urjcmakergroup / tectoh Goto Github PK

Now it is difficult to now what are you changing

For example, the calculation of traveled distance, is made by multiplying the number of halfsteps by the millimeters advanced by a halfstep (constan ADVAN_HSTEP). Since halfsteps are consecutive, it may be done adding whenever a threshold of halfsteps are done

The first menu includes go home, and relative move. There should be another option to view the last experiment setup, with the actual position

Use the AMS AS5311 sensor with an FPGA to observe the displacement rate, specially when the motor is not slewing (at slow speeds)

Make sure that when the endstops are hit, the experiment stops and the motor is disabled

We need to accelerate the motor in order to get high speeds

To have them inside the sandbox, and be sturdier

So if the Sandbox is powered off, it can remember where the gantry is located, and no homing is required

These vectors are the halfstep (HS) periods and half microstep periods HuS
For fast speed (when slewing) we don't need the halfstep periods (so take them out)
For slow speeds, all the HuS are the same, so there is no need to have a vector for all of them, just one value.
Create a function to get the periods from the given speed.
Instead of having the vector as floats of microseconds, it would be better to have them as integers (maybe shorts), because the timers of the interrupts only accepts integers microseconds.

Now there is one menu that ask for:

• initial position
• final position
• speed

It doesn't make much sense because, one would like to:

1. Set the gantry to a point at maximum speed
2. Prepare the experiment (put the sand, ....)
3. Insert experiment parameters and start the experiment

It would be very important to be able to power the sandbox off, and when powering on, that the sandbox remmember its position.
Even if it does not remmember the position, to be able to do it in relative positions from where it is. Warning the users that they have to check that the distance will be kept within the experiment boundaries.

Have it in English, with more comments, and variables with more meaningful names

With the kill/stop button of the LCD. The position should be stored in the EEPROM.
Include screen to confirm, and to continue after stopping

Create the testEncoder folder to validate the TectOH