ino/contact_printer/ContactPrinter.cpp

@@ -6,12 +6,10 @@ ContactPrinter::ContactPrinter () {
 }
 
 void ContactPrinter::Setup () {
-
 	pinMode(takeup_picture_pin_cw, OUTPUT);
 	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();
@@ -31,19 +29,19 @@ void ContactPrinter::Setup () {
 	digitalWrite(takeup_stock_pin_ccw, LOW);
 
 	SetSpeedTakeup(0.4);
-	SetSpeedDrive(1.0);
+	//SetSpeedDrive(1.0);
 }
 
 void ContactPrinter::Start () {
-	Serial.println("Start()");
+	RampTakeup(0, takeup_pwm_duty_cycle, takeup_ramp_time);
+	delay(100);
 	drive_motor.Start();
-	//RampTakeup(0, takeup_pwm_duty_cycle, takeup_ramp_time);
-	
 	running = true;
 }
 
 void ContactPrinter::Stop () {
-	drive_motor.Stop();
+	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);
@@ -57,7 +55,7 @@ void ContactPrinter::SetSpeedTakeup(float speed) {
 }
 
 void ContactPrinter::SetSpeedDrive(float speed) {
-	drive_motor.SetSpeed(speed);
+	//drive_motor.SetSpeed();
 }
 
 void ContactPrinter::SetDirectionStock(bool clockwise) {
@@ -125,11 +123,8 @@ bool ContactPrinter::IsRunning () {
 
 void ContactPrinter::Loop () {
 	timer = millis();
-	ButtonLoop();
+	drive_motor.Loop();
-	if (running) {
+	if (takeup_ramping) {
-		drive_motor.Loop();
+		RampTakeupLoop();
-		if (takeup_ramping) {
-			RampTakeupLoop();
-		}
 	}
 }

ino/contact_printer/ContactPrinter.h

@@ -25,7 +25,7 @@ class ContactPrinter {
 	const uint8_t takeup_stock_pin_cw = 18;
 	const uint8_t takeup_stock_pin_ccw = 5;
 
-	const uint8_t start_button_pin = 15;
+	const uint8_t start_button_pin = 17;
 
 	/* MOTOR PWM */
 	const uint32_t pwm_frequency = 30000;

ino/contact_printer/DriveMotor.cpp

@@ -17,9 +17,6 @@ void DriveMotor::Setup () {
 	pinMode(forward_pin, OUTPUT);
 	pinMode(backward_pin, OUTPUT);
 
-	pinMode(encoder_a_pin, INPUT);
-  	pinMode(encoder_b_pin, INPUT);
-
 	ledcSetup(pwm_channel, pwm_frequency, pwm_resolution);
 	ledcAttachPin(enable_pin, pwm_channel);
 	ledcWrite(pwm_channel, pwm_duty_cycle);
@@ -33,18 +30,14 @@ void DriveMotor::Start() {
 	digitalWrite(forward_pin, HIGH);
 	digitalWrite(backward_pin, LOW);
 }
-
 void DriveMotor::Stop() {
 	pwm_duty_cycle = 0;
 	digitalWrite(forward_pin, LOW);
 	digitalWrite(backward_pin, LOW);
 	ledcWrite(pwm_channel, pwm_duty_cycle);
 }
-
+void DriveMotor::SetSpeed() {
-void DriveMotor::SetSpeed(float speed) {
+	pwm_duty_cycle = 255;
-	pwm_duty_cycle = floor(255 * speed);
-	Serial.print("Set drive motor PWM = ");
-	Serial.println(pwm_duty_cycle);
 }
 
 void DriveMotor::Loop () {

ino/contact_printer/DriveMotor.h

@@ -8,11 +8,11 @@ class DriveMotor {
 	private:
 
 	//defaults are for EPS32 dev board
-	volatile uint8_t enable_pin = 26;
+	volatile uint8_t enable_pin = 13;
-	volatile uint8_t forward_pin = 27; //Clockwise
+	volatile uint8_t forward_pin = 12; //Clockwise
 	volatile uint8_t backward_pin = 14; //Counter-clockwise
-	volatile uint8_t encoder_a_pin = 33;
+	volatile uint8_t encoder_a_pin = 27;
-	volatile uint8_t encoder_b_pin = 25;
+	volatile uint8_t encoder_b_pin = 26;
 
 	volatile uint8_t pwm_duty_cycle = 0;
 
@@ -36,9 +36,7 @@ class DriveMotor {
 	void Loop();
 	void Start();
 	void Stop();
-	void SetSpeed(float speed);
+	void SetSpeed();
-
-	static void ReadEncoder();
 
 };
 

ino/contact_printer/contact_printer.ino

@@ -23,7 +23,7 @@
  * 27 Drive Encoder A
  * 26 Drive Encoder B
  * 
- * 15 Start Button
+ * 17 Start Button
  * 
  * 33 Lamp
  * 
@@ -32,10 +32,7 @@
 ContactPrinter contact_printer;
 
 void setup () {
-	Serial.begin(115200);
 	contact_printer.Setup();
-	Serial.print("contact_printer v");
-	Serial.println(VERSION);
 }
 void loop () {
 	contact_printer.Loop();

ino/esp32_dc_motor_poc/esp32_dc_motor_poc.ino

@@ -6,9 +6,9 @@
 *********/
 
 // Motor A
-int motor1Pin1 = 14; 
+int motor1Pin1 = 27; 
-int motor1Pin2 = 27; 
+int motor1Pin2 = 26; 
-int enable1Pin = 26; 
+int enable1Pin = 14; 
 
 // Setting PWM properties
 const int freq = 30000;