/*

Mini Traceur CNC Arduino

Traduction de la configuration du traceur en fran�ais et ajout d'une variable
"vitesseDeplacement" permettant d'ajuster la vitesse de d�placement des axes X et Y
Projets DIY - 02/2016

D'apr�s
Mini CNC Plotter firmware, based in TinyCNC https://github.com/MakerBlock/TinyCNC-
Sketches
Send GCODE to this Sketch using gctrl.pde https://github.com/damellis/gctrl
Convert SVG to GCODE with MakerBot Unicorn plugin for Inkscape available here
https://github.com/martymcguire/inkscape-unicorn

More information about the Mini CNC Plotter here (german, sorry):
http://www.makerblog.at/2015/02/projekt-mini-cnc-plotter-aus-alten-cddvd-
laufwerken/
*/

#include <Servo.h>
#include <Stepper.h>

#define LINE_BUFFER_LENGTH 512

/*
PARAMETRES DE CONFIGURATION
*/

const int penZUp = 130; // Angle servomoteur, crayon relev�

const int penZDown = 40; // Angle servomoteur, crayon baiss�
const int penServoPin = 6; // Pin sur lequel est reli� le servomoteur
const int stepsPerRevolution = 20; // Valeur par d�faut
const int vitesseDeplacement = 250; // Vitesse de d�placement des axes X et Y

Servo penServo; // Objet pour actionner le servomoteur

// Initialisation des moteurs pas � pas pilot�s � l'aide d'un pont H L293D
Stepper myStepperY(stepsPerRevolution, 2,3,4,5); // Axe X
Stepper myStepperX(stepsPerRevolution, 8,9,10,11); // Axe Y

// Calibration, nombre de pas par millim�tre

float StepsPerMillimeterX = 6.0;
float StepsPerMillimeterY = 6.0;

/*
FIN DE LA CONFIGURATION
*/

/* 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 = 50;
int penDelay = 50;

// 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)
// Disboard anything with a (
// Disboard any other command!

/**********************
* void setup() - Initialisations
***********************/
void setup() {
// Setup
Serial.begin( 9600 );

penServo.attach(penServoPin);
penServo.write(penZUp);
delay(200);

// Decrease if necessary
myStepperX.setSpeed(vitesseDeplacement);
myStepperY.setSpeed(vitesseDeplacement);

// 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(200);
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)
// Disboard anything with a (
// Disboard 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 https://www.marginallyclever.com/blog/2013/08/how-to-build-
an-2-axis-arduino-cnc-gcode-interpreter/
 * 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.step(sx);
over+=dy;
if (over>=dx) {
over-=dx;
myStepperY.step(sy);
}
delay(StepDelay);
}
}
else {
for (i=0; i<dy; ++i) {
myStepperY.step(sy);
over+=dx;
if (over>=dy) {
over-=dy;
myStepperX.step(sx);
}
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(LineDelay);
Zpos=Zmax;
if (verbose) {
Serial.println("Pen up!");
}
}
// Lowers pen
void penDown() {
penServo.write(penZDown);
delay(LineDelay);
Zpos=Zmin;
if (verbose) {
Serial.println("Pen down.");
}
}