Add servo functionality for rack and pinion motion. Need to fix home feature.

app/data/cfg.json

@@ -1,5 +1,5 @@
 {
-  "version": "1.8.48",
+  "version": "1.8.49",
   "ext_port": 1111,
   "profiles": {
     "mcopy": {

app/package-lock.json

@@ -1,6 +1,6 @@
 {
   "name": "mcopy-app",
-  "version": "1.8.48",
+  "version": "1.8.49",
   "lockfileVersion": 2,
   "requires": true,
   "packages": {

app/package.json

@@ -1,6 +1,6 @@
 {
   "name": "mcopy-app",
-  "version": "1.8.48",
+  "version": "1.8.49",
   "description": "GUI for the mcopy small gauge film optical printer platform",
   "main": "main.js",
   "scripts": {

data/cfg.json

@@ -1,5 +1,5 @@
 {
-  "version": "1.8.48",
+  "version": "1.8.49",
   "ext_port": 1111,
   "profiles": {
     "mcopy": {

ino/mcopy_projector_firmware/McopyProjector.cpp

@@ -6,7 +6,8 @@ McopyProjector::McopyProjector (AccelStepper takeup, AccelStepper feed,
 		uint8_t takeupSettingA, uint8_t takeupSettingB, 
 		uint8_t feedSettingA, uint8_t feedSettingB,
 		uint8_t takeupEmitter, uint8_t takeupReceiver,
-		uint8_t feedEmitter, uint8_t feedReceiver) {
+		uint8_t feedEmitter, uint8_t feedReceiver,
+		uint8_t servoPin) {
 	_takeup = takeup;
 	_feed = feed;
 
@@ -18,6 +19,7 @@ McopyProjector::McopyProjector (AccelStepper takeup, AccelStepper feed,
 	_takeupReceiver = takeupReceiver;
 	_feedEmitter = feedEmitter;
 	_feedReceiver = feedReceiver;
+	_servoPin = servoPin;
 }
 
 void McopyProjector::begin () {
@@ -40,6 +42,9 @@ void McopyProjector::begin () {
 
 	//keep at 1 for now
   setStepperMode(1);
+
+  _servo.attach(_servoPin);
+  _servo.write(_servoHome);
 }
 
 void McopyProjector::setDirection (bool dir) {
@@ -64,6 +69,9 @@ void McopyProjector::frame (bool dir) {
 
 	_running = true;
 
+	_servo.write(_servoAway);
+	delay(20);
+	
 	while (running) {
 		if (_takeup.distanceToGo() == 0 && _feed.distanceToGo() == 0) {
 			running = false;
@@ -75,6 +83,9 @@ void McopyProjector::frame (bool dir) {
 		}
 	}
 	
+	delay(20);
+	_servo.write(_servoHome);
+
 	_running = false;
 
 }

ino/mcopy_projector_firmware/McopyProjector.h

@@ -3,6 +3,7 @@
 
 #include <Arduino.h>
 #include <AccelStepper.h>
+#include <Servo.h>
 
 /**
  * D2 X Step
@@ -28,11 +29,16 @@ class McopyProjector {
 	AccelStepper _takeup;
 	AccelStepper _feed;
 
+	Servo _servo;
+
 	const uint16_t _motorSteps = 200; //full steps
 	const uint8_t _frames = 8;
 	const uint16_t _stepsPerFrame = 25; //round(_motorSteps / _frames);
 	const float _speed = 2000.0;
 
+	const uint8_t _servoHome = 90;
+	const uint8_t _servoAway = 60;
+
 	volatile uint8_t _mode = 1;
 
 	int64_t _posTakeup = 0;
@@ -50,6 +56,8 @@ class McopyProjector {
 	uint8_t _feedEmitter;
 	uint8_t _feedReceiver;
 
+	uint8_t _servoPin;
+
 	long _feedSamples[200]; 
 	long _takeupSamples[200]; 
 
@@ -70,7 +78,8 @@ class McopyProjector {
 		uint8_t takeupSettingA, uint8_t takeupSettingB, 
 		uint8_t feedSettingA, uint8_t feedSettingB,
 		uint8_t takeupEmitter, uint8_t takeupReceiver,
-		uint8_t feedEmitter, uint8_t feedReceiver);
+		uint8_t feedEmitter, uint8_t feedReceiver,
+		uint8_t servoPin);
 	void begin();
 	//0 = takeup, 1 = feed
 	void adjust(uint8_t motor, int64_t steps);

ino/mcopy_projector_firmware/mcopy_projector_firmware.ino

@@ -42,6 +42,8 @@
 #define FEED_EMITTER 18
 #define FEED_RECEIVER A9
 
+#define SERVO_PIN 14
+
 AccelStepper takeup(AccelStepper::DRIVER, TAKEUP_STEP_PIN, TAKEUP_DIR_PIN);
 AccelStepper feed(AccelStepper::DRIVER, FEED_STEP_PIN, FEED_DIR_PIN);
 
@@ -64,7 +66,8 @@ McopyProjector projector(takeup, feed,
   TAKEUP_SETTINGS_A, TAKEUP_SETTINGS_B, 
   FEED_SETTINGS_A, FEED_SETTINGS_B,
   TAKEUP_EMITTER, TAKEUP_RECEIVER,
-  FEED_EMITTER, FEED_RECEIVER);
+  FEED_EMITTER, FEED_RECEIVER,
+  SERVO_PIN);
 
 void setup () {
   pins();
@@ -75,6 +78,7 @@ void setup () {
   delay(42);
   digitalWrite(LED_FWD, LOW);
   digitalWrite(LED_BWD, LOW);
+  
   //projector.home();
 }
 
@@ -83,9 +87,9 @@ void loop () {
   cmdChar = mcopy.loop();
   cmd(cmdChar);
   if (digitalRead(BUTTON) == LOW) {
-    projector_frame();
+    //projector_frame();
   }
-  projector.loop();
+  //projector.loop();
 }
 
 void pins () {

package-lock.json

@@ -1,12 +1,12 @@
 {
   "name": "mcopy",
-  "version": "1.8.48",
+  "version": "1.8.49",
   "lockfileVersion": 2,
   "requires": true,
   "packages": {
     "": {
       "name": "mcopy",
-      "version": "1.8.48",
+      "version": "1.8.49",
       "license": "MIT",
       "dependencies": {
         "arduino": "file:app/lib/arduino",

package.json

@@ -1,6 +1,6 @@
 {
   "name": "mcopy",
-  "version": "1.8.48",
+  "version": "1.8.49",
   "description": "Small gauge film optical printer platform",
   "main": "build.js",
   "directories": {

processing/mcopy/cfg.json

@@ -1,5 +1,5 @@
 {
-  "version": "1.8.48",
+  "version": "1.8.49",
   "ext_port": 1111,
   "profiles": {
     "mcopy": {