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Added SD modification of Firmware and Scheme #24

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209 changes: 209 additions & 0 deletions Arduino/PwdrFirmware2_0_mk1/PwdrFirmware2_0_mk1.ino
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/*MMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMM
MMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMNmmmmmNMMMMMMMMMMMMMMMMM
MMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMM/ /MMMMMMMMMMMMMMMMM
MMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMhy. hMMMMMMMMMMMMMMMMM
MMMMMMMMMMMMMMMMMMNNNNMMMMMMMMMMMMMMMMMMMMMMNMMMMMMMNNNNNm -MMMMMMMMMMNNNMMMMM
MMMMMMMMMy////oNh+:..-oNN/////sMMMN+///MMMMo:/oNMMdo:-.-:: yMy////oMdo:./MMMMM
MMMMMMMMM/-` /`-:` od-- /MMN+ MMMs sMN+` `:++- .NM/-` +``..dMMMMM
MMMMMMMMMMM- :mMMh :MMM. /MMo `` MMy `yMm- -dMMMs oMMMM- .smmmMMMMMM
MMMMMMMMMMd -NMMMh +MMM: /Ms s` Md` `yMM/ `mMMMM- `mMMMd .mMMMMMMMMMM
MMMMMMMMMM/ hMMMM+ dMMM/ +h` oN m. `hMMd /MMMMh /MMMM: dMMMMMMMMMMM
MMMMMMMMMm` .NMMMy oMMMMo /` oMN .: `hMMMs sMMMd. dMMMd :MMMNddNMMMMM
MMMMMMMMMo :hdh+` `oNMMMMs +NMm .dMMMMs -hho.. `yyNM/ hMMd.``.hMMMM
MMMMMMMMN` `` ./dMMMMMMy +NMMd .dMMMMMN: `:hy.```.MN```-MMMh` `yMMMM
MMMMMMMMs +dhyhdmMMMMMMMMNdddNMMMNdddmMMMMMMMNdyyhmNMMNmmmmMNmmmNMMMMmhhmMMMMM
MMMMMNdd. ydMMddddddddddddddddddddddddddddddddddddddddddddddddddddddddddNMMMMM
MMMMMy`` `.Mm``````````````````````````````````````````````````````````mMMMMM
MMMMMmdddddddmMNddddddddddddddddddddddddddddddddddddddddddddddddddddddddddMMMMMM
MMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMM
MMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMM MMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMM
MMMMMMMMMMM MMMMMMMMMMM
MMMMMMMMMMM Software for Pwdr three-dimensional powder based printer MMMMMMMMMMM
MMMMMMMMMMM Author: Alex Budding MMMMMMMMMMM
MMMMMMMMMMM E-mail: [email protected] MMMMMMMMMMM
MMMMMMMMMMM MMMMMMMMMMM
MMMMMMMMMMM This software released under the GNU/GPL license MMMMMMMMMMM
MMMMMMMMMMM MMMMMMMMMMM
MMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMM
MMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMM*/

/////////////////////////////////////////////////////////////////////////////////
// The void spray_ink() is adapted from DIY Inkjet Printer Firmware written by //
// Nicholas C Lewis (2011), see thingiverse.com/thing:8542 //
/////////////////////////////////////////////////////////////////////////////////

// Inlcude libraries for stepper motor [http://www.open.com.au/mikem/arduino/AccelStepper]
#include <AccelStepper.h>
#include <SD.h>

// How many times a single spot is printed
int saturation = 1;

// Declare: print width, length (rows of 12 nozzles), height and saturation
int pwdrconfig[] = {480,40,40,15};

// Bytes for the nozzle control
byte lower = B00000000;
byte upper = B0000;

// SD card information
File dataFile;
int chipSelect = 53;

// Initilize stepper driver, 11 Direction and 12 Step
AccelStepper stepperR(1, 37, 36);
AccelStepper stepperX(1, 39, 38);
AccelStepper stepperY(1, 41, 40);
AccelStepper stepperZ2(1, 43, 42);
AccelStepper stepperZ1(1, 45, 44);


// Stepper speed and accelaration
float stepperMaxSpeed = 20000.0;
float stepper_R_MaxSpeed = 22000.0;
float stepperMaxAccelaration = 1000000.0;

// Size of steps for stepper motors
const int stepX = 21; // 0.09433962264 mm per step (5*9.6mm*PI/1600)
const int stepY = 500; // 0.09433962264 mm per step (5*9.6mm*PI/1600)
const int stepZ = 120; // 0.1mm per full stap (10*0.01)

// Size of steps when jogging
const int jogStepY = 1000;
const int jogStepX = 500;
const int jogStepZ = 250;

// Size of machine in steps. Type long because number of steps > int (2^15)
const long build_piston_width = 11000/stepX; //2000/stepX total width: 14800
const long build_piston_length = 28000/stepY; // total length 76000
const long distance_roller_nozzle = 30000;
const long piston_depth = pwdrconfig[3]; // The depth of the part is defined by the preprocessor
const long build_piston_end_stop = 76000; // Absolute end of the machine

// Variable for positioning
long jogvar = 0;
long jogvar2 = 0;

void setup(){

// Push button
pinMode(0, INPUT);
// LED
pinMode(13, OUTPUT);
// Pull up transistor
pinMode(21, OUTPUT);
// SPI
pinMode(53, OUTPUT);

// Initilize the ink pins (22 to 33) and stepper pins (36-45)
for (int i=22; i<=45; i++) {
pinMode(i, OUTPUT);
}

// Start serial communication, baud rate 9600
Serial.begin(9600);

// Initialise stepper motors
stepperX.setMaxSpeed(stepperMaxSpeed);
stepperX.setAcceleration(stepperMaxAccelaration);
stepperY.setMaxSpeed(stepperMaxSpeed);
stepperY.setAcceleration(stepperMaxAccelaration);
stepperZ1.setMaxSpeed(stepperMaxSpeed);
stepperZ1.setAcceleration(stepperMaxAccelaration);
stepperZ2.setMaxSpeed(stepperMaxSpeed);
stepperZ2.setAcceleration(stepperMaxAccelaration);
stepperR.setMaxSpeed(stepperMaxSpeed);
stepperR.setAcceleration(stepper_R_MaxSpeed);
// Set the speeed for compactin the powder (- for right direction)
stepperR.setSpeed(stepper_R_MaxSpeed);

// Return the carriage to 0,-14000 position, first set the Y to -14000
stepperY.setCurrentPosition(distance_roller_nozzle);
homeXY();

if (!SD.begin(chipSelect)) {
Serial.println("initialization SD failed!");
delay(2000);
return;
}
Serial.println("initialization SD done.");

Serial.println("Printer ready");
Serial.println("-- SAFE TO CONNECT POWER --");
}

void loop(){

if (Serial.available()){
char serialbutton = Serial.read();
if (serialbutton == 'p'){
printFile();
} else if(serialbutton == 'x'){
jogX(-jogStepX);
Serial.print("Position X: "); Serial.println(stepperX.currentPosition());
// Forward x-axis
} else if(serialbutton == 'X'){
jogX(jogStepX);
Serial.print("Position X: "); Serial.println(stepperX.currentPosition());
// Backward y-axis
} else if(serialbutton == 'y'){
jogY(-jogStepY);
Serial.print("Position Y: "); Serial.println(stepperY.currentPosition());
// Forward y-axis
} else if(serialbutton == 'Y'){
jogY(jogStepY);
Serial.print("Position Y: "); Serial.println(stepperY.currentPosition());
// Backward z-axis
} else if(serialbutton == 'z'){
jogZ(-jogStepZ);
Serial.println("Jog down done");
// Forward z-axis
} else if(serialbutton == 'Z'){
jogZ(jogStepY);
Serial.println("Jog bins up done");
// Home the carriage
} else if(serialbutton == '1'){
jogZ1(-jogStepZ);
Serial.print("Position Z1: "); Serial.println(stepperZ1.currentPosition());
} else if(serialbutton == 'q'){
jogZ1(jogStepZ);
Serial.print("Position Z1: "); Serial.println(stepperZ1.currentPosition());
} else if(serialbutton == '2'){
jogZ2(-jogStepZ);
Serial.print("Position Z2: "); Serial.println(stepperZ2.currentPosition());
} else if(serialbutton == 'w'){
jogZ2(jogStepZ);
Serial.print("Position Z2: "); Serial.println(stepperZ2.currentPosition());
} else if(serialbutton == 'h'){
homeXY();
} else if(serialbutton == 'r'){
resetStepperPositions();
Serial.println("Stepper counters reset");
// Make a new powder layer
} else if(serialbutton == 'n'){
newLayer();
Serial.println("New powder layer deposited");
} else if(serialbutton == 's'){
jogY(-distance_roller_nozzle);
jogX(-4000);
resetStepperPositions();
Serial.println("Nozzle at start position");
} else if(serialbutton == 'R'){
stepperR.runToNewPosition(stepperR.currentPosition()+5000);
Serial.println("Roller");
} else if(serialbutton == 'E'){
stepperY.runToNewPosition(-build_piston_end_stop+stepY);
Serial.println("Carriage near end of piston");
} else {
Serial.println("Unknown command");
}
}

// Blink the LED to show the Arduino is idle
digitalWrite(13,HIGH);
delay(300);
digitalWrite(13,LOW);
delay(300);
}


78 changes: 78 additions & 0 deletions Arduino/PwdrFirmware2_0_mk1/jogController.ino
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// Jog in X direction
void jogX(long jogDirStep){
// Define direction, larger than 1 means clockwise
if(jogDirStep>0){
jogvar = stepperX.currentPosition()+abs(jogDirStep);
} else {
jogvar = stepperX.currentPosition()-abs(jogDirStep);
}
// Check wether it's allowed to take a step
if ((jogvar >= 0) || (jogvar <= build_piston_width)){
stepperX.runToNewPosition(jogvar);
} else {
Serial.println("jog X impossible");
}
}

// Jog in Y direction
void jogY(long jogDirStep){
if(jogDirStep>0){
jogvar = stepperY.currentPosition()+abs(jogDirStep);
} else {
jogvar = stepperY.currentPosition()-abs(jogDirStep);
}
if ((jogvar >= 0) || (jogvar <= build_piston_length)){
stepperY.runToNewPosition(jogvar);
} else {
Serial.println("jog Y impossible");
}
}

// Jog of Z1 piston
void jogZ1(long jogDirStep){
if(jogDirStep>0){
jogvar = stepperZ1.currentPosition()+abs(jogDirStep);
} else {
jogvar = stepperZ1.currentPosition()-abs(jogDirStep);
}
if ((jogvar >= 0) || (jogvar <= piston_depth)){
stepperZ1.runToNewPosition(jogvar);
} else {
Serial.println("jog Z1 impossible");
}
}

// Jog of Z2 piston
void jogZ2(long jogDirStep){
if(jogDirStep>0){
jogvar = stepperZ2.currentPosition()+abs(jogDirStep);
} else {
jogvar = stepperZ2.currentPosition()-abs(jogDirStep);
}
if ((jogvar >= 0) || (jogvar <= piston_depth)){
stepperZ2.runToNewPosition(jogvar);
} else {
Serial.println("jog Z2 impossible");
}
}

// Combined jog in Z direction for both pistons
void jogZ(long jogDirStep){
if(jogDirStep>0){
jogvar = stepperZ1.currentPosition()-abs(1.3*jogDirStep);
jogvar2 = stepperZ2.currentPosition()+abs(jogDirStep);
} else {
jogvar = stepperZ1.currentPosition()+abs(1.3*jogDirStep);
jogvar2 = stepperZ2.currentPosition()-abs(jogDirStep);
}
if ((jogvar >= 0) || (jogvar <= piston_depth)){
stepperZ1.moveTo(jogvar);
stepperZ2.moveTo(jogvar2);
} else {
Serial.println("jog Z2 impossible");
}
while (stepperZ1.currentPosition() != jogvar || stepperZ2.currentPosition() != jogvar2){
stepperZ1.run();
stepperZ2.run();
}
}
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