/**
* Waits to get RESUME on the serial.
* Returns 0 if it gets it,
* ABORTED if it gets ABORT.
*/
errv_t wait_for_resume() {
while(1) {
errv_t ret = check_aborted(true);
if (ret == RESUMED) {
return 0;
}
else if (ret) {
return ret;
}
}
}
/**
* Turns bottle 1 up while simultaneously turning bottle 2 down to
* pause position. Works best if bottle 1 is at pause position at start.
*
* In audio, this is called a crossfade:
*
* b2 ______ ______ up
* \ /
* \ /
* x
* / \
* b1 ______/ \______ pause position
*
* Returns ABORTED if aborted.
*/
errv_t crossfade(Bottle * b1, Bottle * b2, int delay_ms) {
int step = 1;
int b1_pos = b1->servo.readMicroseconds();
int b2_pos = b2->servo.readMicroseconds();
int new_pos=0;
bool done_something;
DEBUG_MSG_LN("crossfade " + String(b1->number) + String(" ") + String(b2->number));
while(1) {
done_something=false;
// Turn bottle 1 up
b1_pos += step;
if(b1_pos < b1->pos_up) {
b1->servo.writeMicroseconds(b1_pos);
done_something=true;
}
delay(delay_ms/2); // Split delay in half so bottles move alternating
// Turn bottle 2 down to pause position
b2_pos -= step;
if(b2_pos > b2->get_pause_pos() ) {
b2->servo.writeMicroseconds(b2_pos);
done_something=true;
}
// Both bottles are already in position
if(done_something==false)
break;
delay(delay_ms/2);
if (check_aborted()) {
// no other cleanup, other bottles should be alright
b1->turn_up(FAST_TURN_UP_DELAY);
b2->turn_up(FAST_TURN_UP_DELAY);
return ABORTED;
}
}
return 0;
}
void
midifile() /* The only non-static function in this file. */
{
int ntrks;
midifile_error = 0;
if ( Mf_getc == 0 ) {
mferror("mf.h() called without setting Mf_getc");
return;
}
ntrks = readheader();
if (midifile_error) return;
if ( ntrks <= 0 ) {
mferror("No tracks!");
/* no need to return since midifile_error is set */
}
while ( ntrks-- > 0 && !midifile_error && !check_aborted())
readtrack();
if (check_aborted()) {
mferror("Midifile read aborted\n\
\tthe rest of your file will be ignored.\n");
if (abort_flag == BREAK_LEVEL) abort_flag = 0;
}
}
/**
* Turn servo towards 'pos' in 1 microsecond steps, waiting delay_ms
* milliseconds between steps (speed = 1/delay). If check_weight weight
* is true, might abort with WHERE_THE_FUCK_IS_THE_CUP error. If a valid pointer
* stable_weight is passed, turns bottle until a stable weight is measured
* (returns WEIGHT_NOT_STABLE if pos is reached before weight stable).
*
* Returns 0 when the position is reached or SERVO_OUT_OF_RANGE on error.
*
* For details about the built-in Servo class see:
* /usr/share/arduino/libraries/Servo/Servo.cpp
*
*/
errv_t Bottle::turn_to(int pos, int delay_ms, bool check_weight, int* stable_weight, bool enable_abortcheck) {
int weight_previous1 = -9999; // just any impossible value
int weight_previous2 = -9999; // ..before we have real values
if (pos < SERVO_MIN || pos > SERVO_MAX) {
DEBUG_MSG_LN("Invalid pos");
return SERVO_OUT_OF_RANGE;
}
int current_pos = servo.readMicroseconds();
if (pos == current_pos)
return 0;
int step = (current_pos < pos) ? 1 : -1;
DEBUG_START();
DEBUG_MSG("turn ");
DEBUG_MSG(number);
DEBUG_MSG(", params ");
DEBUG_VAL(current_pos);
DEBUG_VAL(step);
DEBUG_VAL(pos);
DEBUG_VAL(delay_ms);
DEBUG_END();
unsigned long last_called = millis();
for (int i = current_pos + step; i * step <= pos * step; i += step) {
// ˆˆˆˆˆˆ ˆˆˆˆˆˆ
// this inverts the relation if turning down
// Warning: printing to serial delays turning!
// Might help to to debug servo movement. Not necessary now, commenting
// out to save bytes.
//if (print_steps && i % 10 == 0) {
// DEBUG_VAL_LN(i);
//}
// check abort only if not already aborted...
if (enable_abortcheck) {
// turn up and return if we should abort...
errv_t ret = check_aborted();
if (ret) {
// turn_up might not be necessary here, called another time
// later (does not matter if called twice)
turn_up(FAST_TURN_UP_DELAY, false);
return ret;
}
}
if (check_weight || stable_weight) {
int weight;
int ret = ads1231_get_noblock(weight);
if (ret == 0) {
// we got a valid weight from scale
if (check_weight && weight < WEIGHT_EPSILON) {
return WHERE_THE_FUCK_IS_THE_CUP;
}
// get next weight sample and return if weight is stable
if (stable_weight) {
if (weight_previous2 == weight_previous1
&& weight_previous1 == weight) {
*stable_weight = weight;
return 0;
}
weight_previous2 = weight_previous1;
weight_previous1 = weight;
}
}
else if (ret != ADS1231_WOULD_BLOCK) {
// ignoring if it would take too long to get weight, but
// return in case of other error != 0
return ret;
}
}
// turn servo one step
delay(delay_ms);
servo.writeMicroseconds(i);
}
// pos reached before weight stable
if (stable_weight) {
return WEIGHT_NOT_STABLE;
}
return 0;
}
