Ton/LinuxCNC_ArduinoConnector
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added Arduino Support for Quadrature Encoders

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Python adaptation needed next.
This commit is contained in:
Alexander Richter 2023-07-23 15:22:16 +02:00
parent a67bc21691
commit 163e76906f
1 changed files with 30 additions and 19 deletions
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49
LinuxCNC_ArduinoConnector.ino
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@ -63,10 +63,10 @@ Communication Status = 'E' -read/Write -Pin State: 0:0
//###################################################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
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[] = {52,38,39,40,41};
#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.
@ -128,7 +128,7 @@ Note that Analog Pin numbering is different to the Print on the PCB.
#endif
#define ROTENC
//#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
@ -155,19 +155,17 @@ Note that Analog Pin numbering is different to the Print on the PCB.
//Sanguino 2, 10, 11 0
Encoder Encoder0(2,3); //A,B Pin
Encoder Encoder1(18,19); //A,B Pin
Encoder Encoder1(31,33); //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.
const int RotEncSig[] = {1,1}; //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?
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.
//#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; // Number of potentiometers connected
const int JoyStickPins[JoySticks*2] = {A0, A1}; // Analog input pins for the potentiometers
@ -192,7 +190,7 @@ const float scalingFactor = 0.01; // Scaling factor to control the impact of d
//#define STATUSLED
#ifdef STATUSLED
const int StatLedPin = 5; //Pin for Status LED
const int StatLedPin = 13; //Pin for Status LED
const int StatLedErrDel[] = {1000,10}; //Blink Timing for Status LED Error (no connection)
const int DLEDSTATUSLED = 1; //set to 1 to use Digital LED instead. set StatLedPin to the according LED number in the chain.
#endif
@ -508,29 +506,42 @@ void readJoySticks() {
void readEncoders(){
if(RotEncs>=1){
EncCount[0] = RotEncMp[0]* Encoder0.read();
EncCount[0] = Encoder0.read()/RotEncMp[0];
}
if(RotEncs>=2){
EncCount[1] = RotEncMp[1]* Encoder1.read();
EncCount[1] = Encoder1.read()/RotEncMp[1];
}
if(RotEncs>=3){
//EncCount[2] = RotEncMp[2]* Encoder2.read();
//EncCount[2] = Encoder2.read()/RotEncMp[2];
}
if(RotEncs>=4){
//EncCount[3] = RotEncMp[3]* Encoder3.read();
//EncCount[3] = Encoder3.read()/RotEncMp[3];
}
if(RotEncs>=5){
//EncCount[4] = RotEncMp[4]* Encoder4.read();
//EncCount[4] = Encoder4.read()/RotEncMp[4];
}
for(int i=0; i<=RotEncs;i++){
if(OldEncCount[i] != EncCount[i]){
//("R",i,EncCount[i]);
OldEncCount[i] = EncCount[i];
for(int i=0; i<RotEncs;i++){
if(RotEncSig[i]==2){
if(OldEncCount[i] != EncCount[i]){
sendData('R',i,EncCount[i]);//send Counter
OldEncCount[i] = EncCount[i];
}
}
if(RotEncSig[i]==1){
if(OldEncCount[i] < EncCount[i]){
sendData('R',i,1); //send Increase by 1 Signal
OldEncCount[i] = EncCount[i];
}
if(OldEncCount[i] > EncCount[i]){
sendData('R',i,0); //send Increase by 1 Signal
OldEncCount[i] = EncCount[i];
}
}
}
}
void comalive(){
#ifdef STATUSLED
if(millis() - lastcom > timeout){