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Move all ramp variables to class members. To move the ramp behavior to the Loop() method there will need to be a global timer.

This commit is contained in:
Matt McWilliams 2024-02-17 12:17:26 +00:00
parent 344e1e8d1d
commit 1c1978107d
2 changed files with 22 additions and 15 deletions
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33
ino/contact_printer/ContactPrinter.cpp
View File

@ -31,15 +31,15 @@ void ContactPrinter::Setup () {
void ContactPrinter::Start () {
RampTakeup(0, takeup_pwm_duty_cycle, takeup_ramp_time);
delay(100);
//drive_motor.Start();
drive_motor.Start();
}
void ContactPrinter::Stop () {
//drive_motor.Start();
drive_motor.Start();
delay(100);
RampTakeup( takeup_pwm_duty_cycle, 0, takeup_ramp_time);
digitalWrite(takeup_picture_pin_cw, LOW);
digitalWrite(takeup_picture_pin_ccw, LOW)
digitalWrite(takeup_picture_pin_ccw, LOW);
digitalWrite(takeup_stock_pin_cw, LOW);
digitalWrite(takeup_stock_pin_ccw, LOW);
}
@ -63,10 +63,10 @@ void ContactPrinter::SetDirectionPicture(bool clockwise) {
//linear
void ContactPrinter::RampTakeup(uint16_t start, uint16_t end, uint16_t time) {
uint16_t steps = abs(start - end);
uint16_t step = round(time / steps);
uint16_t pwm = start;
bool dir = end < start;
takeup_ramp_steps = abs(start - end);
takeup_ramp_step = round(time / takeup_ramp_steps);
takeup_pwm_duty_cycle = start;
takeup_ramp_dir = end < start;
if (takeup_picture_cw) {
digitalWrite(takeup_picture_pin_cw, HIGH);
@ -82,20 +82,23 @@ void ContactPrinter::RampTakeup(uint16_t start, uint16_t end, uint16_t time) {
digitalWrite(takeup_stock_pin_cw, LOW);
digitalWrite(takeup_stock_pin_ccw, HIGH);
}
takeup_ramping = true;
for (uint16_t i = 0; i < steps; i++) {
if (pwm <= 0 || pwm >= 256) {
for (uint16_t i = 0; i < takeup_ramp_steps; i++) {
if (takeup_pwm_duty_cycle <= 0 || takeup_pwm_duty_cycle >= 255) {
takeup_ramping = false;
break;
}
ledcWrite(takeup_picture_pwm_channel, pwm);
ledcWrite(takeup_stock_pwm_channel, pwm);
delay(step);
if (dir) {
pwm++;
ledcWrite(takeup_picture_pwm_channel, takeup_pwm_duty_cycle);
ledcWrite(takeup_stock_pwm_channel, takeup_pwm_duty_cycle);
delay(takeup_ramp_step);
if (takeup_ramp_dir) {
takeup_pwm_duty_cycle++;
} else {
pwm--;
takeup_pwm_duty_cycle--;
}
}
takeup_ramping = false;
}
bool ContactPrinter::IsRunning () {

4
ino/contact_printer/ContactPrinter.h
View File

@ -30,6 +30,10 @@ class ContactPrinter {
volatile float takeup_speed = 1.0; //estimated rpm
volatile uint16_t takeup_pwm_duty_cycle = 0;
volatile uint16_t takeup_ramp_steps = 0; //# of steps
volatile uint16_t takeup_ramp_step = 0; //length of step (ms)
volatile boolean takeup_ramp_dir = true; //true = up, false = down
volatile boolean takeup_ramping = false;
volatile bool takeup_picture_cw = false;
volatile bool takeup_picture_ccw = true;