Update code to use internal pull-ups + afsk
Adds afsk control via SoftModem Switches microswitch endstop to use INPUT_PULLUP instead of circutry.
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Matt
parent
5cf3001b2a
commit
f6dd6bf01f
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@ -1,12 +1,14 @@
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//Intval for pro trinket arduinos
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//Using 12vdc motors in place of a stepper
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//HBridge for motor control
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//Microswitch for control
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#include <SoftModem.h>
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#include <ctype.h>
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/*
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----------------------------------------------------
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Microswitch (use INPUT_PULLUP!!)
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GND-----\ | \-----PIN
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----------------------------------------------------
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*/
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@ -16,31 +18,36 @@ SoftModem modem;
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/* ------------------------------------------------
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* cmd
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* ------------------------------------------------*/
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volatile int c = 0;
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volatile int cmd_fsk = 0;
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volatile char cmd_fsk_char = 'x';
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volatile int cmd_input = 0;
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const int CMD_FORWARD = 102; //f
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const char CMD_FWD_FSK = 'f';
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const int CMD_BACKWARD = 98; //b
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const char CMD_BKW_FSK = 'b';
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const int CMD_BLACK = 110; //n
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/* ------------------------------------------------
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* pins
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* ------------------------------------------------*/
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const int PIN_INDICATOR = 13;
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const int PIN_MOTOR_FORWARD = 5;
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const int PIN_MOTOR_BACKWARD = 6;
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const int PIN_MICRO = 2;
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const int PIN_MOTOR_FORWARD = 10;
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const int PIN_MOTOR_BACKWARD = 11;
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const int PIN_MICRO = 8;
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/* ------------------------------------------------
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* loop
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* ------------------------------------------------*/
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const int LOOP_DELAY = 100;
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const int LOOP_DELAY = 10;
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/* ------------------------------------------------
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* speed
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* ------------------------------------------------*/
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const int FWD_SPEED = 240;
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const int BWD_SPEED = 240;
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const int FWD_SPEED = 255;
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const int BWD_SPEED = 255;
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volatile boolean running = false;
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volatile boolean cam_dir = true;
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@ -49,6 +56,7 @@ volatile int micro_position = 0;
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volatile boolean micro_primed = false;
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unsigned long timer = 0;
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volatile int timer_int = 0;
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volatile int cam_count = 0;
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volatile int cam_pos = 0;
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@ -56,57 +64,78 @@ volatile int cam_pos = 0;
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void setup () {
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Serial.begin(9600);
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Serial.flush();
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modem.begin();
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Pins_init();
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Serial.println("Welcome to intval2.");
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}
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void loop () {
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while (modem.available() > 0 && !running) {
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c = modem.read();
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Serial.println(c);
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cmd_fsk = modem.read();
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if (isprint(cmd_fsk)){
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cmd_fsk_char = (char)cmd_fsk;
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}
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//Serial.println(cmd_fsk_char);
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}
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if (Serial.available() > 0 && !running){
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cmd_input = Serial.read();
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//Serial.println(cmd_input);
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}
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if (cmd_input == 102) {
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if ((cmd_input == CMD_FORWARD
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|| cmd_fsk_char == CMD_FWD_FSK)
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&& !running) {
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Frame(true);
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}
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if (running) {
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Frame_check();
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} else {
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delay(LOOP_DELAY);
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if ((cmd_input == CMD_BACKWARD
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|| cmd_fsk_char == CMD_BKW_FSK)
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&& !running) {
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Frame(false);
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}
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if (cmd_input != 0
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|| cmd_fsk_char != 'x') {
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cmd_input = 0;
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cmd_fsk = 0;
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cmd_fsk_char = 'x';
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}
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if (running) {
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Read_micro();
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} else {
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delay(LOOP_DELAY);
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}
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cmd_input = 0;
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}
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void Pins_init () {
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pinMode(PIN_MOTOR_FORWARD, OUTPUT);
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pinMode(PIN_MOTOR_BACKWARD, OUTPUT);
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pinMode(PIN_MICRO, INPUT);
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pinMode(PIN_MICRO, INPUT_PULLUP);
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pinMode(PIN_INDICATOR, OUTPUT);
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}
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void Frame (boolean dir) {
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//Serial.println("Starting Frame()...");
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Time_start();
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cam_dir = dir;
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if (cam_dir) {
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// Serial.println("Forward");
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analogWrite(PIN_MOTOR_FORWARD, FWD_SPEED);
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analogWrite(PIN_MOTOR_BACKWARD, 0);
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} else {
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//Serial.println("Backwards");
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analogWrite(PIN_MOTOR_BACKWARD, BWD_SPEED);
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analogWrite(PIN_MOTOR_FORWARD, 0);
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}
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Indicator(true);
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running = true;
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micro_primed = false;
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cmd_input = 0;
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}
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void Frame_check () {
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void Read_micro () {
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micro_position = digitalRead(PIN_MICRO);
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//Serial.println(micro_position);
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if (micro_position == LOW && micro_primed == false) {
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micro_primed = true;
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Serial.println("Frame micro_primed");
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//Serial.println("Frame micro_primed");
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} else if (micro_position == HIGH && micro_primed == true) {
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Stop();
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}
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@ -117,7 +146,7 @@ void Stop () {
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analogWrite(PIN_MOTOR_FORWARD, 0);
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analogWrite(PIN_MOTOR_BACKWARD, 0);
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Serial.println("Frame ran");
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//Serial.println("Frame ran");
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Time_end();
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cam_count++;
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@ -138,9 +167,9 @@ void Time_start () {
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void Time_end () {
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timer = millis() - timer;
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int timer_int = int(timer);
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Serial.print(timer_int);
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Serial.println("ms");
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timer_int = int(timer);
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//Serial.print(timer_int);
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//Serial.println("ms");
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}
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void Indicator (boolean state) {
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