with Router elevator object

Fraestisch_SFTools.ino

@@ -50,10 +50,8 @@ static const int RotEnc_Clk_Pin = 32;
 static const int RotEnc_Dta_Pin = 33;
 
 static const int MOVE_DOWNWARD = -1; // motor rotation counter clock wise
-//static const int MOVE_UPWARD = 1;    // motor rotation clock wise
+//static const int MOVE_UPWARD = 1;  // motor rotation clock wise
 
-//byte limitSwitchState = 1;
-//int previousDirection = 0;
 int nullingTLS_intermediateState = 0;
 
 ExEzButton RedButton(RedBtn_Pin, false, 2000);
@@ -84,7 +82,6 @@ void printStatus(String actualStatus) {
 //*** Limit switch interrupt routine
 //**********************************
 void limitSwitchHandler() {
-//	limitSwitchState = digitalRead(LIMIT_SWITCH);
 	Router_Elevator.limitSwitchHandler();
 }
 
@@ -192,8 +189,6 @@ void loop() {
 		case NULLING:
 			printStatus("NULLING");
 			if (RedButton.isPressed()) {
-//				Stepper.setCurrentPositionInMillimeters(0);
-//				Stepper.setTargetPositionRelativeInMillimeters(0);
 				Router_Elevator.setZeroPosition();
 				actualStatus = IDLE;
 			}
@@ -204,7 +199,6 @@ void loop() {
 			if (nullingTLS_intermediateState == 0) {
 				printStatus("NULLING_TLS,0");
 				//Move elevator to lowest point (lower limit switch triggers)
-//				Stepper.setTargetPositionRelativeInMillimeters(300 * MOVE_DOWNWARD);
 				Router_Elevator.moveToLowerLimitSwitch();
 				actualStatus = MOVING_ELEVATOR;
 				nullingTLS_intermediateState = 1;
@@ -212,7 +206,6 @@ void loop() {
 				printStatus("NULLING_TLS,1");
 				if (RedButton.isPressed()) {
 					//Move elevator until it touch the TLS (WLS_PIN goes HIGH)
-//					Stepper.setTargetPositionRelativeInMillimeters(300 * MOVE_UPWARD);
 					Router_Elevator.moveToUpperLimitSwitch();
 					actualStatus = MOVING_ELEVATOR;
 					nullingTLS_intermediateState = 2;
@@ -228,8 +221,6 @@ void loop() {
 			} else { // nullingTLS_intermediateState is 3
 				printStatus("NULLING_TLS,3");
 				//Set the 0-Position as actual position
-//				Stepper.setCurrentPositionInMillimeters(0);
-//				Stepper.setTargetPositionRelativeInMillimeters(0);
 				Router_Elevator.setZeroPosition();
 				actualStatus = IDLE;
 				nullingTLS_intermediateState = 0;
@@ -254,32 +245,17 @@ void loop() {
 
 		case MOVING_ELEVATOR:
 			printStatus("MOVING_ELEVATOR");
-//			if (limitSwitchState == LOW) {
 			if (Router_Elevator.isLimitSwitchTriggerd()) {
-				// this will cause to stop any motion that is currently going on and block further movement in the same direction as long as the switch is active
-//				Stepper.setLimitSwitchActive(Stepper.LIMIT_SWITCH_COMBINED_BEGIN_AND_END);
 				delay(200);
 				actualStatus = RELEASE_SWITCH;
 			} else {  // limitSwitchState is HIGH
-//				if (Stepper.getDistanceToTargetSigned() == 0) {
 				if (Router_Elevator.isTargetPositionReached()) {
-					Serial.println("isTargetPositionReached");
 					actualStatus = originStatus;
 					delay(200);
 				} else if (Router_Elevator.isWLSTriggerd()) {
-//				} else if (WlsDetect.isConnected()) {
-//					if (Wls.isPlugged()) {
-//						Serial.println("The Tool is away from WLS");
-//						Stepper.clearLimitSwitchActive();
-//					} else if (Wls.isUnplugged()) {
-//						Serial.println("The Tool touched the WLS");
-//						Stepper.setLimitSwitchActive(Stepper.LIMIT_SWITCH_COMBINED_BEGIN_AND_END);
 					actualStatus = originStatus;
 					delay(200);
-//					}
 				}
-//				Stepper.clearLimitSwitchActive();
-//				previousDirection = Stepper.getDirectionOfMotion();
 				Router_Elevator.clearLimitSwitch();
 				Router_Elevator.checkDirection();
 			}
@@ -287,9 +263,7 @@ void loop() {
 
 		case RELEASE_SWITCH:
 			printStatus("RELEASE_SWITCH");
-			//			if (limitSwitchState == LOW) {
 			if (Router_Elevator.isLimitSwitchTriggerd()) {
-//				Stepper.moveRelativeInMillimeters(0.05 * previousDirection * -1); // move in opposite direction (away from switch)
 				Router_Elevator.tryReleaseLimitSwitch();
 			} else {
 				actualStatus = originStatus;

RouterElevator.cpp

@@ -8,9 +8,9 @@
 #include "RouterElevator.h"
 
 RouterElevator::RouterElevator(ESP_FlexyStepper &_Stepper, Display &_display, WLS &_WlsDetect, WLS &_Wls, int _LimitSwitch, int _DOWNWARD_DIR) :
-		WlsDetect(_WlsDetect), Wls(_Wls) {
-	Stepper = _Stepper;
-	display = _display;
+		Stepper(_Stepper), display(_display), WlsDetect(_WlsDetect), Wls(_Wls) {
+//	Stepper = _Stepper;
+//	display = _display;
 //	WlsDetect = _WlsDetect;
 //	Wls = _Wls;
 	LimitSwitch = _LimitSwitch;
@@ -68,7 +68,13 @@ bool RouterElevator::isWLSTriggerd() {
 
 void RouterElevator::limitSwitchHandler() {
 	limitSwitchState = digitalRead(LimitSwitch);
-	Stepper.setLimitSwitchActive(Stepper.LIMIT_SWITCH_COMBINED_BEGIN_AND_END);
+	if (limitSwitchState == LOW) {
+		// this will cause to stop any motion that is currently going on and block further movement in the same direction as long as the switch is active
+		Stepper.setLimitSwitchActive(Stepper.LIMIT_SWITCH_COMBINED_BEGIN_AND_END);
+	} else {
+		// clear the limit switch flag to allow movement in both directions again
+		clearLimitSwitch();
+	}
 }
 
 void RouterElevator::checkDirection() {

RouterElevator.h

@@ -17,8 +17,8 @@
 class RouterElevator {
 
 	private:
-		ESP_FlexyStepper Stepper;
-		Display display;
+		ESP_FlexyStepper &Stepper;
+		Display &display;
 		int previousDirection = 0;
 		byte limitSwitchState = 1;
 		int LimitSwitch;

sloeber.ino.cpp

@@ -2,7 +2,7 @@
 //This is a automatic generated file
 //Please do not modify this file
 //If you touch this file your change will be overwritten during the next build
-//This file has been generated on 2022-02-13 02:49:42
+//This file has been generated on 2022-02-13 17:01:01
 
 #include "Arduino.h"
 #include <Arduino.h>