farmbot / farmbot-arduino-firmware

Arduino firmware that executes g-code like commands over a serial line to move the FarmBot and operate the tool mount

farmbot-arduino-firmware

This software is responsible for receiving G-Codes from the Raspberry Pi, executing them, and reporting back the results.

Technicals

Created with eclipseArduino V2 - For more details see http://www.baeyens.it/eclipse/

Development build instructions

This firmware is automatically bundled into FarmBot OS. The following instructions are for isolated Arduino development only.

NOTE: We tag releases when they are stable. The latest version (on main) is not guaranteed to be stable.

See releases to find a stable release.

OPTION A: For less stable "edge" version:

git clone  https://github.com/FarmBot/farmbot-arduino-firmware

OPTION B: For stable release v6.6.20:

git clone -b 'v6.6.20' --single-branch  https://github.com/FarmBot/farmbot-arduino-firmware

Options for compiling and uploading:

• Arduino IDE:
  • Open farmbot-arduino-firmware/src/src.ino.
  • Select the Mega 2560 board in Tools > Board.
  • Uncomment only the desired board in src/Board.h.
  • To compile and flash the firmware onto the device:
    • Connect a device via USB.
    • Select Sketch > Upload or click the upload button.
  • To compile without flashing:
    • Select Sketch > Export compiled binary.
    • The .hex file will save to the src directory.
• Make (Linux)
  • Download the Arduino 1.8.19 IDE and unpack to the /home directory.
  • cd farmbot-arduino-firmware
  • To compile:
    • make
    • .hex files for each board type will save to the bin directory.
• VSCode
  • Set Arduino path and board type.
  • To compile and flash the firmware onto the device:
    • Connect a device via USB.
    • Select Arduino: Upload.

Software overview

All files are in /src

src.ino contains the setup() and main loop(). This is the main sequence:

     +--------------------------+
     |farmbot_arduino_controller|
     +-----------+--------------+
                 v
     +--------------------------+
     |Command                   |
     +-----------+--------------+
                 v
     +--------------------------+
     |GCodeProcessor            |
     +-----------+--------------+
                 v
     +--------------------------+
     |***Handler                |
     +-------+-----------+------+
             |           |
             |           |
             v           v
      +--------+   +-----------+
      |Movement|   | PinControl|
      +--------+   +-----------+

Board Feature Overview

board	kit	pin encoders	SPI encoders	SPI motors	SPI stall detection	peripheral current sensors
RAMPS_V14	Genesis v1.2	x
FARMDUINO_V10	Genesis v1.3	x
FARMDUINO_V14	Genesis v1.4		x
FARMDUINO_V30	Genesis v1.5		x	x		x
FARMDUINO_V32	Genesis v1.6		x	x		x
FARMDUINO_EXP_V20	Express v1.0			x	x
FARMDUINO_EXP_V22	Express v1.1			x	x

Codes used for communication

IMPORTANT

Farmbot will NOT move until the configuration has been approved. To approve manually, send F22 P2 V1 Q0

To move, use the command G00 X0 Y0 Z0 Q0 where you type in the coordinates just after X, Y and Z.

G-Codes

Codes sent to the arduino

Code type	Number	Parameters	Function
G			G-Code, the codes working the same as a 3D printer
G	00	X Y Z A B C	Move to location at given speed for axis (don't have to be a straight line), in absolute coordinates
G	01	X Y Z A B C	Move to location on a straight line (not implemented)
G	28		Move home all axis (Z, Y, X axis order)
F			Farm commands, commands specially added for FarmBot
F	01	T	Dose amount of water using time in millisecond (not implemented)
F	02	N	Dose amount of water using flow meter that measures pulses (not implemented)
F	09		Reset emergency stop
F	11		Home X axis (find 0, 3 attempts) *
F	12		Home Y axis (find 0, 3 attempts) *
F	13		Home Z axis (find 0, 3 attempts) *
F	14		Calibrate X axis (measure length + find 0) *
F	15		Calibrate Y axis (measure length + find 0) *
F	16		Calibrate Z axis (measure length + find 0) *
F	20		List all parameters and value
F	21	P	Read parameter
F	22	P V	Write parameter
F	23	P V	Update parameter (during calibration)
F	31	P	Read status (not enabled)
F	32	P V	Write status (not enabled)
F	41	P V M	Set a value V on an arduino pin in mode M (digital=0/analog=1)
F	42	P M	Read a value from an arduino pin P in mode M (digital=0/analog=1)
F	43	P M	Set the I/O mode M (input=0/output=1) of a pin P in arduino
F	44	P V W T M	Set the value V on an arduino pin P, wait for time T in milliseconds, set value W on the arduino pin P in mode M (digital=0/analog=1)
F	51	E P V	Set a value on the tool mount with I2C (not implemented)
F	52	E P	Read value from the tool mount with I2C (not implemented)
F	61	P V	Set the servo on the pin P (only pins 4, 5, 6, and 11) to the requested angle V
F	81		Report end stop
F	82		Report current position
F	83		Report software version
F	84	X Y Z	Set axis current position to zero (yes=1/no=0)
E			Emergency stop
@			Movement abort

* Requires the use of encoders or end stops.

Codes received from the arduino

Code type	Number	Parameters	Function
R			Report messages
R	00		Idle
R	01		Current command started
R	02		Current command finished successfully
R	03	V	Current command finished with error
R	04		Current command running
R	05	X Y Z	Report motor/axis state
R	06	X Y Z	Report calibration state during execution
R	07		Retry movement
R	08		Command echo
R	09		Command invalid
R	11		X axis homing complete
R	12		Y axis homing complete
R	13		Z axis homing complete
R	15	X	Firmware used a different X coordinate than given in move command
R	16	Y	Firmware used a different Y coordinate than given in move command
R	17	Z	Firmware used a different Z coordinate than given in move command
R	20		Report all parameters complete
R	21	P V	Report parameter value
R	23	P V	Report updated parameter (during calibration)
R	31	P V	Report status value (not enabled)
R	41	P V	Report pin value
R	61	P V	Report pin monitor analog value
R	71		X axis timeout
R	72		Y axis timeout
R	73		Z axis timeout
R	81	XA XB YA YB ZA ZB	Report end stops
R	82	X Y Z	Report current position
R	83		Report software version
R	84	X Y Z	Report encoder position scaled
R	85	X Y Z	Report encoder position raw
R	86		Report movement abort
R	87		Emergency lock
R	88		No config (see configuration approval)
R	89	U X V Y W Z	Report # axis steps (U,V,W) and highest missed steps in last 500 (X,Y,Z)
R	99		Debug message

Error codes (R03)

Value	Description
0	No error
1	Emergency stop
2	Timeout
3	Stall detected
4	Calibration error
5	Movement abort
14	Invalid command
15	No config
31	Stall detected X axis
32	Stall detected Y axis
33	Stall detected Z axis

Axis states (R05)

The state is reported for each axis individually, using the prefix X, Y or Z

Value	Description
0	Idle
1	Starting motor
2	Accelerating
3	Cruising
4	Decelerating
5	Stopping motor
6	Crawling

Calibration states (R06)

The status for calibration is also reported for the axis that is calibrating

Value	Description
0	Idle
1	Moving to home
2	Moving to end

Parameters for commands

Parameters	Description	Unit of Measurement
X	X movement	millimeters
Y	Y movement	millimeters
Z	Z movement	millimeters
A	X speed	steps/second
B	Y speed	steps/second
C	Z speed	steps/second
Q	Queue number	#
T	Time	seconds
N	Number	#
P	Parameter/pin number	#
V	Value number	#
W	Secondary value	#
E	Element (in tool mount)	#
M	Mode (set pin mode)	0 = output / 1 = input
M	Mode (read/write)	0 = digital / 1 = analog
XA	End stop 1 on x axis	0/1
XB	End stop 2 on x axis	0/1
YA	End stop 1 on y axis	0/1
YB	End stop 2 on y axis	0/1
ZA	End stop 1 on z axis	0/1
ZB	End stop 2 on z axis	0/1

Arduino parameter numbers

ID	Name	Unit	Notes
2	PARAM_CONFIG_OK	0 / 1
3	PARAM_USE_EEPROM	0 / 1
4	PARAM_E_STOP_ON_MOV_ERR	0 / 1
5	PARAM_MOV_NR_RETRY	integer
11	MOVEMENT_TIMEOUT_X	seconds
12	MOVEMENT_TIMEOUT_Y	seconds
13	MOVEMENT_TIMEOUT_Z	seconds
15	MOVEMENT_KEEP_ACTIVE_X	0 / 1
16	MOVEMENT_KEEP_ACTIVE_Y	0 / 1
17	MOVEMENT_KEEP_ACTIVE_Z	0 / 1
18	MOVEMENT_HOME_AT_BOOT_X	0 / 1
19	MOVEMENT_HOME_AT_BOOT_Y	0 / 1
20	MOVEMENT_HOME_AT_BOOT_Z	0 / 1
21	MOVEMENT_INVERT_ENDPOINTS_X	0 / 1	switch ends
22	MOVEMENT_INVERT_ENDPOINTS_Y	0 / 1	switch ends
23	MOVEMENT_INVERT_ENDPOINTS_Z	0 / 1	switch ends
25	MOVEMENT_ENABLE_ENDPOINTS_X	0 / 1
26	MOVEMENT_ENABLE_ENDPOINTS_Y	0 / 1
27	MOVEMENT_ENABLE_ENDPOINTS_Z	0 / 1
31	MOVEMENT_INVERT_MOTOR_X	0 / 1
32	MOVEMENT_INVERT_MOTOR_Y	0 / 1
33	MOVEMENT_INVERT_MOTOR_Z	0 / 1
36	MOVEMENT_SECONDARY_MOTOR_X	0 / 1
37	MOVEMENT_SECONDARY_MOTOR_INVERT_X	0 / 1
41	MOVEMENT_STEPS_ACC_DEC_X	steps
42	MOVEMENT_STEPS_ACC_DEC_Y	steps
43	MOVEMENT_STEPS_ACC_DEC_Z	steps	(away from home)
44	MOVEMENT_STEPS_ACC_DEC_Z2	steps	(toward home)
45	MOVEMENT_STOP_AT_HOME_X	0 / 1
46	MOVEMENT_STOP_AT_HOME_Y	0 / 1
47	MOVEMENT_STOP_AT_HOME_Z	0 / 1
51	MOVEMENT_HOME_UP_X	0 / 1
52	MOVEMENT_HOME_UP_Y	0 / 1
53	MOVEMENT_HOME_UP_Z	0 / 1
55	MOVEMENT_STEP_PER_MM_X	steps
56	MOVEMENT_STEP_PER_MM_Y	steps
57	MOVEMENT_STEP_PER_MM_Z	steps
61	MOVEMENT_MIN_SPD_X	steps/s
62	MOVEMENT_MIN_SPD_Y	steps/s
63	MOVEMENT_MIN_SPD_Z	steps/s	(away from home)
64	MOVEMENT_MIN_SPD_Z2	steps/s	(toward home)
65	MOVEMENT_HOME_SPD_X	steps/s
66	MOVEMENT_HOME_SPD_Y	steps/s
67	MOVEMENT_HOME_SPD_Z	steps/s
71	MOVEMENT_MAX_SPD_X	steps/s
72	MOVEMENT_MAX_SPD_Y	steps/s
73	MOVEMENT_MAX_SPD_Z	steps/s	(away from home)
74	MOVEMENT_MAX_SPD_Z2	steps/s	(toward home)
75	MOVEMENT_INVERT_2_ENDPOINTS_X	0 / 1	switch NO and NC
76	MOVEMENT_INVERT_2_ENDPOINTS_Y	0 / 1	switch NO and NC
77	MOVEMENT_INVERT_2_ENDPOINTS_Z	0 / 1	switch NO and NC
81	MOVEMENT_MOTOR_CURRENT_X	milliamps	TMC2130 only
82	MOVEMENT_MOTOR_CURRENT_Y	milliamps	TMC2130 only
83	MOVEMENT_MOTOR_CURRENT_Z	milliamps	TMC2130 only
85	MOVEMENT_STALL_SENSITIVITY_X	integer	-63 (high) to +63 (low), Express only
86	MOVEMENT_STALL_SENSITIVITY_Y	integer	-63 (high) to +63 (low), Express only
87	MOVEMENT_STALL_SENSITIVITY_Z	integer	-63 (high) to +63 (low), Express only
91	MOVEMENT_MICROSTEPS_X	integer	TMC2130 only
92	MOVEMENT_MICROSTEPS_Y	integer	TMC2130 only
93	MOVEMENT_MICROSTEPS_Z	integer	TMC2130 only
101	ENCODER_ENABLED_X	0 / 1	enables stall detection on Express
102	ENCODER_ENABLED_Y	0 / 1	enables stall detection on Express
103	ENCODER_ENABLED_Z	0 / 1	enables stall detection on Express
105	ENCODER_TYPE_X	0	differential channels disabled
106	ENCODER_TYPE_Y	0	differential channels disabled
107	ENCODER_TYPE_Z	0	differential channels disabled
111	ENCODER_MISSED_STEPS_MAX_X	steps
112	ENCODER_MISSED_STEPS_MAX_Y	steps
113	ENCODER_MISSED_STEPS_MAX_Z	steps
115	ENCODER_SCALING_X	integer	10000*motor/encoder (except Express)
116	ENCODER_SCALING_Y	integer	10000*motor/encoder (except Express)
117	ENCODER_SCALING_Z	integer	10000*motor/encoder (except Express)
121	ENCODER_MISSED_STEPS_DECAY_X	steps	1-99
122	ENCODER_MISSED_STEPS_DECAY_Y	steps	1-99
123	ENCODER_MISSED_STEPS_DECAY_Z	steps	1-99
125	ENCODER_USE_FOR_POS_X	0 / 1	except Express
126	ENCODER_USE_FOR_POS_Y	0 / 1	except Express
127	ENCODER_USE_FOR_POS_Z	0 / 1	except Express
131	ENCODER_INVERT_X	0 / 1	except Express
132	ENCODER_INVERT_Y	0 / 1	except Express
133	ENCODER_INVERT_Z	0 / 1	except Express
141	MOVEMENT_AXIS_NR_STEPS_X	steps	0 = limit disabled
142	MOVEMENT_AXIS_NR_STEPS_Y	steps	0 = limit disabled
143	MOVEMENT_AXIS_NR_STEPS_Z	steps	0 = limit disabled
145	MOVEMENT_STOP_AT_MAX_X	0 / 1
146	MOVEMENT_STOP_AT_MAX_Y	0 / 1
147	MOVEMENT_STOP_AT_MAX_Z	0 / 1
161	MOVEMENT_CALIBRATION_RETRY_X	integer
162	MOVEMENT_CALIBRATION_RETRY_Y	integer
163	MOVEMENT_CALIBRATION_RETRY_Z	integer
165	MOVEMENT_AXIS_STEALTH_X	0 / 1
166	MOVEMENT_AXIS_STEALTH_Y	0 / 1
167	MOVEMENT_AXIS_STEALTH_Z	0 / 1
171	MOVEMENT_CALIBRATION_DEADZONE_X	integer
172	MOVEMENT_CALIBRATION_DEADZONE_Y	integer
173	MOVEMENT_CALIBRATION_DEADZONE_Z	integer
175	MOVEMENT_CALIBRATION_RETRY_TOTAL_X	integer
176	MOVEMENT_CALIBRATION_RETRY_TOTAL_Y	integer
177	MOVEMENT_CALIBRATION_RETRY_TOTAL_Z	integer
198	PIN_REPORT_1_PIN_NR	integer	reports every 500ms, 0 = disabled
199	PIN_REPORT_2_PIN_NR	integer	reports every 500ms, 0 = disabled
201	PIN_GUARD_1_PIN_NR	integer
202	PIN_GUARD_1_TIME_OUT	seconds
203	PIN_GUARD_1_ACTIVE_STATE	0 / 1
205	PIN_GUARD_2_PIN_NR	integer
206	PIN_GUARD_2_TIME_OUT	seconds
207	PIN_GUARD_2_ACTIVE_STATE	0 / 1
211	PIN_GUARD_3_PIN_NR	integer
212	PIN_GUARD_3_TIME_OUT	seconds
213	PIN_GUARD_3_ACTIVE_STATE	0 / 1
215	PIN_GUARD_4_PIN_NR	integer
216	PIN_GUARD_4_TIME_OUT	seconds
217	PIN_GUARD_4_ACTIVE_STATE	0 / 1
221	PIN_GUARD_5_PIN_NR	integer
222	PIN_GUARD_5_TIME_OUT	seconds
223	PIN_GUARD_5_ACTIVE_STATE	0 / 1

Pin Numbering

RAMPS 1.4 (for other boards, see /src/pins.h)

Tag	Pin Nr	Comment
X_STEP_PIN	54	X axis step signal
X_DIR_PIN	55	X axis direction choice
X_ENABLE_PIN	38	X axis enable
X_MIN_PIN	3	X axis end stop at home position
X_MAX_PIN	2	X axis end stop at far position
X_ENCDR_A	16	X axis encoder A channel
X_ENCDR_B	17	X axis encoder B channel
X_ENCDR_A_Q	31	X axis encoder A channel for quarature (not implemented)
X_ENCDR_B_Q	33	X axis encoder B channel for quarature (not implemented)
Y_STEP_PIN	60	Y axis step signal
Y_DIR_PIN	61	Y axis direction choice
Y_ENABLE_PIN	56	Y axis enable
Y_MIN_PIN	14	Y axis end stop at home position
Y_MAX_PIN	15	Y axis end stop at far position
Y_ENCDR_A	23	Y axis encoder A channel
Y_ENCDR_B	25	Y axis encoder B channel
Y_ENCDR_A_Q	35	Y axis encoder A channel for quarature (not implemented)
Y_ENCDR_B_Q	37	Y axis encoder B channel for quarature (not implemented)
Z_STEP_PIN	46	Z axis step signal
Z_DIR_PIN	48	Z axis direction choice
Z_ENABLE_PIN	62	Z axis enable
Z_MIN_PIN	18	Z axis end stop at home position
Z_MAX_PIN	19	Z axis end stop at far position
Z_ENCDR_A	27	Z axis encoder A channel
Z_ENCDR_B	29	Z axis encoder B channel
Z_ENCDR_A_Q	39	Z axis encoder A channel for quarature (not implemented)
Z_ENCDR_B_Q	41	Z axis encoder B channel for quarature (not implemented)
LED_PIN	13	on board LED
FAN_PIN	9	RAMPS board fan pin
HEATER_0_PIN	10	RAMPS board heating pin 0
HEATER_1_PIN	8	RAMPS board heating pin 1
SERVO_0_PIN	4	Servo motor 0 signal pin
SERVO_1_PIN	5	Servo motor 1 signal pin
SERVO_2_PIN	6	Servo motor 2 signal pin
SERVO_3_PIN	11	Servo motor 3 signal pin

Peripheral current sensor pins (Genesis v1.6)

peripheral	peripheral pin	current sensor pin
Lighting	7	A0 (D54)
Water	8	A1 (D55)
Vacuum	9	A4 (D58)
Peripheral 4	10	A3 (D57)
Peripheral 5	12	A2 (D56)
Rotary Tool Forward	2	A6 (D60)
Rotary Tool Reverse	3	A6 (D60)

farmbot-arduino-firmware's Issues

Build steps have changed.

I'm not sure what the build steps are doing, but it looke like:

wget https://bootstrap.pypa.io/ez_setup.py -O - | sudo python

Now drops a *.zip file into current directory, which must be extracted and CD'ed into before installation can continue.

Wont compile

It had a few issues when I first compiled. One was defining NULL and others were something about long ints? I had to change a few 0.0 to 0 to make it compile. Why was this?
I managed to make a few changes and now it compiles but I cant remember what I changed.

Calibration of paramaters bricks the device

When I use the web app to calibrate the parameters such as max-x-speed, the device no longer moves. Reflashing the Arduino fixes the issue.

NTH? Support for one more axis? A?

In the cnc world there is support to make an extra axis ..

To make a rotary tool in a flat bed cnc for example..

Would it be possible to add an extra axis to make it possible to travel between beds in the future?

Im thinking a carrige or similar that moves the gountry to another bed..

Regards
Marcus

[bug, minor] Firmware interface reports wrong dv/dt for Z-axis state

Playing with the FarmbotFirmware interface to the Farmduino and noticed that the accelerate and decelerate reports for Z-axis state are "upside-down".

Picture this :-)

Z-movements don't work

The connection to my motor is good, the issue is that the Arduino doesn't seem to be sending any steps. This is what happens:

z=0
I send a command to move to z=1000
Pi receives the command
Bot does not move
Pi updates log with current location, which is still z=0

TMC2130 firmware support

• Movements
• Stall detection (Express)
• Ability to use encoders (Genesis)
• Tuning parameters (motor current, stall sensitivity, microstepping)

Dont work endpoint after update

I use whis version
Endpoints dont work

Error while performing ino build

I receive the following error when I issue "ino build"

~/working/farmbot-arduino-firmware$ ino build
Searching for Board description file (boards.txt) ... /usr/share/arduino/hardware/arduino/boards.txt
Searching for Arduino lib version file (version.txt) ... /usr/share/arduino/lib/version.txt
Detecting Arduino software version ... 1.0.5 (1:1.0.5+dfsg2-2)
Searching for Arduino core library ... /usr/share/arduino/hardware/arduino/cores/arduino
Searching for Arduino variants directory ... /usr/share/arduino/hardware/arduino/variants
Searching for Arduino standard libraries ... /usr/share/arduino/libraries
Searching for make ... /usr/share/arduino/hardware/tools/avr/bin/make
Searching for avr-gcc ... /usr/share/arduino/hardware/tools/avr/bin/avr-gcc
Searching for avr-g++ ... /usr/share/arduino/hardware/tools/avr/bin/avr-g++
Searching for avr-ar ... /usr/share/arduino/hardware/tools/avr/bin/avr-ar
Searching for avr-objcopy ... /usr/share/arduino/hardware/tools/avr/bin/avr-objcopy
src/src.ino
Searching for Arduino lib version file (version.txt) ... /usr/share/arduino/lib/version.txt
Detecting Arduino software version ... 1.0.5 (1:1.0.5+dfsg2-2)
Scanning dependencies of src
Scanning dependencies of arduino
Scanning dependencies of EEPROM
Scanning dependencies of Servo
src/CurrentState.cpp
src/F41Handler.cpp
src/ParameterList.cpp
src/TimerOne.cpp
src/F44Handler.cpp
src/F82Handler.cpp
src/PinGuardPin.cpp
In file included from src/ParameterList.h:6:0,
from src/PinGuardPin.h:17,
from src/PinGuardPin.cpp:2:
src/PinGuard.h:35:2: error: ‘PinGuardPin’ does not name a type
PinGuardPin pinGuardPin[5];
^
make: *** [.build/mega2560/src/PinGuardPin.o] Error 1
Make failed with code 2_

How to configure the code if i replace the RAMPs 1.4 with Arduino Mega by MKS GEN 1.4 ?

Soil Moisture sensor

ICP-10111.pdf

The new soil sensor has an ICP-10111 i2c device required to measure temperature and pressure.

New GCODES could look something like
F85 P<sensor type> for reading a sensor.
and
R85 P<sensor type> V<sensor value> for the report from the firmware.

Types would be:
0 - temperature
1 - pressure

We may also need to add new params for Celsius and Fahrenheit.

param name	param number	param value	example
SENSOR_TEMPERATURE_UNITS	224	0 for Celsius 1 for Fahrenheit	F22 P224 V0

read temperature ( Celsius )

F85 P0
R85 P0 V20.33

read pressure ( kpa?)

F85 P1
R85 P1 V101.35

I've only lightly tested the sensor but sending 0x68, 0x25 to i2c address 0x63 resulted in
2 bytes for temperature, 4-1 bytes for pressure.

bonus points

The sensor also exposes calibration values. Maybe we need to implement this as well?

3.0.3 Version Problem

Hi i install new release and bot connect and disconect every 1 sec to api(log devise online, offline)
Previos version work normaly but more unhandled errors in logs

The CurrentState::getPoint() returns the address of a local stack varaible

This has the potential to cause really hard to find bugs when another function call overwires the values.

CommitSHA.h incorrectly formatted

Used Arduino IDE 1.8.13 to make the current farmbot-arduino-firmware version and compilation failed because of

src/CommitSHA.h

Support G codes in mm

It seems like it would be nice if the G codes could be sent to the Arduino with the units in mm and for the Arduino to have a EEPROM stored configuration parameters with the conversion of mm to pulses with separate conversion factors for X, Y, and Z.

Perhaps I have just missed how this is all supposed to work as I am still getting up to speed on it.

.

How to use Steppers without Encoders?

I am developing this FarmBot and currently, I am buying the hardware parts. I will use Arduino Mega + RAMPS Shield + DRV8825, Drivers, instead of the Farmduino board, so any suggestion to use this Arduino+RAMPS combination???
I also want to know that can I skip the encoders and use the steppers in the open-loop mode. Would the FarmBot work without encoders?

Split Z-axis speed settings for up/down variation

"It would be great to be able to set different motor settigns (speed, stepping, micro-stepping) for moving up or down the z-axis!!!"

https://forum.farmbot.org/t/motor-settings-for-up-down-movement-on-z-axis-to-reduce-noise-vibrations/5517

Movements switch direction inadvertently

There is some weird stuff going on with the moments. Sometimes a command to move in one direction causes it to move a bit, then reverse for no reason, then move forward again. Its weird. Its like the direction pin on the RAMPS board is flipping inadvertently... This has been happening for a while, but I was never sure if it was weird stuff with the pi controller or the meshblu commands, etc. I think it has to do with the Arduino. Any ideas?

I2C communication

Add error codes to `R03`

it would be useful to know what causes a command failed response

The limit switched need a pull up resistor

The RAMPS shield does not provide pull up resistors for the limit switches so that needs to be done in software.

Calibration of axis length

Change this repo to 'farmbot-arduino-firmware' ??

What do you think? It might help differentiate it more from 'raspberry-pi-controller'

Verification of Tool Mounting

The Universal Tool Mounting System currently incorporates 4 electrical contacts (+12V, GND, and two for data from the Arduino [input or output]). These contacts connect with matching contacts on tools to support a variety of operations.

It will be important to verify that a tool has been mounted or dismounted correctly. This could be done by having an extra electrical contact that is an input to the Arduino. This extra connection could have a jumper on the tool to one of the data wires acting as a 5V output. When the tool is mounted, the extra contact will read 5V, when it is dismounted, it will read 0V.

Hmmm now that I think about it, we may not want a tool to become active (via the 5V on the data line) right when the tool is mounted. So maybe there should be two extra connections that are dedicated to detecting if tools are mounted?

What do you think @TimEvWw?

GetCodeEnum () is always equal to CODE_UNDEFINED

Hi,

We used the last stable version "Version 2.0.0 (Biennial Bignonia)" to use the serial debugging tool to test the send instruction is valid, but the latest code to compile will not work, do not know why?

We will open the code of the log, found getCodeEnum () is always equal to CODE_UNDEFINED, what is the reason?

thank you very much!

Discuss error handling

75, 76, 77 missing from readme

https://github.com/FarmBot/farmbot-arduino-firmware/blob/master/src/ParameterList.h#L80-L82

Arduino is going sloowwww

My commands seem to be delayed by 30+ seconds. I tried rebuilding everything (rpi controller first, then Arduino) I was then getting the problems that these folks are having, where I can't successfully upload the sketch to the Arduino due to a timeout error. If I try pressing the reset button a few times and immedietely try uploading after, then it sometimes completes, but it still operates very slowly...

By that forum thread, it may be a issue with the bootloader in the Arduino, a clean power source problem, an issue with avrdude, or an FTDI driver issue.

The only other thing I can think of is that maybe the EEPROM got filled up and is causing errors? Does the arduino-controller currently clear the EEPROM on boot? http://arduino.cc/en/Tutorial/EEPROMClear

Servo Support

Hi,

Did some research after our discussion in the comments last night.

Turns out that analogWrite cannot be used for servos, as the pulse widths and duty cycles are incompatible.

http://forum.arduino.cc/index.php/topic,5701.0.html

So I had a look around at how the merlin 3d printer firmware does it. They simply use the arduino servo library:

https://github.com/ErikZalm/Marlin/blob/Marlin_v1/Marlin/Marlin_main.cpp#L495

Servo servos[NUM_SERVOS];
servos[0].attach(SERVO0_PIN);

The Gcode they use is:

• M280 - Position an RC Servo P S, ommit S to report back current angle

Do you reckon we can add this?

PS: What timers on the arduino are already used?

the stepper moved too slow?

hi my friend bought a farmbot genesis, and found it moved too slow, well, if we replace the builtin arduino board to another one, they will become extreming fast, but lost acurracy.

currently i tried connect to that arduino directly with my pc and send gcode and other commands via serial console. the problem is they just act too slow while using G00 and G01.

i tried to add a duplicate PORTF |= B00000001; in StepperControlAxis::setMotorStepWrite54 and it made the x axis moved faster twice, but it might not the a right solution, just need some technical expanation

F21/R21 broken

when i send F21 216 (the param id doesn't matter) it returns R21 P0 V1 (the P<id> part is always 0)

Arc support?

In standard g-code/CNC machines, there is usually support for arc commands that allow smooth circular movements. I think they're usually defined by a center coordinate and a radius.

This would be really nice for watering plants as they get bigger, in addition to watering at the center. Or for other operations such as weeding around a plant.

Motor X2 not working

Hello everyone,

my second motor on X-Axis is still not working at all. Using the newest firmware.
What I tried so far:

• update via staging.farmbot.io
• upload directly to arduino
• versions a few commits earlier

Uploading the dual motor version of fluffy helps out, but i think it may be outdated since its from mid December.

Is there anything needed to be done manually to get the X2 motor running? Or is it just activated by default?

Also there are sometimes messages from arduino, just like this:

but they appear for every axis.

Calibration and Homing Improvements

Eliminate one leg of the journey

Currently, calibration is performed as: current position > find home > find max > go to home.

This should be changed to: current position > find max > find home. This will save time by eliminating one leg of the journey, which is significant for XL bots.

Touch the axis ends multiple times

Currently, both our calibration and homing sequences "touch" the axis ends just a single time before turning around to go find the other axis end or calling the sequence complete.

Most 3D printers touch their axis ends multiple times during calibration and homing to maintain high precision without sacrificing speed: They move at full speed until an axis end is touched the first time, then they back up about a centimeter, and then they move towards and touch the axis end a second time at a slower speed. We could do the same thing.

More importantly though than improving precision and speed, this change would reduce the risk of a premature or erroneous stall causing FarmBot to incorrectly set the home position or axis length.

I suggest the following for both calibration and homing sequences:

1. Move forwards at max speed in search of an axis end
2. Once the axis end is reached, back up 10mm at 20% of max speed
3. Move forwards at 20% of max speed, expecting to find the axis end a second time in 10mm
   4a. Once the axis end is found the second time, turn around to find the other axis end (if calibrating) or call the homing sequence complete
   4b. If the axis end is not found a second time within, say, 12(?)mm, consider the first stall to have been a false axis end. Return to step 1.

This change would deprecate the Calibration Speed parameters in favor of max speed for the long legs and a percentage of max speed for the slower, second touches.

Manual Control (joystick/D-pad style movements)

Change parameter units

Use microstep and steps per mm settings to calculate step and distance parameter values. This will allow the firmware to accept parameters in step and mm units and will require fewer changes to other parameters when microstep settings change.

Parameter	old unit	new unit
MOVEMENT_STEP_PER_MM	microsteps per mm	steps per mm
ENCODER_MISSED_STEPS_MAX	microsteps	steps
ENCODER_SCALING	microsteps per encoder line	steps per encoder line
ENCODER_MISSED_STEPS_DECAY	microsteps	steps
MOVEMENT_STEPS_ACC_DEC	microsteps	mm
MOVEMENT_MIN_SPD	microsteps per second	mm per second
MOVEMENT_HOME_SPEED	microsteps per second	mm per second
MOVEMENT_MAX_SPD	microsteps per second	mm per second
MOVEMENT_AXIS_NR_STEPS	microsteps	mm

[FEATURE REQUEST] Repository for Farmbot PCBs

As there aren't any repositories for PCB design thought it would be best to open an issue in the repository which is closest.

Having version-controlled based repository may help certain users which want to test and build the PCBs in order to improve or adapt them to weird edge cases to have a repository specifically for PCBs which contain the source files (EAGLE, KiCad etc) and the Gerbers. That way users can use tools like kitspace to easily order components based on the BOM and Gerbers.

Existing CAD models can be found here but think that having a repository for will improve the update and development of PCB based designs from the community and may simplify your workload as well - https://genesis.farm.bot/v1.5/Extras/cad

Example repositories which do this well
Open source e-reader - here
Open source filament diameter checker - here

Would love to get your thoughts on this and would be happy to generate the Kitspace files if given Gerbers and an electronics BOM if any of the component suppliers you use are integrated into Kitspace.

Bug reported by @fluffy on the forum

I saw that @fluffy reported this bug on the forum, but I thought this might be better discussed as a bug report rather than a general discussion. Here's the text of the post:

I went to https://my.farmbot.io/app/devices1 and changed the steps/mm from 500 to 2500. This seemed to send the system into and endless loops of bad GCodes. I just get a stead stream of errors on the the place on web where errors seem to go.

Any thoughts on what went wrong or ways to test it and log proper bugs?

An example of the errors look like

{
"id": 29092,
"message": "Farmbot got an unhandled gcode! {:unhandled_gcode, \"Q0\"}",
"meta": {
"x": -1,
"y": -1,
"z": -1,
"type": "info"
},
"channels": [],
"device_id": 250,
"created_at": "2016-12-27T23:58:58.968Z",
"updated_at": "2016-12-27T23:58:58.968Z"
},
{
"id": 29093,
"message": "Farmbot got an unhandled gcode! {:unhandled_gcode, \"Command: F21 P62d wh ode: : : : : V W:: : : : ecmd Q:2\"}",
"meta": {
"x": -1,
"y": -1,
"z": -1,
"type": "info"
},
"channels": [],
"device_id": 250,
"created_at": "2016-12-27T23:58:58.972Z",
"updated_at": "2016-12-27T23:58:58.972Z"
},
{
"id": 29094,
"message": "Farmbot got an unhandled gcode! {:unhandled_gcode, \"denu - \n0112and:21 62 Q0\r,\"}",
"meta": {
"x": -1,
"y": -1,
"z": -1,
"type": "info"
},
"channels": [],
"device_id": 250,
"created_at": "2016-12-27T23:58:58.976Z",
"updated_at": "2016-12-27T23:58:58.976Z"
},
{
"id": 29095,
"message": "Farmbot got a message from my arduino: Command with code: 121, X: 0.00, Y: 0.00, Z: 0.00, S: 0.00, P: 62, V: 0, W: 0, T: 0, E: 0, M: 0, Q: 0",
"meta": {
"x": -1,
"y": -1,
"z": -1,
"type": "info"
},
"channels": [],
"device_id": 250,
"created_at": "2016-12-27T23:58:58.982Z",
"updated_at": "2016-12-27T23:58:58.982Z"
},
{
"id": 29096,
"message": "Farmbot got an unhandled gcode! {:unhandled_gcode, \"exec cmd Q: 0\"}",
"meta": {
"x": -1,
"y": -1,
"z": -1,
"type": "info"
},
"channels": [],
"device_id": 250,
"created_at": "2016-12-27T23:58:58.989Z",
"updated_at": "2016-12-27T23:58:58.989Z"
},
{
"id": 29097,
"message": "Farmbot got an unhandled gcode! {:unhandled_gcode, \"c2\"}",
"meta": {
"x": -1,
"y": -1,
"z": -1,
"type": "info"
},
"channels": [],
"device_id": 250,
"created_at": "2016-12-27T23:58:58.992Z",
"updated_at": "2016-12-27T23:58:58.992Z"
},
{
"id": 29098,
"message": "Farmbot got an unhandled gcode! {:unhandled_gcode, \"c3: 121\"}",
"meta": {
"x": -1,
"y": -1,
"z": -1,
"type": "info"
},
"channels": [],
"device_id": 250,
"created_at": "2016-12-27T23:58:58.996Z",
"updated_at": "2016-12-27T23:58:58.996Z"
},
{
"id": 29099,
"message": "Farmbot got an unhandled gcode! {:unhandled_gcode, \"code Enum C - 121\"}",
"meta": {
"x": -1,
"y": -1,
"z": -1,
"type": "info"
},
"channels": [],
"device_id": 250,
"created_at": "2016-12-27T23:58:59.000Z",
"updated_at": "2016-12-27T23:58:59.000Z"
},
{
"id": 29100,
"message": "Farmbot got an unhandled gcode! {:unhandled_gcode, \"Q0\"}",
"meta": {
"x": -1,
"y": -1,
"z": -1,
"type": "info"
},
"channels": [],
"device_id": 250,
"created_at": "2016-12-27T23:58:59.003Z",
"updated_at": "2016-12-27T23:58:59.003Z"
},
{
"id": 29101,
"message": "Farmbot got an unhandled gcode! {:unhandled_gcode, \"Command: F21 P63 Q0\r,\"}",
"meta": {
"x": -1,
"y": -1,
"z": -1,
"type": "info"
},
"channels": [],
"device_id": 250,
"created_at": "2016-12-27T23:58:59.006Z",
"updated_at": "2016-12-27T23:58:59.006Z"
},
{
"id": 29102,
"message": "Farmbot got a message from my arduino: Command with code: 121, X: 0.00, Y: 0.00, Z: 0.00, S: 0.00, P: 63, V: 0, W: 0, T: 0, E: 0, M: 0, Q: 0",
"meta": {
"x": -1,
"y": -1,
"z": -1,
"type": "info"
},
"channels": [],
"device_id": 250,
"created_at": "2016-12-27T23:58:59.010Z",
"updated_at": "2016-12-27T23:58:59.010Z"
},
{
"id": 29103,
"message": "Farmbot got an unhandled gcode! {:unhandled_gcode, \"exec cmd Q: 0\"}",
"meta": {
"x": -1,
"y": -1,
"z": -1,
"type": "info"
},
"channels": [],
"device_id": 250,
"created_at": "2016-12-27T23:58:59.014Z",
"updated_at": "2016-12-27T23:58:59.014Z"
}

CC: @ConnorRigby

z-axis is moving due to its own weight

If z-axis is running smooth using high quality grease, the z-axis moves down due to gravity.

The stepper motors usually (CNC, 3d-printer) can be disabled and enabled. Have a look at http://reprap.org/wiki/G-code
In the disabled state, they can be moved freely, wherever in the enabled state, they are blocking. This seems to be a software issue as the enabled state should be the correct one. Several users are facing the issue in the Farmbot Europe community.

X2 Dont work

I use
X2 dont work
only X1

farmbot-arduino-firmware - latest

Watering

the calibration?

Could you tell us what process takes place in the calibration?

Where to buy a new Farmduino?

Yesterday we found out that we will need a new Farmduino.

Searching for a solution about our Problem with getting our Farmbot started we got to this link:

https://forum.farmbot.org/t/message-broker-not-communicating-with-farmbot-failed-to-start-child-enoent/3127

There they are telling that you should buy a new Farmduino if you have such problems. Now I am searching for where to buy a new Farmduino. Maybe you can help me!
Will the new Farmduino be totally set up for using? Or this there further programming required?