Version 0.99

elektrofuzzis · Feb 10, 2022 · c7bfc96 · c7bfc96
1 parent cf46d11
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Showing 20 changed files with 42,143 additions and 47 deletions.
diff --git a/Hardware/Firmware/src/ftPwrDriveFW.ino b/Hardware/Firmware/src/ftPwrDriveFW.ino
diff --git a/RoboPro Library/TX Library/examples/TX_M1_1000_Steps.rpp b/RoboPro Library/TX Library/examples/TX_M1_1000_Steps.rpp
diff --git a/RoboPro Library/TX Library/ftPwrDriveTX.rpp b/RoboPro Library/TX Library/ftPwrDriveTX.rpp
diff --git a/RoboPro Library/checkLibftI2C.rpp → ...Pro Library/TXT Library/checkLibftI2C.rpp b/RoboPro Library/checkLibftI2C.rpp → ...Pro Library/TXT Library/checkLibftI2C.rpp
diff --git a/...ibrary/examples/M1_1000_M2_2000_Steps.rpp → ...ibrary/examples/M1_1000_M2_2000_Steps.rpp b/...ibrary/examples/M1_1000_M2_2000_Steps.rpp → ...ibrary/examples/M1_1000_M2_2000_Steps.rpp
diff --git a/RoboPro Library/examples/M1_1000_Steps.2.rpp → .../TXT Library/examples/M1_1000_Steps.2.rpp b/RoboPro Library/examples/M1_1000_Steps.2.rpp → .../TXT Library/examples/M1_1000_Steps.2.rpp
diff --git a/RoboPro Library/examples/M1_1000_Steps.rpp → ...ry/TXT Library/examples/M1_1000_Steps.rpp b/RoboPro Library/examples/M1_1000_Steps.rpp → ...ry/TXT Library/examples/M1_1000_Steps.rpp
diff --git a/RoboPro Library/examples/M1_absolute.rpp → ...rary/TXT Library/examples/M1_absolute.rpp b/RoboPro Library/examples/M1_absolute.rpp → ...rary/TXT Library/examples/M1_absolute.rpp
diff --git a/RoboPro Library/examples/M1_wormscrew.2.rpp → ...y/TXT Library/examples/M1_wormscrew.2.rpp b/RoboPro Library/examples/M1_wormscrew.2.rpp → ...y/TXT Library/examples/M1_wormscrew.2.rpp
diff --git a/RoboPro Library/examples/M1_wormscrew.rpp → ...ary/TXT Library/examples/M1_wormscrew.rpp b/RoboPro Library/examples/M1_wormscrew.rpp → ...ary/TXT Library/examples/M1_wormscrew.rpp
diff --git a/RoboPro Library/examples/S1.rpp → RoboPro Library/TXT Library/examples/S1.rpp b/RoboPro Library/examples/S1.rpp → RoboPro Library/TXT Library/examples/S1.rpp
diff --git a/RoboPro Library/examples/homing.rpp → ...o Library/TXT Library/examples/homing.rpp b/RoboPro Library/examples/homing.rpp → ...o Library/TXT Library/examples/homing.rpp
diff --git a/RoboPro Library/examples/watchdog.1.rpp → ...brary/TXT Library/examples/watchdog.1.rpp b/RoboPro Library/examples/watchdog.1.rpp → ...brary/TXT Library/examples/watchdog.1.rpp
diff --git a/RoboPro Library/examples/watchdog.rpp → ...Library/TXT Library/examples/watchdog.rpp b/RoboPro Library/examples/watchdog.rpp → ...Library/TXT Library/examples/watchdog.rpp
diff --git a/RoboPro Library/ftPwrDrive.rpp → RoboPro Library/TXT Library/ftPwrDrive.rpp b/RoboPro Library/ftPwrDrive.rpp → RoboPro Library/TXT Library/ftPwrDrive.rpp
diff --git a/RoboPro Library/libftI2C.cpp → RoboPro Library/TXT Library/libftI2C.cpp b/RoboPro Library/libftI2C.cpp → RoboPro Library/TXT Library/libftI2C.cpp
diff --git a/RoboPro Library/libftI2C.so → RoboPro Library/TXT Library/libftI2C.so b/RoboPro Library/libftI2C.so → RoboPro Library/TXT Library/libftI2C.so
diff --git a/ftDuino Library/ftPwrDrive.zip b/ftDuino Library/ftPwrDrive.zip
diff --git a/ftDuino Library/src/ftPwrDrive.cpp b/ftDuino Library/src/ftPwrDrive.cpp
@@ -2,11 +2,11 @@
 //
 // ftPwrDrive Arduino Interface
 //
-// 31.12.2019 V0.94 / latest version
+// 01.01.2022 V0.98 / latest version
 //
-// (C) 2019 Christian Bergschneider & Stefan Fuss
+// (C) 2022 Christian Bergschneider & Stefan Fuss
 //
-// PLEASE USE AT LEAST FIRMWARE 0.94 !!!
+// PLEASE USE AT LEAST FIRMWARE 0.98 !!!
 //
 ///////////////////////////////////////////////////
 
@@ -59,6 +59,11 @@
 #define CMD_STOPMOVING         33  // void stopMoving( uint8_t motor )                                  stop motor moving
 #define CMD_STOPMOVINGALL      34  // void stopMovingAll( uint8_t maskMotor )                           same as StartMoving, but using uint8_t masks
 
+#define CMD_SETINSYNC          35  // void setInSync( unit8_t motor1, uint8_t motor2, boolean OnOff)    set two motors running in sync
+
+#define CMD_HOMINGOFFSET       36  // void homingOffset( unit8_t motor1, ulong offset )                 set offset to run during homing, after endstop is free again 
+
+
 i2cBuffer i2c;
 
 ftPwrDrive::ftPwrDrive( uint8_t myI2CAddress ) { 
@@ -87,6 +92,14 @@ void ftPwrDrive::setRelDistance( uint8_t motor, long distance ) {
   i2c.sendData( i2cAddress, CMD_SETRELDISTANCE, motor, distance );
 }
 
+void ftPwrDrive::setRelDistanceAll( long d1, long d2, long d3, long d4 ) {
+  // set a relative distance to go for all motors
+  setRelDistance( M1, d1 );
+  setRelDistance( M2, d2 );
+  setRelDistance( M3, d3 );
+  setRelDistance( M4, d4 );
+}
+
 void ftPwrDrive::setAbsDistance( uint8_t motor, long distance ) {
   // set a absolute distance to go
   i2c.sendData( i2cAddress, CMD_SETABSDISTANCE, motor, distance );
@@ -258,6 +271,11 @@ boolean ftPwrDrive::isHoming( uint8_t motor ) {
   return getState( motor ) & HOMING;
 }
 
+void ftPwrDrive::homingOffset( uint8_t motor, long offset ) {
+  // set Offset to run in homing, after endstop is free again
+  i2c.sendData( i2cAddress, CMD_HOMINGOFFSET, motor, offset );
+}
+
 void ftPwrDrive::wait( uint8_t motor_mask, uint16_t interval = 100 ) {
   // wait until all motors in motor_mask completed their work
 
@@ -302,6 +320,12 @@ void ftPwrDrive::setAbsDistanceR( uint8_t motor, float distance ) {
 
 }
 
+void ftPwrDrive::setInSync( uint8_t motor1, uint8_t motor2, boolean OnOff) {
+  // set two motors running in sync
+
+  i2c.sendData( i2cAddress, CMD_SETINSYNC, motor1, motor2, OnOff);
+}
+
 uint8_t ftPwrDrive::motorIndex( uint8_t motor ) {
   // returns the index (0..3) of a motor
   switch (motor) {

diff --git a/ftDuino Library/src/ftPwrDrive.h b/ftDuino Library/src/ftPwrDrive.h
@@ -2,11 +2,11 @@
 //
 // ftPwrDrive Arduino Interface
 //
-// 31.12.2019 V0.94 / latest version
+// 01.01.2022 V0.98 / latest version
 //
-// (C) 2019 Christian Bergschneider & Stefan Fuss
+// (C) 2022 Christian Bergschneider & Stefan Fuss
 //
-// PLEASE USE AT LEAST FIRMWARE 0.94 !!!
+// PLEASE USE AT LEAST FIRMWARE 0.98 !!!
 //
 ///////////////////////////////////////////////////
 
@@ -60,17 +60,22 @@ class ftPwrDrive {
       // constructor
 
     void Watchdog( long w );
-      // set wartchog timer
+      // set watchog timer
 
     void setMicrostepMode( uint8_t mode );
-      // set microstep mode - FILLSTEP, HALFSTEP, QUARTERSTEP, EIGTHSTEP, SIXTEENTHSTEP
+      // set microstep mode
+      // FILLSTEP, HALFSTEP, QUARTERSTEP, EIGTHSTEP, SIXTEENTHSTEP
 
     uint8_t getMicrostepMode( void );
-      // get microstep mode - FILLSTEP, HALFSTEP, QUARTERSTEP, EIGTHSTEP, SIXTEENTHSTEP
+      // get microstep mode
+      // FILLSTEP, HALFSTEP, QUARTERSTEP, EIGTHSTEP, SIXTEENTHSTEP
 
     void setRelDistance( uint8_t motor, long distance );
       // set a distance to go, relative to actual position
 
+    void setRelDistanceAll( long d1, long d2, long d3, long d4 );
+      // set a absolute distance to go for all motors
+
     void setAbsDistance( uint8_t motor, long distance );
       // set a absolute distance to go
 
@@ -174,6 +179,9 @@ class ftPwrDrive {
 
     boolean isHoming( uint8_t motor );
       // check, homing is active
+
+	void homingOffset( uint8_t motor, long offset );
+	  // set Offset to run in homing, after endstop is free again
 
     float setGearFactor( uint8_t motor, long gear1, long gear2 );
       // Sets the gear factor. Please read setRelDistanceR for details.
@@ -196,6 +204,9 @@ class ftPwrDrive {
     void setAbsDistanceR( uint8_t motor, float distance );
       // Sets the absolute distance in R - real units. Please read setRelDistanceR for details.
 
+    void setInSync( uint8_t motor1, uint8_t motor2, boolean OnOff);
+      // set two motors running in sync
+
   private:
     uint8_t i2cAddress = 32;