Dual axis ServoMotor code for Teensy 3.x
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- TeensyXY.ino unix_guru at hotmail.com @unix_guru on twitter
- http://arduino-pi.blogspot.com
- This sketch allows you to run two salvaged printer carriages for X/Y axis using their
- linear encoder strips for tracking on a Teensy 3.1 uController module based on Freescale's
- Kinetis K20DX256 ARM Coretex-M4 processor with two hardware based Quadrature Decoder channels
- The purpose of this sketch is to test and tune the PID loops for two AXIS simultaneously
- This example uses the Arduino PID Library found at:
- https://github.com/br3ttb/Arduino-PID-Library/archive/master.zip
- The most important part of this entire project however came from Trudy Benjamin with
- her FTM based Quadrature Decoder library.
- https://forum.pjrc.com/threads/26803-Hardware-Quadrature-Code-for-Teensy-3-x
- Thank you Trudy.
- Also thanks to Miguel Sanchez for helping me through some of the PID issues
- and validating that this was a project worth doing. Check out Miguel's Arduino DCServo work
- https://github.com/misan
- Supports the typical Gcodes G0-G1, G28, G90, G91
- Using G150 for configuring Axis Position PID
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usage: G150 X P10 or G150 Y P10 I2 D0.2 - Using G151 for configuring Axis Velocity PID
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usage: G151 X P10 or G151 Y P10 I2 D0.2 - Using G160 to identify Axis limits (Left/right endstop positions, MAX Velocity/Accelleration)
- These limits will be populated into the EEPROM per axis.
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usage: G160 X --- Update X axis limits. - Using G170 to reset current Axis position counter to Zero
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usage G170 X --- The current position of X becomes the new left endstop - Using G180 to dump the most recent performance log to serial
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usage G180 --- Most recent motion curve parameters will be dumped to serial for -
--- Analysis. - M500 to write config to EEPROM
- M501 to read config from EEPROM
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