COnfiguration for reactobot

README

@@ -1,5 +1,3 @@
-//this file is for the CERN Robotics club reprap. All the custom settings for our build are in config.h. Please download and flash this file. 
-
 The leading developers of Sprinter are currently Kliment, caru and midopple, though many others contribute with their patches.
 
 This is a firmware for RAMPS and other reprap single-processor electronics setups. It supports printing from SD card, active heatbed control, and ATmega internal pullups.
@@ -46,8 +44,16 @@ Software installation
 Arduino software v1 has not been tested much, but is known to work with some boards.
    http://www.arduino.cc/en/Main/Software
 
+3. Get the sanguino software, version 0023
+   http://sanguino.cc/softwareforlinux
+
+follow the sanguino's readme so that your arduino hardware folder looks like 
+  arduino-0023/hardware/arduino
+  arduino-0023/hardware/sanguino
+  arduino-0023/hardware/tools
+
 4. Clone the Sprinter git repository. 
-   git clone https://github.com/pingud98/Sprinter.git
+   git clone https://github.com/kliment/Sprinter.git
 Optionally, switch to the desired branch
   git branch -a
   git checkout THE_BRANCH_YOU_WANT
@@ -60,11 +66,14 @@ Firmware compilation and upload
 6. Run make. If everything goes well Sprinter/applet/Sprinter.cpp should have been created.
 You can safely ignore the error message mentioning arduino-0023/hardware/arduino/cores/arduino/WString.o
 
+7. Connect your Sanguinololu to your computer
+   http://reprap.org/wiki/Sanguinololu
+
 8. Launch arduino-0023/arduino, open Sprinter/Sprinter.pde
 
 9. Go to Tools -> Serial Port, and select the relevant option
 
-10. Go to Tools -> Board, select Arduino Mega 2560
+10. Go to Tools -> Board, select Sanguino
 
 11. Go to the Configuration.h file and edit the following lines:
    #define MOTHERBOARD 62

Sprinter/Configuration.h

@@ -27,17 +27,12 @@
 // 5 is ParCan supplied 104GT-2 100K
 // 6 is EPCOS 100k
 // 7 is 100k Honeywell thermistor 135-104LAG-J01
-#define THERMISTORHEATER 1
+#define THERMISTORHEATER 7
 #define THERMISTORBED 1
 
 //// Calibration variables
 // X, Y, Z, E steps per unit - Metric Prusa Mendel with Wade extruder:
-
+#define _AXIS_STEP_PER_UNIT {80, 80, 4000,670}
-// old values:
-//#define _AXIS_STEP_PER_UNIT {160, 160, 3200/0.80,350}
-// new values by Fosfor, 2015-04-29:
-#define _AXIS_STEP_PER_UNIT {228.57, 160, 5120, 1167.99}
-
 // Metric Prusa Mendel with Makergear geared stepper extruder:
 //#define _AXIS_STEP_PER_UNIT {80,80,3200/1.25,1380}
 // MakerGear Hybrid Prusa Mendel:
@@ -50,16 +45,16 @@
 // The pullups are needed if you directly connect a mechanical endswitch between the signal and ground pins.
 //If your axes are only moving in one direction, make sure the endstops are connected properly.
 //If your axes move in one direction ONLY when the endstops are triggered, set [XYZ]_ENDSTOP_INVERT to true here:
-const bool X_ENDSTOP_INVERT = true;
+const bool X_ENDSTOP_INVERT = false;
-const bool Y_ENDSTOP_INVERT = true;
+const bool Y_ENDSTOP_INVERT = false;
-const bool Z_ENDSTOP_INVERT = true;
+const bool Z_ENDSTOP_INVERT = false;
 
 // This determines the communication speed of the printer
 #define BAUDRATE 115200
 //#define BAUDRATE 250000
 
 // Comment out (using // at the start of the line) to disable SD support:
-#define SDSUPPORT
+//#define SDSUPPORT
 
 // Uncomment to make run init.g from SD on boot
 //#define SDINITFILE
@@ -76,11 +71,11 @@ const bool Z_ENDSTOP_INVERT = true;
 // M502 - reverts to the default "factory settings". You still need to store them in EEPROM afterwards if you want to.
 // M503 - Print settings
 // define this to enable eeprom support
-#define USE_EEPROM_SETTINGS
+//#define USE_EEPROM_SETTINGS
 
 // to disable EEPROM Serial responses and decrease program space by ~1000 byte: comment this out:
 // please keep turned on if you can.
-#define PRINT_EEPROM_SETTING
+//#define PRINT_EEPROM_SETTING
 
 //-----------------------------------------------------------------------
 //// ARC Function (G2/G3 Command)
@@ -144,15 +139,15 @@ const bool max_software_endstops = true; //If true, axis won't move to coordinat
 //-----------------------------------------------------------------------
 //Max Length for Prusa Mendel, check the ways of your axis and set this Values
 //-----------------------------------------------------------------------
-const int X_MAX_LENGTH = 130;
+const int X_MAX_LENGTH = 220;
-const int Y_MAX_LENGTH = 110;
+const int Y_MAX_LENGTH = 200;
-const int Z_MAX_LENGTH = 90;
+const int Z_MAX_LENGTH = 270;
 
 //-----------------------------------------------------------------------
 //// MOVEMENT SETTINGS
 //-----------------------------------------------------------------------
 const int NUM_AXIS = 4; // The axis order in all axis related arrays is X, Y, Z, E
-#define _MAX_FEEDRATE {400, 400, 2, 25}       // (mm/sec)    
+#define _MAX_FEEDRATE {400, 400, 2, 45}       // (mm/sec)    
 #define _HOMING_FEEDRATE {1500,1500,120}      // (mm/min) !!
 #define _AXIS_RELATIVE_MODES {false, false, false, false}
 
@@ -395,4 +390,3 @@ const int dropsegments=5; //everything with less than this number of steps will
 #endif
 
 #endif
-

Sprinter/Sprinter.pde

@@ -171,6 +171,7 @@
 #define CRITICAL_SECTION_START  unsigned char _sreg = SREG; cli()
 #define CRITICAL_SECTION_END    SREG = _sreg
 #endif //CRITICAL_SECTION_START
+#define SERVO 1
 
 void __cxa_pure_virtual(){};
 
@@ -377,6 +378,11 @@ unsigned long stepper_inactive_time = 0;
 //Temp Monitor for repetier
 unsigned char manage_monitor = 255;
 
+#ifdef SERVO
+#define SERVOCOUNT 4
+#include <Servo.h> 
+static Servo servos[SERVOCOUNT];
+#endif
 
 //------------------------------------------------
 //Init the SD card 
@@ -852,6 +858,18 @@ void setup()
 
 #endif
 
+#ifdef SERVO
+servos[0].attach(11);
+servos[0].write(0);
+servos[1].attach(6);
+servos[1].write(180);
+servos[2].attach(5);
+servos[2].write(0);
+servos[3].attach(4);
+servos[3].write(180);
+#endif
+
+
   #if defined(PID_SOFT_PWM) || (defined(FAN_SOFT_PWM) && (FAN_PIN > -1))
   showString(PSTR("Soft PWM Init\r\n"));
   init_Timer2_softpwm();
@@ -1467,6 +1485,24 @@ FORCE_INLINE void process_commands()
           }
         }
         break;
+#ifdef SERVO
+      case 43:
+        if (code_seen('S'))
+        {
+          int pin_status = code_value();
+          if (code_seen('P') && pin_status >= 0 && pin_status <= 180)
+          {
+            
+            int pin_number = code_value();
+            if (pin_number > -1 && pin_number<SERVOCOUNT)
+            {              
+              servos[pin_number].write(pin_status);
+            }
+          }
+        }
+        break;
+#endif
+
       case 104: // M104
 #ifdef CHAIN_OF_COMMAND
           st_synchronize(); // wait for all movements to finish

Sprinter/heater.cpp

@@ -794,7 +794,7 @@ int temp2analog_thermistor(int celsius, const short table[][2], int numtemps)
 #if defined (HEATER_USES_AD595) || defined (BED_USES_AD595)
 int temp2analog_ad595(int celsius) 
 {
-    return (celsius * 1024.0) / (500.0);
+    return celsius * 1024 / (500);
 }
 #endif
 
@@ -835,7 +835,7 @@ int analog2temp_thermistor(int raw,const short table[][2], int numtemps) {
 #if defined (HEATER_USES_AD595) || defined (BED_USES_AD595)
 int analog2temp_ad595(int raw)
 {
-        return (raw * 500.0) / 1024.0;
+        return raw * 500 / 1024;
 }
 #endif