add tmc2209, speed adjustable from UI

app.py

@@ -101,7 +101,9 @@ def run_theta_rho_file(file_path):
     batch_size = 10  # Smaller batches may smooth movement further
     for i in range(0, len(coordinates), batch_size):
         batch = coordinates[i:i + batch_size]
-
+        if i == 0:
+            send_coordinate_batch(ser, batch)
+            continue
         # Wait until Arduino is READY before sending the batch
         while True:
             if ser.in_waiting > 0:
@@ -369,6 +371,31 @@ def serial_status():
         'connected': ser.is_open if ser else False,
         'port': ser_port  # Include the port name
     })
+    
+@app.route('/set_speed', methods=['POST'])
+def set_speed():
+    """Set the speed for the Arduino."""
+    global ser
+    if ser is None or not ser.is_open:
+        return jsonify({"success": False, "error": "Serial connection not established"}), 400
+
+    try:
+        # Parse the speed value from the request
+        data = request.json
+        speed = data.get('speed')
+
+        if speed is None:
+            return jsonify({"success": False, "error": "Speed is required"}), 400
+
+        if not isinstance(speed, (int, float)) or speed <= 0:
+            return jsonify({"success": False, "error": "Invalid speed value"}), 400
+
+        # Send the SET_SPEED command to the Arduino
+        command = f"SET_SPEED {speed}"
+        send_command(command)
+        return jsonify({"success": True, "speed": speed})
+    except Exception as e:
+        return jsonify({"success": False, "error": str(e)}), 500
 
 if __name__ == '__main__':
     # Start the thread for reading Arduino responses

arduino_code/arduino_code.ino

@@ -33,15 +33,17 @@ float currentTheta = 0.0; // Current theta in radians
 float currentRho = 0.0;   // Current rho (0 to 1)
 bool isFirstCoordinates = true;
 float totalRevolutions = 0.0; // Tracks cumulative revolutions
+float maxSpeed = 5000;
+float maxAcceleration = 5000;
 
 void setup()
 {
     // Set maximum speed and acceleration
-    rotStepper.setMaxSpeed(5000);     // Adjust as needed
-    rotStepper.setAcceleration(5000); // Adjust as needed
+    rotStepper.setMaxSpeed(maxSpeed);     // Adjust as needed
+    rotStepper.setAcceleration(maxAcceleration); // Adjust as needed
 
-    inOutStepper.setMaxSpeed(5000);     // Adjust as needed
-    inOutStepper.setAcceleration(5000); // Adjust as needed
+    inOutStepper.setMaxSpeed(maxSpeed);     // Adjust as needed
+    inOutStepper.setAcceleration(maxAcceleration); // Adjust as needed
 
     // Add steppers to MultiStepper
     multiStepper.addStepper(rotStepper);
@@ -70,9 +72,8 @@ void printCurrentMotorPositions()
   Serial.println(inOutStepper.currentPosition());
 }
 
-void resetTheta(float targetTheta)
+void resetTheta()
 {
-    // currentTheta = 0;
     isFirstCoordinates = true; // Set flag to skip interpolation for the next movement
     Serial.println("THETA_RESET"); // Notify Python
 }
@@ -85,12 +86,41 @@ void loop()
         String input = Serial.readStringUntil('\n');
 
         // Ignore invalid messages
-        if (input != "HOME" && input != "RESET_THETA" && !input.endsWith(";"))
+        if (input != "HOME" && input != "RESET_THETA" && !input.startsWith("SET_SPEED") && !input.endsWith(";"))
         {
             Serial.println("IGNORED");
             return;
         }
 
+
+        if (input.startsWith("SET_SPEED"))
+        {
+            // Parse and set the speed
+            int spaceIndex = input.indexOf(' ');
+            if (spaceIndex != -1)
+            {
+                String speedStr = input.substring(spaceIndex + 1);
+                float speed = speedStr.toFloat();
+
+                if (speed > 0) // Ensure valid speed
+                {
+                    rotStepper.setMaxSpeed(speed);
+                    inOutStepper.setMaxSpeed(speed);
+                    Serial.println("SPEED_SET");
+                    Serial.println("READY");
+                }
+                else
+                {
+                    Serial.println("INVALID_SPEED");
+                }
+            }
+            else
+            {
+                Serial.println("INVALID_COMMAND");
+            }
+            return;
+        }
+
         if (input == "HOME")
         {
             homing();
@@ -99,7 +129,7 @@ void loop()
 
         if (input == "RESET_THETA")
         {
-            resetTheta(0); // Reset currentTheta
+            resetTheta(); // Reset currentTheta
             Serial.println("THETA_RESET"); // Notify Python
             Serial.println("READY");
             return;
@@ -182,7 +212,7 @@ void homing()
     Serial.println("HOMING");
 
     // Move inOutStepper inward for homing
-    inOutStepper.setSpeed(-5000); // Adjust speed for homing
+    inOutStepper.setSpeed(-maxSpeed); // Adjust speed for homing
     while (true)
     {
         inOutStepper.runSpeed();

arduino_code_TMC2209/arduino_code_TMC2209.ino

@@ -0,0 +1,276 @@
+#include <AccelStepper.h>
+#include <MultiStepper.h>
+#include <math.h> // For M_PI and mathematical operations
+
+#define rotInterfaceType AccelStepper::DRIVER
+#define inOutInterfaceType AccelStepper::DRIVER
+
+#define stepPin_rot 2
+#define dirPin_rot 5
+#define stepPin_InOut 3
+#define dirPin_InOut 6
+
+#define rot_total_steps 16000.0
+#define inOut_total_steps 5760.0
+#define gearRatio 10
+
+#define BUFFER_SIZE 10 // Maximum number of theta-rho pairs in a batch
+
+// Create stepper motor objects
+AccelStepper rotStepper(rotInterfaceType, stepPin_rot, dirPin_rot);
+AccelStepper inOutStepper(inOutInterfaceType, stepPin_InOut, dirPin_InOut);
+
+// Create a MultiStepper object
+MultiStepper multiStepper;
+
+// Buffer for storing theta-rho pairs
+float buffer[BUFFER_SIZE][2]; // Store theta, rho pairs
+int bufferCount = 0;          // Number of pairs in the buffer
+bool batchComplete = false;
+
+// Track the current position in polar coordinates
+float currentTheta = 0.0; // Current theta in radians
+float currentRho = 0.0;   // Current rho (0 to 1)
+bool isFirstCoordinates = true;
+float totalRevolutions = 0.0; // Tracks cumulative revolutions
+float maxSpeed = 1000;
+float maxAcceleration = 50;
+
+void setup()
+{
+    // Set maximum speed and acceleration
+    rotStepper.setMaxSpeed(maxSpeed);     // Adjust as needed
+    rotStepper.setAcceleration(maxAcceleration); // Adjust as needed
+
+    inOutStepper.setMaxSpeed(maxSpeed);     // Adjust as needed
+    inOutStepper.setAcceleration(maxAcceleration); // Adjust as needed
+
+    // Add steppers to MultiStepper
+    multiStepper.addStepper(rotStepper);
+    multiStepper.addStepper(inOutStepper);
+
+    // Initialize serial communication
+    Serial.begin(115200);
+    Serial.println("READY");
+    homing();
+}
+
+void printCurrentCoordinates(String description)
+{
+    Serial.print(description);
+    Serial.print(" Theta: ");
+    Serial.print(currentTheta);
+    Serial.print(" Rho: ");
+    Serial.println(currentRho);
+}
+
+void printCurrentMotorPositions()
+{
+  Serial.print(" Rot: ");
+  Serial.print(rotStepper.currentPosition());
+  Serial.print(" Inout: ");
+  Serial.println(inOutStepper.currentPosition());
+}
+
+void resetTheta()
+{
+    isFirstCoordinates = true; // Set flag to skip interpolation for the next movement
+    Serial.println("THETA_RESET"); // Notify Python
+}
+
+void loop()
+{
+    // Check for incoming serial commands or theta-rho pairs
+    if (Serial.available() > 0)
+    {
+        String input = Serial.readStringUntil('\n');
+
+        // Ignore invalid messages
+        if (input != "HOME" && input != "RESET_THETA" && !input.startsWith("SET_SPEED") && !input.endsWith(";"))
+        {
+            Serial.println("IGNORED");
+            return;
+        }
+
+
+        if (input.startsWith("SET_SPEED"))
+        {
+            // Parse and set the speed
+            int spaceIndex = input.indexOf(' ');
+            if (spaceIndex != -1)
+            {
+                String speedStr = input.substring(spaceIndex + 1);
+                float speed = speedStr.toFloat();
+
+                if (speed > 0) // Ensure valid speed
+                {
+                    rotStepper.setMaxSpeed(speed);
+                    inOutStepper.setMaxSpeed(speed);
+                    Serial.println("SPEED_SET");
+                    Serial.println("READY");
+                }
+                else
+                {
+                    Serial.println("INVALID_SPEED");
+                }
+            }
+            else
+            {
+                Serial.println("INVALID_COMMAND");
+            }
+            return;
+        }
+
+        if (input == "HOME")
+        {
+            homing();
+            return;
+        }
+
+        if (input == "RESET_THETA")
+        {
+            resetTheta(); // Reset currentTheta
+            Serial.println("THETA_RESET"); // Notify Python
+            Serial.println("READY");
+            return;
+        }
+
+
+        // If not a command, assume it's a batch of theta-rho pairs
+        if (!batchComplete)
+        {
+            int pairIndex = 0;
+            int startIdx = 0;
+
+            // Split the batch line into individual theta-rho pairs
+            while (pairIndex < BUFFER_SIZE)
+            {
+                int endIdx = input.indexOf(";", startIdx);
+                if (endIdx == -1)
+                    break; // No more pairs in the line
+
+                String pair = input.substring(startIdx, endIdx);
+                int commaIndex = pair.indexOf(',');
+
+                // Parse theta and rho values
+                float theta = pair.substring(0, commaIndex).toFloat(); // Theta in radians
+                float rho = pair.substring(commaIndex + 1).toFloat();  // Rho (0 to 1)
+
+                buffer[pairIndex][0] = theta;
+                buffer[pairIndex][1] = rho;
+                pairIndex++;
+
+                startIdx = endIdx + 1; // Move to next pair
+            }
+            bufferCount = pairIndex;
+            batchComplete = true;
+        }
+    }
+
+    // Process the buffer if a batch is ready
+    if (batchComplete && bufferCount > 0)
+    {
+        // Start interpolation from the current position
+        float startTheta = currentTheta;
+        float startRho = currentRho;
+
+        for (int i = 0; i < bufferCount; i++)
+        {
+            if (isFirstCoordinates)
+            {
+                // Directly move to the first coordinate of the new pattern
+                long initialRotSteps = buffer[0][0] * (rot_total_steps / (2.0 * M_PI));
+                rotStepper.setCurrentPosition(initialRotSteps);
+                inOutStepper.setCurrentPosition(inOutStepper.currentPosition() + (totalRevolutions * rot_total_steps / gearRatio));
+                
+                currentTheta = buffer[0][0];
+                totalRevolutions = 0;
+                isFirstCoordinates = false; // Reset the flag after the first movement
+                movePolar(buffer[0][0], buffer[0][1]);
+            }
+              else
+              {
+                // Use interpolation for subsequent movements
+                interpolatePath(
+                    startTheta, startRho,
+                    buffer[i][0], buffer[i][1],
+                    0.0009 // Step size
+                );
+              }
+            // Update the starting point for the next segment
+            startTheta = buffer[i][0];
+            startRho = buffer[i][1];
+        }
+
+        bufferCount = 0;       // Clear buffer
+        batchComplete = false; // Reset batch flag
+        Serial.println("READY");
+    }
+}
+
+void homing()
+{
+    Serial.println("HOMING");
+
+    // Move inOutStepper inward for homing
+    inOutStepper.setSpeed(-maxSpeed); // Adjust speed for homing
+    while (true)
+    {
+        inOutStepper.runSpeed();
+        if (inOutStepper.currentPosition() <= -inOut_total_steps * 1.1)
+        { // Adjust distance for homing
+            break;
+        }
+    }
+    inOutStepper.setCurrentPosition(0); // Set home position
+    currentTheta = 0.0;                 // Reset polar coordinates
+    currentRho = 0.0;
+    Serial.println("HOMED");
+}
+
+void movePolar(float theta, float rho)
+{
+    // Convert polar coordinates to motor steps
+    long rotSteps = theta * (rot_total_steps / (2.0 * M_PI)); // Steps for rot axis
+    long inOutSteps = rho * inOut_total_steps;                // Steps for in-out axis
+
+    // Calculate offset for inOut axis
+    float revolutions = theta / (2.0 * M_PI); // Fractional revolutions (can be positive or negative)
+    long offsetSteps = revolutions * rot_total_steps / gearRatio;    // 1600 steps inward or outward per revolution
+
+    // Update the total revolutions to keep track of the offset history
+    totalRevolutions += (theta - currentTheta) / (2.0 * M_PI);
+
+    // Apply the offset to the inout axis
+    inOutSteps -= offsetSteps;
+
+    // Define target positions for both motors
+    long targetPositions[2];
+    targetPositions[0] = rotSteps;
+    targetPositions[1] = inOutSteps;
+
+    // Move both motors synchronously
+    multiStepper.moveTo(targetPositions);
+    multiStepper.runSpeedToPosition(); // Blocking call
+
+    // Update the current coordinates
+    currentTheta = theta;
+    currentRho = rho;
+}
+
+void interpolatePath(float startTheta, float startRho, float endTheta, float endRho, float stepSize)
+{
+    // Calculate the total distance in the polar coordinate system
+    float distance = sqrt(pow(endTheta - startTheta, 2) + pow(endRho - startRho, 2));
+    int numSteps = max(1, (int)(distance / stepSize)); // Ensure at least one step
+
+    for (int step = 0; step <= numSteps; step++)
+    {
+        float t = (float)step / numSteps; // Interpolation factor (0 to 1)
+        float interpolatedTheta = startTheta + t * (endTheta - startTheta);
+        float interpolatedRho = startRho + t * (endRho - startRho);
+
+        // Move to the interpolated theta-rho
+        movePolar(interpolatedTheta, interpolatedRho);
+    }
+}

patterns/sparse_sawtooth.thr

@@ -0,0 +1,11656 @@
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+# File type: thetarho
+#
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+

static/style.css

@@ -244,6 +244,62 @@ input[type="radio"]:checked {
     width: 80px;
 }
 
+/* Speed Control Section */
+.speed-control {
+    display: flex;
+    align-items: center;
+    gap: 15px;
+    margin-top: 10px;
+    background: #fff; /* Matches section background */
+    border: 1px solid #ddd;
+    border-radius: 8px;
+    padding: 15px;
+    box-shadow: 0 2px 5px rgba(0, 0, 0, 0.1);
+}
+
+.speed-control label {
+    font-weight: bold;
+    font-size: 1rem;
+    color: #333;
+    flex-shrink: 0;
+}
+
+.speed-control input[type="number"] {
+    width: 100px; /* Consistent input width */
+    padding: 8px;
+    font-size: 1rem;
+    border: 1px solid #ddd;
+    border-radius: 5px;
+    outline: none;
+    transition: all 0.3s ease;
+}
+
+.speed-control input[type="number"]:focus {
+    border-color: #4A90E2; /* Highlighted border */
+    box-shadow: 0 0 5px rgba(74, 144, 226, 0.5);
+}
+
+.speed-control button {
+    background: #4A90E2;
+    color: #fff;
+    padding: 10px 15px;
+    font-size: 1rem;
+    border: none;
+    border-radius: 5px;
+    cursor: pointer;
+    transition: all 0.3s ease;
+}
+
+.speed-control button:hover {
+    background: #357ABD;
+}
+
+#speed_status {
+    margin-top: 10px;
+    font-size: 0.9rem;
+    color: #444;
+}
+
 /* Responsive Layout for Small Screens */
 @media (max-width: 768px) {
     .container {

templates/index.html

@@ -22,6 +22,8 @@
                     <button onclick="restartSerial()">Restart</button>
                 </div>
                 <p id="serial_status" class="status">Status: Not connected</p>
+                <input type="number" id="speed_input" placeholder="Set speed" min="1" step="1">
+                <button onclick="changeSpeed()">Set Speed</button>
             </div>
 
             <div class="section">
@@ -473,6 +475,31 @@
                 logMessage('No active serial connection.');
             }
         }
+
+        async function changeSpeed() {
+            const speedInput = document.getElementById('speed_input');
+            const speed = parseFloat(speedInput.value);
+        
+            if (isNaN(speed) || speed <= 0) {
+                logMessage('Invalid speed. Please enter a positive number.');
+                return;
+            }
+        
+            logMessage(`Setting speed to: ${speed}...`);
+            const response = await fetch('/set_speed', {
+                method: 'POST',
+                headers: { 'Content-Type': 'application/json' },
+                body: JSON.stringify({ speed })
+            });
+        
+            const result = await response.json();
+            if (result.success) {
+                document.getElementById('speed_status').textContent = `Current Speed: ${speed}`;
+                logMessage(`Speed set to: ${speed}`);
+            } else {
+                logMessage(`Failed to set speed: ${result.error}`);
+            }
+        }
         
         // Call this function on page load
         checkSerialStatus();