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Merge in 9 months of work on capper branch #71

Merged
mattmcw merged 95 commits from capper into main 2023-02-19 05:28:46 +00:00
Conversation 0 Commits 95 Files Changed 120 +12 -43
1 changed files with 12 additions and 43 deletions
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55
ino/components/mcopy_capper/mcopy_capper.ino
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@ -8,31 +8,27 @@ Servo - Arduino
-
Red - 5V
Black - GND
Yellow - PWM Pin (9 in example)
Yellow - PWM Pin (9 in this example)
Optical Endstop
-
Red - 5V
Black - GND
Yellow - Pin 10
Using TowerPro SG-5010 +
TowerPro
as servos for development
----------------------------------------------------
*/
/* ------------------------------------------------
* pins
* ------------------------------------------------*/
//Arduino Duemilanove
//Arduino Duemilanove +
//Arduino Uno
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;
volatile boolean endstop_state = false;
volatile int angle = 0;
const int cap_on_angle = 153;
const int cap_off_angle = 93;
const int cap_on_angle = 153; // tune this variable to your servo
const int cap_off_angle = 93; // -60 degrees apart
volatile long timer = 0;
volatile int current_angle = 0;
@ -49,6 +45,7 @@ const int serialDelay = 5;
Servo servo;
//SG-5010 speed 0.18s / 60 degree
//
//converted to milliseconds/angle
const float servoSpeed = 400.0 / 60.0;
@ -105,9 +102,7 @@ void identify () {
}
void Pins_init () {
pinMode(PIN_ENDSTOP, INPUT_PULLUP);
pinMode(PIN_ENDSTOP_PWR, OUTPUT);
Endstop_on();
//
}
void Servo_init () {
@ -115,22 +110,6 @@ void Servo_init () {
Cap_off(true, true);
}
boolean Read_endstop () {
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) {
servo.write(newAngle);
delay(Servo_delay(newAngle, angle) + 50);
@ -143,18 +122,13 @@ int Servo_delay (int angleA, int angleB) {
}
void Cap_off (boolean suppress, boolean force) {
Endstop_on();
current_angle = servo.read();
if ( (cap_state || current_angle != cap_off_angle)) {
if (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);
@ -162,18 +136,13 @@ void Cap_off (boolean suppress, boolean force) {
}
void Cap_on (boolean suppress, boolean force) {
Endstop_on();
current_angle = servo.read();
if ( (!cap_state || current_angle != cap_on_angle)) {
if (!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);