Serial functions and general firmware functionality seem to be working. Need to test on real hardware with motors and test softserial next.
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@ -22,17 +22,20 @@
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#define Fbutton 3
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#define Bbutton 4
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const frameTime = 40; //ms
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const frameSpeed = 255;
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const int frameTime = 40; //ms
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const int frameSpeed = 255;
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const int buttonPress = 100; //ms
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/**
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* STATE
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**/
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boolean debug_state = false;
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const int Buttons[2] = {Fbutton, Bbutton};
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volatile int ButtonState[4] = {1, 1};
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volatile long ButtonTime[4] = {0, 0};
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volatile long buttontime = 0;
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volatile int ButtonState[2] = {1, 1};
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volatile long ButtonTime[2] = {0, 0};
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volatile int ButtonMultiple[2] = {0, 0};
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volatile long buttonTime = 0;
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const int Fmotor = 0;
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const int Bmotor = 1;
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@ -40,16 +43,23 @@ const int Bmotor = 1;
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volatile int Fspeed = 255;
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volatile int Bspeed = 255;
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volatile long Ftime = 0;
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volatile long Btime = 0;
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volatile boolean Frunning = false;
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volatile boolean Brunning = false;
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voilatile long timer = 0;
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volatile long timer = 0;
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/**
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* SERIAL
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**/
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volatile char cmdChar = 'z';
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const char cmd_debug = 'd';
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const char cmd_connect = 'i';
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const char cmd_mcopy_identifier = 'm';
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const char cmd_takeup_identifier = 'F';
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const char Fcmd = 'D';
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const char Bcmd = 'E';
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@ -76,32 +86,78 @@ void setup() {
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}
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void loop() {
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timer = millis();
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if (Serial.available()) {
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cmdChar = (char)Serial.read();
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}
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if (cmdChar != 'z') {
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cmd(cmdChar);
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}
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if (softSerial.available() > 0) {
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cmdChar = (char)softSerial.read();
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}
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if (cmdChar != 'z') {
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cmd(cmdChar);
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}
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cmdChar = 'z';
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if (softSerial.available() > 0) {
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cmdChar = (char)softSerial.read();
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}
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cmdChar = 'z';
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btn(Fmotor);
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btn(Bmotor);
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if (Brunning || Frunning) {
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monitor();
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}
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}
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void cmd (char which) {
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if (which == Fcmd && !Frunning) {
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forward();
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} else if (which == Bcmd && !Brunning) {
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backward();
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} else if (which == cmd_debug) {
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debug();
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} else if (which == cmd_connect) {
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connect();
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} else if (which == cmd_mcopy_identifier) {
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identify();
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}
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}
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void forward () {
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log("forward()");
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Ftime = timer;
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set_speed(Fmotor, frameSpeed);
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clockwise(Fmotor);
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}
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void backward () {
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log("backward()");
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Btime = timer;
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set_speed(Bmotor, frameSpeed);
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counter_clockwise(Bmotor);
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}
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void monitor () {
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if (Frunning && timer - Ftime >= frameTime) {
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stop(Fmotor);
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}
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if (Brunning && timer - Btime >= frameTime) {
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stop(Bmotor);
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}
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}
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void stop (int motor) {
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brake_motor(motor);
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}
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//input value from 0 to 255
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void set_speed (int motor, int val){
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if (motor == 0) {
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if (motor == Fmotor) {
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Fspeed = val;
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} else if (motor == 1) {
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} else if (motor == Bmotor) {
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Bspeed = val;
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}
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}
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@ -117,15 +173,15 @@ void clockwise_fade (int motor, int startSpeed, int stopSpeed, int ms) {
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analogWrite(Bneg, 0);
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}
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for (int i = 0; i < steps; i++) {
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if (motor == Fmotor) {
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analogWrite(Fpos, motorSpeed);
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Frunning = true;
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} else if (motor == Bmotor) {
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analogWrite(Bpos, motorSpeed);
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Brunning = true;
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}
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delay(stepMs);
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motorSpeed += stopSpeed > startSpeed ? 1 : -1;
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if (motor == Fmotor) {
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analogWrite(Fpos, motorSpeed);
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Frunning = true;
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} else if (motor == Bmotor) {
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analogWrite(Bpos, motorSpeed);
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Brunning = true;
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}
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delay(stepMs);
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motorSpeed += stopSpeed > startSpeed ? 1 : -1;
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}
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if (motor == Fmotor) {
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Fspeed = stopSpeed;
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@ -145,15 +201,15 @@ void counter_clockwise_fade (int motor, int startSpeed, int stopSpeed, int ms) {
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analogWrite(Bpos, 0);
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}
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for (int i = 0; i < steps; i++) {
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if (motor == Fmotor) {
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analogWrite(Fneg, motorSpeed);
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Frunning = true;
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} else if (motor == Bmotor) {
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analogWrite(Bneg, motorSpeed);
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Brunning = true;
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}
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delay(stepMs);
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motorSpeed += stopSpeed > startSpeed ? 1 : -1;
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if (motor == Fmotor) {
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analogWrite(Fneg, motorSpeed);
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Frunning = true;
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} else if (motor == Bmotor) {
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analogWrite(Bneg, motorSpeed);
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Brunning = true;
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}
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delay(stepMs);
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motorSpeed += stopSpeed > startSpeed ? 1 : -1;
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}
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if (motor == Fmotor) {
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Fspeed = stopSpeed;
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@ -188,14 +244,14 @@ void counter_clockwise (int motor){
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void brake (){
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if (Frunning) {
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brakeMotor(Fmotor);
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brake_motor(Fmotor);
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}
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if (Brunning) {
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brakeMotor(Bmotor);
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brake_motor(Bmotor);
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}
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}
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void brakeMotor (int motor) {
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void brake_motor (int motor) {
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if (motor == Fmotor) {
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digitalWrite(Fpos, LOW);
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digitalWrite(Fneg, LOW);
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@ -219,42 +275,47 @@ void btn (int index) {
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int val = digitalRead(Buttons[index]);
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if (val != ButtonState[index]) {
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if (val == LOW) { // pressed
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ButtonTime[index] = millis();
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button_start(index, buttontime);
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} else if (val == HIGH) { // not pressed
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buttontime = millis() - ButtonTime[index];
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button_end(index, buttontime);
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ButtonTime[index] = timer;
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ButtonMultiple[index] = -1;
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}
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}
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if (val == LOW) {
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buttonTime = timer - ButtonTime[index];
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btnCmd(index, buttonTime);
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}
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ButtonState[index] = val;
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}
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/* ------------------------------------------------
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* Determines a specific action for each press length
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* of each button.
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* ------------------------------------------------*/
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void button_end (int index, long buttontime) {
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if (index == 0) { //forward
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if (buttontime > 10) {
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//
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}
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} else if (index == 1) { //backward
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if (buttontime > 10) {
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//
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void btnCmd (int index, int time) {
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int multiple = floor(time / buttonPress);
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if (multiple > ButtonMultiple[index]) {
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if (index == Fmotor) {
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cmd(Fcmd);
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} else if (index == Bmotor) {
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cmd(Bcmd);
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}
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ButtonMultiple[index] = multiple;
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}
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buttontime = 0;
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}
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/**
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* Vex = Higher voltage that can power the motor and/or the shield as well as the Arduino if wanted
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* 5V = Must be a clean 5V that can power the Arduino and shield, and if wanted also the motor itself
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* GND = as always, the ground of everything
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* B- = Connection of the first motor or first winding of the stepper motor
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* B+ = Connection of the first motor or first winding of the stepper motor
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* A- = Connection of the second motor or second winding of the stepper motor
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* A+ = Connection of the second motor or second winding of the stepper motor
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**/
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void connect () {
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Serial.println(cmd_connect);
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log("connect()");
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}
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void identify () {
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Serial.println(cmd_takeup_identifier);
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log("identify()");
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}
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void debug () {
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debug_state = true;
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Serial.println(cmd_debug);
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log("debugging enabled");
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}
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void log (String msg) {
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if (debug_state) {
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Serial.println(msg);
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}
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}
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