mcopy/ino/components/mcopy_capper/mcopy_capper.ino

188 lines
3.7 KiB
C++

#include <Servo.h>
boolean debug_state = true;
/*
----------------------------------------------------
Servo - Arduino
-
Red - 5V
Black - GND
Yellow - PWM Pin (9 in example)
Optical Endstop
-
Red - 5V
Black - GND
Yellow - Pin 10
----------------------------------------------------
*/
/* ------------------------------------------------
* pins
* ------------------------------------------------*/
//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;
volatile boolean endstop_state = false;
volatile int angle = 0;
const int cap_on_angle = 153;
const int cap_off_angle = 93;
volatile long timer = 0;
volatile int current_angle = 0;
const char cmd_cap_on = 'A';
const char cmd_cap_off = 'B';
const char cmd_debug = 'd';
const char cmd_connect = 'i';
volatile char cmd_char = 'z';
const char cmd_mcopy_identifier = 'm';
const char cmd_capper_identifier = 'C';
const int serialDelay = 5;
Servo servo;
//SG-5010 speed 0.18s / 60 degree
//converted to milliseconds/angle
const float servoSpeed = 400.0 / 60.0;
void setup() {
Serial.begin(57600);
Serial.flush();
Serial.setTimeout(serialDelay);
Pins_init();
Servo_init();
}
void loop() {
if (Serial.available()) {
/* read the most recent byte */
cmd_char = (char)Serial.read();
}
if (cmd_char != 'z') {
cmd(cmd_char);
cmd_char = 'z';
}
timer = millis();
}
void cmd (char val) {
if (val == cmd_debug) {
debug();
} else if (val == cmd_connect) {
connect();
} else if (val == cmd_mcopy_identifier) {
identify();
} else if (val == cmd_cap_on) {
Cap_on(false, false);
} else if (val == cmd_cap_off) {
Cap_off(false, false);
}
}
void debug () {
debug_state = true;
Serial.println(cmd_debug);
log("debugging enabled");
}
void connect () {
Serial.println(cmd_connect);
log("connect()");
}
void identify () {
Serial.println(cmd_capper_identifier);
log("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, 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);
angle = newAngle;
}
int Servo_delay (int angleA, int angleB) {
int angle = abs(angleA - angleB);
return (int) ceil((float) angle * servoSpeed);
}
void Cap_off (boolean suppress, boolean force) {
Endstop_on();
current_angle = servo.read();
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, boolean force) {
Endstop_on();
current_angle = servo.read();
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);
}
}
void log (String msg) {
if (debug_state) {
Serial.println(msg);
}
}