EFECTIS/Projet-bruleur
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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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50
bench_motor.ino
View File

@@ -87,22 +87,26 @@ void move_motor(motor motor, int *signals)
}
// 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;
while (bench_motor.pups.home.state == LOW)
{
move_motor(bench_motor, forward);
bench_motor.pups.home.state = digitalRead(bench_motor.pups.home.pin);
}
// 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);
// 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
@@ -111,30 +115,35 @@ 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)
// 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
while (cmd.joystick_x.state > centerright && bench_motor.pups.end.state == LOW)
// 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);
bench_motor.pups.end.state = digitalRead(bench_motor.pups.end.pin);
// 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
while (cmd.joystick_x.state < centerleft && bench_motor.pups.home.state == LOW)
// 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);
bench_motor.pups.home.state = digitalRead(bench_motor.pups.home.pin);
// Remove end course
// bench_motor.pups.home.state = digitalRead(bench_motor.pups.home.pin);
cmd.joystick_x.state = analogRead(cmd.joystick_x.pin);
}
}
@@ -145,8 +154,8 @@ void setup_motors()
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);
// pinMode(bench_motor.pups.home.pin, INPUT_PULLUP);
// pinMode(bench_motor.pups.end.pin, INPUT_PULLUP);
}
// -- Setup function, needed by Arduino
@@ -170,9 +179,10 @@ void loop()
{
// refresh states from all inputs
refresh_state();
// This function is disabled since no more end course
// refresh_state();
// move joystick if neeed
// move joystick if needed
move_using_joystick();
}

2
burner_motor.ino
View File

@@ -89,7 +89,7 @@ float datasec;
float datams;
// Steps for actionscript variable
const int actionsteps = 11;
const int actionsteps = 31;
int runningstep = 0;
int stepstate = LOW;
int burningstate = LOW; // Will keep track of burner for actionscript