motors.c File Reference

Low‑level motion engine for stepper‑driven SCARA joints. More...

#include "joint_inputs.h"
#include "motors.h"
#include "pins.h"
#include "us_sensor.h"
#include "stm32f4xx_hal.h"
#include <math.h>
#include <stdbool.h>

Go to the source code of this file.

Macros
#define	STEPS_PER_DEG1   (200.0f * 32.0f / 360.0f)
#define	STEPS_PER_DEG2   (200.0f * 32.0f / 360.0f)
#define	MAX_Z_MM   5.0f
#define	DIR_TO_HOME1   GPIO_PIN_SET
#define	DIR_TO_HOME2   GPIO_PIN_SET
#define	HOMING_FREQ_HZ   4000U
#define	DRAW_FREQ_HZ   2000U
#define	HOMING_TIMEOUT_MS   3000U
#define	DRAW_TIMEOUT_MS   3000U
#define	SWITCH_DEBOUNCE_MS   5U
#define	SWITCH_STABLE_CNT   3U
#define	PEN_UP   2000
#define	PEN_DOWN   1000
#define	JOINT2_ZERO_DEG   0.00f
#define	DIR2_EXTEND   GPIO_PIN_RESET
#define	DIR2_RETRACT   GPIO_PIN_SET
#define	EN_ACTIVE_HIGH   0
#define	TIM3_CLOCK_HZ   1000000U
#define	MAX_PLAN_POINTS   5000 /* hard ceiling on way‑points */
#define	SPLINE_MAX_SUBDIV   48 /* upper cap on subdivisions/segment */
#define	SPLINE_RES_DEG   0.05f /* max ∆θ (deg) between samples */
#define	SPLINE_TENSION   0.75f

Functions
void	motorsEnable (void)
	Enable outputs on both DRV8825 stepper motor drivers.
void	motorsDisable (void)
	Disable outputs on both DRV8825 stepper motor drivers.
bool	motorsHome (void)
	Actuates both stepper motors until robot links engage limit switches.
void	moveServoPulse (uint32_t us)
	Actuates servo motor to move prismatic end effector.
void	newsendJointAngles (float theta1, float theta2, int curr_z)
	Actuates Joint 1, Joint 2 and end effector to prescribed positions.
bool	motorsRunSplinePlan (const GCodeMove *plan, size_t n)
	Implements Catmull-Rom spline pathing for given draw plan.
void	MOT_TIM3_IRQHandler (void)
	Checks if steps_remaining == 0 for reach stepper motor. If steps_remaining == 0 for either stepper motor, stops timer channel to shut off actuation.

Variables
TIM_HandleTypeDef	htim1
TIM_HandleTypeDef	htim3

Detailed Description

Low‑level motion engine for stepper‑driven SCARA joints.

Date

2025-06-12

Author

Dylan Featherson, Tomas Franco, Charith Sunku

Definition in file motors.c.

Macro Definition Documentation

DIR2_EXTEND

#define DIR2_EXTEND   GPIO_PIN_RESET

DIR2_RETRACT

#define DIR2_RETRACT   GPIO_PIN_SET

DIR_TO_HOME1

#define DIR_TO_HOME1   GPIO_PIN_SET

DIR_TO_HOME2

#define DIR_TO_HOME2   GPIO_PIN_SET

DRAW_FREQ_HZ

#define DRAW_FREQ_HZ   2000U

DRAW_TIMEOUT_MS

#define DRAW_TIMEOUT_MS   3000U

EN_ACTIVE_HIGH

#define EN_ACTIVE_HIGH   0

HOMING_FREQ_HZ

#define HOMING_FREQ_HZ   4000U

HOMING_TIMEOUT_MS

#define HOMING_TIMEOUT_MS   3000U

JOINT2_ZERO_DEG

#define JOINT2_ZERO_DEG   0.00f

MAX_PLAN_POINTS

#define MAX_PLAN_POINTS   5000 /* hard ceiling on way‑points */

MAX_Z_MM

#define MAX_Z_MM   5.0f

PEN_DOWN

#define PEN_DOWN   1000

PEN_UP

#define PEN_UP   2000

SPLINE_MAX_SUBDIV

#define SPLINE_MAX_SUBDIV   48 /* upper cap on subdivisions/segment */

SPLINE_RES_DEG

#define SPLINE_RES_DEG   0.05f /* max ∆θ (deg) between samples */

SPLINE_TENSION

#define SPLINE_TENSION   0.75f

STEPS_PER_DEG1

#define STEPS_PER_DEG1   (200.0f * 32.0f / 360.0f)

STEPS_PER_DEG2

#define STEPS_PER_DEG2   (200.0f * 32.0f / 360.0f)

SWITCH_DEBOUNCE_MS

#define SWITCH_DEBOUNCE_MS   5U

SWITCH_STABLE_CNT

#define SWITCH_STABLE_CNT   3U

TIM3_CLOCK_HZ

#define TIM3_CLOCK_HZ   1000000U

Function Documentation

MOT_TIM3_IRQHandler()

void MOT_TIM3_IRQHandler

(

void

)

Checks if steps_remaining == 0 for reach stepper motor. If steps_remaining == 0 for either stepper motor, stops timer channel to shut off actuation.

motorsDisable()

void motorsDisable

(

void

)

Disable outputs on both DRV8825 stepper motor drivers.

motorsEnable()

void motorsEnable ( void )

inline

Enable outputs on both DRV8825 stepper motor drivers.

Referenced by motorsHome().

motorsHome()

bool motorsHome

(

void

)

Actuates both stepper motors until robot links engage limit switches.

References motorsEnable(), and moveServoPulse().

motorsRunSplinePlan()

bool motorsRunSplinePlan	(	const GCodeMove *	plan,
		size_t	n )

Implements Catmull-Rom spline pathing for given draw plan.

Parameters

plan	Array of joint anlges for full drawing
n	Size of plan

References newsendJointAngles().

moveServoPulse()

void moveServoPulse

(

uint32_t

us

)

Actuates servo motor to move prismatic end effector.

Parameters

us

Referenced by motorsHome(), and newsendJointAngles().

newsendJointAngles()

void newsendJointAngles	(	float	theta1,
		float	theta2,
		int	curr_z )

Actuates Joint 1, Joint 2 and end effector to prescribed positions.

Parameters

theta1	Required joint angle for Joint 1
theta2	Required joint angle for Joint 2
curr_z	Required z position of end effector

References moveServoPulse().

Referenced by motorsRunSplinePlan().

Variable Documentation

htim1

TIM_HandleTypeDef htim1

extern

htim3

TIM_HandleTypeDef htim3

extern