From 9b88cdcb432ec928b1b05547e0ebfa0f77cbe5d7 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Marc=20Poulhi=C3=A8s?= Date: Sun, 25 Jun 2017 14:43:52 +0200 Subject: [PATCH] refresh config code for stepper direction --- arduino/startracker.ino | 14 +++++++++++--- 1 file changed, 11 insertions(+), 3 deletions(-) diff --git a/arduino/startracker.ino b/arduino/startracker.ino index 9fd5eb0..43f1b0e 100644 --- a/arduino/startracker.ino +++ b/arduino/startracker.ino @@ -28,7 +28,7 @@ DRV8825 stepper(200, dir_pin, step_pin, m0_pin, m1_pin, m2_pin); // set to -1/1 to select rotation -static const int stepper_direction = 1; +static const bool stepper_direction = true; #include @@ -126,7 +126,11 @@ static unsigned int get_step_number(rot_state_t *s, float expected_rotation) { static void set_stepper_rotation(rot_state_t *s, float angle){ const unsigned int needed_steps = get_step_number(s, angle); - stepper.move(stepper_direction > 0 ? needed_steps : -needed_steps); + if (stepper_direction) { + stepper.move(needed_steps); + } else { + stepper.move(-needed_steps); + } s->stepper_gear_rot_rad += needed_steps * stepper_gear_rad_per_step; } @@ -386,7 +390,11 @@ static void control_automata(void) { int reset_done = 0; while(!reset_done) { - stepper.move(stepper_direction > 0 ? -1 : 1); + if (stepper_direction) { + stepper.move(-1); + } else { + stepper.move(1); + } int level = digitalRead(end_stop_pin); if ( level == HIGH) {