Linear Motion Plotter

1#include <AccelStepper.h>
2#include <MultiStepper.h>
3#include <PS2Mouse.h>
4#include
5  <Servo.h> 
6
7// for the Arduino Uno + CNC shield V3
8#define MOTOR_A_ENABLE_PIN
9  8
10#define MOTOR_A_STEP_PIN 2
11#define MOTOR_A_DIR_PIN 5
12
13#define MOTOR_B_ENABLE_PIN
14  8
15#define MOTOR_B_STEP_PIN 3
16#define MOTOR_B_DIR_PIN 6
17
18#define MDATA
19  10
20#define MCLK 9
21
22PS2Mouse mouse(MCLK,MDATA,STREAM);
23
24AccelStepper
25  stepper1(1, MOTOR_A_STEP_PIN, MOTOR_A_DIR_PIN); 
26AccelStepper stepper2(1, MOTOR_B_STEP_PIN,
27  MOTOR_B_DIR_PIN); 
28
29Servo myservo;  
30int servo_pos = 0;    
31
32MultiStepper
33  xy;
34int x=0,y=0,posx=0,posy=0;
35void setup() 
36{
37  Serial.begin(9600);
38
39  myservo.attach(12);  
40  stepper1.setEnablePin(MOTOR_A_ENABLE_PIN);
41  stepper1.setPinsInverted(false,
42  false, true);
43  stepper2.setEnablePin(MOTOR_B_ENABLE_PIN);
44  stepper2.setPinsInverted(false,
45  false, true);
46  // Configure each stepper
47  stepper1.setMaxSpeed(100);
48
49  stepper2.setMaxSpeed(100);
50  // Then give them to MultiStepper to manage
51
52  xy.addStepper(stepper1);
53  xy.addStepper(stepper2);
54  stepper1.enableOutputs();
55
56  stepper2.enableOutputs();
57  
58  mouse.initialize();
59}
60
61void loop()
62  
63{
64   int data[3];
65   long position[2];
66    
67    mouse.report(data);
68
69  
70   // x+=Filter.run(data[1]);
71      x+=data[1];
72    //y+=Filter.run(data[2]);
73
74      y+=data[2];
75   
76    if(x>6000)
77      x=6000;
78    else if(x<-6000)
79
80      x=-6000;
81    else if(y>6000)
82      y=6000;
83    else if(y<-6000)
84
85      y=-6000;  
86    else
87    {
88        position[0]=-x/7;
89        position[1]=-y/7;
90
91     /*---------------------------------------------*/
92              Serial.print(data[0]);//status
93  byte
94              Serial.print(":");
95              Serial.print( position[0]);//X
96  value
97              Serial.print(",");
98              Serial.print( position[1]);//Y
99  value
100              Serial.println();
101    /*---------------------------------------------*/
102  
103        if(data[0]==9 || data[0]==25 || data[0]==41 || data[0]==57)
104          myservo.write(170);//pen
105  down
106        else if(data[0]==8 || data[0]==40 || data[0]==24 || data[0]==56)
107
108          myservo.write(90);//pen up  
109        xy.moveTo(position);
110        xy.runSpeedToPosition();
111
112      //  posx=x;
113      //  posy=y;
114    }
115    //delay(100);
116}
117

1#include <AccelStepper.h>
2#include <MultiStepper.h>
3#include <PS2Mouse.h>
4#include  <Servo.h> 
5
6// for the Arduino Uno + CNC shield V3
7#define MOTOR_A_ENABLE_PIN  8
8#define MOTOR_A_STEP_PIN 2
9#define MOTOR_A_DIR_PIN 5
10
11#define MOTOR_B_ENABLE_PIN  8
12#define MOTOR_B_STEP_PIN 3
13#define MOTOR_B_DIR_PIN 6
14
15#define MDATA  10
16#define MCLK 9
17
18PS2Mouse mouse(MCLK,MDATA,STREAM);
19
20AccelStepper  stepper1(1, MOTOR_A_STEP_PIN, MOTOR_A_DIR_PIN); 
21AccelStepper stepper2(1, MOTOR_B_STEP_PIN,  MOTOR_B_DIR_PIN); 
22
23Servo myservo;  
24int servo_pos = 0;    
25
26MultiStepper  xy;
27int x=0,y=0,posx=0,posy=0;
28void setup() 
29{
30  Serial.begin(9600);
31  myservo.attach(12);  
32  stepper1.setEnablePin(MOTOR_A_ENABLE_PIN);
33  stepper1.setPinsInverted(false,  false, true);
34  stepper2.setEnablePin(MOTOR_B_ENABLE_PIN);
35  stepper2.setPinsInverted(false,  false, true);
36  // Configure each stepper
37  stepper1.setMaxSpeed(100);
38  stepper2.setMaxSpeed(100);
39  // Then give them to MultiStepper to manage
40  xy.addStepper(stepper1);
41  xy.addStepper(stepper2);
42  stepper1.enableOutputs();
43  stepper2.enableOutputs();
44  
45  mouse.initialize();
46}
47
48void loop()  
49{
50   int data[3];
51   long position[2];
52    
53    mouse.report(data);
54  
55   // x+=Filter.run(data[1]);
56      x+=data[1];
57    //y+=Filter.run(data[2]);
58      y+=data[2];
59   
60    if(x>6000)
61      x=6000;
62    else if(x<-6000)
63      x=-6000;
64    else if(y>6000)
65      y=6000;
66    else if(y<-6000)
67      y=-6000;  
68    else
69    {
70        position[0]=-x/7;
71        position[1]=-y/7;
72     /*---------------------------------------------*/
73              Serial.print(data[0]);//status  byte
74              Serial.print(":");
75              Serial.print( position[0]);//X  value
76              Serial.print(",");
77              Serial.print( position[1]);//Y  value
78              Serial.println();
79    /*---------------------------------------------*/  
80        if(data[0]==9 || data[0]==25 || data[0]==41 || data[0]==57)
81          myservo.write(170);//pen  down
82        else if(data[0]==8 || data[0]==40 || data[0]==24 || data[0]==56)
83          myservo.write(90);//pen up  
84        xy.moveTo(position);
85        xy.runSpeedToPosition();
86      //  posx=x;
87      //  posy=y;
88    }
89    //delay(100);
90}
91