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--- mechatronik:sose24:remote-plotter:code [2024/07/31 10:26]
TPfoch [Motor]
+++ mechatronik:sose24:remote-plotter:code [2024/07/31 10:29] (aktuell)
TPfoch [Backend]
@@ Zeile 44: / Zeile 44: @@
 }
 </file>
+====Axies====
+<file C++ Axies.hpp>
+#pragma once
+#include "AccelStepper.h"
+#include "MultiStepper.h"
+#ifndef PI
+#define PI 3.14159265358979
+#endif
+struct Point {double x,y;};
+struct Angles {double root, ext;};
+class Axies
+{
+    public:
+        virtual void moveTo(Point p)=0;
+};
+struct Motor
+{
+    AccelStepper stepper;
+    int stepsPerRev=-1;
+    Motor(AccelStepper stepper, int stepsPerRev, int speed=4000):
+        stepper(stepper), stepsPerRev(stepsPerRev)
+    {
+        this->stepper.setAcceleration(1000);
+        this->stepper.setMaxSpeed(speed);
+        this->stepper.setSpeed(speed);
+    }
+    long getSteps(double deg)
+    {
+        return deg/360.0*stepsPerRev;
+    }
+};
+class Arm
+{
+    double rootLen, extLen;
+    Motor root, ext;
+    MultiStepper ms;
+    public:
+        Arm(double rootLen, double extLen, Motor root, Motor ext);
+        void moveTo(Point p);
+    private:
+        //calculates the angles of the two sections so the end of the second is at point p
+        Angles pointToAngles(Point p);
+};
+</file>
+<file C++ Axies.cpp>
+#include "Axies.hpp"
+Arm::Arm(double rootLen, double extLen, Motor root, Motor ext) :
+    rootLen(rootLen), extLen(extLen), ms(), root(root), ext(ext)
+{
+    ms.addStepper(root.stepper);
+    ms.addStepper(ext.stepper);
+}
+void Arm::moveTo(Point p)
+{
+    Angles angle = pointToAngles(p); // 0-360
+    Serial.println("Root: " + String(angle.root) + "°->" + String(root.getSteps(angle.root)));
+    Serial.println("Ext: " + String(angle.ext) + "°->" + String(ext.getSteps(angle.root)));
+    long pos[2] = {root.getSteps(angle.root), ext.getSteps(angle.ext)};
+    ms.moveTo(pos);
+    ms.runSpeedToPosition();
+}
+Angles Arm::pointToAngles(Point p)
+{
+    double ph2= acos(
+        (p.x*p.x+p.y*p.y-rootLen*rootLen-extLen*extLen)/
+            (2*rootLen*extLen));
+    double phi1 = atan2(p.y,p.x)
+        -atan2(extLen*sin(ph2),
+                (rootLen+extLen*cos(ph2)));
+    return {phi1/PI*180, ph2/PI*180};
+}
+</file>
+====Gantry====
+<file C++ Gantry.hpp>
+#pragma once
+#include <Servo.h>
+class Gantry
+{
+    Servo use, // servo for lowering tool
+        select;// Servo to switch between tools
+               // ^ currently unused
+    public:
+        Gantry(int usePin, int selectPin)
+        {
+            use.attach(usePin);
+            select.attach(selectPin);
+        }
+        enum Tool {
+            NONE,
+            PEN
+        };
+        void setTool(Tool tool);
+};
+</file>
+<file C++ Gantry.cpp>
+#include "Gantry.hpp"
+void Gantry::setTool(Tool tool)
+{
+    // maybe second servo for tool switch
+    // dummy implementation
+    use.write(180*(tool==PEN));
+}
+</file>
 =====Frontend=====

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