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Upgraded steps & removed end courses

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This commit is contained in:
chakiral
2021-08-24 10:52:43 +02:00
parent 3035477b83
commit 0d14c0b1ef
2 changed files with 958 additions and 948 deletions
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366
bench_motor.ino
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@@ -1,178 +1,188 @@
// DRIVER : 4 MICROSTEPS FOR BENCH
// include the library code:
#include "rgb_lcd.h"
#include <Adafruit_NeoPixel.h>
// Joystick to motor integer
int SpeedDelay;
int motorHigh = 190;
int motorLow = 900;
int steps = 10;
int farleft = 240;
int centerleft = 485;
int farright = 775;
int centerright = 525;
// --- GLOBAL STRUCTS ---
// Represent a pin and associated state
struct pin_state
{
int pin;
int state;
};
// --- COMMANDS and INPUTS ---
// Struct definition
// Struct containing all commands buttons, inputs and states
struct commands
{
// joystick position, x axis
pin_state joystick_x;
// joystick position, y axis
pin_state joystick_y;
};
// Create command struct
struct commands cmd = {{A1, 0}, {A0, 0}};
// --- MOTORS ---
// Structs definitions
// Struct containing input pullups attached to motor
struct pullups
{
// home pullup
pin_state home;
// end pullup
pin_state end;
};
// Struct containing all pins and delay associated with a motor
struct motor
{
// pins
int dir;
int step;
int enable;
// delay
int delay;
// pullups associated
pullups pups;
// in position or not (mainly used by burner motor)
bool in_pos;
};
// Structs creation
// Create struct containing bench motor stuff
struct motor bench_motor = {33, 35, 31, motorHigh, {2, 0, 4, 0}, false};
// Array containing signals instructions
// forward move
int forward[4] = {HIGH, HIGH, HIGH, LOW};
// backward move
int backward[4] = {LOW, HIGH, HIGH, LOW};
// move_motor is used to move motor forward or backward
// arg motor: motor to activate is passed a parameter
// arg signals: array of int used to specify backward or forward mode
void move_motor(motor motor, int *signals)
{
digitalWrite(motor.dir, signals[0]);
digitalWrite(motor.enable, signals[1]);
digitalWrite(motor.step, signals[2]);
delayMicroseconds(motor.delay);
digitalWrite(motor.step, signals[3]);
delayMicroseconds(motor.delay);
}
// home_motors is used to get all motors to home position
void home_motors()
{
bench_motor.delay = motorHigh+30;
while (bench_motor.pups.home.state == LOW)
{
move_motor(bench_motor, forward);
bench_motor.pups.home.state = digitalRead(bench_motor.pups.home.pin);
}
refresh_motors_states();
}
// refresh all motors pullups states
void refresh_motors_states()
{
bench_motor.pups.home.state = digitalRead(bench_motor.pups.home.pin);
bench_motor.pups.end.state = digitalRead(bench_motor.pups.end.pin);
}
// move_using_joystick is used to move motors depending on joystick position
void move_using_joystick()
{
// fetch joystick position
cmd.joystick_x.state = analogRead(cmd.joystick_x.pin);
cmd.joystick_y.state = analogRead(cmd.joystick_y.pin);
// Check if Joystick button is pressed
if (cmd.joystick_y.state > 1000 && bench_motor.pups.end.state == LOW)
{
home_motors();
}
// if forward, go forward
while (cmd.joystick_x.state > centerright && bench_motor.pups.end.state == LOW)
{
SpeedDelay = map(cmd.joystick_x.state , centerright, farright, motorLow, motorHigh);
bench_motor.delay = SpeedDelay;
for (int i = 0; i < steps; i++)
move_motor(bench_motor, forward);
bench_motor.pups.end.state = digitalRead(bench_motor.pups.end.pin);
cmd.joystick_x.state = analogRead(cmd.joystick_x.pin);
}
// if backward, go backward
while (cmd.joystick_x.state < centerleft && bench_motor.pups.home.state == LOW)
{
SpeedDelay = map(cmd.joystick_x.state , centerleft, farleft, motorLow, motorHigh);
bench_motor.delay = SpeedDelay;
for (int i = 0; i < steps; i++)
move_motor(bench_motor, backward);
bench_motor.pups.home.state = digitalRead(bench_motor.pups.home.pin);
cmd.joystick_x.state = analogRead(cmd.joystick_x.pin);
}
}
// setup_motors assign all pin to output and input for motors
void setup_motors()
{
// bench motor setup
pinMode(bench_motor.step, OUTPUT);
pinMode(bench_motor.dir, OUTPUT);
pinMode(bench_motor.enable, OUTPUT);
pinMode(bench_motor.pups.home.pin, INPUT_PULLUP);
pinMode(bench_motor.pups.end.pin, INPUT_PULLUP);
}
// -- Setup function, needed by Arduino
void setup()
{
setup_motors();
}
// --- MAIN ---
// refresh_state is a wrapup off all refresh function
void refresh_state()
{
// motors states
refresh_motors_states();
}
// --- MAIN LOOP ---
void loop()
{
// refresh states from all inputs
refresh_state();
// move joystick if neeed
move_using_joystick();
}
// DRIVER : 4 MICROSTEPS FOR BENCH
// include the library code:
#include "rgb_lcd.h"
#include <Adafruit_NeoPixel.h>
// Joystick to motor integer
int SpeedDelay;
int motorHigh = 190;
int motorLow = 900;
int steps = 10;
int farleft = 240;
int centerleft = 485;
int farright = 775;
int centerright = 525;
// --- GLOBAL STRUCTS ---
// Represent a pin and associated state
struct pin_state
{
int pin;
int state;
};
// --- COMMANDS and INPUTS ---
// Struct definition
// Struct containing all commands buttons, inputs and states
struct commands
{
// joystick position, x axis
pin_state joystick_x;
// joystick position, y axis
pin_state joystick_y;
};
// Create command struct
struct commands cmd = {{A1, 0}, {A0, 0}};
// --- MOTORS ---
// Structs definitions
// Struct containing input pullups attached to motor
struct pullups
{
// home pullup
pin_state home;
// end pullup
pin_state end;
};
// Struct containing all pins and delay associated with a motor
struct motor
{
// pins
int dir;
int step;
int enable;
// delay
int delay;
// pullups associated
pullups pups;
// in position or not (mainly used by burner motor)
bool in_pos;
};
// Structs creation
// Create struct containing bench motor stuff
struct motor bench_motor = {33, 35, 31, motorHigh, {2, 0, 4, 0}, false};
// Array containing signals instructions
// forward move
int forward[4] = {HIGH, HIGH, HIGH, LOW};
// backward move
int backward[4] = {LOW, HIGH, HIGH, LOW};
// move_motor is used to move motor forward or backward
// arg motor: motor to activate is passed a parameter
// arg signals: array of int used to specify backward or forward mode
void move_motor(motor motor, int *signals)
{
digitalWrite(motor.dir, signals[0]);
digitalWrite(motor.enable, signals[1]);
digitalWrite(motor.step, signals[2]);
delayMicroseconds(motor.delay);
digitalWrite(motor.step, signals[3]);
delayMicroseconds(motor.delay);
}
// home_motors is used to get all motors to home position
// This function is disabled since no more end course
void home_motors()
{
// bench_motor.delay = motorHigh+30;
// Remove End course
// while (bench_motor.pups.home.state == LOW)
// {
// move_motor(bench_motor, forward);
// bench_motor.pups.home.state = digitalRead(bench_motor.pups.home.pin);
// }
refresh_motors_states();
}
// refresh all motors pullups states
// This function is disabled since no more end course
void refresh_motors_states()
{
// bench_motor.pups.home.state = digitalRead(bench_motor.pups.home.pin);
// bench_motor.pups.end.state = digitalRead(bench_motor.pups.end.pin);
}
// move_using_joystick is used to move motors depending on joystick position
void move_using_joystick()
{
// fetch joystick position
cmd.joystick_x.state = analogRead(cmd.joystick_x.pin);
cmd.joystick_y.state = analogRead(cmd.joystick_y.pin);
// Check if Joystick button is pressed - Remove end course
// if (cmd.joystick_y.state > 1000 && bench_motor.pups.end.state == LOW)
if (cmd.joystick_y.state > 1000)
{
home_motors();
}
// if forward, go forward - Remove end course
// while (cmd.joystick_x.state > centerright && bench_motor.pups.end.state == LOW)
while (cmd.joystick_x.state > centerright)
{
SpeedDelay = map(cmd.joystick_x.state , centerright, farright, motorLow, motorHigh);
bench_motor.delay = SpeedDelay;
for (int i = 0; i < steps; i++)
move_motor(bench_motor, forward);
// Remove End course
// bench_motor.pups.end.state = digitalRead(bench_motor.pups.end.pin);
cmd.joystick_x.state = analogRead(cmd.joystick_x.pin);
}
// if backward, go backward - Remove end course
// while (cmd.joystick_x.state < centerleft && bench_motor.pups.home.state == LOW)
while (cmd.joystick_x.state < centerleft)
{
SpeedDelay = map(cmd.joystick_x.state , centerleft, farleft, motorLow, motorHigh);
bench_motor.delay = SpeedDelay;
for (int i = 0; i < steps; i++)
move_motor(bench_motor, backward);
// Remove end course
// bench_motor.pups.home.state = digitalRead(bench_motor.pups.home.pin);
cmd.joystick_x.state = analogRead(cmd.joystick_x.pin);
}
}
// setup_motors assign all pin to output and input for motors
void setup_motors()
{
// bench motor setup
pinMode(bench_motor.step, OUTPUT);
pinMode(bench_motor.dir, OUTPUT);
pinMode(bench_motor.enable, OUTPUT);
// pinMode(bench_motor.pups.home.pin, INPUT_PULLUP);
// pinMode(bench_motor.pups.end.pin, INPUT_PULLUP);
}
// -- Setup function, needed by Arduino
void setup()
{
setup_motors();
}
// --- MAIN ---
// refresh_state is a wrapup off all refresh function
void refresh_state()
{
// motors states
refresh_motors_states();
}
// --- MAIN LOOP ---
void loop()
{
// refresh states from all inputs
// This function is disabled since no more end course
// refresh_state();
// move joystick if needed
move_using_joystick();
}

1540
burner_motor.ino
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