From 24fe1e877353d48df17d1848a4a5fe5b393f75dc Mon Sep 17 00:00:00 2001
From: mattmcw <matt@sixteenmillimeter.com>
Date: Fri, 25 Aug 2023 16:44:28 -0400
Subject: [PATCH] Work on projector: Still having issues with
 IteadDualStepperShield (addresses wrong motor, wrong number of steps).

---
 .../IteadDualStepperShield.cpp                |  4 +-
 .../IteadDualStepperShield.h                  |  4 +-
 .../McopyProjector.cpp                        | 42 ++++++++++++-------
 ino/mcopy_projector_firmware/McopyProjector.h | 16 ++++---
 4 files changed, 42 insertions(+), 24 deletions(-)

diff --git a/ino/mcopy_projector_firmware/IteadDualStepperShield.cpp b/ino/mcopy_projector_firmware/IteadDualStepperShield.cpp
index f564e9b..7e9bfd9 100644
--- a/ino/mcopy_projector_firmware/IteadDualStepperShield.cpp
+++ b/ino/mcopy_projector_firmware/IteadDualStepperShield.cpp
@@ -61,7 +61,7 @@ void IteadDualStepperShield::_both () {
 		delayMicroseconds(_usStepA);
 	}
 }
-void IteadDualStepperShield::step (uint8_t motor, uint16_t steps, uint8_t dir) {
+void IteadDualStepperShield::step (uint8_t motor, uint64_t steps, uint8_t dir) {
 	uint8_t stepPin = motor == 0 ? _stepA : _stepB;
 	setDir(motor, dir);
 	for (int i = 0; i < steps; i++) {
@@ -74,7 +74,7 @@ void IteadDualStepperShield::onestep (uint8_t motor, uint8_t dir) {
 	_single(stepPin);
 }
 
-void IteadDualStepperShield::stepBoth (uint16_t steps) {
+void IteadDualStepperShield::stepBoth (uint64_t steps) {
 	for (int i = 0; i < steps; i++) {
 		_both();
 	}
diff --git a/ino/mcopy_projector_firmware/IteadDualStepperShield.h b/ino/mcopy_projector_firmware/IteadDualStepperShield.h
index 76fca75..85f2f7b 100644
--- a/ino/mcopy_projector_firmware/IteadDualStepperShield.h
+++ b/ino/mcopy_projector_firmware/IteadDualStepperShield.h
@@ -31,8 +31,8 @@ class IteadDualStepperShield {
   void setSpeed(uint8_t motor, uint16_t speed);
 
   //full
-  void step(uint8_t motor, uint16_t steps, uint8_t dir);
-  void stepBoth(uint16_t steps);
+  void step(uint8_t motor, uint64_t steps, uint8_t dir);
+  void stepBoth(uint64_t steps);
   void onestep(uint8_t motor, uint8_t dir);
 
   void release();
diff --git a/ino/mcopy_projector_firmware/McopyProjector.cpp b/ino/mcopy_projector_firmware/McopyProjector.cpp
index 6a88497..4e66aca 100644
--- a/ino/mcopy_projector_firmware/McopyProjector.cpp
+++ b/ino/mcopy_projector_firmware/McopyProjector.cpp
@@ -16,11 +16,11 @@ void McopyProjector::begin () {
 void McopyProjector::setDirection (bool dir) {
 	_dir = dir;
 	if (_dir) {
-		steppers.setDir(0, 1);
-    	steppers.setDir(1, 1);
+		steppers.setDir(0, FORWARD);
+    	steppers.setDir(1, FORWARD);
 	} else {
-		steppers.setDir(0, 0);
-    	steppers.setDir(1, 0);
+		steppers.setDir(0, BACKWARD);
+    	steppers.setDir(1, BACKWARD);
 	}
 }
 
@@ -28,34 +28,46 @@ void McopyProjector::frame (bool dir) {
 	if (dir != _dir) {
 		setDirection(dir);
 	}
-	steppers.stepBoth(_stepsPerFrame);
+	steppers.step(FEED, _stepsPerFrame, _dir ? FORWARD : BACKWARD);
 	_posTakeup += dir ? _stepsPerFrame : -_stepsPerFrame;
 	_posFeed += dir ? _stepsPerFrame : -_stepsPerFrame;
 }
 
-void McopyProjector::adjust(uint8_t motor, int32_t steps) {
+void McopyProjector::adjust(uint8_t motor, int64_t steps) {
+	uint64_t s = abs(steps);
 	if (steps < 0) {
-		steppers.setDir(motor, 0);
+		steppers.setDir(motor, BACKWARD);
 	} else {
-		steppers.setDir(motor, 1);
+		steppers.setDir(motor, FORWARD);
 	}
-	steppers.step(motor, abs(steps));
+	steppers.step(motor, s, _dir ? FORWARD : BACKWARD);
 	if (motor == 0) {
 		_posTakeup += steps;
 	} else if (motor == 1) {
 		_posFeed += steps;
 	}
+	//restore set direction after adjustment
+	steppers.setDir(motor, _dir ? FORWARD : BACKWARD);
 }
 
-void McopyProjector::adjustBoth(int32_t steps) {
+void McopyProjector::adjustBoth(int64_t steps) {
+	uint64_t s = abs(steps);
 	if (steps < 0) {
-		steppers.setDir(0, 0);
-		steppers.setDir(1, 0);
+		steppers.setDir(TAKEUP, BACKWARD);
+		steppers.setDir(FEED,   BACKWARD);
 	} else {
-		steppers.setDir(0, 1);
-		steppers.setDir(1, 1);
+		steppers.setDir(TAKEUP, FORWARD);
+		steppers.setDir(FEED, FORWARD);
 	}
-	steppers.stepBoth(abs(steps));
+	steppers.stepBoth(s);
 	_posTakeup += steps;
 	_posFeed += steps;
+
+	//restore set direction after adjustment
+	steppers.setDir(TAKEUP, _dir ? FORWARD : BACKWARD);
+	steppers.setDir(FEED, _dir ? FORWARD : BACKWARD);
+}
+
+void McopyProjector::frames(bool dir, uint64_t count) {
+
 }
diff --git a/ino/mcopy_projector_firmware/McopyProjector.h b/ino/mcopy_projector_firmware/McopyProjector.h
index 58c8b6d..2ad719f 100644
--- a/ino/mcopy_projector_firmware/McopyProjector.h
+++ b/ino/mcopy_projector_firmware/McopyProjector.h
@@ -12,12 +12,18 @@ class McopyProjector {
 
 	uint8_t _motorSteps = 200;
 	uint8_t _frames = 8;
-	uint8_t _stepsPerFrame = round(_motorSteps / _frames);
-	uint16_t _speed = 500;
+	uint8_t _stepsPerFrame = 25; //round(_motorSteps / _frames);
+	uint16_t _speed = 300;
 
 	int64_t _posTakeup = 0;
 	int64_t _posFeed = 0;
 
+	const uint8_t FORWARD  = 1; //CW
+	const uint8_t BACKWARD = 0; //CCW
+
+	const uint8_t TAKEUP = 0;
+	const uint8_t FEED   = 0;
+
 	bool _dir = true;
 
 	public:
@@ -25,11 +31,11 @@ class McopyProjector {
 	McopyProjector();
 	void begin();
 	//0 = takeup, 1 = feed
-	void adjust(uint8_t motor, int32_t steps);
-	void adjustBoth(int32_t steps);
+	void adjust(uint8_t motor, int64_t steps);
+	void adjustBoth(int64_t steps);
 	//true = forward, false = back
 	void frame(bool dir);
-	void frames(bool dir, uint32_t count);
+	void frames(bool dir, uint64_t count);
 	void setDirection(bool dir);
 };