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domove.h
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domove.h
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// check IR to see if stop command
if (irrecv.decode(&results)){
Serial.println(results.value, HEX);
irrecv.resume();
}
if (results.value ==0xff22dd) break;
// makeMove ------------------------
Serial.println(pm[i].amount, 10);
switch (pm[i].mtrs) {
case F_LEFT:
digitalWrite (L_ENPIN, LOW);
digitalWrite (L_DIRPIN, LOW);
moveSteps = (pm[i].amount)*stepsPerInch;
break;
case F_RIGHT:
digitalWrite (R_ENPIN, LOW);
digitalWrite (R_DIRPIN, HIGH);
moveSteps = (pm[i].amount)*stepsPerInch;
break;
case F_BOTH:
digitalWrite (L_ENPIN, LOW);
digitalWrite (L_DIRPIN, LOW);
digitalWrite (R_ENPIN, LOW);
digitalWrite (R_DIRPIN, HIGH);
moveSteps = (pm[i].amount)*stepsPerInch;
break;
case B_LEFT:
digitalWrite (L_ENPIN, LOW);
digitalWrite (L_DIRPIN, HIGH);
moveSteps = (pm[i].amount)*stepsPerInch;
break;
case B_RIGHT:
digitalWrite (R_ENPIN, LOW);
digitalWrite (R_DIRPIN, LOW);
moveSteps = (pm[i].amount)*stepsPerInch;
break;
case B_BOTH:
digitalWrite (L_ENPIN, LOW);
digitalWrite (L_DIRPIN, HIGH);
digitalWrite (R_ENPIN, LOW);
digitalWrite (R_DIRPIN, LOW);
moveSteps = (pm[i].amount)*stepsPerInch;
break;
case RCCW:
digitalWrite (L_ENPIN, LOW);
digitalWrite (L_DIRPIN, LOW);
digitalWrite (R_ENPIN, LOW);
digitalWrite (R_DIRPIN, LOW);
moveSteps = abs(pm[i].amount)*stepsPerDegree;
break;
case RCW:
digitalWrite (L_ENPIN, LOW);
digitalWrite (L_DIRPIN, HIGH);
digitalWrite (R_ENPIN, LOW);
digitalWrite (R_DIRPIN, HIGH);
moveSteps = pm[i].amount*stepsPerDegree;
break;
case PIVCW:
digitalWrite (L_ENPIN, LOW);
digitalWrite (L_DIRPIN, LOW);
digitalWrite (R_ENPIN, HIGH);
digitalWrite (R_DIRPIN, HIGH);
moveSteps = abs(pm[i].amount)*2*stepsPerDegree;
break;
case PIVCCW:
digitalWrite (L_ENPIN, HIGH);
digitalWrite (L_DIRPIN, HIGH);
digitalWrite (R_ENPIN, LOW);
digitalWrite (R_DIRPIN, LOW);
moveSteps = pm[i].amount*2*stepsPerDegree;
break;
default:
// if nothing else matches, do the default
// default is optional
break;
}
if (moveSteps > 0)
stepCount = 0;
stepSave = 0;
Serial.print(i, 10);
Serial.print(" steps-> ");
Serial.println(moveSteps, 10);
moveDone = false;
// digitalWrite (ENPIN, LOW); // enable drivers
// digitalWrite (L_ENPIN, LOW); // enable drivers
stepSave = 0;
stepCount = 0;
runState = accel;
for (j=0;j<=19;j++)
{
if (moveSteps < 2*deltaV[j].stpcntchg) break;
}
jfinal = j;
j = 0;
do {
cli();//stop interrupts
stepSave = stepCount;
sei();
switch (runState) {
case accel:
if (j < jfinal) {
if ((stepSave >= deltaV[j].stpcntchg)) {
// digitalWrite (TESTPIN, !bitRead(PORTB, 5));
compVal = deltaV[j++].compa;
// digitalWrite (TESTPIN, LOW);
}
}
else
{
if (jfinal > 19) jfinal = 19;
runState = conspd;
}
break;
case conspd:
if ((moveSteps-stepSave) < deltaV[jfinal].stpcntchg) {
j = jfinal;
runState = decel;
}
break;
case decel:
if (((moveSteps-stepSave) <= deltaV[j].stpcntchg)&&(j > 0)) {
// digitalWrite (TESTPIN, !bitRead(PORTB, 5));
compVal = deltaV[j--].compa;
break;
}
}
} while (stepSave < moveSteps);
// TIMSK0 = 0;
digitalWrite (R_ENPIN, HIGH); // disable drivers
digitalWrite (L_ENPIN, HIGH); // disable drivers
digitalWrite (TESTPIN, LOW);