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turntableDriver.ino
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turntableDriver.ino
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#include "src/basics/io.h"
#include "src/basics/macros.h"
#include "src/modules/debounceClass.h"
#include "EEPROM.h"
//#include "roundRobinTasks.h"
uint32_t timeLastStep ;
uint32_t position ;
uint32_t setPoint ;
uint16_t currentSpeed ;
uint16_t circumReference ;
uint16_t setSpeed ;
uint8_t mode ;
uint8_t state ;
uint8_t firstStore ;
Debounce CW( cwPin ) ;
Debounce CCW( ccwPin ) ;
Debounce modeBtn( modePin ) ;
Debounce record( recordPin ) ;
void debounceButtons()
{
REPEAT_US( 500 ) ;
CW.debounceInputs() ;
CCW.debounceInputs() ;
modeBtn.debounceInputs() ;
record.debounceInputs() ;
END_REPEAT
}
enum modes
{
AUTOMATIC,
MANUAL,
};
enum homingCycleStates
{
findSensor,
leaveSensor,
measureRound,
turnToHome,
} ;
bool accelerating = false ;
bool motorMoving = false ;
void takeStep() // only for homing cycle, fixed speed
{
REPEAT_MS( 4 ) ;
digitalWrite( stepPin, HIGH ) ; // take a step
digitalWrite( stepPin, LOW ) ;
position ++ ;
Serial.println( position ) ;
END_REPEAT
}
void setStep()
{
static uint16_t speedTemp = 0 ;
uint32_t currentTime = micros() ;
if( mode == MANUAL )
{
uint16_t accelFactor ;
if( accelerating == true ) accelFactor = 1000 ; // inc 750
else accelFactor = 333 ;
REPEAT_US( accelFactor ); // ACCEL FACTOR
if( speedTemp < setSpeed ) speedTemp ++ ;
if( speedTemp > setSpeed ) speedTemp -- ;
END_REPEAT
if( motorMoving == true ) // if motor is moving..
{
if( currentTime - timeLastStep > currentSpeed ) // ..wait for time to pass and move again
{
if( mode == MANUAL )
{
currentSpeed = 15000 - speedTemp ;
}
else currentSpeed = getSpeed() ;
// else
motorMoving = false ;
}
return ;
}
}
motorMoving = true ; // set flag that motor is moving
timeLastStep = currentTime ;
if( speedTemp == 0 && mode == MANUAL ) return ;
digitalWrite( stepPin, HIGH ); // take a step
digitalWrite( stepPin, LOW );
if( digitalRead( dirPin ) ) // update position
{
if( ++position == circumReference ) position = 0 ;
}
else
{
if( --position == 0xffffffff ) position = circumReference - 1 ;
}
//END_REPEAT
}
/* MANUAL MODE = CRUISING */
void cruise()
{
if( mode != MANUAL ) return ;
setStep() ;
}
void stopCruising()
{
setSpeed = 0 ;
accelerating = false ;
Serial.println(F("STOPPING"));
}
uint32_t getSpeed()
{
return 10000 + (40 * analogRead( speedPin )) ; ; //max 9750 min 6570
}
void cruiseCW()
{
Serial.println(F("cruising CW"));
digitalWrite( dirPin, HIGH ) ;
accelerating = true;
// accelerateCW = true ;
// accelerateCCW = false ;
setSpeed = getSpeed() ;
}
void cruiseCCW()
{
Serial.println(F("cruising CCW"));
digitalWrite( dirPin, LOW ) ;
accelerating = true;
// accelerateCW = true ;
// accelerateCCW = false ;
setSpeed = getSpeed() ;
}
/* END CRUISING */
void update() // updates stepper motor position during automatic mode
{
if( setPoint != position )
{
setStep() ;
}
}
void shiftCW()
{
Serial.println(F("shifting CW"));
digitalWrite( dirPin, HIGH ) ;
setPoint = getPosition( 1 ) ;
}
void shiftCCW()
{
Serial.println(F("shifting CCW"));
digitalWrite( dirPin, LOW ) ;
setPoint = getPosition( -1 ) ;
}
uint8_t homingCycle()
{
switch( state )
{
// MEASURE ROUND
case findSensor:
if( digitalRead( homeSensorPin )) // if input is high, sensor is not made
{
takeStep();
}
else
{
// start recording
position = 0 ;
Serial.println(F("sensor found")) ;
state = leaveSensor ; // sensor found, go to leave sensor
delay( 3 ) ; // just for debouncing
}
return 0 ;
case leaveSensor:
if( !digitalRead( homeSensorPin ))
{
takeStep(); // as long as sensor is made, keep turning
}
else
{
Serial.println(F("measuring")) ;
state = measureRound ;
delay( 3 ) ;
}
return 0 ;
case measureRound:
if( digitalRead( homeSensorPin ))
{
takeStep(); // if sensor is false, keep moving
}
else
{
setCircumreference( position ) ;
position = 0 ;
Serial.println(F("measure round finished")) ;
return 1 ; // signal state machine is ready
}
return 0 ;
// ONLY HOMING
case turnToHome:
if( digitalRead( homeSensorPin ))
{
takeStep() ; // if sensor is false, keep moving to home position
}
else
{
position = 0 ;
Serial.println(F("homed")) ;
return 1 ; // signal state machine is ready
}
return 0 ;
}
}
void setup()
{
initIO();
digitalWrite( enablePin, LOW ) ;
digitalWrite( dirPin, LOW ) ;
// for( int i = 0 ; i < 10000 ; i ++ )
// {
// digitalWrite( stepPin, HIGH ) ; // take a step
// delay(1);
// digitalWrite( stepPin, LOW ) ;
// delay(1);
// }
// digitalWrite( enablePin, HIGH ) ;
// digitalWrite( dirPin, HIGH ) ;
// for( int i = 0 ; i < 10000 ; i ++ )
// {
// digitalWrite( stepPin, HIGH ) ; // take a step
// delay(1);
// digitalWrite( stepPin, LOW ) ;
// delay(1);
// }
Serial.begin(115200);
Serial.println(F("turntable software booted")) ;
circumReference = getCircumReference() ;
position = 0 ;
if( circumReference == 0xFFFF ) { state = findSensor ; } // if not yet measured, measure circumreference
else { state = turnToHome ; } // otherwise, just turn to home
Serial.print(F("circumReference ")) ;
Serial.println( circumReference ) ;
while( homingCycle() == 0 ) { ; }
position = 0 ;
getSlotAmount() ;
// loadCurrentSlot() ; OBSOLETE DUE TO HOMING CYCLE
dumpEEPROM() ;
CW.readInput() ;
CCW.readInput() ;
modeBtn.readInput() ;
record.readInput() ;
delay(20);
mode = AUTOMATIC ;
digitalWrite( dirPin, HIGH ) ;
setPoint = getPosition( 0 ) ; // turn to the first slot
}
void loop()
{
debounceButtons() ;
cruise() ;
uint8_t state = modeBtn.readInput() ;
if( state == RISING )
{
Serial.println("AUTOMATIC MODE") ;
mode = AUTOMATIC ; // new mode can only be adopted when motor is not moving
//dumpEEPROM() ;
}
if( state == FALLING )
{
mode = MANUAL ;
firstStore = true ;
Serial.println("MANUAL MODE") ;
}
uint8_t cwState = CW.readInput() ;
uint8_t ccwState = CCW.readInput() ;
uint8_t recordState = record.readInput() ;
if( ccwState == LOW && cwState == LOW )
{
setCircumreference( 0xFFFF ) ;
Serial.println(F("setCircumreference wiped, reboot")) ;
while( 1 ) ;
}
if( mode == MANUAL )
{
if( cwState == FALLING ) cruiseCW() ;
if( ccwState == FALLING ) cruiseCCW() ;
if( cwState == RISING || ccwState == RISING ) stopCruising() ;
else if( recordState == RISING )
{
if( firstStore ) clearSlots() ;
firstStore = false ;
storeSlot( position ) ;
}
}
if( mode == AUTOMATIC )
{
update() ;
if( cwState == FALLING )
{
shiftCW() ;
}
if( ccwState == FALLING )
{
shiftCCW() ;
}
}
REPEAT_MS( 500 );
static uint32_t prevPos ;
if( prevPos != position )
{
Serial.print( position ) ; Serial.print(" ");
Serial.println( currentSpeed ) ;
prevPos = position ;
}
END_REPEAT
}