updated firmwares and working on blob detection

HTequi-firmware/src/blobcnc_low/main.cpp

@@ -43,7 +43,7 @@ EthernetUDP Udp;
 OSCBundle bndl;
 
 /////////////////// STEPPER machines  ////////////////////////
-const int HIGH_SPEED = 1200 ;
+const int HIGH_SPEED = 5000 ;
 const int HIGH_ACC = 800 ;
 const int LOW_SPEED = 100 ;
 const int LOW_ACC = 1000 ;
@@ -115,6 +115,7 @@ Serial.println(Ethernet.localIP());
             .enable()
   .limitLow_set(2, 37, 0).limitLow_setThresholds(600, 715).limitLow_isHard(0)
   // .limitHigh_set(2, 37, 0).limitHigh_setThresholds(870, 1000).limitHigh_isHard(0)
+  .setHomingSpeed(2000)
   .setMaxSpeed(HIGH_SPEED).setAcceleration(HIGH_ACC);
  A_low_step.onChangeposition([](int idx, int v, int up){bndl.add("/A_low/step").add(v).add(up);});
  A_low_step.onChangestate([](int idx, int v, int up){bndl.add("/A_low/state").add(v);});
@@ -126,6 +127,7 @@ Serial.println(Ethernet.localIP());
             .enable()
   .limitLow_set(2, 35, 0).limitLow_setThresholds(600, 715).limitLow_isHard(0)
   // .limitHigh_set(2, 35, 0).limitHigh_setThresholds(870, 1000).limitHigh_isHard(0)
+  .setHomingSpeed(2000)
   .setMaxSpeed(HIGH_SPEED).setAcceleration(HIGH_ACC);
  B_low_step.onChangeposition([](int idx, int v, int up){bndl.add("/B_low/step").add(v).add(up);});
  B_low_step.onChangestate([](int idx, int v, int up){bndl.add("/B_low/state").add(v);});
@@ -137,6 +139,7 @@ Serial.println(Ethernet.localIP());
               .enable()
   .limitLow_set(1, 19, 1).limitLow_isHard(1)
   .limitHigh_set(1, 17, 1).limitHigh_isHard(1)
+  .setHomingSpeed(2000)
   .setMaxSpeed(HIGH_SPEED).setAcceleration(HIGH_ACC);
  TrBr_low_step.onChangeposition([](int idx, int v, int up){bndl.add("/TrBr_low/step").add(v).add(up);});
  TrBr_low_step.onChangestate([](int idx, int v, int up){bndl.add("/TrBr_low/state").add(v);});
@@ -148,6 +151,7 @@ Serial.println(Ethernet.localIP());
                 .enable()
   .limitLow_set(1, 15, 1).limitLow_isHard(1)
   .limitHigh_set(1, 39, 1).limitHigh_isHard(1)
+  .setHomingSpeed(2000)
   .setMaxSpeed(HIGH_SPEED).setAcceleration(HIGH_ACC);
  LevBr_low_step.onChangeposition([](int idx, int v, int up){bndl.add("/LevBr_low/step").add(v).add(up);});
  LevBr_low_step.onChangestate([](int idx, int v, int up){bndl.add("/LevBr_low/state").add(v);});

HTequi-firmware/src/blobcnc_top/main.cpp

@@ -61,6 +61,17 @@ Atm_AccelStepper X_top_step;
 // StepControl Y_top_controller ;
 Atm_AccelStepper Y_top_step;
 
+int Y_direction = 0;
+
+int Y_step_offsetCompensation (int speed) {
+  int offset;
+  int currentDirection = speed >=0 ;
+  offset = Y_direction == currentDirection ? 0 : 4500;
+  Y_direction = currentDirection ;
+  return offset ;
+
+}
+
 /////////////////// Servo and pump  ////////////////////////
 
 const int peristaltic_pwm_pin = 3;

blob-CN/HT_multicast.pd

@@ -1,159 +1,281 @@
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-#X floatatom 460 110 3 0 0 0 - - -;
-#X floatatom 487 111 5 0 0 0 - - -;
-#X obj 379 84 unpack 0 0 0 0 0;
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-#X floatatom 303 110 9 0 0 0 - - -;
-#X obj 305 59 route received total from multicast;
-#X obj 12 134 mrpeach/unpackOSC;
-#X obj 12 112 mrpeach/udpreceive 9977 239.200.200.200;
-#X obj 12 157 print;
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-#X obj 111 239 pix_image;
+#X obj 14 218 gemwin;
+#X msg 14 174 create \, 1;
+#X msg 32 195 0 \, destroy;
+#X obj 111 847 pix_texture;
+#X obj 111 485 spigot 1;
+#X obj 169 484 tgl 15 0 empty empty show_feeding_area 17 7 0 10 -262144
+-1 -1 0 1;
+#X obj 199 356 loadbang;
+#X floatatom 194 327 5 0 0 0 - - -;
+#X floatatom 178 272 5 0 0 0 - - -;
+#X floatatom 222 271 5 0 0 0 - - -;
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+#X floatatom 328 272 5 0 0 0 - - -;
+#X obj 111 292 pix_crop 436 256 1210 482;
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+#X msg 174 870 \$2;
+#X msg 174 893 4 \$1;
+#X obj 14 152 loadbang;
+#X obj 111 239 pix_image latest_snapshot.png;
+#X floatatom 241 851 5 0 0 0 - - -;
+#X obj 183 804 loadbang;
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-#X obj 477 235 gemwin;
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-#X msg 498 212 0 \, destroy;
-#X obj 111 562 pix_texture;
-#X obj 178 488 spigot 0;
-#X obj 111 505 spigot 1;
-#X obj 45 377 tgl 15 0 empty empty empty 17 7 0 10 -262144 -1 -1 0
+#X obj 890 254 pix_dump;
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+-1 -1;
+#X obj 174 916 /;
+#X obj 111 426 t a a;
+#X obj 111 447 pix_separator;
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-#X obj 459 535 alpha;
-#X obj 460 559 colorRGB 1 1 1 0.3;
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-#X floatatom 536 503 5 0 0 0 - - -;
-#X msg 534 623 draw line;
-#X obj 459 625 square;
-#X obj 643 368 * 1;
-#X obj 643 398 * 1;
-#X obj 643 338 * 1;
-#X floatatom 267 639 3 0 100 2 threshold - -;
-#X obj 267 656 / 100;
-#X msg 267 677 threshold \$1;
-#X floatatom 357 639 3 0 100 2 blobsize - -;
-#X obj 357 656 / 100;
-#X msg 357 677 blobSize \$1;
-#X floatatom 367 775 5 0 0 1 x - -;
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-#X floatatom 370 855 5 0 0 1 maxX - -;
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+#X text 325 212 <= open flag;
+#X text 245 123 <= dump all files from the directory (left outlet)
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+#X text 253 144 <= sends directory path (right outlet);
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+#X text 126 37 returns /pd/newBlob 1/0;
+#X text 130 53 if blob found \, writes latest_blob.png and a timed
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+#X text 15 192 /pd/invertSize : toggle green/blue (toggle plate role)
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+#X text 15 112 /pd/getPosition/food : compute a blue position and return
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+#X text 15 152 /pd/getPosition/inib : compute a green position and
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+#X obj 1007 452 print received;
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