It’s arduino uno with cnc shield.
There is nothing wrong with serial communication.
I have modified arduino sketch so now is ok from start ( no more POSITION_REACHED_OK on start )
I need to send now line by line gcode from txt file and wait untill position is reached before sending next line
here is arduino sketch
#include <AccelStepper.h>
#include <Servo.h>
#include <math.h>
#define limitSwitch1 11
#define limitSwitch2 10
#define limitSwitch3 9
#define limitSwitch4 A3
// Define the stepper motors and the pins the will use
AccelStepper stepper1(1, 2, 5); // (Type:driver, STEP, DIR)
AccelStepper stepper2(1, 3, 6);
AccelStepper stepper3(1, 4, 7);
AccelStepper stepper4(1, 12, 13);
Servo gripperServo; // create servo object to control a servo
// enablePIN
const byte enablePin = 8;
double x = 10.0;
double y = 10.0;
double L1 = 228; // L1 = 228mm
double L2 = 136.5; // L2 = 136.5mm
double theta1, theta2, phi, z;
int stepper1Position, stepper2Position, stepper3Position, stepper4Position;
const float theta1AngleToSteps = 44.444444;
const float theta2AngleToSteps = 35.555555;
const float phiAngleToSteps = 10;
const float zDistanceToSteps = 100;
//byte inputValue[5];
//int k = 0;
String content = "";
int data[10];
int theta1Array[100];
int theta2Array[100];
int phiArray[100];
int zArray[100];
int gripperArray[100];
int positionsCounter = 0;
void setup() {
Serial.begin(115200);
//enable motors
pinMode(enablePin, OUTPUT);
digitalWrite(enablePin, LOW);
pinMode(limitSwitch1, INPUT_PULLUP);
pinMode(limitSwitch2, INPUT_PULLUP);
pinMode(limitSwitch3, INPUT_PULLUP);
pinMode(limitSwitch4, INPUT_PULLUP);
// Stepper motors max speed
stepper1.setMaxSpeed(3000); //4000
stepper1.setAcceleration(2000); //2000
stepper2.setMaxSpeed(3000); //4000
stepper2.setAcceleration(2000); //2000
stepper3.setMaxSpeed(3000); //4000
stepper3.setAcceleration(2000); //2000
stepper4.setMaxSpeed(3000); //4000
stepper4.setAcceleration(2000); //2000
gripperServo.attach(A0, 600, 2500);
// initial servo value - open gripper
data[6] = 100; //180
gripperServo.write(data[6]);
delay(1000);
data[5] = 100; //100
homing();
}
void homing() {
while (digitalRead(limitSwitch4) != 1) {
stepper4.setSpeed(500); //1500 Z
stepper4.runSpeed();
stepper4.setCurrentPosition(17000); // When limit switch pressed set position to 0 steps
}
delay(20);
stepper4.moveTo(10000);
while (stepper4.currentPosition() != 10000) {
stepper4.run();
}
Serial.println("Z_HOME_OK");
Serial.flush();
// Homing Stepper3
while (digitalRead(limitSwitch3) != 1) {
stepper3.setSpeed(-500); //-1100 J3
stepper3.runSpeed();
stepper3.setCurrentPosition(-1680); // When limit switch pressed set position to 0 steps (-1662)
}
delay(20);
stepper3.moveTo(0);
while (stepper3.currentPosition() != 0) {
stepper3.run();
}
Serial.println("J3_HOME_OK");
Serial.flush();
// Homing Stepper2
while (digitalRead(limitSwitch2) != 1) {
stepper2.setSpeed(-800); //-1300 J2
stepper2.runSpeed();
stepper2.setCurrentPosition(-5650); // When limit switch pressed set position to -5440 steps (-5420)
}
delay(20);
stepper2.moveTo(0);
while (stepper2.currentPosition() != 0) {
stepper2.run();
}
Serial.println("J2_HOME_OK");
Serial.flush();
// Homing Stepper1
while (digitalRead(limitSwitch1) != 1) {
stepper1.setSpeed(-500); //-1200 J1
stepper1.runSpeed();
stepper1.setCurrentPosition(-3600); // When limit switch pressed set position to 0 steps (-3955)
}
delay(20);
stepper1.moveTo(0);
while (stepper1.currentPosition() != 0) {
stepper1.run();
//stepper1.disableOutputs();
}
//Serial.println("J1_HOME_OK");
Serial.println("HOMING_DONE");
Serial.flush();
}
void loop() {
if (Serial.available()) {
content = Serial.readString(); // Read the incomding data from Processing
// Extract the data from the string and put into separate integer variables (data[] array)
for (int i = 0; i < 10; i++) { //for (int i = 0; i < 10; i++) {
int index = content.indexOf(","); // locate the first ","
data[i] = atol(content.substring(0, index).c_str()); //Extract the number from start to the ","
content = content.substring(index + 1); //Remove the number from the string
}
/*
data[0] - SAVE button status
data[1] - RUN button status
data[2] - Joint 1 angle
data[3] - Joint 2 angle
data[4] - Joint 3 angle
data[5] - Z position
data[6] - Gripper value
data[7] - Speed value
data[8] - Acceleration value
data[9] - Disable stepper
data[10] - Homing
*/
// If SAVE button is pressed, store the data into the appropriate arrays
if (data[0] == 1) {
theta1Array[positionsCounter] = data[2] * theta1AngleToSteps; //store the values in steps = angles * angleToSteps variable
theta2Array[positionsCounter] = data[3] * theta2AngleToSteps;
phiArray[positionsCounter] = data[4] * phiAngleToSteps;
zArray[positionsCounter] = data[5] * zDistanceToSteps;
gripperArray[positionsCounter] = data[6];
positionsCounter++;
Serial.println("POSITION_SAVED_OK");
Serial.flush();
}
// Clear data
if (data[0] == 2) {
// Clear the array data to 0
memset(theta1Array, 0, sizeof(theta1Array));
memset(theta2Array, 0, sizeof(theta2Array));
memset(phiArray, 0, sizeof(phiArray));
memset(zArray, 0, sizeof(zArray));
memset(gripperArray, 0, sizeof(gripperArray));
positionsCounter = 0;
Serial.println("DATA_ERASED");
Serial.flush();
}
}
// Enable/Disable Stepper Motors
if (data[9] == 1) {
digitalWrite(enablePin, HIGH);
//Motors OFF
}
else{
digitalWrite(enablePin, LOW);
//Motors ON
}
// If RUN button is pressed
while (data[1] == 1) {
Serial.println("AUTO_RUN_ON_POSITION_X_START");
Serial.flush();
stepper1.setSpeed(data[7]);
stepper2.setSpeed(data[7]);
stepper3.setSpeed(data[7]);
stepper4.setSpeed(data[7]);
stepper1.setAcceleration(data[8]);
stepper2.setAcceleration(data[8]);
stepper3.setAcceleration(data[8]);
stepper4.setAcceleration(data[8]);
// execute the stored steps
for (int i = 0; i <= positionsCounter - 1; i++) {
if (data[1] == 0) {
//Serial.println("AUTO_RUN_OFF_1");
break;
}
stepper1.moveTo(theta1Array[i]);
stepper2.moveTo(theta2Array[i]);
stepper3.moveTo(phiArray[i]);
stepper4.moveTo(zArray[i]);
while (stepper1.currentPosition() != theta1Array[i] || stepper2.currentPosition() != theta2Array[i] || stepper3.currentPosition() != phiArray[i] || stepper4.currentPosition() != zArray[i]) {
stepper1.run();
stepper2.run();
stepper3.run();
stepper4.run();
}
if (i == 0) {
gripperServo.write(gripperArray[i]);
}
else if (gripperArray[i] != gripperArray[i - 1]) {
gripperServo.write(gripperArray[i]);
delay(800); // wait 0.8 sec for the servo to grab or drop - the servo is slow
//Serial.println("AUTO_MODE_ON");
Serial.flush();
}
//Check for change in speed and acceleration or program stop
if (Serial.available()) {
content = Serial.readString(); // Read the incomding data from Processing
// Extract the data from the string and put into separate integer variables (data[] array)
for (int i = 0; i < 10; i++) {
int index = content.indexOf(","); // locate the first ","
data[i] = atol(content.substring(0, index).c_str()); //Extract the number from start to the ","
content = content.substring(index + 1); //Remove the number from the string
}
if (data[1] == 0) {
Serial.println("AUTO_RUN_OFF");
break;
}
// change speed and acceleration while running the program
stepper1.setSpeed(data[7]);
stepper2.setSpeed(data[7]);
stepper3.setSpeed(data[7]);
stepper4.setSpeed(data[7]);
stepper1.setAcceleration(data[8]);
stepper2.setAcceleration(data[8]);
stepper3.setAcceleration(data[8]);
stepper4.setAcceleration(data[8]);
}
}
/*
// execute the stored steps in reverse
for (int i = positionsCounter - 2; i >= 0; i--) {
if (data[1] == 0) {
break;
}
stepper1.moveTo(theta1Array[i]);
stepper2.moveTo(theta2Array[i]);
stepper3.moveTo(phiArray[i]);
stepper4.moveTo(zArray[i]);
while (stepper1.currentPosition() != theta1Array[i] || stepper2.currentPosition() != theta2Array[i] || stepper3.currentPosition() != phiArray[i] || stepper4.currentPosition() != zArray[i]) {
stepper1.run();
stepper2.run();
stepper3.run();
stepper4.run();
}
gripperServo.write(gripperArray[i]);
if (Serial.available()) {
content = Serial.readString(); // Read the incomding data from Processing
// Extract the data from the string and put into separate integer variables (data[] array)
for (int i = 0; i < 10; i++) {
int index = content.indexOf(","); // locate the first ","
data[i] = atol(content.substring(0, index).c_str()); //Extract the number from start to the ","
content = content.substring(index + 1); //Remove the number from the string
}
if (data[1] == 0) {
break;
}
}
}
*/
Serial.println("AUTO_RUN_ON_POSITION_X_DONE");
Serial.flush();
}
stepper1Position = data[2] * theta1AngleToSteps;
stepper2Position = data[3] * theta2AngleToSteps;
stepper3Position = data[4] * phiAngleToSteps;
stepper4Position = data[5] * zDistanceToSteps;
stepper1.setSpeed(data[7]);
stepper2.setSpeed(data[7]);
stepper3.setSpeed(data[7]);
stepper4.setSpeed(data[7]);
stepper1.setAcceleration(data[8]);
stepper2.setAcceleration(data[8]);
stepper3.setAcceleration(data[8]);
stepper4.setAcceleration(data[8]);
stepper1.moveTo(stepper1Position);
stepper2.moveTo(stepper2Position);
stepper3.moveTo(stepper3Position);
stepper4.moveTo(stepper4Position);
while (stepper1.currentPosition() != stepper1Position || stepper2.currentPosition() != stepper2Position || stepper3.currentPosition() != stepper3Position || stepper4.currentPosition() != stepper4Position) {
stepper1.run();
stepper2.run();
stepper3.run();
stepper4.run();
}
delay(500); //100
gripperServo.write(data[6]);
delay(500); //300
Serial.println("POSITION_REACHED_OK");
Serial.flush();
}
void serialFlush() {
while (Serial.available() > 0) { //while there are characters in the serial buffer, because Serial.available is >0
Serial.read(); // get one character
}
}
here is now console output
Setup() is running........
Arduino found on Port: [Ljava.lang.String;@19ff7cf8
Serial Port Assigning Started........
Serial Port Assigning Ended........OK
ControlP5 2.2.6 infos, comments, questions at http://www.sojamo.de/libraries/controlP5
Z_HOME_OK <-- CHECKING...
J3_HOME_OK <-- CHECKING...
J2_HOME_OK <-- CHECKING...
HOMING_DONE <-- COMMAND_FOUND_OK
POSITION_REACHED_OK <-- READY_TO_SEND
POSITION_REACHED_OK <-- READY_TO_SEND
POSITION_REACHED_OK <-- READY_TO_SEND
POSITION_REACHED_OK <-- READY_TO_SEND
POSITION_REACHED_OK <-- READY_TO_SEND
POSITION_REACHED_OK <-- READY_TO_SEND
POSITION_REACHED_OK <-- READY_TO_SEND
POSITION_REACHED_OK <-- READY_TO_SEND
POSITION_REACHED_OK <-- READY_TO_SEND
POSITION_REACHED_OK <-- READY_TO_SEND
POSITION_REACHED_OK <-- READY_TO_SEND
POSITION_REACHED_OK <-- READY_TO_SEND
