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<blockquote data-quote="iPissa" data-source="post: 21680456" data-attributes="member: 562804">Machn Code eka PM karanna baa diga wadi kiyanawa. me tiyenn code eka machan./* &nbsp;Mini CNC Plotter firmware, based in TinyCNC <a href="https://github.com/MakerBlock/TinyCNC-Sketches" target="_blank">https://github.com/MakerBlock/TinyCNC-Sketches</a>&nbsp;Send GCODE to this Sketch using gctrl.pde <a href="https://github.com/damellis/gctrl" target="_blank">https://github.com/damellis/gctrl</a>&nbsp;Convert SVG to GCODE with MakerBot Unicorn plugin for Inkscape available here <a href="https://github.com/martymcguire/inkscape-unicorn" target="_blank">https://github.com/martymcguire/inkscape-unicorn</a>&nbsp;&nbsp;More information about the Mini CNC Plotter here (german, sorry): <a href="http://www.makerblog.at/2015/02/projekt-mini-cnc-plotter-aus-alten-cddvd-laufwerken/" target="_blank">http://www.makerblog.at/2015/02/projekt-mini-cnc-plotter-aus-alten-cddvd-laufwerken/</a>&nbsp; */#include &lt;Servo.h&gt;#include &lt;AFMotor.h&gt;#define LINE_BUFFER_LENGTH 512char STEP = MICROSTEP ;// Servo position for Up and Down const int penZUp = 95;const int penZDown = 83;// Servo on PWM pin 10const int penServoPin =10 ;// Should be right for DVD steppers, but is not too important hereconst int stepsPerRevolution = 100; // create servo object to control a servo Servo penServo;&nbsp; // Initialize steppers for X- and Y-axis using this Arduino pins for the L293D H-bridgeAF_Stepper myStepperY(stepsPerRevolution,1);&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; AF_Stepper myStepperX(stepsPerRevolution,2);&nbsp; /* Structures, global variables&nbsp; &nbsp; */struct point { &nbsp; float x; &nbsp; float y; &nbsp; float z; };// Current position of plotheadstruct point actuatorPos;//&nbsp; Drawing settings, should be OKfloat StepInc = 1;int StepDelay = 0;int LineDelay =0;int penDelay = 50;// Motor steps to go 1 millimeter.// Use test sketch to go 100 steps. Measure the length of line. // Calculate steps per mm. Enter here.float StepsPerMillimeterX = 100.0;float StepsPerMillimeterY = 100.0;// Drawing robot limits, in mm// OK to start with. Could go up to 50 mm if calibrated well. float Xmin = 0;float Xmax = 40;float Ymin = 0;float Ymax = 40;float Zmin = 0;float Zmax = 1;float Xpos = Xmin;float Ypos = Ymin;float Zpos = Zmax; // Set to true to get debug output.boolean verbose = false;//&nbsp; Needs to interpret //&nbsp; G1 for moving//&nbsp; G4 P300 (wait 150ms)//&nbsp; M300 S30 (pen down)//&nbsp; M300 S50 (pen up)//&nbsp; Discard anything with a (//&nbsp; Discard any other command!/**********************&nbsp;* void setup() - Initialisations&nbsp;***********************/void setup() {&nbsp; //&nbsp; Setup&nbsp; &nbsp; Serial.begin( 9600 );&nbsp; &nbsp; penServo.attach(penServoPin);&nbsp; penServo.write(penZUp);&nbsp; delay(100);&nbsp; // Decrease if necessary&nbsp; myStepperX.setSpeed(600);&nbsp; myStepperY.setSpeed(600);&nbsp; &nbsp; &nbsp; //&nbsp; Set &amp; move to initial default position&nbsp; // TBD&nbsp; //&nbsp; Notifications!!!&nbsp; Serial.println(&quot;Mini CNC Plotter alive and kicking!&quot;);&nbsp; Serial.print(&quot;X range is from &quot;); &nbsp; Serial.print(Xmin); &nbsp; Serial.print(&quot; to &quot;); &nbsp; Serial.print(Xmax); &nbsp; Serial.println(&quot; mm.&quot;); &nbsp; Serial.print(&quot;Y range is from &quot;); &nbsp; Serial.print(Ymin); &nbsp; Serial.print(&quot; to &quot;); &nbsp; Serial.print(Ymax); &nbsp; Serial.println(&quot; mm.&quot;); }/**********************&nbsp;* void loop() - Main loop&nbsp;***********************/void loop() {&nbsp; &nbsp; delay(100);&nbsp; char line[ LINE_BUFFER_LENGTH ];&nbsp; char c;&nbsp; int lineIndex;&nbsp; bool lineIsComment, lineSemiColon;&nbsp; lineIndex = 0;&nbsp; lineSemiColon = false;&nbsp; lineIsComment = false;&nbsp; while (1) {&nbsp; &nbsp; // Serial reception - Mostly from Grbl, added semicolon support&nbsp; &nbsp; while ( Serial.available()&gt;0 ) {&nbsp; &nbsp; &nbsp; c = Serial.read();&nbsp; &nbsp; &nbsp; if (( c == '\n') || (c == '\r') ) {&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;&nbsp; // End of line reached&nbsp; &nbsp; &nbsp; &nbsp; if ( lineIndex &gt; 0 ) {&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; // Line is complete. Then execute!&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; line[ lineIndex ] = '\0';&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;&nbsp; // Terminate string&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; if (verbose) { &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; Serial.print( &quot;Received : &quot;); &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; Serial.println( line ); &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; }&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; processIncomingLine( line, lineIndex );&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; lineIndex = 0;&nbsp; &nbsp; &nbsp; &nbsp; } &nbsp; &nbsp; &nbsp; &nbsp; else { &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; // Empty or comment line. Skip block.&nbsp; &nbsp; &nbsp; &nbsp; }&nbsp; &nbsp; &nbsp; &nbsp; lineIsComment = false;&nbsp; &nbsp; &nbsp; &nbsp; lineSemiColon = false;&nbsp; &nbsp; &nbsp; &nbsp; Serial.println(&quot;ok&quot;);&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; } &nbsp; &nbsp; &nbsp; else {&nbsp; &nbsp; &nbsp; &nbsp; if ( (lineIsComment) || (lineSemiColon) ) {&nbsp;&nbsp; // Throw away all comment characters&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; if ( c == ')' )&nbsp; lineIsComment = false;&nbsp; &nbsp;&nbsp; // End of comment. Resume line.&nbsp; &nbsp; &nbsp; &nbsp; } &nbsp; &nbsp; &nbsp; &nbsp; else {&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; if ( c &lt;= ' ' ) {&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;&nbsp; // Throw away whitepace and control characters&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; } &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; else if ( c == '/' ) {&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; // Block delete not supported. Ignore character.&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; } &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; else if ( c == '(' ) {&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; // Enable comments flag and ignore all characters until ')' or EOL.&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; lineIsComment = true;&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; } &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; else if ( c == ';' ) {&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; lineSemiColon = true;&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; } &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; else if ( lineIndex &gt;= LINE_BUFFER_LENGTH-1 ) {&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; Serial.println( &quot;ERROR - lineBuffer overflow&quot; );&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; lineIsComment = false;&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; lineSemiColon = false;&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; } &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; else if ( c &gt;= 'a' &amp;&amp; c &lt;= 'z' ) {&nbsp; &nbsp; &nbsp; &nbsp; // Upcase lowercase&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; line[ lineIndex++ ] = c-'a'+'A';&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; } &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; else {&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; line[ lineIndex++ ] = c;&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; }&nbsp; &nbsp; &nbsp; &nbsp; }&nbsp; &nbsp; &nbsp; }&nbsp; &nbsp; }&nbsp; }}void processIncomingLine( char* line, int charNB ) {&nbsp; int currentIndex = 0;&nbsp; char buffer[ 64 ];&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;&nbsp; // Hope that 64 is enough for 1 parameter&nbsp; struct point newPos;&nbsp; newPos.x = 0.0;&nbsp; newPos.y = 0.0;&nbsp; //&nbsp; Needs to interpret &nbsp; //&nbsp; G1 for moving&nbsp; //&nbsp; G4 P300 (wait 150ms)&nbsp; //&nbsp; G1 X60 Y30&nbsp; //&nbsp; G1 X30 Y50&nbsp; //&nbsp; M300 S30 (pen down)&nbsp; //&nbsp; M300 S50 (pen up)&nbsp; //&nbsp; Discard anything with a (&nbsp; //&nbsp; Discard any other command!&nbsp; while( currentIndex &lt; charNB ) {&nbsp; &nbsp; switch ( line[ currentIndex++ ] ) {&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; // Select command, if any&nbsp; &nbsp; case 'U':&nbsp; &nbsp; &nbsp; penUp(); &nbsp; &nbsp; &nbsp; break;&nbsp; &nbsp; case 'D':&nbsp; &nbsp; &nbsp; penDown(); &nbsp; &nbsp; &nbsp; break;&nbsp; &nbsp; case 'G':&nbsp; &nbsp; &nbsp; buffer[0] = line[ currentIndex++ ];&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; // /!\ Dirty - Only works with 2 digit commands&nbsp; &nbsp; &nbsp; //&nbsp; &nbsp; &nbsp; buffer[1] = line[ currentIndex++ ];&nbsp; &nbsp; &nbsp; //&nbsp; &nbsp; &nbsp; buffer[2] = '\0';&nbsp; &nbsp; &nbsp; buffer[1] = '\0';&nbsp; &nbsp; &nbsp; switch ( atoi( buffer ) ){&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;&nbsp; // Select G command&nbsp; &nbsp; &nbsp; case 0:&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;&nbsp; // G00 &amp; G01 - Movement or fast movement. Same here&nbsp; &nbsp; &nbsp; case 1:&nbsp; &nbsp; &nbsp; &nbsp; // /!\ Dirty - Suppose that X is before Y&nbsp; &nbsp; &nbsp; &nbsp; char* indexX = strchr( line+currentIndex, 'X' );&nbsp; // Get X/Y position in the string (if any)&nbsp; &nbsp; &nbsp; &nbsp; char* indexY = strchr( line+currentIndex, 'Y' );&nbsp; &nbsp; &nbsp; &nbsp; if ( indexY &lt;= 0 ) {&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; newPos.x = atof( indexX + 1); &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; newPos.y = actuatorPos.y;&nbsp; &nbsp; &nbsp; &nbsp; } &nbsp; &nbsp; &nbsp; &nbsp; else if ( indexX &lt;= 0 ) {&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; newPos.y = atof( indexY + 1);&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; newPos.x = actuatorPos.x;&nbsp; &nbsp; &nbsp; &nbsp; } &nbsp; &nbsp; &nbsp; &nbsp; else {&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; newPos.y = atof( indexY + 1);&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; indexY = '\0';&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; newPos.x = atof( indexX + 1);&nbsp; &nbsp; &nbsp; &nbsp; }&nbsp; &nbsp; &nbsp; &nbsp; drawLine(newPos.x, newPos.y );&nbsp; &nbsp; &nbsp; &nbsp; //&nbsp; &nbsp; &nbsp; &nbsp; Serial.println(&quot;ok&quot;);&nbsp; &nbsp; &nbsp; &nbsp; actuatorPos.x = newPos.x;&nbsp; &nbsp; &nbsp; &nbsp; actuatorPos.y = newPos.y;&nbsp; &nbsp; &nbsp; &nbsp; break;&nbsp; &nbsp; &nbsp; }&nbsp; &nbsp; &nbsp; break;&nbsp; &nbsp; case 'M':&nbsp; &nbsp; &nbsp; buffer[0] = line[ currentIndex++ ];&nbsp; &nbsp; &nbsp; &nbsp; // /!\ Dirty - Only works with 3 digit commands&nbsp; &nbsp; &nbsp; buffer[1] = line[ currentIndex++ ];&nbsp; &nbsp; &nbsp; buffer[2] = line[ currentIndex++ ];&nbsp; &nbsp; &nbsp; buffer[3] = '\0';&nbsp; &nbsp; &nbsp; switch ( atoi( buffer ) ){&nbsp; &nbsp; &nbsp; case 300:&nbsp; &nbsp; &nbsp; &nbsp; {&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; char* indexS = strchr( line+currentIndex, 'S' );&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; float Spos = atof( indexS + 1);&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; //&nbsp; &nbsp; &nbsp; &nbsp;&nbsp; Serial.println(&quot;ok&quot;);&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; if (Spos == 30) { &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; penDown(); &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; }&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; if (Spos == 50) { &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; penUp(); &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; }&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; break;&nbsp; &nbsp; &nbsp; &nbsp; }&nbsp; &nbsp; &nbsp; case 114:&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; // M114 - Repport position&nbsp; &nbsp; &nbsp; &nbsp; Serial.print( &quot;Absolute position : X = &quot; );&nbsp; &nbsp; &nbsp; &nbsp; Serial.print( actuatorPos.x );&nbsp; &nbsp; &nbsp; &nbsp; Serial.print( &quot;&nbsp; -&nbsp; Y = &quot; );&nbsp; &nbsp; &nbsp; &nbsp; Serial.println( actuatorPos.y );&nbsp; &nbsp; &nbsp; &nbsp; break;&nbsp; &nbsp; &nbsp; default:&nbsp; &nbsp; &nbsp; &nbsp; Serial.print( &quot;Command not recognized : M&quot;);&nbsp; &nbsp; &nbsp; &nbsp; Serial.println( buffer );&nbsp; &nbsp; &nbsp; }&nbsp; &nbsp; }&nbsp; }}/*********************************&nbsp;* Draw a line from (x0;y0) to (x1;y1). &nbsp;* Bresenham algo from <a href="https://www.marginallyclever.com/blog/2013/08/how-to-build-an-2-axis-arduino-cnc-gcode-interpreter/" target="_blank">https://www.marginallyclever.com/blog/2013/08/how-to-build-an-2-axis-arduino-cnc-gcode-interpreter/</a>&nbsp;* int (x1;y1) : Starting coordinates&nbsp;* int (x2;y2) : Ending coordinates&nbsp;**********************************/void drawLine(float x1, float y1) {&nbsp; if (verbose)&nbsp; {&nbsp; &nbsp; Serial.print(&quot;fx1, fy1: &quot;);&nbsp; &nbsp; Serial.print(x1);&nbsp; &nbsp; Serial.print(&quot;,&quot;);&nbsp; &nbsp; Serial.print(y1);&nbsp; &nbsp; Serial.println(&quot;&quot;);&nbsp; }&nbsp; &nbsp; //&nbsp; Bring instructions within limits&nbsp; if (x1 &gt;= Xmax) { &nbsp; &nbsp; x1 = Xmax; &nbsp; }&nbsp; if (x1 &lt;= Xmin) { &nbsp; &nbsp; x1 = Xmin; &nbsp; }&nbsp; if (y1 &gt;= Ymax) { &nbsp; &nbsp; y1 = Ymax; &nbsp; }&nbsp; if (y1 &lt;= Ymin) { &nbsp; &nbsp; y1 = Ymin; &nbsp; }&nbsp; if (verbose)&nbsp; {&nbsp; &nbsp; Serial.print(&quot;Xpos, Ypos: &quot;);&nbsp; &nbsp; Serial.print(Xpos);&nbsp; &nbsp; Serial.print(&quot;,&quot;);&nbsp; &nbsp; Serial.print(Ypos);&nbsp; &nbsp; Serial.println(&quot;&quot;);&nbsp; }&nbsp; if (verbose)&nbsp; {&nbsp; &nbsp; Serial.print(&quot;x1, y1: &quot;);&nbsp; &nbsp; Serial.print(x1);&nbsp; &nbsp; Serial.print(&quot;,&quot;);&nbsp; &nbsp; Serial.print(y1);&nbsp; &nbsp; Serial.println(&quot;&quot;);&nbsp; }&nbsp; //&nbsp; Convert coordinates to steps&nbsp; x1 = (int)(x1*StepsPerMillimeterX);&nbsp; y1 = (int)(y1*StepsPerMillimeterY);&nbsp; float x0 = Xpos;&nbsp; float y0 = Ypos;&nbsp; //&nbsp; Let's find out the change for the coordinates&nbsp; long dx = abs(x1-x0);&nbsp; long dy = abs(y1-y0);&nbsp; int sx = x0&lt;x1 ? StepInc : -StepInc;&nbsp; int sy = y0&lt;y1 ? StepInc : -StepInc;&nbsp; long i;&nbsp; long over = 0;&nbsp; if (dx &gt; dy) {&nbsp; &nbsp; for (i=0; i&lt;dx; ++i) {&nbsp; &nbsp; &nbsp; myStepperX.onestep(sx,STEP);&nbsp; &nbsp; &nbsp; over+=dy;&nbsp; &nbsp; &nbsp; if (over&gt;=dx) {&nbsp; &nbsp; &nbsp; &nbsp; over-=dx;&nbsp; &nbsp; &nbsp; &nbsp; myStepperY.onestep(sy,STEP);&nbsp; &nbsp; &nbsp; }&nbsp; &nbsp; delay(StepDelay);&nbsp; &nbsp; }&nbsp; }&nbsp; else {&nbsp; &nbsp; for (i=0; i&lt;dy; ++i) {&nbsp; &nbsp; &nbsp; myStepperY.onestep(sy,STEP);&nbsp; &nbsp; &nbsp; over+=dx;&nbsp; &nbsp; &nbsp; if (over&gt;=dy) {&nbsp; &nbsp; &nbsp; &nbsp; over-=dy;&nbsp; &nbsp; &nbsp; &nbsp; myStepperX.onestep(sx,STEP);&nbsp; &nbsp; &nbsp; }&nbsp; &nbsp; &nbsp; delay(StepDelay);&nbsp; &nbsp; }&nbsp; &nbsp; &nbsp; }&nbsp; if (verbose)&nbsp; {&nbsp; &nbsp; Serial.print(&quot;dx, dy:&quot;);&nbsp; &nbsp; Serial.print(dx);&nbsp; &nbsp; Serial.print(&quot;,&quot;);&nbsp; &nbsp; Serial.print(dy);&nbsp; &nbsp; Serial.println(&quot;&quot;);&nbsp; }&nbsp; if (verbose)&nbsp; {&nbsp; &nbsp; Serial.print(&quot;Going to (&quot;);&nbsp; &nbsp; Serial.print(x0);&nbsp; &nbsp; Serial.print(&quot;,&quot;);&nbsp; &nbsp; Serial.print(y0);&nbsp; &nbsp; Serial.println(&quot;)&quot;);&nbsp; }&nbsp; //&nbsp; Delay before any next lines are submitted&nbsp; delay(LineDelay);&nbsp; //&nbsp; Update the positions&nbsp; Xpos = x1;&nbsp; Ypos = y1;}//&nbsp; Raises penvoid penUp() { &nbsp; penServo.write(penZUp); &nbsp; delay(penDelay); &nbsp; Zpos=Zmax; &nbsp; digitalWrite(15, LOW);&nbsp; &nbsp; digitalWrite(16, HIGH);&nbsp; if (verbose) { &nbsp; &nbsp; Serial.println(&quot;Pen up!&quot;); &nbsp; &nbsp; &nbsp; } }//&nbsp; Lowers penvoid penDown() { &nbsp; penServo.write(penZDown); &nbsp; delay(penDelay); &nbsp; Zpos=Zmin; &nbsp; digitalWrite(15, HIGH);&nbsp; &nbsp; digitalWrite(16, LOW);&nbsp; if (verbose) { &nbsp; &nbsp; Serial.println(&quot;Pen down.&quot;); &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; } }</blockquote>

[QUOTE="iPissa, post: 21680456, member: 562804"] Machn Code eka PM karanna baa diga wadi kiyanawa. me tiyenn code eka machan. /* Mini CNC Plotter firmware, based in TinyCNC [url]https://github.com/MakerBlock/TinyCNC-Sketches[/url] Send GCODE to this Sketch using gctrl.pde [url]https://github.com/damellis/gctrl[/url] Convert SVG to GCODE with MakerBot Unicorn plugin for Inkscape available here [url]https://github.com/martymcguire/inkscape-unicorn[/url] More information about the Mini CNC Plotter here (german, sorry): [url]http://www.makerblog.at/2015/02/projekt-mini-cnc-plotter-aus-alten-cddvd-laufwerken/[/url] */ #include <Servo.h> #include <AFMotor.h> #define LINE_BUFFER_LENGTH 512 char STEP = MICROSTEP ; // Servo position for Up and Down const int penZUp = 95; const int penZDown = 83; // Servo on PWM pin 10 const int penServoPin =10 ; // Should be right for DVD steppers, but is not too important here const int stepsPerRevolution = 100; // create servo object to control a servo Servo penServo; // Initialize steppers for X- and Y-axis using this Arduino pins for the L293D H-bridge AF_Stepper myStepperY(stepsPerRevolution,1); AF_Stepper myStepperX(stepsPerRevolution,2); /* Structures, global variables */ struct point { float x; float y; float z; }; // Current position of plothead struct point actuatorPos; // Drawing settings, should be OK float StepInc = 1; int StepDelay = 0; int LineDelay =0; int penDelay = 50; // Motor steps to go 1 millimeter. // Use test sketch to go 100 steps. Measure the length of line. // Calculate steps per mm. Enter here. float StepsPerMillimeterX = 100.0; float StepsPerMillimeterY = 100.0; // Drawing robot limits, in mm // OK to start with. Could go up to 50 mm if calibrated well. float Xmin = 0; float Xmax = 40; float Ymin = 0; float Ymax = 40; float Zmin = 0; float Zmax = 1; float Xpos = Xmin; float Ypos = Ymin; float Zpos = Zmax; // Set to true to get debug output. boolean verbose = false; // Needs to interpret // G1 for moving // G4 P300 (wait 150ms) // M300 S30 (pen down) // M300 S50 (pen up) // Discard anything with a ( // Discard any other command! /********************** * void setup() - Initialisations ***********************/ void setup() { // Setup Serial.begin( 9600 ); penServo.attach(penServoPin); penServo.write(penZUp); delay(100); // Decrease if necessary myStepperX.setSpeed(600); myStepperY.setSpeed(600); // Set & move to initial default position // TBD // Notifications!!! Serial.println("Mini CNC Plotter alive and kicking!"); Serial.print("X range is from "); Serial.print(Xmin); Serial.print(" to "); Serial.print(Xmax); Serial.println(" mm."); Serial.print("Y range is from "); Serial.print(Ymin); Serial.print(" to "); Serial.print(Ymax); Serial.println(" mm."); } /********************** * void loop() - Main loop ***********************/ void loop() { delay(100); char line[ LINE_BUFFER_LENGTH ]; char c; int lineIndex; bool lineIsComment, lineSemiColon; lineIndex = 0; lineSemiColon = false; lineIsComment = false; while (1) { // Serial reception - Mostly from Grbl, added semicolon support while ( Serial.available()>0 ) { c = Serial.read(); if (( c == '\n') || (c == '\r') ) { // End of line reached if ( lineIndex > 0 ) { // Line is complete. Then execute! line[ lineIndex ] = '\0'; // Terminate string if (verbose) { Serial.print( "Received : "); Serial.println( line ); } processIncomingLine( line, lineIndex ); lineIndex = 0; } else { // Empty or comment line. Skip block. } lineIsComment = false; lineSemiColon = false; Serial.println("ok"); } else { if ( (lineIsComment) || (lineSemiColon) ) { // Throw away all comment characters if ( c == ')' ) lineIsComment = false; // End of comment. Resume line. } else { if ( c <= ' ' ) { // Throw away whitepace and control characters } else if ( c == '/' ) { // Block delete not supported. Ignore character. } else if ( c == '(' ) { // Enable comments flag and ignore all characters until ')' or EOL. lineIsComment = true; } else if ( c == ';' ) { lineSemiColon = true; } else if ( lineIndex >= LINE_BUFFER_LENGTH-1 ) { Serial.println( "ERROR - lineBuffer overflow" ); lineIsComment = false; lineSemiColon = false; } else if ( c >= 'a' && c <= 'z' ) { // Upcase lowercase line[ lineIndex++ ] = c-'a'+'A'; } else { line[ lineIndex++ ] = c; } } } } } } void processIncomingLine( char* line, int charNB ) { int currentIndex = 0; char buffer[ 64 ]; // Hope that 64 is enough for 1 parameter struct point newPos; newPos.x = 0.0; newPos.y = 0.0; // Needs to interpret // G1 for moving // G4 P300 (wait 150ms) // G1 X60 Y30 // G1 X30 Y50 // M300 S30 (pen down) // M300 S50 (pen up) // Discard anything with a ( // Discard any other command! while( currentIndex < charNB ) { switch ( line[ currentIndex++ ] ) { // Select command, if any case 'U': penUp(); break; case 'D': penDown(); break; case 'G': buffer[0] = line[ currentIndex++ ]; // /!\ Dirty - Only works with 2 digit commands // buffer[1] = line[ currentIndex++ ]; // buffer[2] = '\0'; buffer[1] = '\0'; switch ( atoi( buffer ) ){ // Select G command case 0: // G00 & G01 - Movement or fast movement. Same here case 1: // /!\ Dirty - Suppose that X is before Y char* indexX = strchr( line+currentIndex, 'X' ); // Get X/Y position in the string (if any) char* indexY = strchr( line+currentIndex, 'Y' ); if ( indexY <= 0 ) { newPos.x = atof( indexX + 1); newPos.y = actuatorPos.y; } else if ( indexX <= 0 ) { newPos.y = atof( indexY + 1); newPos.x = actuatorPos.x; } else { newPos.y = atof( indexY + 1); indexY = '\0'; newPos.x = atof( indexX + 1); } drawLine(newPos.x, newPos.y ); // Serial.println("ok"); actuatorPos.x = newPos.x; actuatorPos.y = newPos.y; break; } break; case 'M': buffer[0] = line[ currentIndex++ ]; // /!\ Dirty - Only works with 3 digit commands buffer[1] = line[ currentIndex++ ]; buffer[2] = line[ currentIndex++ ]; buffer[3] = '\0'; switch ( atoi( buffer ) ){ case 300: { char* indexS = strchr( line+currentIndex, 'S' ); float Spos = atof( indexS + 1); // Serial.println("ok"); if (Spos == 30) { penDown(); } if (Spos == 50) { penUp(); } break; } case 114: // M114 - Repport position Serial.print( "Absolute position : X = " ); Serial.print( actuatorPos.x ); Serial.print( " - Y = " ); Serial.println( actuatorPos.y ); break; default: Serial.print( "Command not recognized : M"); Serial.println( buffer ); } } } } /********************************* * Draw a line from (x0;y0) to (x1;y1). * Bresenham algo from [url]https://www.marginallyclever.com/blog/2013/08/how-to-build-an-2-axis-arduino-cnc-gcode-interpreter/[/url] * int (x1;y1) : Starting coordinates * int (x2;y2) : Ending coordinates **********************************/ void drawLine(float x1, float y1) { if (verbose) { Serial.print("fx1, fy1: "); Serial.print(x1); Serial.print(","); Serial.print(y1); Serial.println(""); } // Bring instructions within limits if (x1 >= Xmax) { x1 = Xmax; } if (x1 <= Xmin) { x1 = Xmin; } if (y1 >= Ymax) { y1 = Ymax; } if (y1 <= Ymin) { y1 = Ymin; } if (verbose) { Serial.print("Xpos, Ypos: "); Serial.print(Xpos); Serial.print(","); Serial.print(Ypos); Serial.println(""); } if (verbose) { Serial.print("x1, y1: "); Serial.print(x1); Serial.print(","); Serial.print(y1); Serial.println(""); } // Convert coordinates to steps x1 = (int)(x1*StepsPerMillimeterX); y1 = (int)(y1*StepsPerMillimeterY); float x0 = Xpos; float y0 = Ypos; // Let's find out the change for the coordinates long dx = abs(x1-x0); long dy = abs(y1-y0); int sx = x0<x1 ? StepInc : -StepInc; int sy = y0<y1 ? StepInc : -StepInc; long i; long over = 0; if (dx > dy) { for (i=0; i<dx; ++i) { myStepperX.onestep(sx,STEP); over+=dy; if (over>=dx) { over-=dx; myStepperY.onestep(sy,STEP); } delay(StepDelay); } } else { for (i=0; i<dy; ++i) { myStepperY.onestep(sy,STEP); over+=dx; if (over>=dy) { over-=dy; myStepperX.onestep(sx,STEP); } delay(StepDelay); } } if (verbose) { Serial.print("dx, dy:"); Serial.print(dx); Serial.print(","); Serial.print(dy); Serial.println(""); } if (verbose) { Serial.print("Going to ("); Serial.print(x0); Serial.print(","); Serial.print(y0); Serial.println(")"); } // Delay before any next lines are submitted delay(LineDelay); // Update the positions Xpos = x1; Ypos = y1; } // Raises pen void penUp() { penServo.write(penZUp); delay(penDelay); Zpos=Zmax; digitalWrite(15, LOW); digitalWrite(16, HIGH); if (verbose) { Serial.println("Pen up!"); } } // Lowers pen void penDown() { penServo.write(penZDown); delay(penDelay); Zpos=Zmin; digitalWrite(15, HIGH); digitalWrite(16, LOW); if (verbose) { Serial.println("Pen down."); } } [/QUOTE]

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