lissajous.cpp

00001 #include "mbed.h"
00002 //#include "rtos.h"
00003 #include "MODSERIAL.h"
00004 #include "cnc.h"
00005 extern  MODSERIAL pc;
00006 //extern  Serial pc;
00007 extern  void    move_to_XYZ   (struct pirbufgrain & ins)   ;
00008 /*
00009 This file contains one function:
00010 void    lissajous   ()  ;
00011 The purpose is to replicate a list of XY coordinates produced by a G Code programme written to run on Mach3 software
00012 to be used to set NCOs in sequence to prove this simple code running on a 'mbed' or 'Freescale KL25Z'
00013 does correctly drive the Sieg KX3 CNC mill, just the same as using the pc / Mach3 setup.
00014 
00015 Thus far we have proved only that both finish at the same point (give or take a few microns)
00016 */
00017 //bool    liss_active = false;    //  global flag used to prevent running more than once at a time
00018 
00019 void    lissajous   (fl_typ feed_rate)  {
00020     const fl_typ    PI          = 4.0 * atan(1.0),  //3.142ish but more accurate
00021                     Deg2Rad     = PI / 180.0, //  degrees to radian conversion factor
00022                     MaxX            = 40.0,     // Plot size X to move +/- MaxX
00023                     MaxY            = 25.0,     // Plot size Y to move +/- MaxY
00024                     StartAngDegX    = 0.0,
00025                     StartAngDegY    = 10.0,
00026                     FreqRatio       = 0.255;
00027     const int       StepsPerRevX    = 100,
00028                     NumofXCycles    = 16;
00029     const fl_typ    AngleStepX  = (2.0 * PI / StepsPerRevX),
00030                     AngleStepY  = AngleStepX * FreqRatio;
00031 
00032 //void    lissajous   (void const * arg_string)  {
00033     struct  pirbufgrain Coords;
00034     fl_typ  AngleX = StartAngDegX * Deg2Rad,
00035             AngleY = StartAngDegY * Deg2Rad;
00036             
00037 //    pc.printf("In lissajous func, Loading Lissajous\r\n");
00038 //    while   (1) {
00039 //        while   (!liss_active)  //  Other code to activate
00040 //            osThreadYield();
00041     //    liss_active = true;   //  this hapens in activating code
00042         pc.printf("In lissajous func, Starting Lissajous, has been activated\r\n");
00043         Coords.x = 0.0;
00044         Coords.y = 0.0;
00045         Coords.z = 12.7;
00046         Coords.f_rate = feed_rate;
00047         move_to_XYZ (Coords);
00048         Coords.x = MaxX * cos(AngleX);  //  Coordinates of start position
00049         Coords.y = MaxY * sin(AngleY);  //  assembled into packet for motion controller
00050         move_to_XYZ (Coords);
00051         Coords.z = 0.0;
00052         move_to_XYZ (Coords);
00053     
00054         for (int i = 0; i < NumofXCycles; i++)   {      // Outer loop 'NumofXCycles' times
00055             for (int j = 0; j < StepsPerRevX; j++)   {  // Inner loop 'StepsPerRevX' times
00056                 AngleX += AngleStepX;
00057                 AngleY += AngleStepY;
00058                 Coords.x = MaxX * cos(AngleX);
00059                 Coords.y = MaxY * sin(AngleY);
00060                 move_to_XYZ (Coords);
00061 //                osThreadYield();
00062             }
00063             pc.printf("liss cyc %d\r\n", i);
00064         }
00065         Coords.z = 100.0;
00066         move_to_XYZ (Coords);
00067         Coords.x = 0.0;
00068         Coords.y = 0.0;
00069         move_to_XYZ (Coords);
00070         
00071         pc.printf("Lissajous finish point X%f, Y%f\r\n", Coords.x, Coords.y);
00072 //        liss_active = false;
00073         pc.printf("Leaving liss\r\n");
00074 //        osThreadYield();    //  terminate would be better here
00075 //    }   //  end of while(1)
00076 }
00077 
00078 /*
00079 The complete Mach3 G Code programme listing "lissajous.txt" follows :-
00080 */
00081 
00082 /*
00083 ; This Section to put machine into known, safe state
00084 M5  ;   Stop spindle
00085 G17 ;   Select XY plane
00086 G21 ;   Units are mm
00087 G40 ;   Cancel cutter radius compensation
00088 G49 ;   Cancel tool length offset
00089 G61 ;   Exact stop
00090 G50 ;   Reset all scale factors to 1.0
00091 G90 ;   Absolute distance mode
00092 G94 ;   Feed mm per minute mode - as mm selected above by G21
00093 ;   Title:      Lissajous Pattern Generator 2014
00094 ;   Programme Name  "lissajous.txt"
00095 ;   Author:     Jon Freeman
00096 ;   Date:       Feb 2014
00097 
00098 ;   Demo code used to demonstrate Freescale FRDM-KL25Z computer board
00099 ;   driving a Sieg KX3 CNC mill without PC, and without Mach3 !!
00100 
00101 ; _____________________________________________
00102 ; Put user alterable parameter values in this section
00103 ; User is invited to alter the 6 parameters in this section.
00104 
00105 #10 = 6.40  ;   Max 'X' excursion
00106 #11 = 3.20  ;   Max 'Y' excursion
00107 #12 = 0.0   ;   Start angle of 'X'
00108 #13 = 10.0  ;   Start angle of 'Y'
00109 #14 = 0.254 ;   Frequency ratio of X and Y signals
00110 #15 = 100   ;   Int Steps per 2PI of X
00111 #16 = 16    ;   Int Number of whole cycles of 'X'
00112 ;
00113 ;   Programme starts here
00114 
00115 #50 = [#10 * cos[#12]]  ;Start X coord
00116 #51 = [#11 * sin[#13]]  ;Start Y coord
00117 #52 = [360.0 / #15]     ;Angle step X
00118 #53 = [#52 * #14]       ;Angle step Y
00119 G0 X#50 Y#51
00120 M98 P   1000    L #16   ;Execute subroutine 'Numof X Cycles' times
00121 M5 M30  ;   Stop, end and rewind
00122 
00123 O 1000  ;   Subroutine executed once per complete turn of 'X'
00124 M98 P   2000    L #15   ;Execute the subroutine and repeat 'Steps per Rev' times
00125 M99 ;   Return
00126 
00127 O 2000  ;   Subroutine executed 'Numof X Cycles' * 'Steps per Rev' times
00128 #12 = [#12 + #52]   ;   Update X angle
00129 #13 = [#13 + #53]   ;   Update X angle
00130 #50 = [#10 * cos[#12]]  ;Update X coord
00131 #51 = [#11 * sin[#13]]  ;Update Y coord
00132 G1 X#50 Y#51
00133 M99 ;   Return
00134 */
00135