Conversion of a Sewing Machine as an Embroidery Machine controlled by P2

work in progress....
So let me put together an overview for my P2- controlled embroidery machine.
I already have given insights to the progress of the project here: https://forums.parallax.com/discussion/176269/towards-a-p2-controlled-embroidery-machine/p1

The first picture shows how the work is distributed between 4 cores of P2. I think, this is a nice project for P2, because vertical movement of the needle and lateral movement of the frame are done partly in parallel and at least the AC triac control for the sewing motor is time critical.

I wondered, if the movement of the frame could be done with two rotating axes instead of orthogonal movement. The 2 wheels are printed from ABS.

This sketch shows the coordinate transformation from XY to the two angles. The needle sits at 240,240 and shall penetrate the fabric at local coordinates 50,75. This is achieved with the angles 19,1342° and 64,229°. You could argue, that the transformation is "quite natural for P2" because it has a Cordic solver to do rotations.

The controller must have a sensor for the vertical position of the needle. Here we use a AS5600 Magnetic Angle Encoder at the Hand Wheel of the sewing machine. The same sensor signal is also used for the underlying control of the motor speed. The sewing machine has to be tamed very much, which is done with a triac phase controller, a "RobotDyn" module.

Synchronisation of needle movement and lateral movement is done like this:
A cycle (0...255) starts with zero, when the needle enters the fabric.
After it has left the fabric at 135 the lateral movement of the stepper motors can begin. As soon as it is completed a new new stitch may be scheduled.
If no new stitch is pending, the needle motor will stop at 180.

An example: Saint Peter and Paul, a nearly 1000 years old church at the Lake of Konstanz.
https://de.wikipedia.org/wiki/St.Peter_und_Paul(Reichenau-Niederzell)
About 5600 stitches as "satin columns" using a 75 embroidery needle and 402 polyester yarn on a cotton bag.

Special thanks go to the nice and helpful Forum members!!! Creation of P2, making it usable with the Kiss board, and the FlexC Compiler!!!

Have Fun Christof