From 3bdf62890f31f83acacebcdb932ad70ecaac3ade Mon Sep 17 00:00:00 2001
From: 42loop <ulf.freyhoff@gmx.net>
Date: Wed, 26 Jun 2019 13:42:05 +0200
Subject: [PATCH] clean up
---
software/hugbot_state/hugbot_state.ino | 71 ++++++--------------------
1 file changed, 17 insertions(+), 54 deletions(-)
diff --git a/software/hugbot_state/hugbot_state.ino b/software/hugbot_state/hugbot_state.ino
index 04a45cd..a5e70ef 100644
--- a/software/hugbot_state/hugbot_state.ino
+++ b/software/hugbot_state/hugbot_state.ino
@@ -1,4 +1,3 @@
-#define debug
#include <TimerOne.h>
//constants for state machine:
@@ -18,16 +17,13 @@ volatile int last_state=0;
String statenames[]={"idle","arm closing","patting","arm opening","paper feed"};
-
-
volatile long period=750;
#define handmax 1700
-#define papermax 24000
-
-//#define handmax 10
-//volatile long period=50000;
+#define handwavemax 2
+#define papermax 24000
+//pin definitions:
//arm motor
#define steppin_0 2
@@ -51,9 +47,6 @@ volatile long period=750;
int inByte;
String rec="";
-//byte currentmotor=5;
-//volatile byte currentmotor=5;
-
#define armclose LOW
#define armopen HIGH
@@ -77,18 +70,15 @@ volatile int papertime=0;
volatile bool armsens;
volatile bool trsens;
-
volatile bool last_trsens;
-volatile bool hand_end=false;
volatile long armstepcount=0;
volatile long handstepcount=0;
+volatile bool hand_end=false;
volatile byte handwavecount=3;
-#define handwavemax 2
-bool steppersenable=false;
void setup() {
pinMode(13, OUTPUT);
@@ -102,11 +92,11 @@ void setup() {
digitalWrite(dirpin_0,armclose);
digitalWrite(steppin_0,HIGH);
- digitalWrite(enpin_0,steppersenable);
+ digitalWrite(enpin_0,false);
digitalWrite(dirpin_1,handup);
digitalWrite(steppin_1,HIGH);
- digitalWrite(enpin_1,steppersenable);
+ digitalWrite(enpin_1,false);
@@ -163,8 +153,7 @@ void onestep(byte motor)
void(* resetFunc) (void) = 0; //declare reset function @ address 0
-void timerIsr(){//timer0 interrupt 2kHz toggles pin 8
-//generates pulse wave of frequency 2kHz/2 = 1kHz (takes two cycles for full wave- toggle high then toggle low)
+void timerIsr(){
armsens=digitalRead(armsensor);
trsens=digitalRead(trittsensor);
@@ -186,7 +175,6 @@ switch (state) {
dir0=armclose;
digitalWrite(enpin_0,true);
digitalWrite(enpin_1,true);
-
digitalWrite(dirpin_0,dir0);
onestep(0);
@@ -194,13 +182,12 @@ switch (state) {
if (debug) {Serial.print("arm: ");Serial.println(armstepcount);}
if (armsens==LOW) {state+=1;handstepcount=0;handwavecount=0;hand_end=false;}
- // statements
break;
case state_waving:
digitalWrite(enpin_0,true);
digitalWrite(enpin_1,true);
-// statements
+
if (dir1==handup)
{handstepcount+=1;}
else
@@ -239,8 +226,6 @@ switch (state) {
{
Serial.println("hand: last wave");
hand_end=true;
-
- //dir1=!dir1;
}
if (handstepcount==0)
@@ -263,8 +248,8 @@ switch (state) {
armstepcount-=1;
if (armstepcount==0) {state+=1;}
if (debug) {Serial.print("arm: ");Serial.println(armstepcount);}
- // statements
break;
+
case state_paper:
digitalWrite(enpin_0,false);
digitalWrite(enpin_1,false);
@@ -279,10 +264,8 @@ switch (state) {
analogWrite(paperpin,0);
}
- // statements
break;
default:
- // statements
break;
}
@@ -292,39 +275,19 @@ switch (state) {
void loop() {
-if (digitalRead(not_aus)==0) {resetFunc();}
+ if (digitalRead(not_aus)==0) {resetFunc();}
+ if (state!=last_state)
+ {
+ Serial.print("state: ");Serial.println(statenames[state]);
+ last_state=state;
+ }
-if (state!=last_state)
-{
- /* if (state!=state_idle)
- {
- steppersenable=true;
- digitalWrite(enpin_1,steppersenable);
- digitalWrite(enpin_0,steppersenable);
- Serial.print("ENABLE:");Serial.println(steppersenable);
-
- }
- else
- {
- steppersenable=false;
- digitalWrite(enpin_1,steppersenable);
- digitalWrite(enpin_0,steppersenable);
- Serial.print("ENABLE:");Serial.println(steppersenable);
- }
-*/
-
- Serial.print("state: ");Serial.println(statenames[state]);
- last_state=state;
-}
-
-if (Serial.available() > 0) {
+ if (Serial.available() > 0) {
// get incoming byte:
-
inByte = Serial.read();
- boolean isaxcmd=false;
if (inByte!=10) {rec+=(char)inByte;}
else
{
@@ -352,7 +315,7 @@ if (Serial.available() > 0) {
if (cmd=="e")
{
-Timer1.detachInterrupt();
+ Timer1.detachInterrupt();
}
--
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