Microcontrollers
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Fraestisch_SFTools
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Final Version

master
Flo Smilari 3 years ago
parent
220a00065d
commit
f67e26afff
4 changed files with 43 additions and 39 deletions
Split View Show Diff Stats
  1. 29
    21
      Fraestisch_SFTools.ino
  2. 2
    4
      RouterElevator.cpp
  3. 11
    12
      RouterSetup.cpp
  4. 1
    2
      sloeber.ino.cpp

+ 29
- 21
Fraestisch_SFTools.ino View File

@@ -53,6 +53,7 @@ static const int MOVE_DOWNWARD = -1; // motor rotation counter clock wise
//static const int MOVE_UPWARD = 1; // motor rotation clock wise

int intermediateState = 0;
bool isPowerOn = true;

ExEzButton RedButton(RedBtn_Pin, false, 2000);
ExEzButton GreenButton(GreenBtn_Pin, false, 2000);
@@ -83,12 +84,12 @@ int PreviousDATA;
int displaycounter = 0; // Store current counter value
volatile boolean TurnDetected;

void printStatus(String actualStatus) {
if (!oldStatus.equals(actualStatus)) {
Serial.println(actualStatus);
oldStatus = actualStatus;
}
}
//void printStatus(String actualStatus) {
// if (!oldStatus.equals(actualStatus)) {
// Serial.println(actualStatus);
// oldStatus = actualStatus;
// }
//}

//**********************************
//*** Limit switch interrupt routine
@@ -102,7 +103,7 @@ void limitSwitchHandler() {
//*****************************************************************************************************
void Initialize() {
Router_Setup.readFromEEPROM();
Router_Setup.printValues();
// Router_Setup.printValues();

Display.showInitialization();
//attach an interrupt to the IO pin of the limit switch and specify the handler function
@@ -119,8 +120,9 @@ void Initialize() {
Stepper.startAsService(0);
}

if (Router_Setup.isToolChangOnPowerOn()) {
if (isPowerOn && Router_Setup.isToolChangOnPowerOn()) {
SetActualStatus(TOOL_CHANGE);
isPowerOn = false;
} else {
SetActualStatus(IDLE);
}
@@ -181,7 +183,7 @@ void loop() {
break;

case TOOL_CHANGE:
printStatus("TOOL_CHANGE");
//printStatus("TOOL_CHANGE");
BlueButton.loop();
RotaryControler.loop();
originStatus = TOOL_CHANGE;
@@ -203,7 +205,7 @@ void loop() {
break;

case CONFIGURATION:
printStatus("CONFIGURATION");
//printStatus("CONFIGURATION");
BlueButton.loop();
RotaryControler.loop();
Router_Setup.initialize();
@@ -220,7 +222,7 @@ void loop() {
break;

case NULLING:
printStatus("NULLING");
//printStatus("NULLING");
RedButton.loop();
if (RedButton.isPressed()) {
Router_Elevator.setZeroPosition();
@@ -232,13 +234,13 @@ void loop() {
RedButton.loop();
originStatus = NULLING_TLS;
if (intermediateState == 0) {
printStatus("NULLING_TLS,0");
//printStatus("NULLING_TLS,0");
//Move elevator to lowest point (lower limit switch triggers)
Router_Elevator.moveToLowerLimitSwitch();
SetActualStatus(MOVING_ELEVATOR);
intermediateState = 1;
} else if (intermediateState == 1) {
printStatus("NULLING_TLS,1");
//printStatus("NULLING_TLS,1");
if (RedButton.isPressed()) {
//Move elevator until it touch the TLS (WLS_PIN goes HIGH)
Router_Elevator.moveToUpperLimitSwitch();
@@ -246,15 +248,15 @@ void loop() {
intermediateState = 2;
}
} else if (intermediateState == 2) {
printStatus("NULLING_TLS,2");
//printStatus("NULLING_TLS,2");
//Move elevator back about toolLenghtSensorHeight (will be the 0-Position)
Router_Elevator.clearLimitSwitch();
Router_Elevator.moveRelativeInMillimeters(Router_Setup.getToolLenghtSensorHeight() * MOVE_DOWNWARD);
Serial.println(String(Router_Setup.getToolLenghtSensorHeight() * MOVE_DOWNWARD, 2));
//Serial.println(String(Router_Setup.getToolLenghtSensorHeight() * MOVE_DOWNWARD, 2));
SetActualStatus(MOVING_ELEVATOR);
intermediateState = 3;
} else { // nullingTLS_intermediateState is 3
printStatus("NULLING_TLS,3");
//printStatus("NULLING_TLS,3");
//Set the 0-Position as actual position
Router_Elevator.setZeroPosition();
SetActualStatus(IDLE);
@@ -263,12 +265,15 @@ void loop() {
break;

case IDLE:
printStatus("IDLE");
//printStatus("IDLE");
RedButton.loop();
GreenButton.loop();
BlueButton.loop();
RotaryControler.loop();
originStatus = IDLE;
if (RotaryControler.isSwitchLongPressed()) {
SetActualStatus(CONFIGURATION);
}
if (RotaryControler.isSwitchPressed()) {
Router_Elevator.toggleMode();
}
@@ -286,16 +291,19 @@ void loop() {
} else if (GreenButton.isPressed()) {
Router_Elevator.moveToTarget();
SetActualStatus(MOVING_ELEVATOR);
} else if (RedButton.isPressed()) {
Router_Elevator.moveToParkPosition();
SetActualStatus(MOVING_ELEVATOR);
}
break;

case DIVING:
printStatus("DIVING");
//printStatus("DIVING");
GreenButton.loop();
originStatus = DIVING;
Router_Elevator.setMaxDiveDistance();
if (GreenButton.isPressed()) {
Serial.println("GB pressed");
//Serial.println("GB pressed");
if (!Router_Elevator.maxDiveDistanceReached()) {
Router_Elevator.incrementDiveDistance();
Router_Elevator.moveToTarget();
@@ -315,7 +323,7 @@ void loop() {
break;

case MOVING_ELEVATOR:
printStatus("MOVING_ELEVATOR");
//printStatus("MOVING_ELEVATOR");
if (Router_Elevator.isLimitSwitchTriggerd()) {
delay(200);
SetActualStatus(RELEASE_SWITCH);
@@ -333,7 +341,7 @@ void loop() {
break;

case RELEASE_SWITCH:
printStatus("RELEASE_SWITCH");
//printStatus("RELEASE_SWITCH");
if (Router_Elevator.isLimitSwitchTriggerd()) {
Router_Elevator.tryReleaseLimitSwitch();
} else {

+ 2
- 4
RouterElevator.cpp View File

@@ -71,11 +71,11 @@ void RouterElevator::moveToParkPosition(void) {
bool RouterElevator::isWLSTriggerd() {
if (WlsDetect.isConnected()) {
if (Wls.isPlugged()) {
Serial.println("The Tool is away from WLS");
// Serial.println("The Tool is away from WLS");
Stepper.clearLimitSwitchActive();
return false;
} else if (Wls.isUnplugged()) {
Serial.println("The Tool touched the WLS");
// Serial.println("The Tool touched the WLS");
Stepper.setLimitSwitchActive(Stepper.LIMIT_SWITCH_COMBINED_BEGIN_AND_END);
return true;
}
@@ -139,7 +139,6 @@ float RouterElevator::getMaxDiveDistance() const {
void RouterElevator::setMaxDiveDistance() {
if (isDoDiveInitialization()) {
Serial.println("setMaxDiveDistance");
maxDiveDistance = targetDistance;
targetDistance = 0.0;
display.setDistanceValue(targetDistance);
@@ -154,7 +153,6 @@ void RouterElevator::setMaxDiveDistance() {
bool RouterElevator::incrementDiveDistance() {
float increment = Router_Setup.getLevelHeightDiving();
targetDistance = min(maxDiveDistance, targetDistance + increment);
Serial.println("targetDistance: " + String(targetDistance, 2));
display.setMaxDiveDistance(maxDiveDistance);
display.setDistanceValue(targetDistance);
display.setLevelHeightDiving(Router_Setup.getLevelHeightDiving());

+ 11
- 12
RouterSetup.cpp View File

@@ -143,18 +143,17 @@ void RouterSetup::saveToEEPROM() {
eeprom.end();
}
void RouterSetup::printValues() {
Serial.print(String(SPEED) + ": " + String(getSpeed(), 1) + ", ");
Serial.print(String(ACCELERATION) + ": " + String(getAcceleration(), 1) + ", ");
Serial.print(String(STEPSPERREV) + ": " + String(getStepsPerRev()) + ", ");
Serial.print(String(PITCH) + ": " + String(getPitch(), 1) + ", ");
Serial.print(String(TOOLLENGHTSNHT) + ": " + String(getToolLenghtSensorHeight(), 2) + ", ");
Serial.print(String(ENCSPEEDSLOW) + ": " + String(getEncoderSpeedSlow()) + ", ");
Serial.print(String(ENCSPEEDFAST) + ": " + String(getEncoderSpeedFast()) + ", ");
Serial.print(String(LVLHEIGHTDIVE) + ": " + String(getLevelHeightDiving(), 2) + ", ");
Serial.println(String(TOOLCHGONPWRON) + ": " + String(isToolChangOnPowerOn()));
}
//void RouterSetup::printValues() {
// Serial.print(String(SPEED) + ": " + String(getSpeed(), 1) + ", ");
// Serial.print(String(ACCELERATION) + ": " + String(getAcceleration(), 1) + ", ");
// Serial.print(String(STEPSPERREV) + ": " + String(getStepsPerRev()) + ", ");
// Serial.print(String(PITCH) + ": " + String(getPitch(), 1) + ", ");
// Serial.print(String(TOOLLENGHTSNHT) + ": " + String(getToolLenghtSensorHeight(), 2) + ", ");
// Serial.print(String(ENCSPEEDSLOW) + ": " + String(getEncoderSpeedSlow()) + ", ");
// Serial.print(String(ENCSPEEDFAST) + ": " + String(getEncoderSpeedFast()) + ", ");
// Serial.print(String(LVLHEIGHTDIVE) + ": " + String(getLevelHeightDiving(), 2) + ", ");
// Serial.println(String(TOOLCHGONPWRON) + ": " + String(isToolChangOnPowerOn()));
//}
void RouterSetup::initialize() {
if (doInitialization) {

+ 1
- 2
sloeber.ino.cpp View File

@@ -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 2022-03-01 10:11:02
//This file has been generated on 2022-03-01 17:52:01

#include "Arduino.h"
#include <Arduino.h>
@@ -21,7 +21,6 @@
#include "Status.h"
#include "WLS.h"

void printStatus(String actualStatus) ;
void limitSwitchHandler() ;
void Initialize() ;
void setup() ;

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