void step_servoZ() { // synchroniczne
volatile ServoChannel &ser = servos[INNER_SERVOZ];
if( pcb_type == 2 ){ // servos + magicled
}else if(pcb_type == 3 ){ // actuators + magicled
if( ser.moving != DRIVER_DIR_STOP ){
ser.last_pos = analogRead(PIN_B3_IN_Z);
// Serial.println(ser.last_pos);
if( ser.last_pos == z_last_val || (ser.last_pos - z_last_val) == 1){
z_repeat++;
if( z_repeat == 500 ){
Serial.print("RRZSTOPS,");
Serial.println(ser.last_pos);
Serial.flush();
}
}else{
z_repeat =0;
z_last_val = ser.last_pos;
}
if( ser.moving == DRIVER_DIR_FORWARD ){
if( ser.last_pos >= Z_MAX_VAL ){ // stop
stopZ( false );
sendZpos();
// Serial.println("-step, STOP Z max");
}else if( ser.last_pos >= ser.target_pos ){
stopZ( false );
sendZpos();
}
}else if( ser.moving == DRIVER_DIR_BACKWARD ){
if( ser.last_pos <= Z_MIN_VAL ){ // stop
// Serial.println("-step, STOP Z min");
stopZ( false );
sendZpos();
}else if( ser.last_pos <= ser.target_pos ){
stopZ( false );
sendZpos();
}
}
}
}
}
void arduinoThread::digitalPinChanged(const int & pinNum) {
// note: this will throw tons of false positives on a bare mega, needs resistors
if (curState == HOMING) {
if (pinNum == X_LIMIT_PIN && ard.getDigital(X_LIMIT_PIN)) {
stopX();
homeY();
}
if (pinNum == Y_LIMIT_PIN && ard.getDigital(Y_LIMIT_PIN)) {
stopY();
homeZ();
}
if (pinNum == Z_LIMIT_PIN && ard.getDigital(Z_LIMIT_PIN)) {
stopZ();
curState = HOME;
}
}
// if not homing or reseting and the switch is down, it's an error
else if (curState != PREPRINT && curState != RESET && curState != HOME && curState != SHOOT_FACE) {
if (ard.getDigital(pinNum) == ARD_HIGH){
curState = ERROR;
}
}
}
void disableServosNow(){
stopY( false );
stopZ( false );
}
