This software is responsible for receiving G-Codes from the Raspberry Pi, execute them and report back the results.

Created with eclipseArduino V2 - For more details see http://www.baeyens.it/eclipse/

sudo apt-get install gcc-avr avr-libc avrdude python-configobj python-jinja2 python-serial
mkdir tmp
cd tmp
git clone https://github.com/miracle2k/python-glob2
cd python-glob2
wget https://bootstrap.pypa.io/ez_setup.py -O - | sudo python
sudo python setup.py install
git clone git://github.com/amperka/ino.git
cd ino
sudo make install

To flash the firmware onto the device, run this:

git clone https://github.com/FarmBot/farmbot-arduino-firmware.git
cd farmbot-arduino-firmware
ino build
ino upload

All files are in /src

Farmbot_arduino_controller contains the setup() and main(). This the main sequence:

     +--------------------------+
     |farmbot_arduino_controller|
     +-----------+--------------+
                 v
     +--------------------------+
     |Command                   |
     +-----------+--------------+
                 v
     +--------------------------+
     |GCodeProcessor            |
     +-----------+--------------+
                 v
     +--------------------------+
     |***Handler                |
     +-------+-----------+------+
             |           |
             |           +---+
             v               v
     +--------------+   +-----------+
     |StepperControl|   | PinControl|
     +--------------+   +-----------+

     |      |          |
     |      |          |Codes send to the arduino
     |      |          |

G | | |G-Code, the codes working the same as a 3D printer G |00 |X Y Z S |Move to location at given speed for axis (don't have to be a straight line), in absolute coordinates G |01 |X Y Z S |Move to location on a straight line G |28 | |Move home all axis F | | |Farm commands, commands specially added for the farmbot F |01 |T |Dose amount of water using time in millisecond F |02 |N |Dose amount of water using flow meter that measures pulses F |11 | |Home X axis F |12 | |Home Y axis F |13 | |Home Z axis F |14 | |Calibrate X axis F |15 | |Calibrate Y axis F |16 | |Calibrate Z axis F |21 |P |Read parameter F |22 |P V |Write parameter F |23 |P V |Update parameter (during calibration) F |31 |P |Read status F |32 |P V |Write status F |41 |P V M |Set a value on an arduino pin (digital/analog) F |42 |P M |Read a value from an arduino pin (digital/analog) F |43 |P M |Set the mode of a pin in arduino (input/output) F |44 |P V W T M |Set the value V on an arduino pin, wait for time T, set value W on the arduino pin (d/a) F |51 |E P V |Set a value on the tool mount with I2C F |52 |E P |Read value from the tool mount with I2C F |61 |P V |Set the servo on the pin (only pin 4 and 5) to the requested angle F |81 | |Report end stop F |82 | |Report current position F |83 | |Report software version E | | |Emergency stop | | | | | |Codes received from the arduino | | | R | | |Report messages R |01 | |Current command started R |02 | |Current command finished succesfully R |03 | |Current command finished with error R |04 | |Current command running R |21 |P V |Report parameter value R |31 |P V |Report status value R |41 |P V |Report pin value R |81 |X1 X2 Y1 Y2 Z1 Z2|Reporting end stops - parameters: X1 (end stop x axis min) X2 (end stop x axis max) Y1 Y2 Z1 Z2 R |82 |X Y Z |Report current position R |83 |C |Report software version R |99 |C |Debug message

      |                       |

XA |End stop 1 on x axis |0/1 XB |End stop 2 on x axis |0/1 YA |End stop 1 on y axis |0/1 YB |End stop 2 on y axis |0/1 ZA |End stop 1 on z axis |0/1 ZB |End stop 2 on z axis |0/1