The arc commands work correctly on their own but when I try to use them in continuous mode they fail. I have tried both upper and lower case "aA". These are the commands I am sending.
Example2: 24mm square box with 2mm radius corners

C
D
X0 Y20|A2,0,90|X-20 Y0|A2,90,180|X0 Y-20|A2,180,270|X20 Y0|A2,270, 360
-END**

Please see attached video showing what happens.

Hi,
Can you please add in:

1. a scaling function for both X axis and one for Y axis.
2. breakout steps_per_mm for both X axis and Y axis.

These will help with mechanical variances. Thanks.

Please change the command functions arc, X, Y, stepsPerMM from int's to floats or better yet double floats. I believe this would fix other issues posted.

Hello,
Can you please provide the TimerOne.h file.

Thanks.

Two things:

1. I can not see to create an arc smaller than 1mm for example a0.254 to create a 0.5mm diameter circle.
2. Also I can not create any odd numbered diameters for example: a1.5 to create a 3mm diameter circle.

Hi,

I am able to get the motors doing the right things with your commands. When I hit "H" to home X & Y axis's the optical switches are not seen or recognized and no interrupt is ever being created.

I created a separate small routine to test these same limit switch pins and optical switches using attachedInterrupt they all work fine they see the optical switches and create an interrupt.

I am not sure what I am missing in your code but for some reason it will not generate an interrupt to stop the motor when a limit switch is seen. Any guidance would be greatly appreciated.

Please add new functions:

1. Ability to Set Origin 0:0 as a reference for example: using commands to move the pen to the corner of the page and set / store that as the 0:0 reference.

2. Ability to apply Offset values for both X & Y where to start printing from the origin on the page.

3. Break out the stepsPerMM ability to define one for the X axis and another for the Y axis.

Arduino: 1.8.13 (Mac OS X), Board: "SAME51N19A M4 (SAME51), Enabled, 120 MHz (standard), Small (-Os) (standard), 50 MHz (standard), Arduino, Off"

/Users/JimD/Documents/Arduino/xy-plotter/xy-plotter.ino: In function 'void setup()':
xy-plotter:122:3: error: 'servoMove' was not declared in this scope
122 | servoMove(SERVO_PIN, PEN_UP);
| ^~~~~~~~~
/Users/JimD/Documents/Arduino/xy-plotter/xy-plotter.ino: In function 'void panic()':
xy-plotter:140:3: error: 'Timer1' was not declared in this scope; did you mean '_timer1'?
140 | Timer1.stop();
| ^~~~~~
| _timer1
xy-plotter:141:3: error: 'println' was not declared in this scope; did you mean 'printf'?
141 | println("STOPPED");
| ^~~~~~~
| printf
/Users/JimD/Documents/Arduino/xy-plotter/xy-plotter.ino: In function 'void oneStep()':
xy-plotter:161:5: error: 'println' was not declared in this scope; did you mean 'printf'?
161 | println(F("D One step, hit a switch"));
| ^~~~~~~
| printf
xy-plotter:162:5: error: 'servoMove' was not declared in this scope
162 | servoMove(SERVO_PIN, PEN_UP);
| ^~~~~~~~~
xy-plotter:163:5: error: 'Timer1' was not declared in this scope; did you mean '_timer1'?
163 | Timer1.stop();
| ^~~~~~
| _timer1
xy-plotter:173:5: error: 'servoMove' was not declared in this scope
173 | servoMove(SERVO_PIN, PEN_UP);
| ^~~~~~~~~
xy-plotter:178:5: error: 'servoMove' was not declared in this scope
178 | servoMove(SERVO_PIN, PEN_DOWN);
| ^~~~~~~~~
xy-plotter:188:5: error: 'Timer1' was not declared in this scope; did you mean '_timer1'?
188 | Timer1.stop();
| ^~~~~~
| _timer1
xy-plotter:197:7: error: 'printWorkItem' was not declared in this scope
197 | printWorkItem(wItem);
| ^~~~~~~~~~~~~
xy-plotter:199:5: error: 'setDirection' was not declared in this scope
199 | setDirection(wItem);
| ^~~~~~~~~~~~
/Users/JimD/Documents/Arduino/xy-plotter/xy-plotter.ino: In function 'void interruptOnX1()':
xy-plotter:235:3: error: 'disableXInterrupts' was not declared in this scope
235 | disableXInterrupts();
| ^~~~~~~~~~~~~~~~~~
/Users/JimD/Documents/Arduino/xy-plotter/xy-plotter.ino: In function 'void interruptOnX2()':
xy-plotter:242:3: error: 'disableXInterrupts' was not declared in this scope
242 | disableXInterrupts();
| ^~~~~~~~~~~~~~~~~~
/Users/JimD/Documents/Arduino/xy-plotter/xy-plotter.ino: In function 'void interruptOnY1()':
xy-plotter:249:3: error: 'disableYInterrupts' was not declared in this scope
249 | disableYInterrupts();
| ^~~~~~~~~~~~~~~~~~
/Users/JimD/Documents/Arduino/xy-plotter/xy-plotter.ino: In function 'void interruptOnY2()':
xy-plotter:256:3: error: 'disableYInterrupts' was not declared in this scope
256 | disableYInterrupts();
| ^~~~~~~~~~~~~~~~~~
/Users/JimD/Documents/Arduino/xy-plotter/xy-plotter.ino: In function 'void startWork()':
xy-plotter:267:5: error: 'enableMotors' was not declared in this scope
267 | enableMotors();
| ^~~~~~~~~~~~
xy-plotter:268:5: error: 'enableEndSwitches' was not declared in this scope
268 | enableEndSwitches();
| ^~~~~~~~~~~~~~~~~
xy-plotter:277:5: error: 'Timer1' was not declared in this scope; did you mean '_timer1'?
277 | Timer1.initialize(100); // No motor movement, so we can speed up
| ^~~~~~
| _timer1
xy-plotter:279:5: error: 'Timer1' was not declared in this scope; did you mean '_timer1'?
279 | Timer1.initialize(200);
| ^~~~~~
| _timer1
xy-plotter:281:3: error: 'Timer1' was not declared in this scope; did you mean '_timer1'?
281 | Timer1.attachInterrupt(oneStep);
| ^~~~~~
| _timer1
/Users/JimD/Documents/Arduino/xy-plotter/xy-plotter.ino: In function 'void loop()':
xy-plotter:313:23: error: 'preParse' was not declared in this scope
313 | String path = preParse();
| ^~~~~~~~
xy-plotter:314:9: error: 'parsePath' was not declared in this scope
314 | parsePath(path);
| ^~~~~~~~~
xy-plotter:323:11: error: 'enableMotors' was not declared in this scope
323 | enableMotors();
| ^~~~~~~~~~~~
xy-plotter:326:11: error: 'disableMotors' was not declared in this scope
326 | disableMotors();
| ^~~~~~~~~~~~~
xy-plotter:333:27: error: 'preParse' was not declared in this scope
333 | String path = preParse();
| ^~~~~~~~
xy-plotter:334:13: error: 'parsePath' was not declared in this scope
334 | parsePath(path);
| ^~~~~~~~~
xy-plotter:355:13: error: 'println' was not declared in this scope; did you mean 'printf'?
355 | println("D Homing");
| ^~~~~~~
| printf
xy-plotter:358:13: error: 'parsePath' was not declared in this scope
358 | parsePath(path);
| ^~~~~~~~~
xy-plotter:365:13: error: 'servoMove' was not declared in this scope
365 | servoMove(SERVO_PIN, PEN_UP);
| ^~~~~~~~~
xy-plotter:373:13: error: 'servoMove' was not declared in this scope
373 | servoMove(SERVO_PIN, PEN_DOWN);
| ^~~~~~~~~
xy-plotter:381:13: error: 'servoMove' was not declared in this scope
381 | servoMove(SERVO_PIN, val);
| ^~~~~~~~~
xy-plotter:385:11: error: 'enableEndSwitches' was not declared in this scope
385 | enableEndSwitches();
| ^~~~~~~~~~~~~~~~~
xy-plotter:400:13: error: 'disableXInterrupts' was not declared in this scope
400 | disableXInterrupts();
| ^~~~~~~~~~~~~~~~~~
xy-plotter:401:13: error: 'disableYInterrupts' was not declared in this scope
401 | disableYInterrupts();
| ^~~~~~~~~~~~~~~~~~
xy-plotter:420:11: error: 'handleZ' was not declared in this scope
420 | handleZ(arg);
| ^~~~~~~
xy-plotter:426:11: error: 'handleArc' was not declared in this scope
426 | handleArc(c,command);
| ^~~~~~~~~
xy-plotter:442:5: error: 'println' was not declared in this scope; did you mean 'printf'?
442 | println("D .. done reached ..");
| ^~~~~~~
| printf
xy-plotter:466:11: error: 'parsePath' was not declared in this scope
466 | parsePath("Y-200");
| ^~~~~~~~~
xy-plotter:471:11: error: 'parsePath' was not declared in this scope
471 | parsePath("X-200");
| ^~~~~~~~~
xy-plotter:484:21: error: 'preParse' was not declared in this scope
484 | String path = preParse();
| ^~~~~~~~
xy-plotter:486:7: error: 'parsePath' was not declared in this scope
486 | parsePath(path);
| ^~~~~~~~~
xy-plotter:492:9: error: 'disableMotors' was not declared in this scope
492 | disableMotors();
| ^~~~~~~~~~~~~
/Users/JimD/Documents/Arduino/xy-plotter/xy-plotter.ino: In function 'void compensate_move(int)':
xy-plotter:514:3: error: 'println' was not declared in this scope; did you mean 'printf'?
514 | println(" Start crawling");
| ^~~~~~~
| printf
xy-plotter:531:5: error: 'enableYInterrupts' was not declared in this scope; did you mean 'noInterrupts'?
531 | enableYInterrupts(CHANGE);
| ^~~~~~~~~~~~~~~~~
| noInterrupts
xy-plotter:533:5: error: 'enableXInterrupts' was not declared in this scope; did you mean 'noInterrupts'?
533 | enableXInterrupts(CHANGE);
| ^~~~~~~~~~~~~~~~~
| noInterrupts
Multiple libraries were found for "Servo.h"
Used: /Users/JimD/Documents/Arduino/libraries/Servo
Not used: /Applications/Arduino 2.app/Contents/Java/libraries/Servo
Not used: /Users/JimD/Library/Arduino15/packages/adafruit/hardware/samd/1.6.6/libraries/Servo
exit status 1
'servoMove' was not declared in this scope

This report would have more information with
"Show verbose output during compilation"
option enabled in File -> Preferences.