"The project is based Arduino mini CNC 2D plotter, the plotter controlled X-axis and the Y axis motor 2, and a servomotor controlled handmade Z-axis carriage.
Project presentations:
Be
Required hardware:
Arduino Mega 2560
L293D motor control with the cover
Miniature Servo EMAX ES08MA II
Stepper motor
Schematic:
Code:
// turn on debug mode
// #define DEBUG
// servo library
#include
// ADAFRUIT MOTOR SHIELD library
#include
// Pin
const int z_pin = 9;
//Location
const int z_up = 0;
const int z_dn = 35;
// Set Drawing
const char STEP = INTERLEAVE;
const float x_steps_per_mm = 13 .4;
const float y_steps_per_mm = 13 .4;
//delay
const int step_delay_up = 2;
const int step_delay_dn = 5;
const int move_delay = 100;
const int pen_delay = 250;
// limit [mm]
const float x_min = 0;
const float x_max = 40;
const float y_min = 0;
const float y_max = 40;
// read
const int line_size = 80;
// stepping motor (STEPS / REV, NUMBER)
AF_Stepper x_motor (48,1);
AF_Stepper y_motor (48,2);
Servo z_motor;
// Location
Float x = x_min;
Floating point y = y_min;
int z = 0;
// read
int line_index = 0;
Character lines [line_size];
Boolean = False ignored;
// ------------------------------------------------ ---------------------------- //
// function (SETUP) //
// ------------------------------------------------ ---------------------------- //
Invalid setting () {
// initialize serial communication
Serial.begin (38400);
// Reset position
Reset ();
#ifdef debug
Serial.println ();
Serial.println ( "MiniPlotter still running!");
Serial.println ();
Serial.print ( "X from");
Serial.print (x_min);
Serial.print ( "to");
Serial.print (x_max);
Serial.println ( "mm");
Serial.print ( "Y from");
Serial.print (y_min);
Serial.print ( "to");
Serial.print (y_max);
Serial.println ( "mm");
Serial.println ();
#just in case
}
void reset () {
move_z (0);
move_z (1);
move_z (0);
move_xy (x_min, y_min);
move_xy (x_max, y_max);
move_z (1);
move_z (0);
move_xy (x_min, y_min);
}
// ------------------------------------------------ ---------------------------- //
// function (READ) //
// ------------------------------------------------ ---------------------------- //
Invalid read_serial () {
Character c;
And (Serial.available ()) {
c = Serial.read ();
#ifdef debug
Serial.print ( "read characters:");
Serial.println (c);
#just in case
If (c == '\ n' || c == '\ r') {
// reach the end of the line
If (line_index> 0) {
Line [line_index] = '\ 0';
#ifdef debug
Serial.print ( "read:");
Serial.println (OK);
Serial.println ();
#just in case
process_line (line, line_index);
line_index = 0;
} other {
#ifdef debug
Serial.println ( "blank line");
Serial.println ();
#just in case
}
Ignore = false;
} other {
If the (ignored) {
If (c == ')') {
// stop ignoring row
Ignore = false;
}
} other {
If (c <= '') {
// throw away the white space and control characters
} Else if (c == '/') {
// delete does not support block, ignoring character
} Else if (c == '(') {
// ignore the start line
Ignore = true;
} Else if (c == ';') {
// do not support SEMICOLON, ignore line
Ignore = true;
} Else if (line_index> = line_size- 1) {
Serial.println ( "Error: Line size exceeded");
Ignore = false;
} Else if (c> = 'a' && c <= 'z') {
// to UPCASE
line [line_index ++] = c - 'a' + 'A';
} other {
Line [line_index ++] = c;
}
}
}
}
}
Invalid process_line (char * line, int line_size) {
int line_index = 0;
Char buffer [50];
#ifdef debug
Serial.print ( "processing of the line:");
Serial.println (OK);
Serial.println ( "");
#just in case
And (line_index z");
Serial.Println (z_pos);
Serial.Println ("");
#just in case
// move
If (z_pos! = Z) {
Motors_attach_detach (0);
If (z_pos == 0) {
Z_motor.write (z_UP);
} other {
Z_motor.write (z_dn);
}
Delay (Pen_DELAY);
Motors_attach_detach (1);
}
// Update location
Z = z_pos;
}
Void Move_xy (float x_pos, float y_pos) {
// x_pos, y_pos: x and y position
#IfDef debugging
Serial.Print ("Move: X");
Serial.Print (x);
Serial.Print ("y");
Serial.Print (Y);
Serial.Print ("=> x");
Serial.print (x_pos);
Serial.Print ("y");
Serial.Println (Y_POS);
Serial.Println ("");
#just in case
// Adjust position to the limit
If (x_pos> = x_max) {
X_POS = X_max;
}
If (x_pos <= x_min) {
X_POS = X_MIN;
}
If (y_pos> = y_max) {
Y_POS = y_max;
}
If (y_pos <= y_min) {
Y_POS = y_min;
}
// Convert to step
Floating point x_step = (int) (x * x_steps_per_mm);
Floating point y_step = (int) (Y * Y_STEPS_PER_MM);
Floating point X_POS_STEP = (int) (x_pos * x_steps_per_mm);
Floating point Y_POS_STEP = (int) (y_pos * y_steps_per_mm);
// Calculated changes
Long DX = ABS (X_POS_STEP-X_STEP);
Long DY = ABS (Y_POS_STEP-Y_STEP);
INT SX = X_STEP DY) {
For (INT I = 0; i = dx) {
More than - = DX;
Y_motor.onestep (Sy, STEP);
}
If (z == 0) {
Delay (Step_Delay_UP);
} other {
Delay (Step_delay_DN);
}
}
} other {
For (int i = 0; i = DY) {
More than - = DY;
X_motor.oneStep (SX, STEP);
}
If (z == 0) {
Delay (Step_Delay_UP);
} other {
Delay (Step_delay_DN);
}
}
}
Delay (Move_DELAY);
// Update location
X = x_pos;
Y = y_pos;
}
/ / -------------------------------------------------------------------------------------------- ---------------------------- //
// Function (PLOT)
Our other product:
