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startracker
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some cleaning + initial code for reset position 

remove dead code commented out
initial routine for reseting position on long press
master
Marc Poulhiès 5 years ago
parent
22b14d9475
commit
3378960dc5
1 changed files with 24 additions and 151 deletions
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  1. 175
      arduino/startracker.ino

175
arduino/startracker.ino
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@ -19,6 +19,8 @@ static const unsigned int m2_pin = 7;
static const unsigned int enable_pin = led_pin;
static const unsigned int long_press_threshold_ms = 1000;
// using a 200-step motor (most common)
// pins used are DIR, STEP, MS1, MS2, MS3 in that order
//A4988 stepper(200, 8, 9, 10, 11, 12);
@ -136,27 +138,10 @@ static const int fake_start = 1;
#define CLR(x,y) (x&=(~(1<<y)))
#define SET(x,y) (x|=(1<<y))
//uint16_t rpm;
float rpm;
uint16_t period;
uint16_t userCommand=0;
static bool motor_enable;
/* // TIMER 1: STEP INTERRUPT */
/* ISR(TIMER1_COMPA_vect) */
/* { */
/* if (motor_enable) */
/* { */
/* SET(PORTB, step_pin); */
/* delayMicroseconds(2); */
/* CLR(PORTB, step_pin); */
/* } */
/* } */
static enum control_state_e {
IDLE = 0,
RUN = 1,
RESET_POSITION = 2,
} control_state;
#if ! USE_ACTIVE_WAIT
@ -288,9 +273,21 @@ void control_automata(void) {
switch(control_state){
case IDLE:
if (fake_start || digitalRead(btn1_pin)==LOW) { // START/STOP Button pressed
if (!fake_start) while (digitalRead(btn1_pin)==HIGH); // START/STOP released
control_state = RUN;
start_timer(global_period);
int long_press = 0;
if (!fake_start) {
unsigned long start_press = millis();
while (digitalRead(btn1_pin)==HIGH) {
if (!long_press || (millis() - start_press >= long_press_threshold_ms)) {
long_press = 1;
}
}
}
if (long_press){
control_state = RESET_POSITION;
} else {
control_state = RUN;
start_timer(global_period);
}
}
break;
@ -313,6 +310,12 @@ void control_automata(void) {
}
break;
case RESET_POSITION:
while(digitalRead(end_stop_pin) == LOW){
stepper.move(-1);
}
break;
}
#if DEBUG == 2
@ -321,36 +324,6 @@ void control_automata(void) {
}
/* void setRpm() */
/* { */
/* float temp; */
/* if (rpm == 0) */
/* { */
/* ICR1 = ZERO_SPEED; */
/* digitalWrite(enable_pin, HIGH); // Disable motor */
/* } */
/* else */
/* { */
/* digitalWrite(enable_pin, LOW); // Enable motor */
/* /\* if (rpm<8) */
/* rpm = 8;*\/ */
/* if (rpm>MAX_RPM) */
/* rpm = MAX_RPM; */
/* temp = (rpm/60.0)*STEPS_PER_REV; // Number of steps per seconds needed */
/* temp = 2000000 / temp; // 2000000 = (16000000/8) timer1 16Mhz with 1/8 preescaler */
/* if (period<600000) */
/* period=60000; */
/* period = temp; */
/* while (TCNT1 < 30); // Wait until a pulse to motor has finished */
/* //cli(); */
/* ICR1 = period; //+ userCommand; */
/* if (TCNT1 > ICR1) // Handle when we need to reset the timer */
/* TCNT1=0; */
/* //sei(); */
/* } */
/* } */
void setup() {
// debug output
Serial.begin(serial_speed);
@ -370,45 +343,15 @@ void setup() {
// Setup PIN as GPIO output
pinMode(led_pin, OUTPUT); // LED pin
/* pinMode(step_pin, OUTPUT); // STEP pin */
/* pinMode(dir_pin, OUTPUT); // DIR pin */
// pinMode(enable_pin, OUTPUT); // ENABLE pin
/* digitalWrite(dir_pin, HIGH); // Motor direction */
/* digitalWrite(step_pin, HIGH); */
/* while(1); */
// Button input with pullups enable
pinMode(btn1_pin, INPUT_PULLUP);
pinMode(btn2_pin, INPUT_PULLUP);
pinMode(btn3_pin, INPUT_PULLUP);
// Initial setup for motor driver
// digitalWrite(enable_pin, HIGH); // Disable motor
/* digitalWrite(dir_pin, HIGH); // Motor direction */
digitalWrite(led_pin, HIGH);
delay(200); // Initial delay
digitalWrite(led_pin, LOW);
motor_enable = false;
/* // PWM SETUP */
/* // Fast PWM mode => TOP:ICR1 */
/* TCCR1A =(1<<WGM11); */
/* // TCCR1B = (1<<WGM13)|(1<<WGM12)|(1<<CS10); //No Prescaler, Fast PWM */
/* TCCR1B = (1<<WGM13)|(1<<WGM12)|(1<<CS11); // Prescaler 1:8, Fast PWM */
/* ICR1 = ZERO_SPEED; */
/* TIMSK1 = (1<<OCIE1A); // Enable Timer interrupt */
/* rpm = 0; */
/* while (digitalRead(4)==HIGH); // Wait until START button is pressed */
/* motor_enable = true; */
/* delay(250); */
/* while (digitalRead(4)==LOW); */
}
void loop(void) {
@ -416,74 +359,4 @@ void loop(void) {
handle_active_timer();
control_automata();
/* if (digitalRead(btn1_pin)==LOW) // START/STOP Button pressed? */
/* { */
/* rpm = 0; */
/* userCommand=0; */
/* setRpm(); */
/* motor_enable = !motor_enable; */
/* /\* if (motor_enable) *\/ */
/* /\* motor_enable = false; *\/ */
/* /\* else *\/ */
/* /\* motor_enable = true; *\/ */
/* while (digitalRead(btn1_pin)==LOW); // Wait until botton release */
/* } */
/* if (digitalRead(btn3_pin)==LOW) // Button 3 pressed? */
/* { */
/* Serial.println("Coming back"); */
/* digitalWrite(btn3_pin, HIGH); // Motor direction */
/* rpm=50; */
/* setRpm(); */
/* if (motor_enable == 1) */
/* motor_enable = 0; */
/* else */
/* motor_enable = 1; */
/* while (digitalRead(btn3_pin)==LOW); // Wait until botton release */
/* } */
/* if (motor_enable) */
/* { */
/* rpm++; */
/* digitalWrite(led_pin, HIGH); */
/* } */
/* else */
/* { */
/* rpm = 0; */
/* digitalWrite(led_pin, LOW); */
/* } */
/* Serial.print("RPM:"); */
/* Serial.print(rpm); */
/* Serial.print(" "); */
/* Serial.println(period+userCommand); */
/* setRpm(); */
/* Serial.print("100xRPS large gear:"); */
/* Serial.print(RPS/0.2549); */
/* Serial.print(" "); */
/* Serial.print("STEP:"); */
/* Serial.print(STEP); */
/* Serial.print(" "); */
/* delay(10); */
/* if (digitalRead(btn2_pin)==LOW) // Decrease button */
/* { */
/* digitalWrite(led_pin, LOW); */
/* userCommand--; */
/* while (digitalRead(btn2_pin)==LOW); // Wait until released */
/* } */
/* if (digitalRead(btn3_pin)==LOW) // Increase button */
/* { */
/* digitalWrite(led_pin, LOW); */
/* userCommand++; */
/* while (digitalRead(btn3_pin)==LOW); // Wait until released */
/* } */
}

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