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Work on endstop functionality

This commit is contained in:
Matt McWilliams 2022-06-13 22:46:13 -04:00
parent 585c47d6c7
commit 28dc19fc32
1 changed files with 34 additions and 12 deletions
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46
ino/components/mcopy_capper/mcopy_capper.ino
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@ -1,6 +1,6 @@
#include <Servo.h>
boolean debug_state = false;
boolean debug_state = true;
/*
----------------------------------------------------
@ -24,6 +24,7 @@ Yellow - Pin 10
//Arduino Duemilanove
const int PIN_SERVO = 9;
const int PIN_ENDSTOP = 10;
const int PIN_ENDSTOP_PWR = 11;
volatile boolean running = false;
volatile boolean cap_state = false;
@ -81,9 +82,9 @@ void cmd (char val) {
} else if (val == cmd_mcopy_identifier) {
identify();
} else if (val == cmd_cap_on) {
Cap_on(false);
Cap_on(false, false);
} else if (val == cmd_cap_off) {
Cap_off(false);
Cap_off(false, false);
}
}
@ -105,18 +106,29 @@ void identify () {
void Pins_init () {
pinMode(PIN_ENDSTOP, INPUT_PULLUP);
pinMode(PIN_ENDSTOP_PWR, OUTPUT);
Endstop_on();
}
void Servo_init () {
servo.attach(PIN_SERVO);
Cap_off(true);
/*if (!Read_endstop()) {
Cap_off(true);
}*/
Cap_off(true, true);
}
boolean Read_endstop () {
return digitalRead(PIN_ENDSTOP) != LOW;
endstop_state = digitalRead(PIN_ENDSTOP) != LOW;
log(endstop_state);
return endstop_state;
}
void Endstop_on () {
digitalWrite(PIN_ENDSTOP_PWR, HIGH);
delay(1);
}
void Endstop_off () {
digitalWrite(PIN_ENDSTOP_PWR, LOW);
delay(1);
}
void Servo_angle (int newAngle) {
@ -130,28 +142,38 @@ int Servo_delay (int angleA, int angleB) {
return (int) ceil((float) angle * servoSpeed);
}
void Cap_off (boolean suppress) {
void Cap_off (boolean suppress, boolean force) {
Endstop_on();
current_angle = servo.read();
if (cap_state || current_angle != cap_off_angle) {
if ((Read_endstop() || force) && (cap_state || current_angle != cap_off_angle)) {
Servo_angle(cap_off_angle);
cap_state = false;
} else {
log("Cap already off");
}
while (Read_endstop()) {
delay(1);
}
Endstop_off();
log("Cap_off()");
if (!suppress) {
Serial.println(cmd_cap_off);
}
}
void Cap_on (boolean suppress) {
void Cap_on (boolean suppress, boolean force) {
Endstop_on();
current_angle = servo.read();
if (!cap_state || current_angle != cap_on_angle) {
if ((!Read_endstop() || force) && (!cap_state || current_angle != cap_on_angle)) {
Servo_angle(cap_on_angle);
cap_state = true;
} else {
log("Cap already on");
}
while (!Read_endstop()) {
delay(1);
}
Endstop_off();
log("Cap_on()");
if (!suppress) {
Serial.println(cmd_cap_on);