.gitignore

@@ -1,2 +1 @@
 *.DS_Store
-bin/

ino/contact_printer/ContactPrinter.cpp

@@ -13,15 +13,6 @@ void ContactPrinter::Setup () {
 
 	drive_motor.Setup();
 
-	ledcSetup(takeup_picture_pwm_channel, pwm_frequency, pwm_resolution);
-	ledcSetup(takeup_stock_pwm_channel, pwm_frequency, pwm_resolution);
-
-	ledcAttachPin(takeup_picture_pin_enable, takeup_picture_pwm_channel);
-	ledcAttachPin(takeup_stock_pin_enable, takeup_stock_pwm_channel);
-
-	ledcWrite(takeup_picture_pwm_channel, takeup_pwm_duty_cycle);
-	ledcWrite(takeup_stock_pwm_channel, takeup_pwm_duty_cycle);
-
 	digitalWrite(takeup_picture_pin_cw, LOW);
 	digitalWrite(takeup_picture_pin_ccw, LOW);
 	digitalWrite(takeup_stock_pin_cw, LOW);
@@ -29,7 +20,7 @@ void ContactPrinter::Setup () {
 }
 
 void ContactPrinter::Start () {
-	RampTakeup(0, takeup_pwm_duty_cycle, takeup_ramp_time);
+	RampTakeup(0, takeup_pwm, takeup_ramp_time);
 	delay(100);
 	//drive_motor.Start();
 }
@@ -37,13 +28,13 @@ void ContactPrinter::Start () {
 void ContactPrinter::Stop () {
 	//drive_motor.Start();
 	delay(100);
-	RampTakeup( takeup_pwm_duty_cycle, 0, takeup_ramp_time);
+	RampTakeup(takeup_pwm, 0, takeup_ramp_time);
 
 } 
 
 void ContactPrinter::SetSpeedTakeup(float speed) {
 	takeup_speed = speed;
-	takeup_pwm_duty_cycle = floor(speed * 255);
+	takeup_pwm = round(speed * 255);
 }
 
 void ContactPrinter::SetSpeedDrive(float speed) {
@@ -69,25 +60,25 @@ void ContactPrinter::RampTakeup(uint16_t start, uint16_t end, uint16_t time) {
 
 	if (takeup_picture_cw) {
 		takeup_picture_pin = takeup_picture_pin_cw;
-		//analogWrite(takeup_picture_pin_ccw, 0);
+		analogWrite(takeup_picture_pin_ccw, 0);
 	} else {
 		takeup_picture_pin = takeup_picture_pin_ccw;
-		//analogWrite(takeup_picture_pin_cw, 0);
+		analogWrite(takeup_picture_pin_cw, 0);
 	}
 	if (takeup_stock_cw) {
 		takeup_stock_pin = takeup_stock_pin_cw;
-		//analogWrite(takeup_stock_pin_ccw, 0);
+		analogWrite(takeup_stock_pin_ccw, 0);
 	} else {
 		takeup_stock_pin = takeup_stock_pin_cw;
-		//analogWrite(takeup_stock_pin_cw, 0);
+		analogWrite(takeup_stock_pin_cw, 0);
 	}
 
 	for (uint16_t i = 0; i < steps; i++) {
 		if (pwm <= 0 || pwm >= 256) {
 			break;
 		}
-		//analogWrite(takeup_picture_pin, pwm);
-		//analogWrite(takeup_stock_pin, pwm);
+		analogWrite(takeup_picture_pin, pwm);
+		analogWrite(takeup_stock_pin, pwm);
 		delay(step);
 		if (dir) {
 			pwm++;

ino/contact_printer/ContactPrinter.h

@@ -11,25 +11,18 @@ class ContactPrinter {
 	EncoderMotor drive_motor;
 
 	const uint16_t serial_delay = 5;
-	const uint16_t baud = 115200;
+	const uint16_t baud = 57600;
 
-	const uint8_t takeup_picture_pin_enable = 7;
 	const uint8_t takeup_picture_pin_cw = 8;
 	const uint8_t takeup_picture_pin_ccw = 9;
-
-	const uint8_t takeup_stock_pin_enable = 12;
 	const uint8_t takeup_stock_pin_cw = 10;
 	const uint8_t takeup_stock_pin_ccw = 11;
 
-	const uint32_t pwm_frequency = 30000;
-	const uint8_t takeup_picture_pwm_channel = 1;
-	const uint8_t takeup_stock_pwm_channel = 2;
-	const uint8_t pwm_resolution = 8;
-
 	volatile float drive_speed = 1.0; //calculated rpm
 	volatile float takeup_speed = 1.0; //estimated rpm
 
-	volatile uint16_t takeup_pwm_duty_cycle = 255;
+	volatile uint16_t drive_pwm;
+	volatile uint16_t takeup_pwm;
 
 	volatile bool takeup_picture_cw = false;
 	volatile bool takeup_picture_ccw = true;

ino/contact_printer/EncoderMotor.cpp

@@ -20,7 +20,4 @@ void EncoderMotor::Setup () {
 	ledcSetup(pwm_channel, pwm_frequency, pwm_resolution);
 	ledcAttachPin(enable_pin, pwm_channel);
 	ledcWrite(pwm_channel, pwm_duty_cycle);
-
-	digitalWrite(forward_pin, LOW);
-	digitalWrite(backward_pin, LOW);
 }

scripts/compile.sh

@@ -1,14 +0,0 @@
-#!/bin/bash
-
-set -e
-
-FQBN=esp32:esp32:esp32 			#ESP32
-
-INO="./ino/contact_printer"
-INOFILE="${INO}/contact_printer.ino"
-OUTPUT="./bin"
-
-mkdir -p "${OUTPUT}"
-
-#esp32
-arduino-cli compile --fqbn ${FQBN} --output-dir "${OUTPUT}" "${INO}" || echo 'Compile failed' && exit 1