diff --git a/.gitmodules b/.gitmodules index fa98c61..23626f4 100644 --- a/.gitmodules +++ b/.gitmodules @@ -1,5 +1,5 @@ -[submodule "drake_printer_files"] - path = drake_printer_files +[submodule "drake_printer_files"] + path = drake_printer_files url = https://github.com/SamuelNoesslboeck/drake_printer_files [submodule "code/syact"] path = code/syact @@ -9,4 +9,4 @@ url = https://github.com/SamuelNoesslboeck/sylo [submodule "code/sybot"] path = code/sybot - url = https://github.com/SamuelNoesslboeck/sybot + url = https://github.com/SamuelNoesslboeck/sybot \ No newline at end of file diff --git a/README.md b/README.MD similarity index 100% rename from README.md rename to README.MD diff --git a/a_drake.asm b/a_drake.asm index af434dc..c371858 100644 Binary files a/a_drake.asm and b/a_drake.asm differ diff --git a/a_drake.cfg b/a_drake.cfg index 5ee9031..be431b3 100644 Binary files a/a_drake.cfg and b/a_drake.cfg differ diff --git a/code/README.md b/code/README.MD similarity index 100% rename from code/README.md rename to code/README.MD diff --git a/code/scripts/README.md b/code/scripts/README.MD similarity index 100% rename from code/scripts/README.md rename to code/scripts/README.MD diff --git a/code/scripts/build/drai_ctrl.sh b/code/scripts/build/drai_ctrl.sh index c1e7c11..912fe0f 100644 --- a/code/scripts/build/drai_ctrl.sh +++ b/code/scripts/build/drai_ctrl.sh @@ -1,5 +1,7 @@ # Helper build script for robot control +sh "code/scripts/setup.sh" + cd "code/drake_ctrl" cargo build --verbose --features rasp diff --git a/code/scripts/env.bat b/code/scripts/env.bat deleted file mode 100644 index 0837da6..0000000 --- a/code/scripts/env.bat +++ /dev/null @@ -1,28 +0,0 @@ -@REM Helper script for setting environment variables - -@REM Networking -set DRAI_CAMERA_PORT=40324 -set DRAI_POINTS_PORT=40325 - -set DRAI_CAMERA_USER_FILE="/key/drai-cam/username.key" -set DRAI_CAMERA_PW_FILE="/key/drai-cam/password.key" - -@REM Controls -@REM Stepper -@REM X-Axis -set DRAI_X_AXIS_STEP_PIN=12 -set DRAI_X_AXIS_DIR_PIN=21 -set DRAI_X_SWITCH_POS_PIN=5 -set DRAI_X_SWITCH_NEG_PIN=0 - -@REM Y-Axis -set DRAI_Y_AXIS_STEP_PIN=20 -set DRAI_Y_AXIS_DIR_PIN=13 -set DRAI_Y_SWITCH_POS_PIN=6 -set DRAI_Y_SWITCH_NEG_PIN=0 - -@REM Z-Axis -set DRAI_Z_AXIS_STEP_PIN=19 -set DRAI_Z_AXIS_DIR_PIN=26 -set DRAI_Z_SWITCH_POS_PIN=0 -set DRAI_Z_SWITCH_NEG_PIN=0 \ No newline at end of file diff --git a/code/scripts/env.sh b/code/scripts/env.sh index 61b1c61..fb4baa8 100644 --- a/code/scripts/env.sh +++ b/code/scripts/env.sh @@ -8,10 +8,14 @@ export DRAI_LOG_DIR="/logs" # Networking export DRAI_CAMERA_PORT=40324 -export DRAI_POINTS_PORT=40325 - -export DRAI_CAMERA_USER_FILE="/key/drai-cam/username.key" -export DRAI_CAMERA_PW_FILE="/key/drai-cam/password.key" +export DRAI_SERVER_PORT=40325 + +export DRAI_CAMERA_USER_FILE="/key/drai-camera/username.key" +export DRAI_CAMERA_PW_FILE="/key/drai-camera/password.key" +export DRAI_CTRL_USER_FILE="/key/drai-ctrl/username.key" +export DRAI_CTRL_PW_FILE="/key/drai-ctrl/password.key" +export DRAI_SERVER_USER_FILE="/key/drai-server/username.key" +export DRAI_SERVER_PW_FILE="/key/drai-server/password.key" # Controls ## Stepper diff --git a/code/scripts/test/manual_switch.sh b/code/scripts/test/endswitch.sh similarity index 100% rename from code/scripts/test/manual_switch.sh rename to code/scripts/test/endswitch.sh diff --git a/code/scripts/test/manual_switch_pos_x.sh b/code/scripts/test/endswitch_pos_x.sh similarity index 100% rename from code/scripts/test/manual_switch_pos_x.sh rename to code/scripts/test/endswitch_pos_x.sh diff --git a/code/scripts/test/manual_switch_pos_y.sh b/code/scripts/test/endswitch_pos_y.sh similarity index 100% rename from code/scripts/test/manual_switch_pos_y.sh rename to code/scripts/test/endswitch_pos_y.sh diff --git a/code/scripts/calibration/motor.sh b/code/scripts/test/home_pos.sh similarity index 100% rename from code/scripts/calibration/motor.sh rename to code/scripts/test/home_pos.sh diff --git a/code/scripts/calibration/motor_x.sh b/code/scripts/test/motor.sh similarity index 100% rename from code/scripts/calibration/motor_x.sh rename to code/scripts/test/motor.sh diff --git a/code/scripts/calibration/motor_y.sh b/code/scripts/test/motor_x.sh similarity index 100% rename from code/scripts/calibration/motor_y.sh rename to code/scripts/test/motor_x.sh diff --git a/code/scripts/calibration/motor_z.sh b/code/scripts/test/motor_y.sh similarity index 100% rename from code/scripts/calibration/motor_z.sh rename to code/scripts/test/motor_y.sh diff --git a/construction/a10_misc/README.md b/code/scripts/test/motor_z.sh similarity index 100% rename from construction/a10_misc/README.md rename to code/scripts/test/motor_z.sh diff --git a/construction/README.md b/construction/README.MD similarity index 78% rename from construction/README.md rename to construction/README.MD index a78ec0b..82e0309 100644 --- a/construction/README.md +++ b/construction/README.MD @@ -10,5 +10,7 @@ The construction is split up in many subassemblies and groups, which are feature ## Subassemblies +- [a1_frame](./a1_frame/): The base aluminium frame + ## Groups diff --git a/construction/a10_misc/1_foot.par b/construction/a10_misc/1_foot.par new file mode 100644 index 0000000..6b6941b Binary files /dev/null and b/construction/a10_misc/1_foot.par differ diff --git a/construction/a10_misc/README.MD b/construction/a10_misc/README.MD new file mode 100644 index 0000000..e69de29 diff --git a/construction/a10_misc/stl/1_foot.stl b/construction/a10_misc/stl/1_foot.stl new file mode 100644 index 0000000..210abd1 Binary files /dev/null and b/construction/a10_misc/stl/1_foot.stl differ diff --git a/construction/a2_yaxis/README.md b/construction/a2_yaxis/README.MD similarity index 100% rename from construction/a2_yaxis/README.md rename to construction/a2_yaxis/README.MD diff --git a/construction/a3_sideaxis/README.md b/construction/a3_sideaxis/README.MD similarity index 100% rename from construction/a3_sideaxis/README.md rename to construction/a3_sideaxis/README.MD diff --git a/construction/a4_paper/Readme.md b/construction/a4_paper/README.MD similarity index 100% rename from construction/a4_paper/Readme.md rename to construction/a4_paper/README.MD diff --git a/construction/a6_arm/Readme.md b/construction/a6_arm/README.MD similarity index 100% rename from construction/a6_arm/Readme.md rename to construction/a6_arm/README.MD diff --git a/construction/a8_user_terminal/README.md b/construction/a8_user_terminal/README.MD similarity index 100% rename from construction/a8_user_terminal/README.md rename to construction/a8_user_terminal/README.MD diff --git a/construction/a9_trunk/1_baseplate.par b/construction/a9_trunk/1_baseplate.par new file mode 100644 index 0000000..c6a5822 Binary files /dev/null and b/construction/a9_trunk/1_baseplate.par differ diff --git a/construction/a9_trunk/2_main_connectors.par b/construction/a9_trunk/2_main_connectors.par new file mode 100644 index 0000000..5274f8e Binary files /dev/null and b/construction/a9_trunk/2_main_connectors.par differ diff --git a/construction/a9_trunk/README.md b/construction/a9_trunk/README.MD similarity index 100% rename from construction/a9_trunk/README.md rename to construction/a9_trunk/README.MD diff --git a/construction/a9_trunk/a9_trunk.asm b/construction/a9_trunk/a9_trunk.asm new file mode 100644 index 0000000..3ade44c Binary files /dev/null and b/construction/a9_trunk/a9_trunk.asm differ diff --git a/construction/a9_trunk/a9_trunk.cfg b/construction/a9_trunk/a9_trunk.cfg new file mode 100644 index 0000000..4453f38 Binary files /dev/null and b/construction/a9_trunk/a9_trunk.cfg differ diff --git a/construction/a9_trunk/datasheets/raspberry-pi-3-b-plus-mechanical-drawing.pdf b/construction/a9_trunk/datasheets/raspberry-pi-3-b-plus-mechanical-drawing.pdf new file mode 100644 index 0000000..cafa28e Binary files /dev/null and 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b/construction/a9_trunk/electronics/e3_raspberrypi-3b.log new file mode 100644 index 0000000..295d4e5 --- /dev/null +++ b/construction/a9_trunk/electronics/e3_raspberrypi-3b.log @@ -0,0 +1,41 @@ +STEP in Solid Edge konvertieren +Datum: Montag,März 18,2024 03:17 +Quelldatei: H:\DrAI\construction\a9_trunk\electronics\e3_raspberrypi-3b.step +Autor: Unknown +Organisation: Unknown +Ausgangssystem: SolidWorks 2021 + +Hardware: +Prozessor: Intel(R) Core(TM) i5-9500 CPU @ 3.00GHz +Betriebssystem: Windows 10 +Installierter Speicher: 7.77 GB + +Software-Informationen +Parasolid-Version: 34.0.153 +PSBodyShop-Version: 34.0.110 +Step-Adapterversion: 9.0.104 +Solid Edge-Version: 222.00.06.003 x64 + +Step-Importoptionen +Facettierte Körper importieren: Ein +Prüfkörper importieren: Aus +Kurven importieren: Ein +DoNotSave importieren: Ein +Mehrere Körper als Einzelteildatei importieren: Ein +Flächenvernähung importieren: Ein +Boolesche Körper importieren: Ein +Basisformelement erstellen: Ein +Geometrie vereinfachen: Ein +Druckkurven importieren: Ein +Führung importieren: C: +Flächenvernähung importieren: Ein +Flächen importieren: Ein +Ausgabepfad importieren: H:\DrAI\construction\a9_trunk\electronics +Aktivieren des standardmäßigen Ausgabepfads importieren: Ein +PMI importieren: Aus +Als interne Komponenten importieren: Aus +Pfad importieren: + +Übersetzen in Parasolid-Datentypen... +Konvertierungsvorgang ist abgeschlossen +Zur Übersetzung und Nachbearbeitung erforderte Gesamtzeit:00 : 00 : 04 diff --git a/construction/a9_trunk/electronics/e3_raspberrypi-3b.par b/construction/a9_trunk/electronics/e3_raspberrypi-3b.par new file mode 100644 index 0000000..bcceb57 Binary files /dev/null and b/construction/a9_trunk/electronics/e3_raspberrypi-3b.par differ diff --git a/construction/a9_trunk/electronics/e3_raspberrypi-3b.step b/construction/a9_trunk/electronics/e3_raspberrypi-3b.step new file mode 100644 index 0000000..6f61895 --- /dev/null +++ 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--- a/documentation/networking.md +++ /dev/null @@ -1,16 +0,0 @@ -# Networking - -## drai-cam - -- Camera webserver port: 40324 -- - -## drai-ctrl - -- Type: Raspberry Pi 3 -- Username-File: -- Password-File: - -## drai-server - -- Points webserver port: 40325 \ No newline at end of file diff --git a/documentation/setup.md b/documentation/setup.md index 549d4e5..e2ea468 100644 --- a/documentation/setup.md +++ b/documentation/setup.md @@ -74,6 +74,7 @@ The electronics of the project are built into a small trunk equipped with the ri - **Extras** - ( BL ): Bed-Layer touch attached to the tool - ( SC ): The servo-controller board of the drawing table + - ( UT ): The user terminal - **Optional (might not be included)** - ( H1 ): First servo of the head - ( H2 ): Second servo of the head \ No newline at end of file diff --git a/documentation/testing.md b/documentation/testing.md new file mode 100644 index 0000000..1700ee7 --- /dev/null +++ b/documentation/testing.md @@ -0,0 +1,67 @@ +# Testing + +In order to check the correct functionality, different routines have been created as shell scripts to execute and check the following components: + +- [Testing](#testing) + - [Axes](#axes) + - [Test endswitches of each axis](#test-endswitches-of-each-axis) + - [Test motor(s) of each axis](#test-motors-of-each-axis) + - [Test all axes by driving to the home position](#test-all-axes-by-driving-to-the-home-position) + - [Table](#table) + +Note that you have to navigate to the projects root directory before using any testing scripts! + +```sh +# For example: +cd ~/DrAI +# that is, if you have installed the project at the default location +``` + +## Axes + +Each of the three axes of the robot can be tested in the following order: + +- Test endswitches of each axis +- Test motor(s) of each axis +- Test all axes by driving to the home position + +### Test endswitches of each axis + +Each axis has a positive and a negative endswitch, so to test a specific switch type: + +```sh +# Form: +# sh "code/scripts/test/endswitch_{orientation - pos/neg}_{axis - x/y/z}.sh" + +# So for the positive endswitch of the X axis: +sh "code/scripts/test/endswitch_pos_x.sh" + +# Or for the negative endswitch of the Y axis: +sh "code/scripts/test/endswitch_neg_y.sh" +``` + +The script will plot the current value of the input pin, which should be `true` by default and change to `false` once the input is triggered. + +### Test motor(s) of each axis + +To test wheiter the motor of an axis is moving correctly, run the following script: + +```sh +# Form: +# sh "code/scripts/test/motor_{axis - x/y/z}.sh" + +# For the Z-axis this would be +sh "code/scripts/test/motor_z.sh" +``` + +The script will then move the motor to both its endswitches, watch for stuttering or loud noise during the movement. + +### Test all axes by driving to the home position + +To finally test all axes together execute the script for driving to the home position. + +```sh +sh "code/scripts/test/home_pos.sh" +``` + +## Table \ No newline at end of file diff --git a/drake_printer_files b/drake_printer_files index a42a51d..89d36ec 160000 --- a/drake_printer_files +++ b/drake_printer_files @@ -1 +1 @@ -Subproject commit a42a51d02fe40afa88d0c6ae4b7f260536e5b24c +Subproject commit 89d36ec329d9f58ac861d3b99e9c1a6208c0893d diff --git a/electronics/README.MD b/electronics/README.MD new file mode 100644 index 0000000..a3c58c4 --- /dev/null +++ b/electronics/README.MD @@ -0,0 +1,8 @@ +# Electronics + +The electronics of this project consist of multiple parts, explained below: + +## Parts + +- [drake_electronics](./drake_electronics/): The combinded electronics of the project, embedding the *robot_driver* +- [robot_driver](https://github.com/SamuelNoesslboeck/robot_driver): Subpart of this project used for controlling the stepper motors and more \ No newline at end of file diff --git a/electronics/drake_electronics/Readme.md b/electronics/drake_electronics/README.MD similarity index 100% rename from electronics/drake_electronics/Readme.md rename to electronics/drake_electronics/README.MD diff --git a/electronics/drake_electronics/drake_electronics.kicad_prl b/electronics/drake_electronics/drake_electronics.kicad_prl new file mode 100644 index 0000000..523abac --- /dev/null +++ b/electronics/drake_electronics/drake_electronics.kicad_prl @@ -0,0 +1,83 @@ +{ + "board": { + "active_layer": 0, + "active_layer_preset": "", + "auto_track_width": true, + "hidden_netclasses": [], + "hidden_nets": [], + "high_contrast_mode": 0, + "net_color_mode": 1, + "opacity": { + "images": 0.6, + "pads": 1.0, + "tracks": 1.0, + "vias": 1.0, + "zones": 0.6 + }, + "selection_filter": { + "dimensions": true, + "footprints": true, + "graphics": true, + "keepouts": true, + "lockedItems": false, + "otherItems": true, + "pads": true, + "text": true, + "tracks": true, + "vias": true, + "zones": true + }, + "visible_items": [ + 0, + 1, + 2, + 3, + 4, + 5, + 8, + 9, + 10, + 11, + 12, + 13, + 15, + 16, + 17, + 18, 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