Problem with Makelangelo

[Anonymous]

Hi, I have a problem. I mde a Makelangelo with arduino and ramps 1.4 but I connect the arduino to the pc, open the Makelangelo sofware, connect with the arduino but I can’t move the motors I dont understante why. Thank you.
This is my configure.h:

#ifndef CONFIGURE_H

#define CONFIGURE_H

//

// Makelangelo - supports raprapdiscount RUMBA controller

// [email protected] 2013-12-26

// RUMBA should be treated like a MEGA 2560 Arduino.

//

// Copyright at end of file.  Please see

// http://www.github.com/MarginallyClever/Makelangelo for more information.



//

// CONSTANTS

//

//#define VERBOSE           (1)  // add to get a lot more serial output.

#define HAS_SD  // comment this out if there is no SD card

#define HAS_LCD  // comment this out if there is no SMART LCD controller

//#define USE_LIMIT_SWITCH  (1)  // Comment out this line to disable findHome and limit switches



// machine style

#define POLARGRAPH2  // uncomment this line if you use a polargraph like the Makelangelo

//#define COREXY  // uncomment this line if you use a CoreXY setup.

//#define TRADITIONALXY  // uncomment this line if you use a traditional XY setup.





// servo angles for pen control

#define PEN_UP_ANGLE         (80)

#define PEN_DOWN_ANGLE       (10)  // Some steppers don't like 0 degrees

#define PEN_DELAY            (250)  // in ms



// for serial comms

#define BAUD                 (57600)  // How fast is the Arduino talking?

#define MAX_BUF              (64)  // What is the longest message Arduino can store?





#define MICROSTEPS           (16.0)  // microstepping on this microcontroller

#define STEPS_PER_TURN       (400 * MICROSTEPS)  // default number of steps per turn * microsteps

#define MAX_FEEDRATE         (40000.0)  // depends on timer interrupt & hardware

#define MIN_FEEDRATE         (1500)

#define DEFAULT_FEEDRATE     (7000.0)

#define DEFAULT_ACCELERATION (8)



#define STEP_DELAY           (150)  // delay between steps, in microseconds, when doing fixed tasks like homing



#define NUM_AXIES            (6)  // x,y,z

#define NUM_TOOLS            (6)

#define MAX_SEGMENTS         (32)  // number of line segments to buffer ahead



// for arc directions

#define ARC_CW               (1)

#define ARC_CCW              (-1)

#define MM_PER_SEGMENT       (10)  // Arcs are split into many line segments.  How long are the segments?





#ifdef HAS_LCD

#define HAS_SD

#endif



// SD card settings

#define SDPOWER            -1

#define SDSS               53

#define SDCARDDETECT       49

// Smart controller settings

#define BEEPER             44

#define LCD_PINS_RS        19

#define LCD_PINS_ENABLE    42

#define LCD_PINS_D4        18

#define LCD_PINS_D5        38

#define LCD_PINS_D6        41

#define LCD_PINS_D7        40

#define LCD_HEIGHT         4

#define LCD_WIDTH          20

// Encoder rotation values

#define BTN_EN1            11

#define BTN_EN2            12

#define BTN_ENC            43

#define BLEN_C             2

#define BLEN_B             1

#define BLEN_A             0

#define encrot0            0

#define encrot1            2

#define encrot2            3

#define encrot3            1



#define NUM_SERVOS         (1)

#define SERVO0_PIN         (5)

#define SERVO1_PIN         (4)





//#define MOTHERBOARD 1 // RUMBA

#define MOTHERBOARD 2 // RAMPS



#if MOTHERBOARD == 1

#define MOTOR_0_DIR_PIN    (16)

#define MOTOR_0_STEP_PIN   (17)

#define MOTOR_0_ENABLE_PIN (48)



#define MOTOR_1_DIR_PIN    (47)

#define MOTOR_1_STEP_PIN   (54)

#define MOTOR_1_ENABLE_PIN (55)

#endif



#if MOTHERBOARD == 2

#define MOTOR_0_DIR_PIN    (60)

#define MOTOR_0_STEP_PIN   (61)

#define MOTOR_0_ENABLE_PIN (56)



#define MOTOR_1_DIR_PIN    (46)

#define MOTOR_1_STEP_PIN   (48)

#define MOTOR_1_ENABLE_PIN (62)

#endif





//

// EEPROM MEMORY MAP

//

#define EEPROM_VERSION   4                         // Increment EEPROM_VERSION when adding new variables

#define ADDR_VERSION     0                         // address of the version number (one byte)

#define ADDR_UUID        (ADDR_VERSION+1)          // address of the UUID (long - 4 bytes)

#define ADDR_SPOOL_DIA1  (ADDR_UUID+4)             // address of the spool diameter (float - 4 bytes)

#define ADDR_SPOOL_DIA2  (ADDR_SPOOL_DIA1+4)       // address of the spool diameter (float - 4 bytes)





//

// TIMERS

//

// for timer interrupt control

#define CLOCK_FREQ            (16000000L)

#define MAX_COUNTER           (65536L)

#define TIMER_PRESCALER_COUNT (5)

// time passed with no instruction?  Make sure PC knows we are waiting.

#define TIMEOUT_OK            (1000)



// optimize code, please

#define FORCE_INLINE         __attribute__((always_inline)) inline





#ifndef CRITICAL_SECTION_START

#define CRITICAL_SECTION_START  unsigned char _sreg = SREG;  cli();

#define CRITICAL_SECTION_END    SREG = _sreg;

#endif //CRITICAL_SECTION_START





//

// STRUCTS

//

// for line()

typedef struct {

long step_count;

long delta;  // number of steps to move

long absdelta;

int dir;

float delta_normalized;

} Axis;





typedef struct {

int step_pin;

int dir_pin;

int enable_pin;

int limit_switch_pin;

int limit_switch_state;

int reel_in;

int reel_out;

} Motor;





typedef struct {

Axis a[NUM_AXIES];

int steps_total;

int steps_taken;

int accel_until;

int decel_after;

float feed_rate_max;

float feed_rate_start;

float feed_rate_start_max;

float feed_rate_end;

char nominal_length_flag;

char recalculate_flag;

char busy;

} Segment;







//

// METHODS

//



extern Segment line_segments[MAX_SEGMENTS];

extern Segment *working_seg;

extern volatile int current_segment;

extern volatile int last_segment;

extern float acceleration;





//

// GLOBALS

//

extern Motor motors[NUM_AXIES];





#endif // CONFIGURE_H

[Anonymous]

I fix this problem. I modify the file motor.ino:

//

---

// Makelangelo – supports raprapdiscount RUMBA controller
// [email protected] 2013-12-26
// RUMBA should be treated like a MEGA 2560 Arduino.
//

---

// Copyright at end of file. Please see
// http://www.github.com/MarginallyClever/Makelangelo for more information.

//

---

// INCLUDES
//

---

#include “MServo.h”

//

---

// GLOBALS
//

---

Axis a[NUM_AXIES]; // for line()
Axis atemp; // for line()
Motor motors[NUM_AXIES];

Segment line_segments[MAX_SEGMENTS];
Segment *working_seg = NULL;
volatile int current_segment=0;
volatile int last_segment=0;
int step_multiplier;

Servo servos[NUM_SERVOS];

// used by timer1 to optimize interrupt inner loop
int delta[NUM_AXIES];
int over[NUM_AXIES];
int steps_total;
int steps_taken;
int accel_until,decel_after;
long current_feed_rate;
long old_feed_rate=0;
/*
long prescalers[] = {CLOCK_FREQ / 1,
CLOCK_FREQ / 8,
CLOCK_FREQ / 64,
CLOCK_FREQ / 256,
CLOCK_FREQ /1024};
*/

//

---

// METHODS
//

---

// for reasons I don’t understand… if i put this method in the .ino file i get compile errors.
// so I put it here, which forces the externs.
FORCE_INLINE Segment *segment_get_working() {
if(current_segment == last_segment ) return NULL;
working_seg = &line_segments[current_segment];
working_seg->busy=true;
return working_seg;
}

int get_next_segment(int i) {
return ( i + 1 ) & ( MAX_SEGMENTS – 1 );
}

int get_prev_segment(int i) {
return ( i + MAX_SEGMENTS – 1 ) & ( MAX_SEGMENTS – 1 );
}

float max_speed_allowed(float acceleration, float target_velocity, float distance) {
//return sqrt(target_velocity*target_velocity – 2*acceleration*distance);
return target_velocity – acceleration * distance;
}

/**
* set up the pins for each motor
*/
void motor_setup() {
motors[0].step_pin=MOTOR_0_DIR_PIN;
motors[0].dir_pin=MOTOR_0_STEP_PIN;
motors[0].enable_pin=MOTOR_0_ENABLE_PIN;
motors[0].limit_switch_pin=37;
motors[0].reel_in = HIGH;
motors[0].reel_out = LOW;

motors[1].step_pin=MOTOR_1_DIR_PIN;
motors[1].dir_pin=MOTOR_1_STEP_PIN;
motors[1].enable_pin=MOTOR_1_ENABLE_PIN;
motors[1].limit_switch_pin=36;
motors[1].reel_in = HIGH;
motors[1].reel_out = LOW;

int i;
for(i=0;i<NUM_AXIES;++i) {
// set the motor pin & scale
pinMode(motors.step_pin,OUTPUT);
pinMode(motors.dir_pin,OUTPUT);
pinMode(motors.enable_pin,OUTPUT);

// set the switch pin
motors.limit_switch_state=HIGH;
pinMode(motors.limit_switch_pin,INPUT);
digitalWrite(motors.limit_switch_pin,HIGH);
}

motor_set_step_count(0,0,0);

// setup servos
#if NUM_SERVOS>0
servos[0].attach(SERVO0_PIN);
#endif
#if NUM_SERVOS>1
servos[1].attach(SERVO1_PIN);
#endif
#if NUM_SERVOS>2
servos[2].attach(SERVO2_PIN);
#endif
#if NUM_SERVOS>3
servos[3].attach(SERVO3_PIN);
#endif
#if NUM_SERVOS>4
servos[4].attach(SERVO4_PIN);
#endif

[Anonymous]

Can you clone the github branch and submit a pull request with your change?

https://help.github.com/articles/fork-a-repo/
https://help.github.com/articles/creating-a-pull-request/

Then I can include it (and your name) in the code so you get credit for your fix.

[Author]

Posts