Takeup WIP

examples/JK_projector_takeup.scad

@@ -9,6 +9,15 @@ ARM_CUTOFF = 101.25;
 
 ARMS_ANGLE = 40;
 
+module original_takeup () {
+    module block () {
+        cube([105, 26.8, 5.9], center = true);
+        cube([105, 36.6, 5.9], center = true);
+    }
+    
+    block();
+}
+
 module projector_mount () {
 	//intersection () {}
 	$fn = 60;
@@ -39,4 +48,6 @@ rotate([0, 0, ARMS_ANGLE]) {
 rotate([0, 0, -ARMS_ANGLE]) {
     translate([ARM_LENGTH/2, 0, 2.75]) projector_arm();
     translate([ARM_LENGTH, 0, 5.5]) projector_mount();
-} 
+} 
+
+color("red") original_takeup();

ino/demo/demo.ino

@@ -1,58 +1,144 @@
 
 /**
  * Prototype
- * Arduino Duemilanove
+ * Arduino Uno
- * L298N shield V03
+ * L298N 
- * https://traction-design.be/home/arduino-l298n-shield-v03-from-flamingoeda-com/
- * 
- * Pin 13 = motor A or coil A +
- * Pin 12 = motor A or coil A –
- * Pin 11 = motor B or coil B +
- * Pin 10 = motor A or coil A enable
- * Pin 9 = motor B or coil B enable
- * Pin 8 = motor B or coil B –
  **/
 
 #define Apos 9
 #define Aneg 10
-#define Aenable 10
+
+#define Bpos 5
+#define Bneg 6
+
+volatile int Aspeed = 255;
+volatile int Bspeed = 255;
+
+volatile boolean Arunning = false;
+volatile boolean Brunning = false;
 
 void setup() {
+  Serial.begin(57600);
+  Serial.println("Started takeup demo");
   pinMode(Apos, OUTPUT);
   pinMode(Aneg, OUTPUT);
-  pinMode(Aenable, OUTPUT);
+  pinMode(Bpos, OUTPUT);
+  pinMode(Bneg, OUTPUT);
 }
 
+
 void loop() {
-  clockwise();
+  clockwise(0);
-  set_speed(250); 
+  counter_clockwise(1);
+  set_speed(0, 255); 
+  set_speed(1, 255); 
   delay(5000);
   brake();
   delay(2000);
-  counter_clockwise();
+  counter_clockwise(0);
-  set_speed(250);
+  clockwise(1);
+  set_speed(0, 150);
+  set_speed(1, 150);
   delay(5000);
   brake();
   delay(2000);
 }
 
 //input value from 0 to 255
-void set_speed (int val){ 
+void set_speed (int motor, int val){ 
-  analogWrite(Aenable, val);
+  if (motor == 0) {
+    Aspeed = val;
+  } else if (motor == 1) {
+    Bspeed = val;
+  }
 }
 
-void clockwise(){
+void clockwise_fade (int motor, int startSpeed, int stopSpeed, int ms) {
-  digitalWrite(Apos, HIGH);
+  int steps = ceil((float) ms / (float) abs(stopSpeed - startSpeed));
-  digitalWrite(Aneg, LOW);  
+  int stepMs = round((float) ms / (float) steps);
+  int motorSpeed = startSpeed;
+  for (int i = 0; i < steps; i++) {
+      if (motor == 0) {
+        analogWrite(Apos, motorSpeed);
+        analogWrite(Aneg, 0);
+        Arunning = true;
+      } else if (motor == 1) {
+        analogWrite(Bpos, motorSpeed);
+        analogWrite(Bneg, 0);
+        Brunning = true;
+      }
+      delay(stepMs);
+      motorSpeed += stopSpeed > startSpeed ? 1 : -1;
+  }
+  if (motor == 0) {
+    Aspeed = stopSpeed;
+  } else if (motor == 1) {
+    Bspeed = stopSpeed;
+  }
 }
 
-void counter_clockwise(){
+void counter_clockwise_fade (int motor, int startSpeed, int stopSpeed, int ms) {
-  digitalWrite(Apos, LOW);
+  int steps = ceil((float) ms / (float) abs(stopSpeed - startSpeed));
-  digitalWrite(Aneg, HIGH);  
+  int stepMs = round((float) ms / (float) steps);
+  int motorSpeed = startSpeed;
+  if (motor == 0) {
+    analogWrite(Apos, 0);
+  } else if (motor == 1) {
+    analogWrite(Bpos, 0);
+  }
+  for (int i = 0; i < steps; i++) {
+      if (motor == 0) {
+        analogWrite(Aneg, motorSpeed);
+        Arunning = true;
+      } else if (motor == 1) {
+        analogWrite(Bneg, motorSpeed);
+        Brunning = true;
+      }
+      delay(stepMs);
+      motorSpeed += stopSpeed > startSpeed ? 1 : -1;
+  }
+  if (motor == 0) {
+    Aspeed = stopSpeed;
+  } else if (motor == 1) {
+    Bspeed = stopSpeed;
+  }
+}
+
+void clockwise (int motor){
+  if (motor == 0) {
+    analogWrite(Apos, Aspeed);
+    analogWrite(Aneg, 0);
+    Arunning = true;
+  } else if (motor == 1) {
+    analogWrite(Bpos, Bspeed);
+    analogWrite(Bneg, 0);
+    Brunning = true;
+  }
+}
+
+void counter_clockwise (int motor){
+  if (motor == 0) {
+    analogWrite(Apos, 0);
+    analogWrite(Aneg, Aspeed);
+    Arunning = true;
+  } else if (motor == 1) {
+    analogWrite(Bpos, 0);
+    analogWrite(Bneg, Bspeed);
+    Brunning = true; 
+  }
 }
 
 void brake (){
-  digitalWrite(Aenable, LOW);
+  if (Arunning) {
+    digitalWrite(Apos, LOW);
+    digitalWrite(Aneg, LOW);
+    Arunning = false;
+  }
+  if (Brunning) {
+    digitalWrite(Bpos, LOW);
+    digitalWrite(Bneg, LOW);
+    Brunning = false;
+  }
 }
 
 /**