// Move the motor...
void myStepper::moveMotor (int dir, int steps ) {
// Block until the motor stops...
waitMotor();
#ifdef _DEBUGGING_
char outBuf[64];
sprintf(outBuf, "moveMotor(%s, %d)", dirNames[dir], steps);
Serial.println(outBuf);
#endif
// Figure out the new target position...
if ( dir == MC_DIR_FWD ) {
m_tgtPos += steps;
if ( m_tgtPos > m_maxPos)
m_tgtPos = m_maxPos;
}
else {
m_tgtPos -= steps;
if ( m_tgtPos < m_minPos )
m_tgtPos = m_minPos;
}
// Start moving...
moveNow();
#ifdef _DEBUGGING_
dumpDebug();
#endif
}
void startDbot() {
digitalDirection(RESETBTN, INPUT);
clearScreen();
printString("robotReady");
buttonWait();
for (;;) {
clearScreen();
printString("Normal Mode");
for (;;) {
if (getButton1()) {
for (;getButton1();)
;
break;
}
if (!digitalInput(RESETBTN)) {
normal();
}
delayMs(50);
}
clearScreen();
printString("Not Normal");
for (;;) {
if (getButton1()) {
for (;getButton1();)
;
break;
}
if (!digitalInput(RESETBTN)) {
notNormal();
}
delayMs(50);
}
clearScreen();
printString("No Expand");
for (;;) {
if (getButton1()) {
for (;getButton1();)
;
break;
}
if (!digitalInput(RESETBTN)) {
moveNow();
}
delayMs(50);
}
}
}
