Last Scanner in Action

MeshLab Image

Parts List

1 arduino duemilanove
1 Adafruit Motor/Stepper/Servo Shield for Arduino kit
2 additional L293D motor driver chips (piggybacked on existing motor party chips)
2 Lin Engineering 4118S-15-13 stepper motors
1 Bournes ENA1J-B28-L00064L-ND Optical Encoder
2 12v, 0.25A fans
1 12v, 2.83A power supply
1 threaded rod from McMaster-Carr 99030A115
2 3/8 inch alluminum rods from local hardware store
1 round nut from McMaster-Carr 95072A771
2 timing pulleys from SPD/SI (A 6M35M036DF1010) and (A 6M35M012DF1005)
1 timing belt from SPD/FI (A 6T35MF061100)
1 10mm shaft from SPD/FI (A 7X 1M100300)
4 10mm pillow bearings from SPD/FI
4 shaft collars from SPD/FI
1 sheet 1/4 inch plexiglass
3/4 inch particle board

Control Panel

The Control Panel is a Java application that sends commands to the Arduino and receives data back by serial communication through the USB port. The data is stored in a MySQL database. The control panel also has a data processing function that converts a selected data run from polar to Cartesian coordinates and writes the data out to an ascii file, so that it may be loaded into MeshLab, Rhino 3D or other programs that can deal with a point cloud.

The Java code is hosted on SourceForge: http://lastscanner.svn.sourceforge.net/viewvc/lastscanner/

Arduino Code

#include <AFMotor.h>

AF_Stepper main_motor(200, 1);
AF_Stepper screw_motor(200, 2);

#define maxLength 30
//#define ENC_A 14
//#define ENC_B 15
//#define ENC_PORT PINC
#define encoder0PinA 2

#define encoder0PinB 9
#define ENC_A 2
#define ENC_B 13
#define ENC_PORT PINC

volatile unsigned int encoder0Pos = 100;


int ownID = 0; // Adjust according to module ID
boolean answer = false;

//int switchPin = 2;
int backSwitchPin = 2;
const int pingPin = 10;
int counter=1000;

String command = String(maxLength);
String echoCommand = String(maxLength);

boolean commandComplete = false;
int recID;

long stepsFromHome=0;


void setup()
{

//pinMode(switchPin, INPUT);
pinMode(encoder0PinA, INPUT);
digitalWrite(encoder0PinA, HIGH); // turn on pullup resistor
pinMode(encoder0PinB, INPUT);
digitalWrite(encoder0PinB, HIGH); // turn on pullup resistor

attachInterrupt(0, doEncoder, CHANGE);

Serial.begin(9600);
main_motor.setSpeed(10); // 100 rpm
screw_motor.setSpeed(50); // 100 rpm
command = "";
}

void loop()
{
if (commandComplete)
{
command=command+";";
if (command.equals("SINGLEROTATION;")) single_rotation(0);
if (command.equals("SENSORRIGHT;")) sensor_right();
if (command.equals("SENSORLEFT;")) sensor_left();
if (command.equals("3DSECTION;")) _3D_section(10);
if (command.equals("LINEAR3DSECTION;")) linear_3D_section();
if (command.equals("SHOWSENSORPOS;")) show_sensor_pos();
if (command.equals("SETSENSORPOS;")) set_sensor_pos();
if (command.substring(0,4).equals("SCAN")) scan(command);

command="";
commandComplete=false;
}
// else { Serial.println("no command"); }
// command="";
delay(20);
if(Serial.available() > 0) {
getIncomingChars();


}

}

void getIncomingChars()
{
char inChar = Serial.read();
int max=50;
int counter=0;

if(inChar == 59 || inChar == 10 || inChar == 13)
{
commandComplete = true;
}
else
{
command=command+inChar;
}



}

void _3D_section(int linearDistance)
{
// main_motor.setSpeed(10); // 100 rpm
// screw_motor.setSpeed(100); // 100 rpm
int k=0;
for(int j=0; j<linearDistance; j++)
{
for(int i=0; i<601; i++)
{
main_motor.step(1, FORWARD, DOUBLE);
k=j*1;
Serial.print(k); //ring
Serial.print(", ");
Serial.print(i); // degree
Serial.print(", ");
Serial.print(encoder0Pos);
Serial.print(";");
}
main_motor.release();
sensor_right_mm(1); // 2mm
}

}

void scan(String command)
{

String runSize = command.substring(4, command.indexOf(";"));

char runSize_as_char[]="277";
// runSize_as_char[0]='2';
// runSize_as_char[1]='7';
// runSize_as_char[2]='7';
// runSize_as_char[3]='�';
// runSize.toCharArray(runSize_as_char, runSize.length());
int i = int(runSize_as_char);

Serial.print("Run Size: ");
Serial.print(i);
Serial.print(";");
_3D_section(290);
}

void linear_3D_section()
{
main_motor.setSpeed(100); // 100 rpm
screw_motor.setSpeed(100); // 100 rpm
int direction=FORWARD;
for(int j=0; j<10; j++)
{
for(int i=0; i<601; i++)
{
screw_motor.step(20, direction, DOUBLE);
Serial.print(i); //ring
Serial.print(", ");
Serial.print(j); // degree
Serial.print(", ");
// Serial.print(getDistance());
Serial.print(";");
}
if (direction==FORWARD) direction=BACKWARD;
else direction=FORWARD;
main_axis_rotate(2);

}
main_motor.release();
screw_motor.release();

}


void single_rotation(int ring)
{
// main_motor.setSpeed(10); // 100 rpm
//screw_motor.setSpeed(100); // 100 rpm
//Serial.print("Stepping Forward 100;");
int8_t tmpdata;
String data="";

for(int i=0; i<601; i++)
{

// SINGLE single coil
// DOUBLE double coil (more torque)
// INTERLEAVE alternate single and double for 2x resolution (1/2 speed)
// MICROSTEP smooth
main_motor.step(1, BACKWARD, DOUBLE);

Serial.print(ring);
Serial.print(", ");
Serial.print(i);
Serial.print(", ");
Serial.print(encoder0Pos);
Serial.print(";");

}

main_motor.release();


}

void show_sensor_pos()
{
Serial.print("Sensor pos: ");
Serial.print(encoder0Pos);
Serial.print(";");

}

void set_sensor_pos()
{
encoder0Pos=152;
Serial.print("Sensor pos set to: ");
Serial.print(encoder0Pos);
Serial.print(";");

}

void sensor_right()
{
//main_motor.setSpeed(10); // 100 rpm
// screw_motor.setSpeed(50); // 100 rpm
/*
Serial.print("Encoder start pos: ");
Serial.print(encoder0Pos);
Serial.print(";");
for(int i=1; i<500; i++)
{
screw_motor.step(3, BACKWARD, DOUBLE);
}
Serial.print("Encoder end pos: ");
Serial.print(encoder0Pos);
Serial.print(";");
screw_motor.release();
*/
sensor_right_mm(30);
}

void sensor_right_mm(int numberMm)
{
int dist=numberMm*48;
for(int i=1; i<dist; i++)
{
screw_motor.step(1, BACKWARD, DOUBLE);
}
screw_motor.release();
}

void sensor_left_mm(int numberMm)
{

int dist=numberMm*48;
for(int i=1; i<dist; i++)
{
screw_motor.step(1, FORWARD, DOUBLE);
}
screw_motor.release();
}

void main_axis_rotate(int number)
{

for(int i=0; i<number; i++)
{
main_motor.step(1, BACKWARD, DOUBLE);
}
main_motor.release();
}

void sensor_left()
{
/*
//main_motor.setSpeed(10); // 100 rpm
//screw_motor.setSpeed(50); // 100 rpm
Serial.print("Encoder start pos: ");
Serial.print(encoder0Pos);
Serial.print(";");
for(int i=1; i<1410; i++)
{
screw_motor.step(3, FORWARD, DOUBLE);
}
Serial.print("Encoder end pos: ");
Serial.print(encoder0Pos);
Serial.print(";");
screw_motor.release();
*/
sensor_left_mm(30);
}


void doEncoder() {
/* If pinA and pinB are both high or both low, it is spinning
* forward. If they're different, it's going backward.
*
* For more information on speeding up this process, see
* [Reference/PortManipulation], specifically the PIND register.
*/

if (digitalRead(encoder0PinA) == digitalRead(encoder0PinB)) {
encoder0Pos--;
} else {
encoder0Pos++;
}

//Serial.print (encoder0Pos, DEC);
//Serial.print (";");
}