ArduFoamCutter

Firmware

The firmware runs on Arduino Nano board. It is controlled by a serial port. At this moment supports the following commands (they must be newline ended):

• G0 Xx Yy Aa Zz: moves synchronously the motors
  • to the position (x, y, a, z), if absolute mode is set, or,
  • by a quantity of x, y, a and z, if relative mode is set.
• G90 Sets to absolute mode.
• G91 Sets to relative mode.

The firmware implements a fast version of Bresenham's line algorithm to move synchronously the motors and it uses a internal timer to generate pulses (it never block, does not uses not delayMicroseconds()).

Axes naming

The axes are named as follows:

• X: Horizontal-Left.
• Y: Vertical-Left.
• A: Horizontal-Right.
• Z: Vertical-Right.

Pin assignment

settings.h defines the out pins assigment for the dir and step signal of each A4988 Pololu driver. By default:

const int x_dir_pin = 2;
const int x_step_pin = 3;

const int y_dir_pin = 4;
const int y_step_pin = 5;

const int a_dir_pin = 8;
const int a_step_pin = 9;

const int z_dir_pin = 10;
const int z_step_pin = 11;