Create the Lamp class which will abstract to different lamp types before one is settled on.

ino/contact_printer/ContactPrinter.cpp

@@ -10,6 +10,7 @@ void ContactPrinter::Setup () {
 	pinMode(takeup_picture_pin_ccw, OUTPUT);
 	pinMode(takeup_stock_pin_cw, OUTPUT);
 	pinMode(takeup_stock_pin_ccw, OUTPUT);
+	pinMode(start_button_pin, INPUT_PULLUP);
 
 	drive_motor.Setup();
 
@@ -26,18 +27,22 @@ void ContactPrinter::Setup () {
 	digitalWrite(takeup_picture_pin_ccw, LOW);
 	digitalWrite(takeup_stock_pin_cw, LOW);
 	digitalWrite(takeup_stock_pin_ccw, LOW);
+
+	SetSpeedTakeup(0.4);
+	//SetSpeedDrive(1.0);
 }
 
 void ContactPrinter::Start () {
 	RampTakeup(0, takeup_pwm_duty_cycle, takeup_ramp_time);
 	delay(100);
 	drive_motor.Start();
+	running = true;
 }
 
 void ContactPrinter::Stop () {
 	drive_motor.Start();
 	delay(100);
-	RampTakeup( takeup_pwm_duty_cycle, 0, takeup_ramp_time);
+	RampTakeup(takeup_pwm_duty_cycle, 0, takeup_ramp_time);
 	digitalWrite(takeup_picture_pin_cw, LOW);
 	digitalWrite(takeup_picture_pin_ccw, LOW);
 	digitalWrite(takeup_stock_pin_cw, LOW);
@@ -62,11 +67,13 @@ void ContactPrinter::SetDirectionPicture(bool clockwise) {
 }
 
 //linear
-void ContactPrinter::RampTakeup(uint16_t start, uint16_t end, uint16_t time) {
+void ContactPrinter::RampTakeup(uint16_t start_pwm, uint16_t end_pwm, uint16_t time) {
-	takeup_ramp_steps = abs(start - end);
+	takeup_ramp_steps = abs(start_pwm - end_pwm);
 	takeup_ramp_step = round(time / takeup_ramp_steps);
-	takeup_pwm_duty_cycle  = start;
+	takeup_pwm_duty_cycle  = start_pwm;
-	takeup_ramp_dir = end < start;
+	takeup_ramp_dir = end_pwm < start_pwm;
+	takeup_ramp_current_step = 0;
+	takeup_ramping = true;
 
 	if (takeup_picture_cw) {
 		digitalWrite(takeup_picture_pin_cw, HIGH);
@@ -82,7 +89,6 @@ 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 < takeup_ramp_steps; i++) {
 		if (takeup_pwm_duty_cycle <= 0 || takeup_pwm_duty_cycle >= 255) {
@@ -101,6 +107,16 @@ void ContactPrinter::RampTakeup(uint16_t start, uint16_t end, uint16_t time) {
 	takeup_ramping = false;
 }
 
+void ContactPrinter::RampTakeupLoop () {
+
+}
+
+void ContactPrinter::ButtonLoop () {
+	if (!running && digitalRead(start_button_pin) == LOW) {
+		Start();
+	}
+}
+
 bool ContactPrinter::IsRunning () {
 	return running;
 }
@@ -108,4 +124,7 @@ bool ContactPrinter::IsRunning () {
 void ContactPrinter::Loop () {
 	timer = millis();
 	drive_motor.Loop();
+	if (takeup_ramping) {
+		RampTakeupLoop();
+	}
 }

ino/contact_printer/ContactPrinter.h

@@ -3,6 +3,7 @@
 
 #include <Arduino.h>
 #include "DriveMotor.h"
+#include "Lamp.h"
 
 class ContactPrinter {           
 
@@ -10,6 +11,7 @@ class ContactPrinter {
 
 	//use default drive motor pins
 	DriveMotor drive_motor;
+	Lamp lamp;
 
 	const uint16_t serial_delay = 5;
 	const uint16_t baud = 115200;
@@ -22,6 +24,8 @@ class ContactPrinter {
 	const uint8_t takeup_stock_pin_cw = 18;
 	const uint8_t takeup_stock_pin_ccw = 5;
 
+	const uint8_t start_button_pin = 34;
+
 	const uint32_t pwm_frequency = 30000;
 	const uint8_t takeup_picture_pwm_channel = 1;
 	const uint8_t takeup_stock_pwm_channel = 2;
@@ -36,6 +40,12 @@ class ContactPrinter {
 	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 uint16_t takeup_ramp_time = 500; //default ramp time (ms)
+	volatile long takeup_ramp_start = 0;      //time to start ramping
+	volatile long takeup_ramp_current_step = 0;
+	volatile long takeup_ramp_next_step_start = 0;
+
 	volatile boolean takeup_ramping = false;
 
 	volatile bool takeup_picture_cw = false;
@@ -44,8 +54,6 @@ class ContactPrinter {
 	volatile bool takeup_stock_cw = true;
 	volatile bool takeup_stock_ccw = true;
 
-	volatile uint16_t takeup_ramp_time = 500;
-
 	volatile bool running = false;
 
 	public:
@@ -62,6 +70,9 @@ class ContactPrinter {
 	void SetDirectionPicture(bool clockwise);
 
 	void RampTakeup(uint16_t start, uint16_t end, uint16_t time);
+	void RampTakeupLoop();
+
+	void ButtonLoop();
 
 	bool IsRunning ();
 };

ino/contact_printer/Lamp.cpp

@@ -0,0 +1,5 @@
+#include "Lamp.h"
+
+Lamp::Lamp () {
+	//
+} 

ino/contact_printer/Lamp.h

@@ -0,0 +1,17 @@
+#ifndef LAMP
+#define LAMP
+
+#include <Arduino.h>
+
+class Lamp {
+	private:
+	volatile boolean on = false;
+	volatile uint8_t lamp_pin_a = 33;
+
+	public:
+	Lamp();
+	void Setup();
+	void Loop();
+};
+
+#endif

ino/contact_printer/contact_printer.ino

@@ -23,6 +23,10 @@
  * 27 Drive Encoder A
  * 26 Drive Encoder B
  * 
+ * 34 Start Button
+ * 
+ * 33 Lamp
+ * 
  **/
 
 ContactPrinter contact_printer;