plotclock.ino

// Plotclock
// cc - by Johannes Heberlein 2014
// v 1.02
// thingiverse.com/joo wiki.fablab-nuernberg.de
// units: mm; microseconds; radians
// origin: bottom left of drawing surface
// time library see http://playground.arduino.cc/Code/time 
// RTC library see http://playground.arduino.cc/Code/time 
// or http://www.pjrc.com/teensy/td_libs_DS1307RTC.html 
// Change log:
// 1.01 Release by joo at https://github.com/9a/plotclock
// 1.02 Additional features implemented by Dave:
// - added ability to calibrate servofaktor seperately for left and right servos
// - added code to support DS1307, DS1337 and DS3231 real time clock chips
// - see http://www.pjrc.com/teensy/td_libs_DS1307RTC.html for how to hook up the real time clock 

// delete or mark the next line as comment if you don't need these
#define CALIBRATION // enable calibration mode
//#define REALTIMECLOCK // enable real time clock

// When in calibration mode, adjust the following factor until the servos move exactly 90 degrees
#define SERVOFAKTORLEFT 650
#define SERVOFAKTORRIGHT 650

// Zero-position of left and right servo
// When in calibration mode, adjust the NULL-values so that the servo arms are at all times parallel
// either to the X or Y axis
#define SERVOLEFTNULL 2250
#define SERVORIGHTNULL 920

#define SERVOPINLIFT 2
#define SERVOPINLEFT 3
#define SERVOPINRIGHT 4

// lift positions of lifting servo
#define LIFT0 1080 // on drawing surface
#define LIFT1 925 // between numbers
#define LIFT2 725 // going towards sweeper

// speed of liftimg arm, higher is slower
#define LIFTSPEED 1500

// length of arms
#define L1 35
#define L2 55.1
#define L3 13.2

// origin points of left and right servo 
#define O1X 22
#define O1Y -25
#define O2X 47
#define O2Y -25

#include <Time.h> // see http://playground.arduino.cc/Code/time 
#include <Servo.h>

#ifdef REALTIMECLOCK
// for instructions on how to hook up a real time clock,
// see here -> http://www.pjrc.com/teensy/td_libs_DS1307RTC.html
// DS1307RTC works with the DS1307, DS1337 and DS3231 real time clock chips.
// Please run the SetTime example to initialize the time on new RTC chips and begin running.

 #include <Wire.h>
 #include <DS1307RTC.h> // see http://playground.arduino.cc/Code/time 
#endif

int servoLift = 1500;

Servo servo1; // 
Servo servo2; // 
Servo servo3; // 

volatile double lastX = 75;
volatile double lastY = 47.5;

int last_min = 0;

void setup() 
{ 
#ifdef REALTIMECLOCK
 Serial.begin(9600);
 //while (!Serial) { ; } // wait for serial port to connect. Needed for Leonardo only

 // Set current time only the first to values, hh,mm are needed 
 tmElements_t tm;
 if (RTC.read(tm)) 
 {
 setTime(tm.Hour,tm.Minute,tm.Second,tm.Day,tm.Month,tm.Year);
 Serial.println("DS1307 time is set OK.");
 } 
 else 
 {
 if (RTC.chipPresent())
 {
 Serial.println("DS1307 is stopped. Please run the SetTime example to initialize the time and begin running.");
 } 
 else 
 {
 Serial.println("DS1307 read error! Please check the circuitry.");
 } 
 // Set current time only the first to values, hh,mm are needed
 setTime(19,38,0,0,0,0);
 }
#else 
 // Set current time only the first to values, hh,mm are needed
 setTime(19,38,0,0,0,0);
#endif

 drawTo(75.2, 47);
 lift(0);
 servo1.attach(SERVOPINLIFT); // lifting servo
 servo2.attach(SERVOPINLEFT); // left servo
 servo3.attach(SERVOPINRIGHT); // right servo
 delay(1000);

} 

void loop() 
{ 

#ifdef CALIBRATION

 // Servohorns will have 90° between movements, parallel to x and y axis
 drawTo(-3, 29.2);
 delay(500);
 drawTo(74.1, 28);
 delay(500);

#else 


 int i = 0;
 if (last_min != minute()) {

 if (!servo1.attached()) servo1.attach(SERVOPINLIFT);
 if (!servo2.attached()) servo2.attach(SERVOPINLEFT);
 if (!servo3.attached()) servo3.attach(SERVOPINRIGHT);

 lift(0);

 hour();
 while ((i+1)*10 <= hour())
 {
 i++;
 }

 number(3, 3, 111, 1);
 number(5, 25, i, 0.9);
 number(19, 25, (hour()-i*10), 0.9);
 number(28, 25, 11, 0.9);

 i=0;
 while ((i+1)*10 <= minute())
 {
 i++;
 }
 number(34, 25, i, 0.9);
 number(48, 25, (minute()-i*10), 0.9);
 lift(2);
 drawTo(74.2, 47.5);
 lift(1);
 last_min = minute();

 servo1.detach();
 servo2.detach();
 servo3.detach();
 }

#endif

} 

// Writing numeral with bx by being the bottom left originpoint. Scale 1 equals a 20 mm high font.
// The structure follows this principle: move to first startpoint of the numeral, lift down, draw numeral, lift up
void number(float bx, float by, int num, float scale) {

 switch (num) {

 case 0:
 drawTo(bx + 12 * scale, by + 6 * scale);
 lift(0);
 bogenGZS(bx + 7 * scale, by + 10 * scale, 10 * scale, -0.8, 6.7, 0.5);
 lift(1);
 break;
 case 1:

 drawTo(bx + 3 * scale, by + 15 * scale);
 lift(0);
 drawTo(bx + 10 * scale, by + 20 * scale);
 drawTo(bx + 10 * scale, by + 0 * scale);
 lift(1);
 break;
 case 2:
 drawTo(bx + 2 * scale, by + 12 * scale);
 lift(0);
 bogenUZS(bx + 8 * scale, by + 14 * scale, 6 * scale, 3, -0.8, 1);
 drawTo(bx + 1 * scale, by + 0 * scale);
 drawTo(bx + 12 * scale, by + 0 * scale);
 lift(1);
 break;
 case 3:
 drawTo(bx + 2 * scale, by + 17 * scale);
 lift(0);
 bogenUZS(bx + 5 * scale, by + 15 * scale, 5 * scale, 3, -2, 1);
 bogenUZS(bx + 5 * scale, by + 5 * scale, 5 * scale, 1.57, -3, 1);
 lift(1);
 break;
 case 4:
 drawTo(bx + 10 * scale, by + 0 * scale);
 lift(0);
 drawTo(bx + 10 * scale, by + 20 * scale);
 drawTo(bx + 2 * scale, by + 6 * scale);
 drawTo(bx + 12 * scale, by + 6 * scale);
 lift(1);
 break;
 case 5:
 drawTo(bx + 2 * scale, by + 5 * scale);
 lift(0);
 bogenGZS(bx + 5 * scale, by + 6 * scale, 6 * scale, -2.5, 2, 1);
 drawTo(bx + 5 * scale, by + 20 * scale);
 drawTo(bx + 12 * scale, by + 20 * scale);
 lift(1);
 break;
 case 6:
 drawTo(bx + 2 * scale, by + 10 * scale);
 lift(0);
 bogenUZS(bx + 7 * scale, by + 6 * scale, 6 * scale, 2, -4.4, 1);
 drawTo(bx + 11 * scale, by + 20 * scale);
 lift(1);
 break;
 case 7:
 drawTo(bx + 2 * scale, by + 20 * scale);
 lift(0);
 drawTo(bx + 12 * scale, by + 20 * scale);
 drawTo(bx + 2 * scale, by + 0);
 lift(1);
 break;
 case 8:
 drawTo(bx + 5 * scale, by + 10 * scale);
 lift(0);
 bogenUZS(bx + 5 * scale, by + 15 * scale, 5 * scale, 4.7, -1.6, 1);
 bogenGZS(bx + 5 * scale, by + 5 * scale, 5 * scale, -4.7, 2, 1);
 lift(1);
 break;

 case 9:
 drawTo(bx + 9 * scale, by + 11 * scale);
 lift(0);
 bogenUZS(bx + 7 * scale, by + 15 * scale, 5 * scale, 4, -0.5, 1);
 drawTo(bx + 5 * scale, by + 0);
 lift(1);
 break;

 case 111:

 lift(0);
 drawTo(70, 46);
 drawTo(65, 43);

 drawTo(65, 49);
 drawTo(5, 49);
 drawTo(5, 45);
 drawTo(65, 45);
 drawTo(65, 40);

 drawTo(5, 40);
 drawTo(5, 35);
 drawTo(65, 35);
 drawTo(65, 30);

 drawTo(5, 30);
 drawTo(5, 25);
 drawTo(65, 25);
 drawTo(65, 20);

 drawTo(5, 20);
 drawTo(60, 44);

 drawTo(75.2, 47);
 lift(2);

 break;

 case 11:
 drawTo(bx + 5 * scale, by + 15 * scale);
 lift(0);
 bogenGZS(bx + 5 * scale, by + 15 * scale, 0.1 * scale, 1, -1, 1);
 lift(1);
 drawTo(bx + 5 * scale, by + 5 * scale);
 lift(0);
 bogenGZS(bx + 5 * scale, by + 5 * scale, 0.1 * scale, 1, -1, 1);
 lift(1);
 break;

 }
}



void lift(char lift) {
 switch (lift) {
 // room to optimize !

 case 0: //850

 if (servoLift >= LIFT0) {
 while (servoLift >= LIFT0) 
 {
 servoLift--;
 servo1.writeMicroseconds(servoLift);				
 delayMicroseconds(LIFTSPEED);
 }
 } 
 else {
 while (servoLift <= LIFT0) {
 servoLift++;
 servo1.writeMicroseconds(servoLift);
 delayMicroseconds(LIFTSPEED);

 }

 }

 break;

 case 1: //150

 if (servoLift >= LIFT1) {
 while (servoLift >= LIFT1) {
 servoLift--;
 servo1.writeMicroseconds(servoLift);
 delayMicroseconds(LIFTSPEED);

 }
 } 
 else {
 while (servoLift <= LIFT1) {
 servoLift++;
 servo1.writeMicroseconds(servoLift);
 delayMicroseconds(LIFTSPEED);
 }

 }

 break;

 case 2:

 if (servoLift >= LIFT2) {
 while (servoLift >= LIFT2) {
 servoLift--;
 servo1.writeMicroseconds(servoLift);
 delayMicroseconds(LIFTSPEED);
 }
 } 
 else {
 while (servoLift <= LIFT2) {
 servoLift++;
 servo1.writeMicroseconds(servoLift);				
 delayMicroseconds(LIFTSPEED);
 }
 }
 break;
 }
}


void bogenUZS(float bx, float by, float radius, int start, int ende, float sqee) {
 float inkr = -0.05;
 float count = 0;

 do {
 drawTo(sqee * radius * cos(start + count) + bx,
 radius * sin(start + count) + by);
 count += inkr;
 } 
 while ((start + count) > ende);

}

void bogenGZS(float bx, float by, float radius, int start, int ende, float sqee) {
 float inkr = 0.05;
 float count = 0;

 do {
 drawTo(sqee * radius * cos(start + count) + bx,
 radius * sin(start + count) + by);
 count += inkr;
 } 
 while ((start + count) <= ende);
}


void drawTo(double pX, double pY) {
 double dx, dy, c;
 int i;

 // dx dy of new point
 dx = pX - lastX;
 dy = pY - lastY;
 //path lenght in mm, times 4 equals 4 steps per mm
 c = floor(4 * sqrt(dx * dx + dy * dy));

 if (c < 1) c = 1;

 for (i = 0; i <= c; i++) {
 // draw line point by point
 set_XY(lastX + (i * dx / c), lastY + (i * dy / c));

 }

 lastX = pX;
 lastY = pY;
}

double return_angle(double a, double b, double c) {
 // cosine rule for angle between c and a
 return acos((a * a + c * c - b * b) / (2 * a * c));
}

void set_XY(double Tx, double Ty) 
{
 delay(1);
 double dx, dy, c, a1, a2, Hx, Hy;

 // calculate triangle between pen, servoLeft and arm joint
 // cartesian dx/dy
 dx = Tx - O1X;
 dy = Ty - O1Y;

 // polar lemgth (c) and angle (a1)
 c = sqrt(dx * dx + dy * dy); // 
 a1 = atan2(dy, dx); //
 a2 = return_angle(L1, L2, c);

 servo2.writeMicroseconds(floor(((a2 + a1 - M_PI) * SERVOFAKTORLEFT) + SERVOLEFTNULL));

 // calculate joinr arm point for triangle of the right servo arm
 a2 = return_angle(L2, L1, c);
 Hx = Tx + L3 * cos((a1 - a2 + 0.621) + M_PI); //36,5°
 Hy = Ty + L3 * sin((a1 - a2 + 0.621) + M_PI);

 // calculate triangle between pen joint, servoRight and arm joint
 dx = Hx - O2X;
 dy = Hy - O2Y;

 c = sqrt(dx * dx + dy * dy);
 a1 = atan2(dy, dx);
 a2 = return_angle(L1, (L2 - L3), c);

 servo3.writeMicroseconds(floor(((a1 - a2) * SERVOFAKTORRIGHT) + SERVORIGHTNULL));

}