Imported from GitHub: machdyne/af · commit 70e16a5 · license CERN-OHL-P-2.0

Description

Open-Source Pick and Place Autofeeder

README

Koch Firmware

Koch is the autofeeder system controller PCB for the Machdyne AF project.

This firmwire provides a minimal G-code compatible interface over the USB port that can be driven by an OpenPnP GcodeDriver.

Each feeder has an 1-byte ID, which is set when the Essen firmware is built.

Building

To build the RP2040 firmware, assuming you have pico-sdk installed:

$ mkdir build
$ cd build
$ cmake ..
$ make

OpenPnp Configuration

Machine Setup

Add a GCodeDriver under Drivers and set the correct serial port, 115200 baud.

Set the driver Gcode value for ACTUATE_DOUBLE_COMMAND:

K100 {IntegerValue}

Add an Actuator that uses the above driver with Value Type of Double.

Feeder Setup

Add a new feeder and select the above actuator, set the actuator value to the decimal I2C ID of the feeder.

Gcode Commands

Command	Description
K100 <feeder_id>	Advance the specified feeder (ID is base-10)
K200	Motor on full forward
K201	Motor on full reverse
K202	Motor off
K900	Report system status & current usage