/** Configures the board hardware and chip peripherals for the demo's functionality. */
void SetupHardware(void)
{
wdt_disable();
// SETUP_CREATE_PWR_EN;
// h_CREATE_PWR_EN;
// SETUP_KIN_EN;
// h_KIN_EN;
// SETUP_ULIMIT;
// SETUP_LLIMIT;
// EN_ULIMIT_ISR;
// EN_LLIMIT_ISR;
// setupGeneralState();
// setupMotors();
setupADC();
//start next adc read:
// ADCSRA |= 0x40;
// setupMusic();
/* Disable clock division */
clock_prescale_set(clock_div_1);
/* Hardware Initialization */
// Joystick_Init();
// LEDs_Init();
DDRD |= 0xf0; /* set LEDs to output */
PORTD &= 0x0f; /* set LEDs to output */
SetupMotors();
EnableMotors();
USB_Init();
}
void ProcessMessage(SMBData *smb)
{
if (smb->state != SMB_STATE_WRITE_REQUESTED)
{
smb->state = SMB_STATE_IDLE;
return;
}
switch (smb->rxBuffer[0]) // Command code.
{
case DRV_WHO_AM_I:
WhoAmI(smb);
break;
case DRV_SET_DIRECTION:
SetDirection(smb);
break;
case DRV_SET_SPEED:
SetSpeed(smb);
break;
case DRV_DRV_ENABLE:
EnableMotors(smb);
break;
case DRV_SET_ADDRESS:
SetAddress(smb);
break;
case DRV_DRV_DISABLE:
DisableMotors(smb);
break;
default:
UndefinedCommand(smb);
break;
}
}
// Goes to home position (without interrupt), then lowers the build platform to
// the PDMS in order to calibrate and/or start a print
bool Motor::GoToStartPosition()
{
EnableMotors();
GoHome(false);
std::vector<MotorCommand> commands;
// set rotation parameters
commands.push_back(MotorCommand(MC_ROT_SETTINGS_REG, MC_JERK,
_settings.GetInt(R_START_PRINT_JERK)));
commands.push_back(MotorCommand(MC_ROT_SETTINGS_REG, MC_SPEED,
R_SPEED_FACTOR * _settings.GetInt(R_START_PRINT_SPEED)));
int startAngle = _settings.GetInt(R_START_PRINT_ANGLE) / R_SCALE_FACTOR;
if (startAngle != 0)
{
// rotate to the start position
commands.push_back(MotorCommand(MC_ROT_ACTION_REG, MC_MOVE,
startAngle));
}
// set Z motion parameters
commands.push_back(MotorCommand(MC_Z_SETTINGS_REG, MC_JERK,
_settings.GetInt(Z_START_PRINT_JERK)));
commands.push_back(MotorCommand(MC_Z_SETTINGS_REG, MC_SPEED,
Z_SPEED_FACTOR * _settings.GetInt(Z_START_PRINT_SPEED)));
// move down to the PDMS
commands.push_back(MotorCommand(MC_Z_ACTION_REG, MC_MOVE,
_settings.GetInt(Z_START_PRINT_POSITION)));
// request an interrupt when these commands are completed
commands.push_back(MotorCommand(MC_GENERAL_REG, MC_INTERRUPT));
return SendCommands(commands);
}
