https://github.com/russhughes/classbotlib
ClassBot Library to control 3d printed drawing robot.
https://github.com/russhughes/classbotlib
28byj-48 arduino drawing drawing-library hershey-fonts plotter robot
Last synced: 23 days ago
JSON representation
ClassBot Library to control 3d printed drawing robot.
- Host: GitHub
- URL: https://github.com/russhughes/classbotlib
- Owner: russhughes
- Created: 2018-05-01T04:40:30.000Z (about 8 years ago)
- Default Branch: master
- Last Pushed: 2019-02-08T05:02:22.000Z (over 7 years ago)
- Last Synced: 2025-11-24T03:07:54.024Z (6 months ago)
- Topics: 28byj-48, arduino, drawing, drawing-library, hershey-fonts, plotter, robot
- Language: C
- Homepage:
- Size: 3.07 MB
- Stars: 3
- Watchers: 0
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
Awesome Lists containing this project
README
# ClassBotLib
ClassBotLib is an arduino library to control a small [3D printed drawing robot](https://www.thingiverse.com/thing:1104889) based on [MakersBox's](https://www.thingiverse.com/MakersBox) [Arduino Chassis for Drawing Robot](https://www.thingiverse.com/thing:1091401). In my classes I use a custom [Arduino Shield](https://easyeda.com/EZG0bble/ClassBot_copy_copy-b2797f6d387242cd86f59364dd86db91) to drive a pair of 28BYJ-48 stepper motors using two ULN2003 driver IC's. The shield has room for a SPI Serial Ram Chip and a I2C Serial EEPROM that are not used in this library. Take a look at the [TinyBasic Plus ClassBot Edition Github repo](https://github.com/russhughes/TinyBasicPlus) for another way to run the bot.
### Requires the AccelStepper Library:
- http://www.airspayce.com/mikem/arduino/AccelStepper/
# Using the Library
A #define statement is used to select which of the [Hershey vector fonts](https://en.wikipedia.org/wiki/Hershey_fonts) to use for drawing text. If you do not select a font (or mispell the name of the font) FONT_ROWMANS will be used by default. This must be done before including the "ClassBot.h" header file.
#define FONT_SCRIPTS
#include "ClassBot.h"
#### Available Hershey fonts
* FONT_ASTROLOGY
* FONT_CURSIVE
* FONT_CYRILC\_1
* FONT_CYRILLIC
* FONT_FUTURAL
* FONT_FUTURAM
* FONT_GOTHGBT
* FONT_GOTHGRT
* FONT_GOTHICENG
* FONT_GOTHICGER
* FONT_GOTHICITA
* FONT_GOTHITT
* FONT_GREEKC
* FONT_GREEK
* FONT_GREEKS
* FONT_JAPANESE
* FONT_MARKERS
* FONT_MATHLOW
* FONT_MATHUPP
* FONT_METEOROLOGY
* FONT_MUSIC
* FONT_ROWMAND
* FONT_ROWMANS
* FONT_ROWMANT
* FONT_SCRIPTC
* FONT_SCRIPTS
* FONT_SYMBOLIC
* FONT_TIMESG
* FONT_TIMESIB
* FONT_TIMESI
* FONT_TIMESRB
* FONT_TIMESR
## ClassBot
`ClassBot::ClassBot(int l1 = 9, int l2 = 7, int l3 = 8, int l4 = 6, int r1 = 2, int r2 = 4, int r3 = 3, int r4 = 5, int ServoPin = A0);`
Constructor, create's the ClassBot object and configures the library. Be sure to set your stepper motor pins if your bot is wired differently then the default.
#### Parameters
| Parameter | Description | Default Value |
--- | ----------------- | --------
l1 | left motor pin 1 | D9
l2 | left motor pin 2 | D7
l3 | left motor pin 3 | D8
l4 | left motor pin 4 | D6
r1 | right motor pin 1 | D2
r2 | right motor pin 2 | D4
r3 | right motor pin 3 | D3
r4 | right motor pin 4 | D5
ServoPin | Pen servo pin | A0
## penDown
`void penDown();`
Lower the pen to the paper.
## penUp
`void penUp();`
Raise the pen off the paper
## moveForward
`void moveForward(float distance);`
Move forward `distance` milimeters.
## moveBackward
`void moveBackward(float distance);`
Move backward `distance` milimeters.
## turnLeft
`void turnLeft(float degrees);`
Turn `degrees` to the left.
## turnRight
`void turnRight(float degrees);`
Turn `degrees` to the right.
## turnTo
`void turnTo(float heading);`
Turn to face `heading` compass heading in degrees.
## moveTo
`void moveTo(long x, long y, boolean penUp=true, float scale = 1);`
Move to cartesian coordinates `x,y` with the pen up or down as specified by `penUp`. `scale` sets the coordinate size in milimeters and defaults to 1mm.
## drawChar
`void drawChar(char ch, float scale = 1);`
Draw the character `ch` at the `scale` size.
## writeText
`void writeText(char *str, float scale = 1);`
Write the string `str` at the `scale` size
## done
`void done();`
Turn off steppers motors and raise the pen.
## setX
`void setX(long x);`
Set the current cartesian X coordinate to `x`.
## setY
`void setY(long y);`
Set the current cartesian Y coordinate to `y`.
## setH
`void setH(float degrees);`
Set the current heading in degrees
## getPen
`boolean getPen();`
Returns true id the pen is raised.
## getX
`long getX();`
Return the current cartesian X coordinate of the bot.
## getY
`long getY();`
Return the current cartesian Y coordinate of the bot.
## getH
`float getH();`
Return the current heading of the bot.
## Example 1: Draw a box
//
// Draw a box
//
#include "ClassBot.h"
int side = 20;
void setup()
{
ClassBot bot;
bot.penDown();
for (int i=1; i <5; i++) {
bot.moveForward(side);
bot.turnLeft(90);
}
bot.done();
}
void loop()
{
}
## Example 2: Approximate a circle or ellipse using a polygon
#include "ClassBot.h"
int radiusX = 30;
int radiusY = 30;
int sides = 20; // polygon number of sides
void setup()
{
ClassBot bot;
float step = 2 * PI / sides;
float theta;
int x, y, xx, yy;
int startX = bot.getX();
int startY = bot.getY();
int startH = bot.getH();
for (theta = 0; theta < 2 * PI; theta += step) {
x = radiusX * cos(theta);
y = radiusY * sin(theta);
if (theta == 0) {
xx = x;
yy = y;
bot.moveTo(x, y, true);
} else {
bot.moveTo(x, y, false);
}
}
bot.moveTo(xx, yy, false);
bot.moveTo(startX, startY, true);
bot.turnTo(startH);
bot.done();
}
void loop()
{
}
## Example 3: Draw a star
//
// Draw a star
//
#include "ClassBot.h"
int side = 20;
int points = 5;
void setup()
{
ClassBot bot;
float angle = 180.0 - 180.0 / points;
int i;
bot.penDown();
for (i = 0; i < points; i++) {
bot.moveForward(side);
bot.turnLeft(angle);
bot.moveForward(side);
}
bot.done();
}
void loop()
{
}
## Example 4: Write Text
//
// Simple text drawing example
//
// You can use a #define statement to select which font to use
// if you do not select a font (or mispell the name of the font)
// FONT_ROWMANS will be used by default. This must be done before
// the #include "ClassBot.h" line.
#define FONT_SCRIPTS
#include "ClassBot.h"
void setup()
{
ClassBot bot;
bot.writeText((char *)"Hello!", 2);
bot.done();
}
void loop()
{
}