Update firmware

CHANGELOG.md

@@ -7,6 +7,7 @@ All notable changes to this project will be documented in this file.
 ### New Features
 - **Play/Pause Button:** Control execution flow without stopping.
 - **Scheduled Running Hours:** Automate table operation.
+- **Adaptive clear:** Select the appropriate clearing pattenr based on the starting coordinate
 - **Table Info on Serial Connection:** Real-time metadata and status.
 - **Table Status API:** Poll current status remotely.
 - **Firmware Versioning:** Track and fetch firmware details.

firmware/arduino_code/arduino_code.ino

@@ -72,11 +72,15 @@ void setup()
 
     // 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");
-    Serial.println("R");
-    homing();
 }
 
 void resetTheta()
@@ -195,6 +199,11 @@ void appMode()
             return;
         }
 
+        if (input == "GET_VERSION")
+        {
+            getVersion();
+        }
+
         if (input == "RESET_THETA")
         {
             resetTheta(); // Reset currentTheta

firmware/arduino_code/arduino_code.ino.hex

@@ -18,9 +18,9 @@
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 :00000001FF

firmware/arduino_code_TMC2209/arduino_code_TMC2209.ino

@@ -72,11 +72,15 @@ void setup()
 
     // 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");
-    Serial.println("R");
-    homing();
 }
 
 void resetTheta()
@@ -195,6 +199,10 @@ void appMode()
             return;
         }
 
+        if (input == "GET_VERSION") {
+            getVersion();
+        }
+
         if (input == "RESET_THETA")
         {
             resetTheta(); // Reset currentTheta

firmware/arduino_code_TMC2209/arduino_code_TMC2209.ino.hex

@@ -18,9 +18,9 @@
 :10011000030407000000000000000000B80B1124D9
 :100120001FBECFEFD8E0DEBFCDBF23E0A6E1B2E037
 :1001300001C01D92A83CB207E1F712E0A0E0B1E0D7
-:10014000E6E9F6E302C005900D92A631B107D9F7B2
-:1001500010E0CFE8D0E004C02197FE010E94F31820
-:10016000CE38D107C9F70E94CA0C0C94491B0C94D5
+:10014000E6EAF6E302C005900D92A631B107D9F7B1
+:1001500010E0CFE8D0E004C02197FE010E94FB1818
+:10016000CE38D107C9F70E94CA0C0C94511B0C94CD
 :100170000000833081F028F4813099F08230A9F0BA
 :1001800008958730A9F08830C9F08430B1F48091A7
 :1001900080008F7D03C0809180008F7780938000E6
@@ -87,16 +87,16 @@
 :10056000BF92CF92DF92EF92FF920F931F93CF93A0
 :10057000DF93EC015A018B014C8C5D8C6E8C7F8C6F
 :1005800073016201F7FAF094F7F8F0949A01AB0165
-:10059000C701B6010E942318181664F09501A8013E
-:1005A000C301B2010E94A6147301620187FD02C05B
+:10059000C701B6010E942B18181664F09501A80136
+:1005A000C301B2010E94AE147301620187FD02C053
 :1005B0006501780120E030E0A901C701B6010E9481
-:1005C000A614811117C01B821C821D821E82C88E38
+:1005C000AE14811117C01B821C821D821E82C88E30
 :1005D000D98EEA8EFB8EDF91CF911F910F91FF9004
 :1005E000EF90DF90CF90BF90AF907F906F905F9033
 :1005F0004F900895A701960160E074E284E799E4C2
-:100600000E9490169F770E9409176B837C838D83CD
+:100600000E9498169F770E9411176B837C838D83BD
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 :00000001FF

firmware/esp32/esp32.ino

@@ -5,15 +5,15 @@
 #define rotInterfaceType AccelStepper::DRIVER
 #define inOutInterfaceType AccelStepper::DRIVER
 
-#define ROT_PIN1 14
-#define ROT_PIN2 12
-#define ROT_PIN3 26
-#define ROT_PIN4 27
+#define ROT_PIN1 27
+#define ROT_PIN2 26
+#define ROT_PIN3 12
+#define ROT_PIN4 14
 
-#define INOUT_PIN1 16
-#define INOUT_PIN2 17
-#define INOUT_PIN3 18
-#define INOUT_PIN4 19
+#define INOUT_PIN1 19
+#define INOUT_PIN2 18
+#define INOUT_PIN3 17
+#define INOUT_PIN4 16
 
 
 #define rot_total_steps 12800
@@ -67,11 +67,15 @@ void setup()
 
     // 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");
-    Serial.println("R");
-    homing();
 }
 
 void loop()
@@ -88,6 +92,10 @@ void loop()
             return;
         }
 
+        if (input == "GET_VERSION") {
+            getVersion();
+        }
+
         // Example: The user calls "SET_SPEED 60" => 60% of maxSpeed
         if (input.startsWith("SET_SPEED"))
         {
@@ -179,19 +187,28 @@ void loop()
         double startTheta = currentTheta;
         double startRho = currentRho;
 
-        if (isFirstCoordinates) {
-          homing();
-          isFirstCoordinates = false;
-        }
-
         for (int i = 0; i < bufferCount; i++)
         {
  
-            interpolatePath(
-                startTheta, startRho,
-                buffer[i][0], buffer[i][1],
-                subSteps
-            );
+            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];
@@ -231,11 +248,6 @@ void homing()
 
 void movePolar(double theta, double rho)
 {
-    if (rho < 0.0) 
-        rho = 0.0;
-    else if (rho > 1.0) 
-        rho = 1.0;
-
     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));
@@ -243,7 +255,12 @@ void movePolar(double theta, double rho)
     // Now inOutSteps is always derived from the absolute rho, not incrementally
     long inOutSteps = lround(rho * inOut_total_steps);
     
-    inOutSteps -= offsetSteps;
+    totalRevolutions += (theta - currentTheta) / (2.0 * M_PI);
+    
+    if (!isFirstCoordinates)
+    {
+        inOutSteps -= offsetSteps;
+    }
 
     long targetPositions[2] = {rotSteps, inOutSteps};
     multiStepper.moveTo(targetPositions);

firmware/esp32_TMC2209/esp32_TMC2209.ino

@@ -54,11 +54,14 @@ void setup()
 
     // 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");
-    Serial.println("R");
-    homing();
 }
 
 
@@ -80,12 +83,18 @@ void appMode()
         String input = Serial.readStringUntil('\n');
 
         // Ignore invalid messages
-        if (input != "HOME" && input != "RESET_THETA" && !input.startsWith("SET_SPEED") && !input.endsWith(";"))
+        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