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Sequence no longer ends with an erroneous frame 

Moved the sequence start and stop logic into the  button_end function.
This will allow the sequence to stop without firing a final frame after
the sequence is done. Also added variables to define the speed of the
motors a little more easily.
This commit is contained in:
Matt 2016-05-12 22:04:39 -04:00
parent 59a696f6aa
commit ed075bbfa9
1 changed files with 28 additions and 24 deletions
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52
ino/intval2_buttons.ino
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@ -10,6 +10,8 @@ GND-----\ | \-----PIN
---------------------------------------------------- ----------------------------------------------------
*/ */
const int FAST_PWM = 255;
const int SLOW_PWM = SLOW_PWM;
/* ------------------------------------------------ /* ------------------------------------------------
* pins * pins
@ -33,8 +35,8 @@ volatile int button_state[4] = {1, 1, 1, 1};
volatile long button_time[4] = {0, 0, 0, 0}; volatile long button_time[4] = {0, 0, 0, 0};
volatile long buttontime = 0; volatile long buttontime = 0;
volatile int fwd_speed = 255; volatile int fwd_speed = FAST_PWM;
volatile int bwd_speed = 255; volatile int bwd_speed = FAST_PWM;
volatile boolean sequence = false; volatile boolean sequence = false;
volatile boolean running = false; volatile boolean running = false;
@ -59,17 +61,16 @@ void setup () {
} }
void loop () { void loop () {
timer = millis();
Btn(0); Btn(0);
Btn(1); Btn(1);
Btn(2); Btn(2);
Btn(3); Btn(3);
if (sequence && delaying) {
Watch_delay();
}
if (running) { if (running) {
timer = millis(); Read_micro();
if (sequence && delaying) {
Watch_delay();
} else {
Read_micro();
}
} else { } else {
delay(LOOP_DELAY); delay(LOOP_DELAY);
} }
@ -96,7 +97,7 @@ void Frame () {
} }
boolean Read_delay () { boolean Read_delay () {
if (fwd_speed == 255) { if (fwd_speed == FAST_PWM) {
if (timer - frame_start >= 300) { if (timer - frame_start >= 300) {
return true; return true;
} }
@ -169,7 +170,7 @@ void Btn (int index) {
if (val != button_state[index]) { if (val != button_state[index]) {
if (val == LOW) { // pressed if (val == LOW) { // pressed
button_time[index] = millis(); button_time[index] = millis();
button_start(index); //button_start(index);
} else if (val == HIGH) { // not pressed } else if (val == HIGH) { // not pressed
buttontime = millis() - button_time[index]; buttontime = millis() - button_time[index];
button_end(index, buttontime); button_end(index, buttontime);
@ -178,25 +179,28 @@ void Btn (int index) {
button_state[index] = val; button_state[index] = val;
} }
void button_start (int index) { /*
* dormant for now
* void button_start (int index) {
if (index == 0) { if (index == 0) {
if (sequence) {
sequence = false;
Output(2, 250);
}
} }
} }*/
void button_end (int index, long buttontime) { void button_end (int index, long buttontime) {
if (index == 0) { if (index == 0) {
if (buttontime > 1000) { if (buttontime > 1000) {
if (!sequence) { if (!sequence) {
sequence = true; sequence = true;
Output(2, 250); Output(2, 75);
Frame();
} }
Frame();
} else { } else {
Frame(); if (sequence) {
sequence = false;
//Output(2, 75);
} else {
Frame();
}
} }
} else if (index == 1) { //set direction } else if (index == 1) { //set direction
if (buttontime < 1000) { if (buttontime < 1000) {
@ -208,12 +212,12 @@ void button_end (int index, long buttontime) {
} }
} else if (index == 2) { // set speed } else if (index == 2) { // set speed
if (buttontime <= 1000) { if (buttontime <= 1000) {
fwd_speed = 255; fwd_speed = FAST_PWM;
bwd_speed = 255; bwd_speed = FAST_PWM;
Output(1, 500); Output(1, 500);
} else if (buttontime > 1000) { } else if (buttontime > 1000) {
fwd_speed = 127; fwd_speed = SLOW_PWM;
bwd_speed = 127; bwd_speed = SLOW_PWM;
Output(2, 250); Output(2, 250);
} }
} else if (index == 3) { //set delay } else if (index == 3) { //set delay
@ -235,4 +239,4 @@ void Output (int number, int len) {
Indicator(false); Indicator(false);
delay(42); delay(42);
} }
} }