Major rework to bring the new Adafruit motorshield in.

comms.ino

@@ -107,9 +107,9 @@ String comms_readCommand()
     }
     else
     {
-      Serial.print(F("I got "));
+      Serial.print(F("Rcd: "));
       Serial.println(inString);
-      Serial.print(F("Checksum not matched!:"));
+      Serial.print(F("Bad Sum:"));
       Serial.println(calcCrc);
       commandConfirmed = false;
     }
@@ -137,7 +137,7 @@ void comms_parseAndExecuteCommand(String &in)
   }
   else
   {
-    Serial.print(F("Command ("));
+    Serial.print(F("Comm ("));
     Serial.print(in);
     Serial.println(F(") not parsed."));
   }
@@ -238,9 +238,8 @@ void comms_requestResend()
 }
 void comms_unrecognisedCommand(String &com)
 {
-  Serial.print(F("Sorry, "));
   Serial.print(com);
-  Serial.println(F(" isn't a command I recognise."));
+  Serial.println(F(" not recognised."));
 }  
 
 

configuration.ino

@@ -20,18 +20,40 @@ Comment out the blocks of code you don't need.
 // =================================================================
 // 1. Adafruit motorshield
 
-#include <AFMotor.h>
-const int stepType = INTERLEAVE;
+// Using Adafruit Motorshield V2? Comment out this one line underneath.
+//#include <AFMotor.h>
+
+// Using Adafruit Motorshield V1? Comment out the three INCLUDE lines below.
+#include <Wire.h>
+#include <Adafruit_MotorShield.h>
+#include "utility/Adafruit_PWMServoDriver.h"
 
+#ifdef ADAFRUIT_MOTORSHIELD_V1
+const int stepType = INTERLEAVE;
 AF_Stepper afMotorA(motorStepsPerRev, 1);
 AF_Stepper afMotorB(motorStepsPerRev, 2);
 
 void forwarda() { afMotorA.onestep(FORWARD, stepType); }
 void backwarda() { afMotorA.onestep(BACKWARD, stepType); }
-AccelStepper motorA(forwarda, backwarda);
-
 void forwardb() { afMotorB.onestep(FORWARD, stepType); }
 void backwardb() { afMotorB.onestep(BACKWARD, stepType); }
+#endif
+
+#ifdef ADAFRUIT_MOTORSHIELD_V2
+const int stepType = INTERLEAVE;
+
+Adafruit_MotorShield AFMS = Adafruit_MotorShield(); 
+Adafruit_StepperMotor *afMotorA = AFMS.getStepper(motorStepsPerRev, 1);
+Adafruit_StepperMotor *afMotorB = AFMS.getStepper(motorStepsPerRev, 2);
+
+void forwarda() { afMotorA->onestep(FORWARD, stepType); }
+void backwarda() { afMotorA->onestep(BACKWARD, stepType); }
+void forwardb() { afMotorB->onestep(FORWARD, stepType); }
+void backwardb() { afMotorB->onestep(BACKWARD, stepType); }
+#endif
+
+
+AccelStepper motorA(forwarda, backwarda);
 AccelStepper motorB(forwardb, backwardb);
 
 void configuration_motorSetup()
@@ -45,7 +67,11 @@ void configuration_setup()
   defaultMmPerRev = 95;
   defaultStepsPerRev = 400;
   defaultStepMultiplier = 1;
+#ifdef ADAFRUIT_MOTORSHIELD_V2
+  AFMS.begin();  // create with the default frequency 1.6KHz
+#endif
   delay(500);
+
 }
 // end of Adafruit motorshield definition
 // =================================================================

eeprom.ino

@@ -92,23 +92,6 @@ void eeprom_loadPenLiftRange()
   Serial.println(upPosition);
 }  
 
-void eeprom_loadMachineName()
-{
-  String name = "";
-  for (int i = 0; i < 8; i++)
-  {
-    char b = EEPROM.read(EEPROM_MACHINE_NAME+i);
-    name = name + b;
-  }
-
-  if (name[0] == 0)
-    name = DEFAULT_MACHINE_NAME;
-  maxLength = 0;
-  machineName = name;
-  Serial.print(F("Loaded machine name:"));
-  Serial.println(machineName);
-}
-
 void eeprom_loadStepMultiplier()
 {
   EEPROM_readAnything(EEPROM_MACHINE_STEP_MULTIPLIER, stepMultiplier);
@@ -145,7 +128,6 @@ void eeprom_loadMachineSpecFromEeprom()
   eeprom_loadMachineSize();
   eeprom_loadSpoolSpec();
   eeprom_loadStepMultiplier();
-  eeprom_loadMachineName();
   eeprom_loadPenLiftRange();
   eeprom_loadSpeed();
 
@@ -177,45 +159,4 @@ void eeprom_loadMachineSpecFromEeprom()
 
   maxLength = 0;
 }
-//
-////This function will write a 2 byte integer to the eeprom at the specified address and address + 1
-//void eeprom_EEPROMWriteInt(int p_address, int p_value)
-//{
-//  Serial.print(F("Writing Int "));
-//  Serial.print(p_value);
-//  Serial.print(F(" to address "));
-//  Serial.println(p_address);
-//
-//  byte lowByte = ((p_value >> 0) & 0xFF);
-//  byte highByte = ((p_value >> 8) & 0xFF);
-//  EEPROM.write(p_address, lowByte);
-//  EEPROM.write(p_address + 1, highByte);
-//}
-//
-////This function will read a 2 byte integer from the eeprom at the specified address and address + 1
-//unsigned int eeprom_EEPROMReadInt(int p_address)
-//{
-//  byte lowByte = EEPROM.read(p_address);
-//  byte highByte = EEPROM.read(p_address + 1);
-//  return ((lowByte << 0) & 0xFF) + ((highByte << 8) & 0xFF00);
-//}
-//
-//
-//// from http://playground.arduino.cc/Code/EEPROMWriteAnything
-//template <class T> int eeprom_writeAnything(int ee, const T& value)
-//{
-//    const byte* p = (const byte*)(const void*)&value;
-//    int i;
-//    for (i = 0; i < sizeof(value); i++)
-//        EEPROM.write(ee++, *p++);
-//    return i;
-//}
-//
-//template <class T> int eeprom_readAnything(int ee, T& value)
-//{
-//    byte* p = (byte*)(void*)&value;
-//    int i;
-//    for (i = 0; i < sizeof(value); i++)
-//        *p++ = EEPROM.read(ee++);
-//    return i;
-//}
+

exec.ino

@@ -23,40 +23,44 @@ boolean exec_executeBasicCommand(String &com)
   boolean executed = true;
   if (com.startsWith(CMD_CHANGELENGTH))
     exec_changeLength();
+#ifdef VECTOR_LINES
   else if (com.startsWith(CMD_CHANGELENGTHDIRECT))
     exec_changeLengthDirect();
+#endif
   else if (com.startsWith(CMD_CHANGEPENWIDTH))
     exec_changePenWidth();
   else if (com.startsWith(CMD_SETMOTORSPEED))
     exec_setMotorSpeed();
   else if (com.startsWith(CMD_SETMOTORACCEL))
     exec_setMotorAcceleration();
+#ifdef PIXEL_DRAWING
   else if (com.startsWith(CMD_DRAWPIXEL))
     pixel_drawSquarePixel();
   else if (com.startsWith(CMD_DRAWSCRIBBLEPIXEL))
     pixel_drawScribblePixel();
   else if (com.startsWith(CMD_CHANGEDRAWINGDIRECTION))
-    exec_changeDrawingDirection();
-  else if (com.startsWith(CMD_SETPOSITION))
-    exec_setPosition();
+    pixel_changeDrawingDirection();
   else if (com.startsWith(CMD_TESTPENWIDTHSQUARE))
     pixel_testPenWidth();
+#endif
+  else if (com.startsWith(CMD_SETPOSITION))
+    exec_setPosition();
+#ifdef PENLIFT
   else if (com.startsWith(CMD_PENDOWN))
     penlift_penDown();
   else if (com.startsWith(CMD_PENUP))
     penlift_penUp();
+  else if (com.startsWith(CMD_SETPENLIFTRANGE))
+    exec_setPenLiftRange();
+#endif
   else if (com.startsWith(CMD_SETMACHINESIZE))
     exec_setMachineSizeFromCommand();
-  else if (com.startsWith(CMD_SETMACHINENAME))
-    exec_setMachineNameFromCommand();
   else if (com.startsWith(CMD_SETMACHINEMMPERREV))
     exec_setMachineMmPerRevFromCommand();
   else if (com.startsWith(CMD_SETMACHINESTEPSPERREV))
     exec_setMachineStepsPerRevFromCommand();
   else if (com.startsWith(CMD_SETMACHINESTEPMULTIPLIER))
     exec_setMachineStepMultiplierFromCommand();
-  else if (com.startsWith(CMD_SETPENLIFTRANGE))
-    exec_setPenLiftRange();
   else if (com.startsWith(CMD_GETMACHINEDETAILS))
     exec_reportMachineSpec();
   else if (com.startsWith(CMD_RESETEEPROM))
@@ -66,25 +70,9 @@ boolean exec_executeBasicCommand(String &com)
 
   return executed;
 }
-
-void exec_changeDrawingDirection() 
-{
-  globalDrawDirectionMode = asInt(inParam1);
-  globalDrawDirection = asInt(inParam2);
-//  Serial.print(F("Changed draw direction mode to be "));
-//  Serial.print(globalDrawDirectionMode);
-//  Serial.print(F(" and direction is "));
-//  Serial.println(globalDrawDirection);
-}
-
-
 void exec_reportMachineSpec()
 {
   eeprom_dumpEeprom();
-  Serial.print(F("PGNAME,"));
-  Serial.print(machineName);
-  Serial.println(CMD_END);
-
   Serial.print(F("PGSIZE,"));
   Serial.print(machineWidth);
   Serial.print(COMMA);
@@ -142,20 +130,6 @@ void exec_setMachineSizeFromCommand()
   eeprom_loadMachineSize();
 }
 
-
-void exec_setMachineNameFromCommand()
-{
-  String name = inParam1;
-  if (name != DEFAULT_MACHINE_NAME)
-  {
-    for (int i = 0; i < 8; i++)
-    {
-      EEPROM.write(EEPROM_MACHINE_NAME+i, name[i]);
-    }
-  }
-  eeprom_loadMachineSpecFromEeprom();
-}
-
 void exec_setMachineMmPerRevFromCommand()
 {
   float mmPerRev = asFloat(inParam1);
@@ -278,6 +252,7 @@ void exec_changeLength()
   changeLength(lenA, lenB);
 }
 
+#ifdef VECTOR_LINES
 void exec_changeLengthDirect()
 {
   float endA = multiplier(asFloat(inParam1));
@@ -396,7 +371,7 @@ void exec_drawBetweenPoints(float p1a, float p1b, float p2a, float p2b, int maxS
   {
     Serial.println("Line is not on the page. Skipping it.");
   }
-  outputAvailableMemory();
+//  outputAvailableMemory();
 }
 
 // Work out and return a new speed.
@@ -451,4 +426,4 @@ float desiredSpeed(long distanceTo, float currentSpeed, float acceleration)
     //Serial.println(requiredSpeed);
     return requiredSpeed;
 }
-
+#endif

penlift.ino

@@ -25,7 +25,7 @@ is already up, there's a good chance it won't be up enough.
 The same goes for the 
 
 */
-
+#ifdef PENLIFT
 void penlift_movePen(int start, int end, int delay_ms)
 {
   penHeight.attach(PEN_HEIGHT_SERVO_PIN);
@@ -88,4 +88,4 @@ void penlift_penDown()
   }
   isPenUp = false;
 }
-
+#endif