3Dsimo 3Dsimo Kit operation manual

#include "ssd1306.h"
#include "nano_gfx.h"

#include <EveryTimer.h>

/* * define Input/Outputs

*/

#define LED_NANO 13 // LED placed on Arduino Nano board

#define BTN_UP 11 // controlling button UP/PLUS

#define BTN_DOWN 12 // controlling button DOWN/MINUS

#define BTN_EXT 8 // button for material extrusion

#define BTN_REV 7 // button for material reverse

#define MOTOR_DIR 6 // motor direction output

#define MOTOR_PWM 10 // motor PWM output for power driving

#define MOTOR_SLEEP 5

#define HEATER_EN 9 // heater/power output

#define TEMP_IN A0 // temperature measure ADC input

/* * define heating states

*/ enum {

STATE_HEATING,

STATE_COOLING,

STATE_READY,

} STATE_e;

enum {

MOTOR_STOP,

MOTOR_EXTRUSION,

MOTOR_REVERSE,

MOTOR_CONTINUOUS,

MOTOR_REVERSE_AFTER_EXTRUSION

} MOTOR_STATE_e;

/* * define structure for the material list

*/ typedef struct {

int temperature;

int motorSpeed;

char* materialName;

} profile_t;

/* * define material profiles

*/ const profile_t materials[] PROGMEM = {

// {temperature (deg. C), motorSpeed (%), materialName}

{225, 25, "ABS"},

{210, 40, "PLA"}

};

/* * define number of materials in list and variables

*/ #define MATERIAL_COUNT 2

int materialID = 0; // chosen material profile

int setTemperature = 225; // set heater temperature

int setMotorSpeed = 60; // set motor speed in %

/* * create timer for main loop

*/ EveryTimer timer;

/* * function for measuring temperature of the tip

*/ int getTemperature(){ // get temperature in deg. Celsius from ADU value

// set reference for ADC to power supply (5V)

analogReference(DEFAULT);

int avgTemp = 0;

for(int i = 0; i<16; i++){

avgTemp += analogRead(TEMP_IN);

} // read averaged analog value of temperature

long tempADU = avgTemp >> 4;

// convert ADU into temperature

// constants could slightly change for different ceramic tip

tempADU -= 1692; // increase this value when temperature is too high and vice versa

tempADU <<= 7;

tempADU /= (-557);

return tempADU;

}

/* * load actual material profile

*/ void loadMaterial(int id){

profile_t profile;

char text[10];

// load material profile from PROGMEM and assign variables

memcpy_P(&profile, &materials[id], sizeof(profile_t));

setTemperature = profile.temperature;

setMotorSpeed = profile.motorSpeed;

// clear display and show all information

sprintf(text, "%d %%", setMotorSpeed);

ssd1306_clearScreen();

ssd1306_setFixedFont(ssd1306xled_font6x8);

ssd1306_printFixedN(0, 0, profile.materialName, STYLE_NORMAL, FONT_SIZE_2X);

ssd1306_printFixedN(80, 0, text, STYLE_NORMAL, FONT_SIZE_2X);

}

/* * PID variables and constants for tuning

*/ float Kp=15, Ki=1, Kd=1.0, dT = 0.1, Hz=10;

/* * basic PID routine to get output value

*/ int getPIDoutput(int setPoint, int actualValue, int maxValue, int minValue){

static float sumE = 0;

static int16_t error, previousError = 0;

float outputValue;

static int pidAvg[4] = {0,0,0,0};

static int pidAvgIndex = 0;

// reset sumE when actualValue exceed setPoint by 5

static int noWaitCycles = 0;

if(actualValue > setPoint + 5){

++noWaitCycles;

if(noWaitCycles >= 30){

sumE = 100;

noWaitCycles = 0;

}

} else{

noWaitCycles = 0;

}

// PID implementation

error = setPoint - actualValue;

sumE += (float) error * dT;

outputValue = Kp*error + Ki*sumE + Kd*(error - previousError)/dT;

previousError = error;

// restrict output PID value into range between minValue and maxValue

if(outputValue > maxValue)

outputValue = maxValue;

else if(outputValue < minValue)

outputValue = minValue;

// store n output values for averaging

pidAvg[pidAvgIndex] = outputValue;

++pidAvgIndex;

if(pidAvgIndex >= 4)

pidAvgIndex = 0;