support dlc32 for different hardware

dune_weaver_flask/app.py

@@ -172,7 +172,7 @@ def move_to_center():
 
         logger.info("Moving device to center position")
         pattern_manager.reset_theta()
-        pattern_manager.interpolate_path(0, 0)
+        pattern_manager.move_polar(0, 0)
         return jsonify({"success": True})
     except Exception as e:
         logger.error(f"Failed to move to center: {str(e)}")
@@ -186,7 +186,7 @@ def move_to_perimeter():
             logger.warning("Attempted to move to perimeter without serial connection")
             return jsonify({"success": False, "error": "Serial connection not established"}), 400
         pattern_manager.reset_theta()
-        pattern_manager.interpolate_path(0,1)
+        pattern_manager.move_polar(0,1)
         return jsonify({"success": True})
     except Exception as e:
         logger.error(f"Failed to move to perimeter: {str(e)}")
@@ -227,7 +227,7 @@ def send_coordinate():
             return jsonify({"success": False, "error": "Theta and Rho are required"}), 400
 
         logger.debug(f"Sending coordinate: theta={theta}, rho={rho}")
-        pattern_manager.interpolate_path(theta, rho)
+        pattern_manager.move_polar(theta, rho)
         return jsonify({"success": True})
     except Exception as e:
         logger.error(f"Failed to send coordinate: {str(e)}")

dune_weaver_flask/modules/core/pattern_manager.py

@@ -116,21 +116,43 @@ def wait_for_start_time(schedule_hours):
             time.sleep(30)
             
             
-def interpolate_path(theta, rho):
+def move_polar(theta, rho):
+    """
+    This functions take in a pair of theta rho coordinate, compute the distance to travel based on current theta, rho,
+    and translate the motion to gcode jog command and sent to grbl. 
+    
+    Since having similar steps_per_mm will make x and y axis moves at around the same speed, we have to scale the 
+    x_steps_per_mm and y_steps_per_mm so that they are roughly the same. Here's the range of motion:
+    
+    X axis (angular): 50mm = 1 revolution
+    Y axis (radial): 0 => 20mm = theta 0 (center) => 1 (perimeter)
+    
+    Args:
+        theta (_type_): _description_
+        rho (_type_): _description_
+    """
     # Adding soft limit to reduce hardware sound
-    soft_limit_threshold = 0.01
-    if rho < soft_limit_threshold:
-        rho = soft_limit_threshold
-    elif rho > (1-soft_limit_threshold):
-        rho = (1-soft_limit_threshold)
+    soft_limit_inner = 0.01
+    if rho < soft_limit_inner:
+        rho = soft_limit_inner
+    
+    soft_limit_outter = 0.015
+    if rho > (1-soft_limit_outter):
+        rho = (1-soft_limit_outter)
+    
+    x_scaling_factor = 2
+    y_scaling_factor = 5
     
     delta_theta = theta - state.current_theta
     delta_rho = rho - state.current_rho
-    # x_increment = delta_theta / (2 * pi) * 100
-    x_increment = delta_theta / (4 * pi) * 100
-    y_increment = delta_rho * 100/5
+    x_increment = delta_theta * 100 / (2 * pi * x_scaling_factor) # Scale down x from 100mm to 50mm per revolution
+    y_increment = delta_rho * 100 / y_scaling_factor # Scale down y from 100mm to 20mm from center to perimeter
     
-    offset = x_increment * (3200/5750/5) # Total angular steps = 16000 / gear ratio = 10 / angular steps = 5750
+    x_total_steps = state.x_steps_per_mm * (100/x_scaling_factor)
+    y_total_steps = state.y_steps_per_mm * (100/y_scaling_factor)
+        
+    x_increment / 50 * (x_total_steps)
+    offset = x_increment * (x_total_steps * x_scaling_factor / (state.gear_ratio * y_total_steps * y_scaling_factor))
     y_increment += offset
     
     new_x_abs = state.machine_x + x_increment
@@ -190,7 +212,7 @@ def run_theta_rho_file(file_path, schedule_hours=None):
                         state.pause_condition.wait()
 
                 schedule_checker(schedule_hours)
-                interpolate_path(theta, rho)
+                move_polar(theta, rho)
                 
                 if i != 0:
                     pbar.update(1)

dune_weaver_flask/modules/core/state.py

@@ -19,9 +19,11 @@ class AppState:
         # Machine position variables
         self.machine_x = 0.0
         self.machine_y = 0.0
-        self.STATE_FILE = "state.json"
+        self.x_steps_per_mm = 0.0
+        self.y_steps_per_mm = 0.0
+        self.gear_ratio = 10
 
-        
+        self.STATE_FILE = "state.json"
         self.load()
 
     def to_dict(self):
@@ -37,6 +39,9 @@ class AppState:
             "speed": self.speed,
             "machine_x": self.machine_x,
             "machine_y": self.machine_y,
+            "x_steps_per_mm": self.x_steps_per_mm,
+            "y_steps_per_mm": self.y_steps_per_mm,
+            "gear_ratio": self.gear_ratio
         }
 
     def from_dict(self, data):
@@ -51,11 +56,17 @@ class AppState:
         self.speed = data.get("speed", 250)
         self.machine_x = data.get("machine_x", 0.0)
         self.machine_y = data.get("machine_y", 0.0)
+        self.x_steps_per_mm = data.get("x_steps_per_mm", 0.0)
+        self.y_steps_per_mm = data.get("y_steps_per_mm", 0.0)
+        self.gear_ratio = data.get('gear_ratio', 10)
 
     def save(self):
         """Save the current state to a JSON file."""
-        with open(self.STATE_FILE, "w") as f:
-            json.dump(self.to_dict(), f)
+        try:
+            with open(self.STATE_FILE, "w") as f:
+                json.dump(self.to_dict(), f)
+        except Exception as e:
+            print(f"Error saving state to {self.STATE_FILE}: {e}")
 
     def load(self):
         """Load state from a JSON file. If the file doesn't exist, create it with default values."""
@@ -70,5 +81,16 @@ class AppState:
         except Exception as e:
             print(f"Error loading state from {self.STATE_FILE}: {e}")
 
+    def update_steps_per_mm(self, x_steps, y_steps):
+        """Update and save steps per mm values."""
+        self.x_steps_per_mm = x_steps
+        self.y_steps_per_mm = y_steps
+        self.save()
+
+    def reset_state(self):
+        """Reset all state variables to their default values."""
+        self.__init__()  # Reinitialize the state
+        self.save()
+
 # Create a singleton instance that you can import elsewhere:
 state = AppState()

dune_weaver_flask/modules/serial/serial_manager.py

@@ -26,6 +26,42 @@ def list_serial_ports():
     logger.debug(f"Available serial ports: {available_ports}")
     return available_ports
 
+def get_machine_steps():
+    """
+    Send "$$" to the serial port to retrieve machine settings and return values for $100 and $101.
+    Returns two floats: x_steps_per_mm and y_steps_per_mm, or (None, None) if not found.
+    """
+    if not is_connected():
+        logger.error("Serial connection is not established.")
+        return None, None
+
+    while True:
+        with serial_lock:
+            ser.write("$$\n".encode())
+            ser.flush()
+            time.sleep(1)  # Allow time for response
+
+            x_steps_per_mm = None
+            y_steps_per_mm = None
+            gear_ratio = None
+
+            while ser.in_waiting > 0:
+                line = ser.readline().decode().strip()
+                logger.debug(f"Config response: {line}")
+
+                if line.startswith("$100="):
+                    x_steps_per_mm = float(line.split("=")[1])
+                    state.x_steps_per_mm = x_steps_per_mm
+                elif line.startswith("$101="):
+                    y_steps_per_mm = float(line.split("=")[1])
+                    state.y_steps_per_mm = y_steps_per_mm
+                elif line.startswith("$131="):
+                    gear_ratio = float(line.split("=")[1])
+                    state.gear_ratio = gear_ratio
+
+                if x_steps_per_mm is not None and y_steps_per_mm is not None and gear_ratio is not None:
+                    return True
+        
 
 def connect_to_serial(port=None, baudrate=115200):
     """Automatically connect to the first available serial port or a specified port."""
@@ -43,6 +79,14 @@ def connect_to_serial(port=None, baudrate=115200):
                 ser.close()
             ser = serial.Serial(port, baudrate, timeout=2)
             ser_port = port
+
+        try:
+            if get_machine_steps():
+                logger.info(f"x_steps_per_mm: {state.x_steps_per_mm}, y_steps_per_mm: {state.y_steps_per_mm}, gear_ratio: {state.gear_ratio}")
+        except:
+            logger.fatal("Not GRBL firmware")
+            pass 
+            
         machine_x, machine_y = get_machine_position()
         if not machine_x or not machine_y or machine_x != state.machine_x or machine_y != state.machine_y:
             logger.info(f'x, y; {machine_x}, {machine_y}')
@@ -50,24 +94,21 @@ def connect_to_serial(port=None, baudrate=115200):
             home()
         else:
             logger.info('Machine position known, skipping home')
+            logger.info(f'Theta: {state.current_theta}, rho: {state.current_rho}')
+            logger.info(f'State x, y; {state.machine_x}, {state.machine_y}')
+            
         
         logger.info(f"Connected to serial port: {port}")
         time.sleep(2)  # Allow time for the connection to establish
 
-        # Read initial startup messages from Arduino
-        while ser.in_waiting > 0:
-            line = ser.readline().decode().strip()
-            logger.debug(f"Arduino: {line}")
-            if "Table:" in line:
-                arduino_table_name = line.replace("Table: ", "").strip()
-            elif "Drivers:" in line:
-                arduino_driver_type = line.replace("Drivers: ", "").strip()
-            elif "Version:" in line:
-                firmware_version = line.replace("Version: ", "").strip()
-
-        logger.info(f"Detected Table: {arduino_table_name or 'Unknown'}")
-        logger.info(f"Detected Drivers: {arduino_driver_type or 'Unknown'}")
-        return True
+        try:
+            if get_machine_steps(): 
+                logger.info(f"x_steps_per_mm: {state.x_steps_per_mm}, x_steps_per_mm: {state.y_steps_per_mm}, gear_ratio: {state.gear_ratio}")
+                return True
+        except:
+            logger.info("Not GRBL firmware")
+            return False
+        
     except serial.SerialException as e:
         logger.error(f"Failed to connect to serial port {port}: {e}")
         ser_port = None
@@ -115,7 +156,7 @@ def get_status_response():
             while ser.in_waiting > 0:
                 response = ser.readline().decode().strip()
                 if "MPos" in response:
-                    logger.info(f"Status response: {response}")
+                    logger.debug(f"Status response: {response}")
                     return response
         time.sleep(1)
 
@@ -229,7 +270,6 @@ def home(retry = 0):
     state.current_theta = state.current_rho = 0
     update_machine_position()
 
-
 def check_idle():
     """
     Continuously check if the machine is in the 'Idle' state.

firmware/arduino_code/arduino_code.ino

@@ -1,416 +0,0 @@
-#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
-
-#define buttonPin 11 // Z- signal pin on the CNC shield
-#define pot1 A1      // Potentiometer 1, Abort pin on the CNC shield
-#define pot2 A0      // Potentiometer 2, Hold pint on the CNC shield
-
-#define MODE_APP 0
-#define MODE_SPIROGRAPH 1
-
-// 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 = 5000;
-float maxAcceleration = 5000;
-long interpolationResolution = 0.001;
-float userDefinedSpeed = maxSpeed; // Store user-defined speed
-
-// Running Mode
-int currentMode = MODE_APP; // Default mode is app mode.
-
-// FIRMWARE VERSION
-const char* firmwareVersion = "1.4.0";
-const char* motorType = "DRV8825";
-
-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);
-
-    // Configure the buttons and potentiometers for Spirograph mode
-    pinMode(buttonPin, INPUT_PULLUP); // Configure button pin with internal pull-up
-    pinMode(A0, INPUT); // Potentiometer 1 input
-    pinMode(A1, INPUT); // Potentiometer 2 input
-
-    // Initialize serial communication
-    Serial.begin(115200);
-    Serial.println("R");
-    homing();
-}
-
-void getVersion()
-{
-    Serial.println("Table: Dune Weaver");
-    Serial.println("Drivers: DRV8825");
-    Serial.println("Version: 1.4.0");
-}
-
-void resetTheta()
-{
-    isFirstCoordinates = true; // Set flag to skip interpolation for the next movement
-    Serial.println("THETA_RESET"); // Notify Python
-}
-
-void loop() {
-    updateModeSwitch(); // Check and handle mode switching
-
-    // Call the appropriate mode function based on the current mode
-    if (currentMode == MODE_SPIROGRAPH) {
-        spirographMode();
-    } else if (currentMode == MODE_APP) {
-        appMode();
-    }
-}
-
-void updateModeSwitch() {
-    // Read the current state of the latching switch
-    bool currentSwitchState = digitalRead(buttonPin);
-    int newMode = currentSwitchState == LOW ? MODE_SPIROGRAPH : MODE_APP;
-
-    if (newMode != currentMode) {
-        handleModeChange(newMode); // Handle mode-specific transitions
-        currentMode = newMode; // Update the current mode
-    }
-}
-
-void handleModeChange(int newMode) {
-    // Print mode switch information
-    if (newMode == MODE_SPIROGRAPH) {
-        Serial.println("Spirograph Mode Active");
-        rotStepper.setMaxSpeed(userDefinedSpeed * 0.5); // Use 50% of user-defined speed
-        inOutStepper.setMaxSpeed(userDefinedSpeed * 0.5);
-        isFirstCoordinates = false;
-    } else if (newMode == MODE_APP) {
-        Serial.println("App Mode Active");
-        rotStepper.setMaxSpeed(userDefinedSpeed); // Restore user-defined speed
-        inOutStepper.setMaxSpeed(userDefinedSpeed);
-        resetTheta();
-    }
-
-    movePolar(currentTheta, 0); // Move to the center
-}
-
-void spirographMode() {
-    static float currentFrequency = 2.95; // Track the current frequency (default value)
-    static float phaseShift = 0.0;       // Track the phase shift for smooth transitions
-
-    // Read potentiometer for frequency adjustment
-    int pot1Value = analogRead(pot1);
-    float newFrequency = mapFloat(pot1Value, 0, 1023, 0.5, 6); // Map to range
-    newFrequency = round(newFrequency * 10) / 10.0;            // Round to one decimal place
-
-    // Force the value to x.95 or x.10 to have a slight variation each revolution
-    if (fmod(newFrequency, 1.0) >= 0.5) {
-        newFrequency = floor(newFrequency) + 0.95; // Round up to x.95
-    } else {
-        newFrequency = floor(newFrequency) + 0.10; // Round down to x.10
-    }
-
-    // Adjust phase shift if frequency changes
-    if (newFrequency != currentFrequency) {
-        phaseShift += currentTheta * (currentFrequency - newFrequency);
-        currentFrequency = newFrequency; // Update the current frequency
-    }
-
-    // Read variation knob to adjust the minimum rho
-    int pot2Value = analogRead(pot2);
-    float minRho = round(mapFloat(pot2Value, 0, 1023, 0, 0.5) * 20) / 20.0; // Minimum rho in steps of 0.05
-
-    // Calculate amplitude and offset for the sine wave
-    float amplitude = (1.0 - minRho) / 2.0; // Half of the oscillation range
-    float offset = minRho + amplitude;      // Center the wave within the range [minRho, 1]
-
-    // Calculate the next target theta
-    float stepSize = maxSpeed * (2 * M_PI / rot_total_steps) / 10; // Smaller steps for finer control
-    float nextTheta = currentTheta + stepSize;
-
-    // Count total revolutions
-    totalRevolutions = (nextTheta / (2 * M_PI));
-
-    // Calculate rho using the adjusted sine wave with phase shift
-    currentRho = offset + amplitude * cos((currentTheta * currentFrequency) + phaseShift);
-    float nextRho = offset + amplitude * cos((nextTheta * currentFrequency) + phaseShift);
-
-    // Move the steppers to the calculated position
-    movePolar(nextTheta, constrain(nextRho, 0, 1));
-
-    // Update the current theta to the new position
-    currentTheta = nextTheta;
-}
-
-float mapFloat(long x, long inMin, long inMax, float outMin, float outMax) {
-    if (inMax == inMin) {
-        Serial.println("Error: mapFloat division by zero");
-        return outMin; // Return the minimum output value as a fallback
-    }
-    return (float)(x - inMin) * (outMax - outMin) / (float)(inMax - inMin) + outMin;
-}
-
-void appMode()
-{
-    // 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 != "GET_VERSION" && !input.startsWith("SET_SPEED") && !input.endsWith(";"))
-        {
-            Serial.print("IGNORED: ");
-            Serial.println(input);
-            return;
-        }
-
-        if (input == "GET_VERSION")
-        {
-            getVersion();
-        }
-
-        if (input == "RESET_THETA")
-        {
-            resetTheta(); // Reset currentTheta
-            Serial.println("THETA_RESET"); // Notify Python
-            Serial.println("READY");
-            return;
-        }
-        if (input == "HOME")
-        {
-            homing();
-            return;
-        }
-
-        // Example: The user calls "SET_SPEED 60" => 60% of maxSpeed
-        if (input.startsWith("SET_SPEED"))
-        {
-            // Parse out the speed value from the command string
-            int spaceIndex = input.indexOf(' ');
-            if (spaceIndex != -1)
-            {
-                String speedStr = input.substring(spaceIndex + 1);
-                float speedPercentage = speedStr.toFloat();
-
-                // Make sure the percentage is valid
-                if (speedPercentage >= 1.0 && speedPercentage <= 100.0)
-                {
-                    // Convert percentage to actual speed
-                    long newSpeed = (speedPercentage / 100.0) * maxSpeed;
-                    userDefinedSpeed = newSpeed;
-
-                    // Set the stepper speeds
-                    rotStepper.setMaxSpeed(newSpeed);
-                    inOutStepper.setMaxSpeed(newSpeed);
-
-                    Serial.println("SPEED_SET");  
-                }
-                else
-                {
-                    Serial.println("INVALID_SPEED");
-                }
-            }
-            else
-            {
-                Serial.println("INVALID_COMMAND");
-            }
-            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],
-                    interpolationResolution
-                );
-              }
-            // Update the starting point for the next segment
-            startTheta = buffer[i][0];
-            startRho = buffer[i][1];
-        }
-
-        batchComplete = false; // Reset batch flag
-        bufferCount = 0;       // Clear buffer
-        Serial.println("R");
-    }
-}
-
-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)
-{
-    // Define different scaling factors for rho <= 0.5 and rho > 0.5
-    float speedScalingFactorLow = 0.7;  // Scaling factor for rho <= 0.5
-    float speedScalingFactorHigh = 0.4; // Scaling factor for rho > 0.5
-
-    float speedScalingFactor;
-
-    // Determine which factor to use
-    if (rho <= 0.5) {
-        speedScalingFactor = speedScalingFactorLow;
-    } else {
-        speedScalingFactor = speedScalingFactorHigh;
-    }
-
-    // Scale speed dynamically based on rho
-    long dynamicSpeed = maxSpeed * (1.0 + speedScalingFactor * (1.0 - 2.0 * rho));
-
-    // Ensure the speed is within a valid range
-    dynamicSpeed = constrain(dynamicSpeed, 1, maxSpeed);
-
-    // Set stepper speeds dynamically
-    rotStepper.setMaxSpeed(dynamicSpeed);
-    inOutStepper.setMaxSpeed(dynamicSpeed);
-
-    // 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
-    if (!isFirstCoordinates) {
-        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);
-    }
-}

firmware/arduino_code/arduino_code.ino.hex

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firmware/arduino_code_TMC2209/arduino_code_TMC2209.ino

@@ -1,417 +0,0 @@
-#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
-
-#define buttonPin 11 // Z- signal pin on the CNC shield
-#define pot1 A1      // Potentiometer 1, Abort pin on the CNC shield
-#define pot2 A0      // Potentiometer 2, Hold pint on the CNC shield
-
-#define MODE_APP 0
-#define MODE_SPIROGRAPH 1
-
-// 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
-long maxSpeed = 1000;
-float maxAcceleration = 50;
-long interpolationResolution = 0.001;
-float userDefinedSpeed = maxSpeed; // Store user-defined speed
-
-// Running Mode
-int currentMode = MODE_APP; // Default mode is app mode.
-
-// FIRMWARE VERSION
-const char* firmwareVersion = "1.4.0";
-const char* motorType = "TMC2209";
-
-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);
-
-    // Configure the buttons and potentiometers for Spirograph mode
-    pinMode(buttonPin, INPUT_PULLUP); // Configure button pin with internal pull-up
-    pinMode(A0, INPUT); // Potentiometer 1 input
-    pinMode(A1, INPUT); // Potentiometer 2 input
-
-    // Initialize serial communication
-    Serial.begin(115200);
-    Serial.println("R");
-    homing();
-}
-
-void getVersion()
-{
-    Serial.println("Table: Dune Weaver");
-    Serial.println("Drivers: TMC2209");
-    Serial.println("Version: 1.4.0");
-}
-
-void resetTheta()
-{
-    isFirstCoordinates = true; // Set flag to skip interpolation for the next movement
-    Serial.println("THETA_RESET"); // Notify Python
-}
-
-void loop() {
-    updateModeSwitch(); // Check and handle mode switching
-
-    // Call the appropriate mode function based on the current mode
-    if (currentMode == MODE_SPIROGRAPH) {
-        spirographMode();
-    } else if (currentMode == MODE_APP) {
-        appMode();
-    }
-}
-
-void updateModeSwitch() {
-    // Read the current state of the latching switch
-    bool currentSwitchState = digitalRead(buttonPin);
-    int newMode = currentSwitchState == LOW ? MODE_SPIROGRAPH : MODE_APP;
-
-    if (newMode != currentMode) {
-        handleModeChange(newMode); // Handle mode-specific transitions
-        currentMode = newMode; // Update the current mode
-    }
-}
-
-void handleModeChange(int newMode) {
-    // Print mode switch information
-    if (newMode == MODE_SPIROGRAPH) {
-        Serial.println("Spirograph Mode Active");
-        rotStepper.setMaxSpeed(userDefinedSpeed * 0.5); // Use 50% of user-defined speed
-        inOutStepper.setMaxSpeed(userDefinedSpeed * 0.5);
-        isFirstCoordinates = false;
-    } else if (newMode == MODE_APP) {
-        Serial.println("App Mode Active");
-        rotStepper.setMaxSpeed(userDefinedSpeed); // Restore user-defined speed
-        inOutStepper.setMaxSpeed(userDefinedSpeed);
-        resetTheta();
-    }
-
-    movePolar(currentTheta, 0); // Move to the center
-}
-
-void spirographMode() {
-    static float currentFrequency = 2.95; // Track the current frequency (default value)
-    static float phaseShift = 0.0;       // Track the phase shift for smooth transitions
-
-    // Read potentiometer for frequency adjustment
-    int pot1Value = analogRead(pot1);
-    float newFrequency = mapFloat(pot1Value, 0, 1023, 0.5, 6); // Map to range
-    newFrequency = round(newFrequency * 10) / 10.0;            // Round to one decimal place
-
-    // Force the value to x.95 or x.10 to have a slight variation each revolution
-    if (fmod(newFrequency, 1.0) >= 0.5) {
-        newFrequency = floor(newFrequency) + 0.95; // Round up to x.95
-    } else {
-        newFrequency = floor(newFrequency) + 0.10; // Round down to x.10
-    }
-
-    // Adjust phase shift if frequency changes
-    if (newFrequency != currentFrequency) {
-        phaseShift += currentTheta * (currentFrequency - newFrequency);
-        currentFrequency = newFrequency; // Update the current frequency
-    }
-
-    // Read variation knob to adjust the minimum rho
-    int pot2Value = analogRead(pot2);
-    float minRho = round(mapFloat(pot2Value, 0, 1023, 0, 0.5) * 20) / 20.0; // Minimum rho in steps of 0.05
-
-    // Calculate amplitude and offset for the sine wave
-    float amplitude = (1.0 - minRho) / 2.0; // Half of the oscillation range
-    float offset = minRho + amplitude;      // Center the wave within the range [minRho, 1]
-
-    // Calculate the next target theta
-    float stepSize = maxSpeed * (2 * M_PI / rot_total_steps) / 10; // Smaller steps for finer control
-    float nextTheta = currentTheta + stepSize;
-
-    // Count total revolutions
-    totalRevolutions = (nextTheta / (2 * M_PI));
-
-    // Calculate rho using the adjusted sine wave with phase shift
-    currentRho = offset + amplitude * cos((currentTheta * currentFrequency) + phaseShift);
-    float nextRho = offset + amplitude * cos((nextTheta * currentFrequency) + phaseShift);
-
-    // Move the steppers to the calculated position
-    movePolar(nextTheta, constrain(nextRho, 0, 1));
-
-    // Update the current theta to the new position
-    currentTheta = nextTheta;
-}
-
-float mapFloat(long x, long inMin, long inMax, float outMin, float outMax) {
-    if (inMax == inMin) {
-        Serial.println("Error: mapFloat division by zero");
-        return outMin; // Return the minimum output value as a fallback
-    }
-    return (float)(x - inMin) * (outMax - outMin) / (float)(inMax - inMin) + outMin;
-}
-
-void appMode()
-{
-    // 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 != "GET_VERSION" && !input.startsWith("SET_SPEED") && !input.endsWith(";"))
-        {
-            Serial.print("IGNORED: ");
-            Serial.println(input);
-            return;
-        }
-
-        if (input == "GET_VERSION") {
-            getVersion();
-        }
-
-        if (input == "RESET_THETA")
-        {
-            resetTheta(); // Reset currentTheta
-            Serial.println("THETA_RESET"); // Notify Python
-            Serial.println("READY");
-            return;
-        }
-
-        if (input == "HOME")
-        {
-            homing();
-            return;
-        }
-
-
-        if (input.startsWith("SET_SPEED"))
-        {
-            // Parse out the speed value from the command string
-            int spaceIndex = input.indexOf(' ');
-            if (spaceIndex != -1)
-            {
-                String speedStr = input.substring(spaceIndex + 1);
-                float speedPercentage = speedStr.toFloat();
-
-                // Make sure the percentage is valid
-                if (speedPercentage >= 1.0 && speedPercentage <= 100.0)
-                {
-                    // Convert percentage to actual speed
-                    long newSpeed = (speedPercentage / 100.0) * maxSpeed;
-                    userDefinedSpeed = newSpeed;
-
-                    // Set the stepper speeds
-                    rotStepper.setMaxSpeed(newSpeed);
-                    inOutStepper.setMaxSpeed(newSpeed);
-
-                    Serial.println("SPEED_SET");  
-                }
-                else
-                {
-                    Serial.println("INVALID_SPEED");
-                }
-            }
-            else
-            {
-                Serial.println("INVALID_COMMAND");
-            }
-            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;
-                movePolar(buffer[0][0], buffer[0][1]);
-                isFirstCoordinates = false; // Reset the flag after the first movement
-            }
-              else
-              {
-                // Use interpolation for subsequent movements
-                interpolatePath(
-                    startTheta, startRho,
-                    buffer[i][0], buffer[i][1],
-                    interpolationResolution
-                );
-              }
-            // Update the starting point for the next segment
-            startTheta = buffer[i][0];
-            startRho = buffer[i][1];
-        }
-
-        batchComplete = false; // Reset batch flag
-        bufferCount = 0;       // Clear buffer
-        Serial.println("R");
-    }
-}
-
-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)
-{
-    // Define different scaling factors for rho <= 0.5 and rho > 0.5
-    float speedScalingFactorLow = 0.7;  // Scaling factor for rho <= 0.5
-    float speedScalingFactorHigh = 0.4; // Scaling factor for rho > 0.5
-
-    float speedScalingFactor;
-
-    // Determine which factor to use
-    if (rho <= 0.5) {
-        speedScalingFactor = speedScalingFactorLow;
-    } else {
-        speedScalingFactor = speedScalingFactorHigh;
-    }
-
-    // Scale speed dynamically based on rho
-    long dynamicSpeed = maxSpeed * (1.0 + speedScalingFactor * (1.0 - 2.0 * rho));
-
-    // Ensure the speed is within a valid range
-    dynamicSpeed = constrain(dynamicSpeed, 1, maxSpeed);
-
-    // Set stepper speeds dynamically
-    rotStepper.setMaxSpeed(dynamicSpeed);
-    inOutStepper.setMaxSpeed(dynamicSpeed);
-
-    // 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
-    if (!isFirstCoordinates) {
-        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);
-    }
-}

firmware/arduino_code_TMC2209/arduino_code_TMC2209.ino.hex

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firmware/dlc32_config.yaml

@@ -1,6 +1,6 @@
 board: MKS-DLC32 V2.1
 name: Dune Weaver
-meta: By Tuan Nguyen (2025-01-31)
+meta: By Tuan Nguyen (2025-02-16)
 kinematics: {}
 stepping:
   engine: I2S_STATIC
@@ -33,7 +33,7 @@ axes:
     steps_per_mm: 287.5
     max_rate_mm_per_min: 3000
     acceleration_mm_per_sec2: 1000
-    max_travel_mm: 220
+    max_travel_mm: 10
     soft_limits: false
     motor0:
       limit_neg_pin: gpio.35

firmware/dlc32_dwpro.yaml

@@ -0,0 +1,92 @@
+board: MKS-DLC32 V2.1
+name: Dune Weaver Pro
+meta: By Tuan Nguyen (2025-02-16)
+kinematics: {}
+stepping:
+  engine: I2S_STATIC
+  idle_ms: 0
+  pulse_us: 4
+  dir_delay_us: 1
+  disable_delay_us: 0
+axes:
+  shared_stepper_disable_pin: i2so.0
+  x:
+    steps_per_mm: 320
+    max_rate_mm_per_min: 1500
+    acceleration_mm_per_sec2: 300
+    max_travel_mm: 325
+    soft_limits: false
+    motor0:
+      limit_neg_pin: gpio.36
+      hard_limits: false
+      pulloff_mm: 2
+      stepstick:
+        step_pin: i2so.1
+        direction_pin: i2so.2
+        disable_pin: NO_PIN
+        ms1_pin: NO_PIN
+        ms2_pin: NO_PIN
+        ms3_pin: NO_PIN
+      limit_pos_pin: NO_PIN
+      limit_all_pin: NO_PIN
+  y:
+    steps_per_mm: 320
+    max_rate_mm_per_min: 2000
+    acceleration_mm_per_sec2: 300
+    max_travel_mm: 10
+    soft_limits: false
+    motor0:
+      limit_neg_pin: gpio.35
+      pulloff_mm: 2
+      stepstick:
+        step_pin: i2so.5
+        direction_pin: i2so.6:low
+        disable_pin: NO_PIN
+        ms1_pin: NO_PIN
+        ms2_pin: NO_PIN
+        ms3_pin: NO_PIN
+      limit_pos_pin: NO_PIN
+      limit_all_pin: NO_PIN
+i2so:
+  bck_pin: gpio.16
+  data_pin: gpio.21
+  ws_pin: gpio.17
+sdcard:
+  cs_pin: gpio.15
+  card_detect_pin: NO_PIN
+control:
+  safety_door_pin: NO_PIN
+  reset_pin: NO_PIN
+  feed_hold_pin: NO_PIN
+  cycle_start_pin: NO_PIN
+  macro0_pin: gpio.33:pu:low
+  macro1_pin: NO_PIN
+  macro2_pin: NO_PIN
+  macro3_pin: NO_PIN
+  fault_pin: NO_PIN
+  estop_pin: NO_PIN
+macros:
+  macro0: G90
+coolant:
+  flood_pin: NO_PIN
+  mist_pin: NO_PIN
+  delay_ms: 0
+user_outputs:
+  analog0_pin: NO_PIN
+  analog1_pin: NO_PIN
+  analog2_pin: NO_PIN
+  analog3_pin: NO_PIN
+  analog0_hz: 5000
+  analog1_hz: 5000
+  analog2_hz: 5000
+  analog3_hz: 5000
+  digital0_pin: NO_PIN
+  digital1_pin: NO_PIN
+  digital2_pin: NO_PIN
+  digital3_pin: NO_PIN
+start:
+  must_home: false
+spi:
+  miso_pin: gpio.12
+  mosi_pin: gpio.13
+  sck_pin: gpio.14

firmware/dlc32_dwpro_sensorless_homing.yaml

@@ -0,0 +1,122 @@
+board: MKS-DLC32 V2.1
+name: Dune Weaver Pro
+meta: By Tuan Nguyen (2025-02-16)
+verbose_errors: true
+kinematics: {}
+stepping:
+  engine: I2S_STATIC
+  idle_ms: 0
+  pulse_us: 4
+  dir_delay_us: 1
+  disable_delay_us: 0
+axes:
+  shared_stepper_disable_pin: i2so.0
+  homing_runs: 2
+  x:
+    steps_per_mm: 320
+    max_rate_mm_per_min: 900
+    acceleration_mm_per_sec2: 1000
+    max_travel_mm: 325
+    soft_limits: false
+    motor0:
+      limit_neg_pin: gpio.36
+      hard_limits: false
+      pulloff_mm: 2
+      stepstick:
+        step_pin: i2so.1
+        direction_pin: i2so.2
+        disable_pin: NO_PIN
+        ms1_pin: NO_PIN
+        ms2_pin: NO_PIN
+        ms3_pin: NO_PIN
+      limit_pos_pin: NO_PIN
+      limit_all_pin: NO_PIN
+  y:
+    steps_per_mm: 312
+    max_rate_mm_per_min: 3000
+    acceleration_mm_per_sec2: 1000
+    max_travel_mm: 10
+    soft_limits: false
+    motor0:
+      limit_neg_pin: gpio.35
+      limit_pos_pin: NO_PIN
+      limit_all_pin: NO_PIN
+      hard_limits: false
+      pulloff_mm: 2
+      tmc_2209:
+        uart_num: 1
+        addr: 0
+        r_sense_ohms: 0.12
+        run_amps: 0.8
+        hold_amps: 0
+        homing_amps: 0.8
+        microsteps: 8
+        stallguard: 63
+        stallguard_debug: true
+        toff_disable: 0
+        toff_stealthchop: 5
+        toff_coolstep: 3
+        run_mode: StealthChop
+        homing_mode: StealthChop
+        use_enable: false
+        step_pin: i2so.5
+        direction_pin: i2so.6:low
+        disable_pin: NO_PIN
+    homing:
+      cycle: 2
+      positive_direction: false
+      allow_single_axis: true
+      mpos_mm: 0.4
+      feed_mm_per_min: 200
+      seek_mm_per_min: 200
+i2so:
+  bck_pin: gpio.16
+  data_pin: gpio.21
+  ws_pin: gpio.17
+sdcard:
+  cs_pin: gpio.15
+  card_detect_pin: NO_PIN
+control:
+  safety_door_pin: NO_PIN
+  reset_pin: NO_PIN
+  feed_hold_pin: NO_PIN
+  cycle_start_pin: NO_PIN
+  macro0_pin: NO_PIN
+  macro1_pin: NO_PIN
+  macro2_pin: NO_PIN
+  macro3_pin: NO_PIN
+  fault_pin: NO_PIN
+  estop_pin: NO_PIN
+macros:
+  macro0: $HY
+  macro1: G1 Y0 F200
+coolant:
+  flood_pin: NO_PIN
+  mist_pin: NO_PIN
+  delay_ms: 0
+user_outputs:
+  analog0_pin: NO_PIN
+  analog1_pin: NO_PIN
+  analog2_pin: NO_PIN
+  analog3_pin: NO_PIN
+  analog0_hz: 5000
+  analog1_hz: 5000
+  analog2_hz: 5000
+  analog3_hz: 5000
+  digital0_pin: NO_PIN
+  digital1_pin: NO_PIN
+  digital2_pin: NO_PIN
+  digital3_pin: NO_PIN
+start:
+  must_home: true
+  check_limits: false
+spi:
+  miso_pin: gpio.12
+  mosi_pin: gpio.13
+  sck_pin: gpio.14
+uart1:
+  txd_pin: gpio.0
+  rxd_pin: gpio.4
+  rts_pin: NO_PIN
+  baud: 115200
+  mode: 8N1

firmware/dlc32_sensorless_homing.yml

@@ -1,5 +1,5 @@
 board: MKS-DLC32 V2.1
-name: Dune Weaver (UART TMC2209)
+name: Dune Weaver
 meta: By Tuan Nguyen (2025-02-05)
 verbose_errors: true
 kinematics: {}
@@ -35,7 +35,7 @@ axes:
     steps_per_mm: 287.5
     max_rate_mm_per_min: 3000
     acceleration_mm_per_sec2: 1000
-    max_travel_mm: 220
+    max_travel_mm: 10
     soft_limits: false
     motor0:
       limit_neg_pin: gpio.35
@@ -48,7 +48,7 @@ axes:
         addr: 0
         r_sense_ohms: 0.12
         run_amps: 0.8
-        hold_amps: 0.5
+        hold_amps: 0
         homing_amps: 0.8
         microsteps: 8
         stallguard: 30

firmware/esp3.yaml → firmware/esp32.yaml

@@ -1,4 +1,4 @@
-name: Dune Weaver ESP32
+name: Dune Weaver Mini
 meta: By Tuan Nguyen (2025-02-11)
 board: ESP32
 kinematics: {}
@@ -19,9 +19,9 @@ axes:
       hard_limits: false
       unipolar:
         phase0_pin: gpio.14
-        phase1_pin: gpio.12
+        phase1_pin: gpio.27
         phase2_pin: gpio.26
-        phase3_pin: gpio.27
+        phase3_pin: gpio.12
         half_step: false
       limit_neg_pin: NO_PIN
       limit_pos_pin: NO_PIN
@@ -30,7 +30,7 @@ axes:
     steps_per_mm: 232
     max_rate_mm_per_min: 500
     acceleration_mm_per_sec2: 500
-    max_travel_mm: 4000
+    max_travel_mm: 6.25
     motor0:
       hard_limits: false
       unipolar:

firmware/esp32/esp32.ino

@@ -1,312 +0,0 @@
-#include <AccelStepper.h>
-#include <MultiStepper.h>
-#include <math.h> // For M_PI and mathematical operations
-
-#define rotInterfaceType AccelStepper::DRIVER
-#define inOutInterfaceType AccelStepper::DRIVER
-
-#define ROT_PIN1 27
-#define ROT_PIN2 26
-#define ROT_PIN3 12
-#define ROT_PIN4 14
-
-#define INOUT_PIN1 19
-#define INOUT_PIN2 18
-#define INOUT_PIN3 17
-#define INOUT_PIN4 16
-
-
-#define rot_total_steps 12800
-#define inOut_total_steps 4642
-// #define inOut_total_steps 4660
-const double gearRatio = 100.0f / 16.0f;
-
-#define BUFFER_SIZE 10 // Maximum number of theta-rho pairs in a batch
-
-// Create stepper motor objects
-AccelStepper rotStepper(AccelStepper::FULL4WIRE, ROT_PIN1, ROT_PIN3, ROT_PIN2, ROT_PIN4); // Rot axis
-AccelStepper inOutStepper(AccelStepper::FULL4WIRE, INOUT_PIN1, INOUT_PIN3, INOUT_PIN2, INOUT_PIN4); // In-out axis
-
-// Create a MultiStepper object
-MultiStepper multiStepper;
-
-// Buffer for storing theta-rho pairs
-double 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
-double currentTheta = 0.0; // Current theta in radians
-double currentRho = 0.0;   // Current rho (0 to 1)
-bool isFirstCoordinates = true;
-double totalRevolutions = 0.0; // Tracks cumulative revolutions
-double maxSpeed = 500;
-double maxAcceleration = 5000;
-double subSteps = 1;
-
-// FIRMWARE VERSION
-const char* firmwareVersion = "1.4.0";
-const char* motorType = "esp32";
-
-int modulus(int x, int y) {
-  return x < 0 ? ((x + 1) % y) + y - 1 : x % y;
-}
-
-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("R");
-    homing();
-}
-
-void getVersion()
-{
-    Serial.println("Table: Mini Dune Weaver");
-    Serial.println("Drivers: ULN2003");
-    Serial.println("Version: 1.4.0");
-}
-
-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 != "GET_VERSION" && !input.startsWith("SET_SPEED") && !input.endsWith(";"))
-        {
-            Serial.println("IGNORED");
-            return;
-        }
-
-        if (input == "GET_VERSION") {
-            getVersion();
-        }
-
-        // Example: The user calls "SET_SPEED 60" => 60% of maxSpeed
-        if (input.startsWith("SET_SPEED"))
-        {
-            // Parse out the speed value from the command string
-            int spaceIndex = input.indexOf(' ');
-            if (spaceIndex != -1)
-            {
-                String speedStr = input.substring(spaceIndex + 1);
-                float speedPercentage = speedStr.toFloat();
-
-                // Make sure the percentage is valid
-                if (speedPercentage >= 1.0 && speedPercentage <= 100.0)
-                {
-                    // Convert percentage to actual speed
-                    long newSpeed = (speedPercentage / 100.0) * maxSpeed;
-
-                    // Set the stepper speeds
-                    rotStepper.setMaxSpeed(newSpeed);
-                    inOutStepper.setMaxSpeed(newSpeed);
-
-                    Serial.println("SPEED_SET");  
-                }
-                else
-                {
-                    Serial.println("INVALID_SPEED");
-                }
-            }
-            else
-            {
-                Serial.println("INVALID_COMMAND");
-            }
-            return;
-        }
-
-        if (input == "HOME")
-        {
-            homing();
-            return;
-        }
-
-        if (input == "RESET_THETA")
-        {
-            isFirstCoordinates = true;
-            currentTheta = 0;
-            currentRho = 0;
-            Serial.println("THETA_RESET"); // Notify Python
-            Serial.println("R");
-            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
-                double theta = pair.substring(0, commaIndex).toDouble(); // Theta in radians
-                double rho = pair.substring(commaIndex + 1).toDouble();  // 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)
-    {
-        rotStepper.enableOutputs();
-        inOutStepper.enableOutputs();
-        // Start interpolation from the current position
-        double startTheta = currentTheta;
-        double 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;
-                movePolar(buffer[0][0], buffer[0][1]);
-                isFirstCoordinates = false; // Reset the flag after the first movement
-            } else
-            {
-                interpolatePath(
-                    startTheta, startRho,
-                    buffer[i][0], buffer[i][1],
-                    subSteps
-                );
-            }
-            // Update the starting point for the next segment
-            startTheta = buffer[i][0];
-            startRho = buffer[i][1];
-        }
-
-        rotStepper.disableOutputs();
-        inOutStepper.disableOutputs();
-        batchComplete = false; // Reset batch flag
-        bufferCount = 0;       // Clear buffer
-        Serial.println("R");
-    }
-}
-
-void homing()
-{
-    Serial.println("HOMING");
-    inOutStepper.enableOutputs();
-    // Move inOutStepper inward for homing
-    inOutStepper.setSpeed(-maxSpeed); // Adjust speed for homing
-    long currentInOut = inOutStepper.currentPosition();
-    while (true)
-    {
-        inOutStepper.runSpeed();
-        if (inOutStepper.currentPosition() <= currentInOut - inOut_total_steps * 1.1)
-        { // Adjust distance for homing
-            break;
-        }
-    }
-    inOutStepper.setCurrentPosition(0); // Set home position
-    rotStepper.setCurrentPosition(0);
-    currentTheta = 0.0;                 // Reset polar coordinates
-    currentRho = 0.0;
-    inOutStepper.disableOutputs();
-    Serial.println("HOMED");
-}
-
-
-void movePolar(double theta, double rho)
-{
-    // Define different scaling factors for rho <= 0.5 and rho > 0.5
-    float speedScalingFactorLow = 0.7;  // Scaling factor for rho <= 0.5
-    float speedScalingFactorHigh = 0.4; // Scaling factor for rho > 0.5
-
-    float speedScalingFactor;
-
-    // Determine which factor to use
-    if (rho <= 0.5) {
-        speedScalingFactor = speedScalingFactorLow;
-    } else {
-        speedScalingFactor = speedScalingFactorHigh;
-    }
-
-    // Scale speed dynamically based on rho
-    long dynamicSpeed = maxSpeed * (1.0 + speedScalingFactor * (1.0 - 2.0 * rho));
-
-    // Ensure the speed is within a valid range
-    dynamicSpeed = constrain(dynamicSpeed, 1, maxSpeed);
-
-    // Set stepper speeds dynamically
-    rotStepper.setMaxSpeed(dynamicSpeed);
-    inOutStepper.setMaxSpeed(dynamicSpeed);
-
-    long rotSteps = lround(theta * (rot_total_steps / (2.0f * M_PI)));
-    double revolutions = theta / (2.0 * M_PI);
-    long offsetSteps = lround(revolutions * (rot_total_steps / gearRatio));
-
-    // Now inOutSteps is always derived from the absolute rho, not incrementally
-    long inOutSteps = lround(rho * inOut_total_steps);
-    
-    totalRevolutions += (theta - currentTheta) / (2.0 * M_PI);
-    
-    if (!isFirstCoordinates)
-    {
-        inOutSteps -= offsetSteps;
-    }
-
-    long targetPositions[2] = {rotSteps, inOutSteps};
-    multiStepper.moveTo(targetPositions);
-    multiStepper.runSpeedToPosition(); // Blocking call
-
-    // Update current coordinates
-    currentTheta = theta;
-    currentRho = rho;
-}
-
-void interpolatePath(double startTheta, double startRho, double endTheta, double endRho, double subSteps)
-{
-    // Calculate the total distance in the polar coordinate system
-    double distance = sqrt(pow(endTheta - startTheta, 2) + pow(endRho - startRho, 2));
-    long numSteps = max(1, (int)(distance / subSteps)); // Ensure at least one step
-    
-    for (long step = 0; step <= numSteps; step++)
-    {
-        double t = (double)step / numSteps; // Interpolation factor (0 to 1)
-        double interpolatedTheta = startTheta + t * (endTheta - startTheta);
-        double interpolatedRho = startRho + t * (endRho - startRho);
-
-        // Move to the interpolated theta-rho
-        movePolar(interpolatedTheta, interpolatedRho);
-    }
-}

firmware/esp32_TMC2209/esp32_TMC2209.ino

@@ -1,308 +0,0 @@
-#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 22
-#define dirPin_rot 23
-#define stepPin_InOut 18
-#define dirPin_InOut 19
-
-
-#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
-long maxSpeed = 1000;
-float maxAcceleration = 1000;
-long interpolationResolution = 1;
-float userDefinedSpeed = maxSpeed; // Store user-defined speed
-
-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("R");
-    homing();
-}
-
-void getVersion() {
-    Serial.println("Table: Dune Weaver");
-    Serial.println("Drivers: ESP32-TMC2209");
-    Serial.println("Version: 1.4.0");
-}
-
-
-void resetTheta()
-{
-    isFirstCoordinates = true; // Set flag to skip interpolation for the next movement
-    Serial.println("THETA_RESET"); // Notify Python
-}
-
-void loop() {
-        appMode();
-}
-
-void appMode()
-{
-    // 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 != "GET_VERSION" && !input.startsWith("SET_SPEED") && !input.endsWith(";"))
-        {
-            Serial.print("IGNORED: ");
-            Serial.println(input);
-            return;
-        }
-
-        if (input == "GET_VERSION")
-        {
-            getVersion();
-        }
-
-        if (input == "RESET_THETA")
-        {
-            resetTheta(); // Reset currentTheta
-            Serial.println("THETA_RESET"); // Notify Python
-            Serial.println("READY");
-            return;
-        }
-        if (input == "HOME")
-        {
-            homing();
-            return;
-        }
-
-
-        if (input.startsWith("SET_SPEED"))
-        {
-            // Parse out the speed value from the command string
-            int spaceIndex = input.indexOf(' ');
-            if (spaceIndex != -1)
-            {
-                String speedStr = input.substring(spaceIndex + 1);
-                float speedPercentage = speedStr.toFloat();
-
-                // Make sure the percentage is valid
-                if (speedPercentage >= 1.0 && speedPercentage <= 100.0)
-                {
-                    // Convert percentage to actual speed
-                    long newSpeed = (speedPercentage / 100.0) * maxSpeed;
-                    userDefinedSpeed = newSpeed;
-
-                    // Set the stepper speeds
-                    rotStepper.setMaxSpeed(newSpeed);
-                    inOutStepper.setMaxSpeed(newSpeed);
-
-                    Serial.println("SPEED_SET");  
-                }
-                else
-                {
-                    Serial.println("INVALID_SPEED");
-                }
-            }
-            else
-            {
-                Serial.println("INVALID_COMMAND");
-            }
-            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;
-                movePolar(buffer[0][0], buffer[0][1]);
-                isFirstCoordinates = false; // Reset the flag after the first movement
-            }
-              else
-              {
-                // Use interpolation for subsequent movements
-                interpolatePath(
-                    startTheta, startRho,
-                    buffer[i][0], buffer[i][1],
-                    interpolationResolution
-                );
-              }
-            // Update the starting point for the next segment
-            startTheta = buffer[i][0];
-            startRho = buffer[i][1];
-        }
-
-        batchComplete = false; // Reset batch flag
-        bufferCount = 0;       // Clear buffer
-        Serial.println("R");
-    }
-}
-
-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)
-{
-    // Define different scaling factors for rho <= 0.5 and rho > 0.5
-    float speedScalingFactorLow = 0.7;  // Scaling factor for rho <= 0.5
-    float speedScalingFactorHigh = 0.4; // Scaling factor for rho > 0.5
-
-    float speedScalingFactor;
-
-    // Determine which factor to use
-    if (rho <= 0.5) {
-        speedScalingFactor = speedScalingFactorLow;
-    } else {
-        speedScalingFactor = speedScalingFactorHigh;
-    }
-
-    // Scale speed dynamically based on rho
-    long dynamicSpeed = maxSpeed * (1.0 + speedScalingFactor * (1.0 - 2.0 * rho));
-
-    // Ensure the speed is within a valid range
-    dynamicSpeed = constrain(dynamicSpeed, 1, maxSpeed);
-
-    // Set stepper speeds dynamically
-    rotStepper.setMaxSpeed(dynamicSpeed);
-    inOutStepper.setMaxSpeed(dynamicSpeed);
-
-    // 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;    // 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
-    if (!isFirstCoordinates) {
-        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);
-    }
-}

firmware/esp32_tmc_ringbuf_WIP/esp32.ino

@@ -1,302 +0,0 @@
-#include <AccelStepper.h>
-#include <MultiStepper.h>
-#include <math.h> // For M_PI and mathematical operations
-#include <RingBufCPP.h>
-
-#define rotInterfaceType AccelStepper::DRIVER
-#define inOutInterfaceType AccelStepper::DRIVER
-
-#define stepPin_rot 22
-#define dirPin_rot 23
-#define stepPin_InOut 18
-#define dirPin_InOut 19
-
-
-#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
-
-// struct to hold a batch of coordinates
-struct Batch {
-  float coords[BUFFER_SIZE][2];
-  int batchCount;
-};
-
-//ring buffer to hold batches
-RingBufCPP<struct Batch, 1> buf;
-
-// 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
-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
-long maxSpeed = 1000;
-float maxAcceleration = 1000;
-long interpolationResolution = 1;
-float userDefinedSpeed = maxSpeed; // Store user-defined speed
-
-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("R");
-    homing();
-}
-
-void getVersion() {
-    Serial.println("Table: Dune Weaver");
-    Serial.println("Drivers: ESP32-TMC2209");
-    Serial.println("Version: 1.4.0");
-}
-
-
-void resetTheta()
-{
-    isFirstCoordinates = true; // Set flag to skip interpolation for the next movement
-    Serial.println("THETA_RESET"); // Notify Python
-}
-
-void loop() {
-        appMode();
-}
-
-void appMode()
-{
-    // 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 != "GET_VERSION" && !input.startsWith("SET_SPEED") && !input.endsWith(";"))
-        {
-            Serial.print("IGNORED: ");
-            Serial.println(input);
-            return;
-        }
-
-        if (input == "GET_VERSION")
-        {
-            getVersion();
-        }
-
-        if (input == "RESET_THETA")
-        {
-            resetTheta(); // Reset currentTheta
-            Serial.println("THETA_RESET"); // Notify Python
-            Serial.println("READY");
-            return;
-        }
-        if (input == "HOME")
-        {
-            homing();
-            return;
-        }
-
-
-        if (input.startsWith("SET_SPEED"))
-        {
-            // Parse out the speed value from the command string
-            int spaceIndex = input.indexOf(' ');
-            if (spaceIndex != -1)
-            {
-                String speedStr = input.substring(spaceIndex + 1);
-                float speedPercentage = speedStr.toFloat();
-
-                // Make sure the percentage is valid
-                if (speedPercentage >= 1.0 && speedPercentage <= 100.0)
-                {
-                    // Convert percentage to actual speed
-                    long newSpeed = (speedPercentage / 100.0) * maxSpeed;
-                    userDefinedSpeed = newSpeed;
-
-                    // Set the stepper speeds
-                    rotStepper.setMaxSpeed(newSpeed);
-                    inOutStepper.setMaxSpeed(newSpeed);
-
-                    Serial.println("SPEED_SET");  
-                }
-                else
-                {
-                    Serial.println("INVALID_SPEED");
-                }
-            }
-            else
-            {
-                Serial.println("INVALID_COMMAND");
-            }
-            return;
-        }
-
-        // If not a command, assume it's a batch of theta-rho pairs
-        if (!buf.isFull())
-        {
-            int pairIndex = 0;
-            int startIdx = 0;
-
-            // declare the batch struct to be filled
-            struct Batch bat;
-
-            // 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)
-
-                bat.coords[pairIndex][0] = theta;
-                bat.coords[pairIndex][1] = rho;
-                pairIndex++;
-
-                startIdx = endIdx + 1; // Move to next pair
-            }
-
-            //add the batch to 
-            bat.batchCount = pairIndex;
-            buf.add(bat);
-
-        }
-    }
-
-    // Process the buffer if a batch is ready
-    if (!buf.isEmpty())
-    {
-        // Start interpolation from the current position
-        float startTheta = currentTheta;
-        float startRho = currentRho;
-
-        struct Batch bat;
-        
-        buf.pull(&bat);
-        
-        for (int i = 0; i < bat.batchCount; i++)
-        {
-            if (isFirstCoordinates)
-            {
-                // Directly move to the first coordinate of the new pattern
-                long initialRotSteps = bat.coords[0][0] * (rot_total_steps / (2.0 * M_PI));
-                rotStepper.setCurrentPosition(initialRotSteps);
-                inOutStepper.setCurrentPosition(inOutStepper.currentPosition() + (totalRevolutions * rot_total_steps / gearRatio));
-
-                currentTheta = bat.coords[0][0];
-                totalRevolutions = 0;
-                movePolar(bat.coords[0][0], bat.coords[0][1]);
-                isFirstCoordinates = false; // Reset the flag after the first movement
-            }
-              else
-              {
-                // Use interpolation for subsequent movements
-                interpolatePath(
-                    startTheta, startRho,
-                    bat.coords[i][0], bat.coords[i][1],
-                    interpolationResolution
-                );
-              }
-            // Update the starting point for the next segment
-            startTheta = bat.coords[i][0];
-            startRho = bat.coords[i][1];
-        }
-
-        Serial.println("R");
-    }
-}
-
-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
-    if (!isFirstCoordinates) {
-        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);
-    }
-}

steps_calibration/steps_calibration_tmc2209.ino

@@ -0,0 +1,94 @@
+#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 22
+#define dirPin_rot 23
+#define stepPin_InOut 18
+#define dirPin_InOut 19
+
+// Create stepper motor objects
+AccelStepper rotStepper(rotInterfaceType, stepPin_rot, dirPin_rot);
+AccelStepper inOutStepper(inOutInterfaceType, stepPin_InOut, dirPin_InOut);
+
+
+// Calibration variables
+long rotSteps = 0;   // Steps for the ROT axis
+long inOutSteps = 0; // Steps for the INOUT axis
+
+void setup() {
+  Serial.begin(115200); // Start serial communication
+  Serial.println("Stepper Calibration Tool");
+
+  // Set max speeds and accelerations
+  rotStepper.setMaxSpeed(1000);
+  rotStepper.setAcceleration(500);
+
+  inOutStepper.setMaxSpeed(1000);
+  inOutStepper.setAcceleration(500);
+
+  // Initial message
+  Serial.println("Commands:");
+  Serial.println(" r <steps> - Move rotation axis by <steps>");
+  Serial.println(" i <steps> - Move in-out axis by <steps>");
+  Serial.println(" reset r - Reset ROT axis steps to 0");
+  Serial.println(" reset i - Reset IN-OUT axis steps to 0");
+  Serial.println(" Example: r 200 (moves ROT axis 200 steps)");
+}
+
+void loop() {
+  if (Serial.available() > 0) {
+    String input = Serial.readStringUntil('\n'); // Read user input
+    input.trim();
+
+    if (input.length() > 0) {
+      if (input.startsWith("reset")) {
+        // Reset commands
+        char axis = input.charAt(6); // Get the axis to reset ('r' or 'i')
+
+        if (axis == 'r') {
+          // Reset ROT axis steps
+          rotSteps = 0;
+          Serial.println("ROT axis steps reset to 0.");
+        } else if (axis == 'i') {
+          // Reset IN-OUT axis steps
+          inOutSteps = 0;
+          Serial.println("IN-OUT axis steps reset to 0.");
+        } else {
+          Serial.println("Invalid reset command. Use 'reset r' or 'reset i'.");
+        }
+      } else {
+        // Movement commands
+        char axis = input.charAt(0);        // First character is the axis
+        long steps = input.substring(2).toInt(); // Convert remaining input to steps
+
+        if (axis == 'r') {
+          // Move rotation axis
+          Serial.print("Moving ROT axis by ");
+          Serial.print(steps);
+          Serial.println(" steps.");
+          rotSteps += steps;
+          rotStepper.move(steps);
+          while (rotStepper.run()); // Wait for movement to finish
+          Serial.print("Current ROT steps: ");
+          Serial.println(rotSteps);
+        } else if (axis == 'i') {
+          // Move in-out axis
+          Serial.print("Moving IN-OUT axis by ");
+          Serial.print(steps);
+          Serial.println(" steps.");
+          inOutSteps += steps;
+          inOutStepper.move(steps);
+          while (inOutStepper.run()); // Wait for movement to finish
+          Serial.print("Current IN-OUT steps: ");
+          Serial.println(inOutSteps);
+        } else {
+          Serial.println("Invalid command. Use 'r <steps>' or 'i <steps>'.");
+        }
+      }
+    }
+  }
+}