/* find the reference point in the locked-position. we need to to this at least every time the unit is powered on */
void find_reference(uint8_t state, uint16_t max_steps_CW, uint16_t max_steps_CCW)
{
enable_stepper(1); //enable motors or you won't be able to do anything
/* this means, that the gear is already near the reed contact and triggers the endstop switch
* we need to turn the gear CW to get a clear reference point later
*/
if(state==1)
{
while(max_steps_CW)
{
max_steps_CW = max_steps_CW - move_stepper(1);
}
}
/* we are now far enough from the endstop switch and can now begin the process
* There are 2 conditions to break the loop: Either all steps have been used up (error!)
* or we found the reference point!
*/
while((max_steps_CCW > 0) && (ENDSTOP_PINREG & (1<<ENDSTOP_PIN)))
{
max_steps_CCW = max_steps_CCW - move_stepper(0);
}
/* check if there are any steps left. If so, set endstop_reached status. If not, set error status
* this is necessary because we did not allow any other functions while referencing. That, in turn,
* is necessary to make sure the reference operations is not interrupted or otherwise messed with
*/
if(max_steps_CCW){
status.locked = 1;
status.unlocked = 0;
status.error = 0;
status.open = 0;
position = 0;
ms_100_tick = 0;
while(ms_100_tick<=5){}
/* move to neutral position */
while(position < NEUTRAL)
{
position = position + move_stepper(1);
}
}else{
status.error = 1;
status.locked = 0;
status.unlocked = 0;
status.open = 0;
}
/* disable the motor once we finished */
enable_stepper(0);
status.reached_endstop = 0;
}
/* move key to a specific position (in steps counted from reference point) */
uint8_t move_to_position(int16_t target)
{
if(target>position)
{
position = position + move_stepper(1);
}
if(target<position)
{
position = position - move_stepper(0);
}
if(target==position)
{
return 1;
}else{
return 0;
}
}
int main (void)
{
init_octopus();
ioport_set_pin_dir(STEP,IOPORT_DIR_OUTPUT);
ioport_set_pin_dir(DIR,IOPORT_DIR_OUTPUT);
ioport_set_pin_dir(SLEEP,IOPORT_DIR_OUTPUT);
ioport_set_pin_dir(MS1,IOPORT_DIR_OUTPUT);
ioport_set_pin_dir(MS2,IOPORT_DIR_OUTPUT);
ioport_set_pin_dir(MS3,IOPORT_DIR_OUTPUT);
ioport_set_pin_level(STEP,0);
ioport_set_pin_level(DIR,0);
ioport_set_pin_level(SLEEP,0);
ioport_set_pin_level(MS1,0);
ioport_set_pin_level(MS2,0);
ioport_set_pin_level(MS3,0);
initial_animation();
for (;;)
{
int direction;
int step1;
int step2;
int step3;
int step4;
int step5;
scanf("%1i%4x%4x%4x%4x%4x",&direction,&step1,&step2,&step3,&step4,&step5);
move_stepper(direction,step1,step2,step3,step4,step5);
if(switch_state(SW1) == 0)
{
ioport_set_pin_level(SLEEP,1);
ioport_toggle_pin_level(DIR);
full_step();
for(int i=1;i<1000;i++)
{
ioport_toggle_pin_level(STEP);
delay_ms(1);
}
ioport_set_pin_level(SLEEP,0);
move_stepper(1,300,0,0,0,0);
// ioport_set_pin_level(LED1,1);
// delay_ms(200);
// ioport_set_pin_level(LED2,1);
// delay_ms(200);
// ioport_set_pin_level(LED3,1);
// delay_ms(200);
// ioport_set_pin_level(LED4,1);
// delay_ms(200);
// ioport_set_pin_level(LED5,1);
// delay_ms(200);
// ioport_set_pin_level(LED6,1);
// delay_ms(200);
}
if(switch_state(SW2) == 0)
{
move_stepper(1,120,60,10,5,5);
}
}
}
