debug):print("aIn.{}:{}".format(io,value))
elif cmd == "L":
firstcom = 1
for Poti in range(LPoti):
if LPotiLatches[Poti][0] == io and SetLPotiValue[Poti] == 0:
for Pin in range(LPotiLatches[Poti][1]):
if Pin == value:
c["LPoti.{}.{}" .format(io,Pin)] = 1
if(Debug):print("LPoti.{}.{} =1".format(io,Pin))
else:
c["LPoti.{}.{}" .format(io,Pin)] = 0
if(Debug):print("LPoti.{}.{} =0".format(io,Pin))
if LPotiLatches[Poti][0] == io and SetLPotiValue[Poti] == 1:
c["LPoti.{}.{}" .format(io,"out")] = LPotiValues[Poti][value]
if(Debug):print("LPoti.{}.{} = 0".format("out",LPotiValues[Poti][value]))
elif cmd == "K":
firstcom = 1
if SetBinSelKnobValue == 0:
for port in range(BinSelKnobPos):
if port == value:
c["BinSelKnob.{}".format(port)] = 1
if(Debug):print("BinSelKnob.{}:{}".format(port,1))
else:
c["BinSelKnob.{}".format(port)] = 0
if(Debug):print("BinSelKnob.{}:{}".format(port,0))
else: else:
c["Keypad.{}".format(Chars[io])] = 1 c["BinSelKnob.{}.{}" .format(0,"out")] = BinSelKnobvalues[value]
if(Debug):print("Keypad{}:{}".format(Chars[io],1))
if value == 0 & Destination[io] == 0:
c["Keypad.{}".format(Chars[io])] = 0 elif cmd == "M":
if(Debug):print("Keypad{}:{}".format(Chars[io],0)) firstcom = 1
if value == 1:
if Destination[io] == 0 and LinuxKeyboardInput == 1:
subprocess.call(["xdotool", "key", Chars[io]])
if(Debug):print("Emulating Keypress{}".format(Chars[io]))
else:
c["Keypad.{}".format(Chars[io])] = 1
if(Debug):print("Keypad{}:{}".format(Chars[io],1))
if value == 0 & Destination[io] == 0:
c["Keypad.{}".format(Chars[io])] = 0
if(Debug):print("Keypad{}:{}".format(Chars[io],0))
elif cmd == "R":
firstcom = 1
c["Jsk.{}".format(io)] = value
if (Debug):print("aIn.{}:{}".format(io,value))
elif cmd == 'E': elif cmd == 'E':
arduino.write(b"E0:0\n") arduino.write(b"E0:0\n")
if (Debug):print("Sending E0:0 to establish contact") if (Debug):print("Sending E0:0 to establish contact")
else: pass else: pass
except: pass except: pass
except KeyboardInterrupt: except KeyboardInterrupt:
if (Debug):print ("Keyboard Interrupted.. BYE") if (Debug):print ("Keyboard Interrupted.. BYE")
exit() exit()
except: except:
if (Debug):print ("I received garbage") if (Debug):print ("I received garbage")
arduino.flush() arduino.flush()
if firstcom == 1: managageOutputs() #if ==1: E0:0 has been exchanged, which means Arduino knows that LinuxCNC is running and starts sending and receiving Data if firstcom == 1: managageOutputs() #if ==1: E0:0 has been exchanged, which means Arduino knows that LinuxCNC is running and starts sending and receiving Data
if keepAlive(event): #keep com alive. This is send to help Arduino detect connection loss. if keepAlive(event): #keep com alive. This is send to help Arduino detect connection loss.
arduino.write(b"E:\n") arduino.write(b"E:\n")
if (Debug):print("keepAlive") if (Debug):print("keepAlive")
event = time.time() event = time.time()