int camera_on(){
if(!w_init())error("bcm2835 missing");
sphere_init(stepper_init(RHO_SLEEP,RHO_STEP,RHO_DIR,RHO_M0,RHO_M1,RHO_MODE,RHO_STEPS,"ρ"),
stepper_init(THETA_SLEEP,THETA_STEP,THETA_DIR,THETA_M0,THETA_M1,THETA_MODE,THETA_STEPS,"θ"),
stepper_init(PHI_SLEEP,PHI_STEP,PHI_DIR,PHI_M0,PHI_M1,PHI_MODE,PHI_STEPS,"φ"),
"ο");
trigger_init("μ");
camera_init("δ");
}
int main()
{
lcd_init();
init_push_buttons();
shaft_encoder_init();
stepper_init();
while (1) {
char prog;
lcd_clear();
prog = wait_button("Choose program:");
switch (prog) {
case 1:
part1();
break;
case 2:
part2();
break;
case 3:
part3();
break;
default:
; // do nothing
}
}
}
int main() {
// start up the LCD
lcd_init();
fdev_setup_stream(&lcd_stream, lcd_putchar, 0, _FDEV_SETUP_WRITE);
lcd_home();
// start up the Analog to Digital Converter
adc_init();
// configure the stepper controller
stepper_init();
syringe_off();
// start up the serial port
uart_init();
fdev_setup_stream(&uart_stream, uart_putchar, uart_getchar, _FDEV_SETUP_RW);
stdin = stdout = &uart_stream;
// Initialize state machine
current_state = STATE_IDLE;
current_command = COMMAND_NONE;
current_command_state = CMD_STATE_COMMAND;
value_str_i = 0;
target_pressure = 512;
while(1) {
poll();
}
return 0;
}
int main()
{
stepper_init();
stepper_turn_cw(STEPPER_STEPS_PER_TURN * 2);
stepper_turn_ccw(STEPPER_STEPS_PER_TURN * 2);
return 0;
}
int main(void)
{
motor_init();
//while(1)
// rotazione1();
// Initialize system upon power-up.
serial_init(); // Setup serial baud rate and interrupts
/*while(true) {
serial_write('A');
serial_write('B');
serial_write('C');
}*/
//settings_init(); // Load grbl settings from EEPROM
stepper_init(); // Configure stepper pins and interrupt timers
system_init(); // Configure pinout pins and pin-change interrupt
memset(&sys, 0, sizeof(sys)); // Clear all system variables
sys.abort = true; // Set abort to complete initialization
//sei(); // Enable interrupts
// Check for power-up and set system alarm if homing is enabled to force homing cycle
// by setting Grbl's alarm state. Alarm locks out all g-code commands, including the
// startup scripts, but allows access to settings and internal commands. Only a homing
// cycle '$H' or kill alarm locks '$X' will disable the alarm.
// NOTE: The startup script will run after successful completion of the homing cycle, but
// not after disabling the alarm locks. Prevents motion startup blocks from crashing into
// things uncontrollably. Very bad.
#ifdef HOMING_INIT_LOCK
if (bit_istrue(settings.flags,BITFLAG_HOMING_ENABLE)) { sys.state = STATE_ALARM; }
#endif
// Grbl initialization loop upon power-up or a system abort. For the latter, all processes
// will return to this loop to be cleanly re-initialized.
for(;;) {
// TODO: Separate configure task that require interrupts to be disabled, especially upon
// a system abort and ensuring any active interrupts are cleanly reset.
// Reset Grbl primary systems.
serial_reset_read_buffer(); // Clear serial read buffer
//spindle_init();
//coolant_init();
//limits_init();
//probe_init();
st_reset(); // Clear stepper subsystem variables.
// Reset system variables.
sys.abort = false;
sys.execute = 0;
// Start Grbl main loop. Processes program inputs and executes them.
protocol_main_loop();
}
return 0; /* Never reached */
}
int main(void){
pin_config_out(r_led);
Stepper *stepper_x = stepper_init(x_step,x_dir,motor_enb);
Stepper *stepper_y = stepper_init(y_step,y_dir,motor_enb);
Stepper *stepper_z = stepper_init(z_step,z_dir,motor_enb);
//Stepper *stepper_e = stepper_init(e_step,e_dir,motor_enb);
stepper_dir(stepper_x,1);
stepper_dir(stepper_y,1);
stepper_dir(stepper_z,1);
a1_step = 180;
a2_step = 180;
a3_step = 180;
//distance = 18000*20;
stepper_start_frame();
while(1);
}
static void
robot_stepper_init()
{
init_seq_heap();
stepper_init(AT91C_BASE_TC0, AT91C_ID_TC0);
*AT91C_PIOA_OER = STEPPER_INHIBIT;
*AT91C_PIOA_MDER = STEPPER_INHIBIT; /* | STEPPER0_IOMASK; */
*AT91C_PIOA_CODR = STEPPER_INHIBIT;
stepper_init_io(1, STEPPER_IOMASK(0), stepper0_steps_acc,
stepper0_steps_run, stepper0_steps_hold,
(sizeof(stepper0_steps_run) / sizeof(stepper0_steps_run[0])));
stepper_init_io(0, STEPPER_IOMASK(1), stepper1_steps_acc,
stepper1_steps_run, stepper1_steps_hold,
(sizeof(stepper1_steps_run) / sizeof(stepper1_steps_run[0])));}
void init_all()
{
sensor_init();
stepper_init();
dc_mot_init();
servo_init();
pinMode(13,OUTPUT);
Serial.begin(115200);
pinMode(12,OUTPUT);
digitalWrite(12,HIGH);
pinMode(13,OUTPUT);
digitalWrite(13,LOW);
}
void main (void)
{
USART_init();
USART_enable_rx_interrrupt();
stepper_init();
sei();
char *ptr=0;
while(true)
{
_delay_ms(1000);
stepx(300);
stepy(200);
stepz(STEPS_PER_SEC/4);
ptr=USART_get_rx_buffer();
if(ptr)
{
USART_transmit_string(ptr);
}else USART_enable_rx_interrrupt();
// USART_transmit(USART_receive());
/*
char * ptr=rxBuffer;
uint8_t flags=0;
uint16_t number=0;
for(;ptr<=rxPtr;ptr++)
{
if(!isdigit(*ptr))
{
if(flags==1)break;
continue;
}
flags=1;
number=number*10+(ptr-'0');
//TODO wait for new data
*/
}
// step(atoi(USART_receive())); // XXX make anything like that
}
int main( void ){
// initialize usart
usart_init();
usart_psend(PSTR("usart initialized, initializing stepper motor... "));
// initialize stepper motor
stepper_init();
usart_psend(PSTR("done\n"));
// enable interrupts
sei();
// loop forever
while (1){
sleep_mode();
}
}
int main(void)
{
sys_init();
leds_init();
stepper_init();
// inputs_init();
usb_init();
gcode_init();
temp_init();
while (1)
{
// should go idle...
Delay(10);
char buffer[255];
gets(buffer);
if (buffer[0] != '\0')
{
gcode_parse(buffer);
}
}
}
int unicorn_init(void)
{
channel_tag fan = NULL;
int ret = 0;
board_info_t board_info;
printf("unicorn_init...\n");
ret = eeprom_read_board_info(EEPROM_DEV, &board_info);
if (ret < 0) {
printf("Read eeprom board info failed\n");
return -1;
}
if (!strncasecmp("bbp1s", board_info.name, 5)) {
bbp_board_type = BOARD_BBP1S;
} else if(!strncasecmp("bbp1", board_info.name, 4)){
bbp_board_type = BOARD_BBP1;
}
printf("board name:%s, version:%s, get board type:%d \n", board_info.name, board_info.version, bbp_board_type);
/*
* Create fifo
* fifo_plan2st, fifo_st2plan
* fifo_plan2gc, fifo_gc2plan
*/
Fifo_Attrs fAttrs = Fifo_Attrs_DEFAULT;
hFifo_plan2st = Fifo_create(&fAttrs);
hFifo_st2plan = Fifo_create(&fAttrs);
if ((hFifo_st2plan == NULL) ||
(hFifo_plan2st == NULL)) {
printf("Create Fifo failed\n");
return -1;
}
Pause_Attrs pAttrs = Pause_Attrs_DEFAULT;
hPause_printing = Pause_create(&pAttrs);
if (hPause_printing == NULL) {
printf("Create pause err\n");
return -1;
} else {
Pause_on(hPause_printing);
}
/* set up unicorn system */
ret = unicorn_setup();
if (ret < 0) {
return ret;
}
/* init sub systems of unicorn */
ret = parameter_init(EEPROM_DEV);
if (ret < 0) {
printf("parameter_init failed\n");
return ret;
}
ret = analog_init();
if (ret < 0) {
printf("analog_init failed\n");
return ret;
}
ret = temp_init();
if (ret < 0) {
printf("temp_init failed\n");
return ret;
}
ret = pwm_init();
if (ret < 0) {
printf("pwm_init failed\n");
return ret;
}
ret = fan_init();
if (ret < 0) {
printf("fan_init failed\n");
return ret;
}
ret = heater_init();
if (ret < 0) {
printf("heater_init failed\n");
return ret;
}
#ifdef SERVO
if (bbp_board_type == BOARD_BBP1S) {
ret = servo_init();
if (ret < 0) {
printf("servo_init failed\n");
return ret;
}
}
#endif
ret = lmsw_init();
if (ret < 0) {
printf("lmsw_init failed\n");
return ret;
}
ret = plan_init();
if (ret < 0) {
printf("plan_init failed\n");
return ret;
}
ret = stepper_init();
if (ret < 0) {
printf("stepper_init failed\n");
return ret;
}
ret = gcode_init();
if (ret < 0) {
printf("gcode_init failed\n");
return ret;
}
fan = fan_lookup_by_name("fan_3");
if (fan) {
fan_set_level(fan, DEFAULT_FAN_MAX_LEVEL);
fan_enable(fan);
}
fan = fan_lookup_by_name("fan_4");
if (fan) {
fan_enable(fan);
fan_set_level(fan, DEFAULT_FAN_MAX_LEVEL);
}
fan = fan_lookup_by_name("fan_5");
if (fan) {
fan_enable(fan);
fan_set_level(fan, DEFAULT_FAN_MAX_LEVEL);
}
fan = fan_lookup_by_name("fan_6");
if (fan) {
fan_enable(fan);
fan_set_level(fan, DEFAULT_FAN_MAX_LEVEL);
}
printf("unicorn_init ok!!!\n");
return ret;
}
int main(void)
{
// Initialize system upon power-up.
serial_init(); // Setup serial baud rate and interrupts
settings_init(); // Load Grbl settings from EEPROM
stepper_init(); // Configure stepper pins and interrupt timers
system_init(); // Configure pinout pins and pin-change interrupt
memset(sys_position,0,sizeof(sys_position)); // Clear machine position.
sei(); // Enable interrupts
// Initialize system state.
#ifdef FORCE_INITIALIZATION_ALARM
// Force Grbl into an ALARM state upon a power-cycle or hard reset.
sys.state = STATE_ALARM;
#else
sys.state = STATE_IDLE;
#endif
// Check for power-up and set system alarm if homing is enabled to force homing cycle
// by setting Grbl's alarm state. Alarm locks out all g-code commands, including the
// startup scripts, but allows access to settings and internal commands. Only a homing
// cycle '$H' or kill alarm locks '$X' will disable the alarm.
// NOTE: The startup script will run after successful completion of the homing cycle, but
// not after disabling the alarm locks. Prevents motion startup blocks from crashing into
// things uncontrollably. Very bad.
#ifdef HOMING_INIT_LOCK
if (bit_istrue(settings.flags,BITFLAG_HOMING_ENABLE)) { sys.state = STATE_ALARM; }
#endif
// Grbl initialization loop upon power-up or a system abort. For the latter, all processes
// will return to this loop to be cleanly re-initialized.
for(;;) {
// Reset system variables.
uint8_t prior_state = sys.state;
memset(&sys, 0, sizeof(system_t)); // Clear system struct variable.
sys.state = prior_state;
sys.f_override = DEFAULT_FEED_OVERRIDE; // Set to 100%
sys.r_override = DEFAULT_RAPID_OVERRIDE; // Set to 100%
sys.spindle_speed_ovr = DEFAULT_SPINDLE_SPEED_OVERRIDE; // Set to 100%
memset(sys_probe_position,0,sizeof(sys_probe_position)); // Clear probe position.
sys_probe_state = 0;
sys_rt_exec_state = 0;
sys_rt_exec_alarm = 0;
sys_rt_exec_motion_override = 0;
sys_rt_exec_accessory_override = 0;
// Reset Grbl primary systems.
serial_reset_read_buffer(); // Clear serial read buffer
gc_init(); // Set g-code parser to default state
spindle_init();
coolant_init();
limits_init();
probe_init();
plan_reset(); // Clear block buffer and planner variables
st_reset(); // Clear stepper subsystem variables.
// Sync cleared gcode and planner positions to current system position.
plan_sync_position();
gc_sync_position();
// Print welcome message. Indicates an initialization has occured at power-up or with a reset.
report_init_message();
// Start Grbl main loop. Processes program inputs and executes them.
protocol_main_loop();
}
return 0; /* Never reached */
}
int main(void) {
pin_config_out(g_led);
pin_config_out(r_led);
pin_config_out(e_heat);
pin_config_out(b_heat);
pin_config_out(buzzer);
pin_low(buzzer);
Stepper *stepper_x = stepper_init(x_step,x_dir,motor_enb);
Stepper *stepper_y = stepper_init(y_step,y_dir,motor_enb);
Stepper *stepper_z = stepper_init(z_step,z_dir,motor_enb);
// stepper_start_frame();
Uart *uart = uart_init();
console_init();
thermistor_init();
// console_prompt();
pin_config_in(x_stop);
pin_high(r_led);
char dir = 1;
int count = 0;
unsigned int hit = 0;
while(1) {
// dir = pin_get(EXP2);
stepper_dir(stepper_x,dir);
stepper_dir(stepper_y,dir);
stepper_dir(stepper_z,dir);
if(dir == 1) {
if(pin_get(x_stop)==0 ) {
if(hit < 2) {
stepper_step(stepper_x);
stepper_step(stepper_y);
stepper_step(stepper_z);
count++;
}
} else {
hit++;
if(hit < 2) {
printf("%i\n",count);
printf("HIT!\n");
dir = 0;
hit = 0;
}
}
}
if(dir == 0) {
stepper_step(stepper_x);
stepper_step(stepper_y);
stepper_step(stepper_z);
count--;
if(count == 0) {
dir = 1;
}
}
_delay_us(50);
/*
count++;
if(count == 1000){
pin_toggle(g_led);
count = 0;
// pin_toggle(stepper_x->direction);
// pin_toggle(stepper_y->direction);
// pin_toggle(stepper_z->direction);
}
*/
}
}
int main(void)
{
// Initialize system upon power-up.
serial_init(); // Setup serial baud rate and interrupts
settings_init(); // Load Grbl settings from EEPROM
stepper_init(); // Configure stepper pins and interrupt timers
system_init(); // Configure pinout pins and pin-change interrupt
#ifdef CPU_MAP_CUSTOM_1284p
spi_init();
L6474_init(4);
L6474_CmdEnableAll();
#endif
memset(&sys, 0, sizeof(sys)); // Clear all system variables
sys.abort = true; // Set abort to complete initialization
sei(); // Enable interrupts
// Check for power-up and set system alarm if homing is enabled to force homing cycle
// by setting Grbl's alarm state. Alarm locks out all g-code commands, including the
// startup scripts, but allows access to settings and internal commands. Only a homing
// cycle '$H' or kill alarm locks '$X' will disable the alarm.
// NOTE: The startup script will run after successful completion of the homing cycle, but
// not after disabling the alarm locks. Prevents motion startup blocks from crashing into
// things uncontrollably. Very bad.
#ifdef HOMING_INIT_LOCK
if (bit_istrue(settings.flags,BITFLAG_HOMING_ENABLE)) { sys.state = STATE_ALARM; }
#endif
// Force Grbl into an ALARM state upon a power-cycle or hard reset.
#ifdef FORCE_INITIALIZATION_ALARM
sys.state = STATE_ALARM;
#endif
// Grbl initialization loop upon power-up or a system abort. For the latter, all processes
// will return to this loop to be cleanly re-initialized.
for(;;) {
// TODO: Separate configure task that require interrupts to be disabled, especially upon
// a system abort and ensuring any active interrupts are cleanly reset.
// Reset Grbl primary systems.
serial_reset_read_buffer(); // Clear serial read buffer
gc_init(); // Set g-code parser to default state
spindle_init();
coolant_init();
limits_init();
probe_init();
plan_reset(); // Clear block buffer and planner variables
st_reset(); // Clear stepper subsystem variables.
// Sync cleared gcode and planner positions to current system position.
plan_sync_position();
gc_sync_position();
// Reset system variables.
sys.abort = false;
sys_rt_exec_state = 0;
sys_rt_exec_alarm = 0;
sys.suspend = false;
// Start Grbl main loop. Processes program inputs and executes them.
protocol_main_loop();
}
return 0; /* Never reached */
}
