diff --git a/code/cane_control/cane_control.ino b/code/cane_control/cane_control.ino
index a4f312bc8117ce8655b33d183549198576c18577..8f14d8c314a6ae424c4c2ace0baed91a16d72659 100644
--- a/code/cane_control/cane_control.ino
+++ b/code/cane_control/cane_control.ino
@@ -1,121 +1,66 @@
-#include <TMC2209.h>
-#include <AccelStepper.h>
#include <Adafruit_SSD1306.h>
-
-#define PIN_STEP1 28
-#define PIN_DIR1 29
-#define PIN_STEP2 26
-#define PIN_DIR2 27
+
+#include "knob.hpp"
+#include "motion.hpp"
+
+// encoder settings
#define PIN_BTN 2
#define PIN_ENC_A 3
#define PIN_ENC_B 4
-#define READ_FAST(pin) ((sio_hw->gpio_in & (1 << pin)) > 0)
-
-#define SCREEN_WIDTH 128 // OLED display width, in pixels
-#define SCREEN_HEIGHT 64 // OLED display height, in pixels
-
+#define LENGTH_INC (0.05)
#define LENGTH_MIN (0.05)
#define LENGTH_MAX (4000.0)
+#define LENGTH_DEFAULT (5.00)
-#define OLED_RESET -1 // Reset pin # (or -1 if sharing Arduino reset pin)
-#define SCREEN_ADDRESS 0x3C ///< See datasheet for Address; 0x3D for 128x64, 0x3C for 128x32
-
+// stepper settings
+#define PIN_STEP1 28
+#define PIN_DIR1 29
+#define PIN_STEP2 26
+#define PIN_DIR2 27
#define SERIAL_BAUD_RATE 115200
+#define MICROSTEPS 4
#define RUN_CURRENT_PERCENT 80
#define STALL_GUARD_THRESHOLD 80
#define HOMING_VELOCITY 400
-
#define MOVE_SPEED 800
#define MOVE_ACC 1200
+#define STEPPER_SERIAL Serial1
-#define MICROSTEPS 4
-
-HardwareSerial & serial_stream = Serial1;
+// screen settings
+#define SCREEN_WIDTH 128
+#define SCREEN_HEIGHT 64
+#define OLED_RESET -1
+#define SCREEN_ADDRESS 0x3C
Adafruit_SSD1306 display(SCREEN_WIDTH, SCREEN_HEIGHT, &Wire, OLED_RESET);
-AccelStepper stepper1(AccelStepper::DRIVER, PIN_STEP1, PIN_DIR1);
-AccelStepper stepper2(AccelStepper::DRIVER, PIN_STEP2, PIN_DIR2);
-
-TMC2209 stepper_driver1;
-TMC2209 stepper_driver2;
-
-int state_now = 0b00;
-int state_prev = 0b00;
-
-int lookup_move[] = {0,-1,1,-2,1,0,2,-1,-1,2,0,1,-2,1,-1,0};
-
-float length = 5.00;
-
int counter = 0;
-int active = false;
-bool update_screen = true;
-
-int k = 0;
-
-inline void update_knob() {
- int key = (state_now << 2) | state_prev;
- if (!active) {
- k += lookup_move[key];
- if (k >= 4) {
- length += 0.05;
- k -= 4;
- if (length > LENGTH_MAX) {
- length = LENGTH_MAX;
- }
- } else if (k <= -4) {
- length -= 0.05;
- k += 4;
- if (length < LENGTH_MIN) {
- length = LENGTH_MIN;
- }
- }
- update_screen = true;
- }
- state_prev = state_now;
-}
-
-void pin_AB_change() {
- state_now = (READ_FAST(PIN_ENC_B) << 1) | READ_FAST(PIN_ENC_A);
- update_knob();
-}
+int cutting = false;
-void homing() {
- stepper_driver2.moveAtVelocity(-HOMING_VELOCITY);
- delay(200);
- stepper_driver2.moveAtVelocity(HOMING_VELOCITY);
- delay(100);
- bool done = false;
- while (!done) {
- uint16_t stall_guard_result = stepper_driver2.getStallGuardResult();
- done = stall_guard_result < STALL_GUARD_THRESHOLD;
- }
- stepper_driver2.moveAtVelocity(0);
- stepper_driver2.enable();
-}
+Knob knob(PIN_ENC_A, PIN_ENC_B, LENGTH_INC, LENGTH_MIN, LENGTH_MAX);
void setup() {
Serial.begin(0);
- pinMode(PIN_ENC_A, INPUT);
- pinMode(PIN_ENC_B, INPUT);
pinMode(PIN_BTN, INPUT_PULLUP);
+ // screen init
display.begin(SSD1306_SWITCHCAPVCC, SCREEN_ADDRESS);
- display.setTextSize(1); // Normal 1:1 pixel scale
- display.setTextColor(SSD1306_WHITE); // Draw white text
+ display.setTextSize(1);
+ display.setTextColor(SSD1306_WHITE);
display.display();
delay(100);
display.clearDisplay();
display.cp437(true);
- stepper_driver1.setup(serial_stream, SERIAL_BAUD_RATE, TMC2209::SERIAL_ADDRESS_1);
+ /*
+ stepper_driver1.setup(STEPPER_SERIAL, SERIAL_BAUD_RATE, TMC2209::SERIAL_ADDRESS_1);
stepper_driver1.setRunCurrent(RUN_CURRENT_PERCENT);
stepper_driver1.setMicrostepsPerStep(MICROSTEPS);
-
+
delay(50);
- stepper_driver2.setup(serial_stream, SERIAL_BAUD_RATE, TMC2209::SERIAL_ADDRESS_0);
+ stepper_driver2.setup(STEPPER_SERIAL, SERIAL_BAUD_RATE, TMC2209::SERIAL_ADDRESS_0);
stepper_driver2.setRunCurrent(RUN_CURRENT_PERCENT);
stepper_driver2.setMicrostepsPerStep(MICROSTEPS);
stepper_driver2.enable();
@@ -134,50 +79,59 @@ void setup() {
stepper2.setMaxSpeed(MOVE_SPEED);
stepper2.setAcceleration(MOVE_ACC);
+ */
- state_now = READ_FAST(PIN_ENC_A) | (READ_FAST(PIN_ENC_B) << 1);
- state_prev = state_now;
-
- attachInterrupt(digitalPinToInterrupt(PIN_ENC_A), pin_AB_change, CHANGE);
- attachInterrupt(digitalPinToInterrupt(PIN_ENC_B), pin_AB_change, CHANGE);
+ knob.begin(LENGTH_DEFAULT);
}
void loop() {
+ static float knob_value = LENGTH_DEFAULT;
+
+ bool update_screen = false;
+
+ if (knob->value != knob_value) {
+ knob_value = knob->value;
+ update_screen = true;
+ }
+
static int btn_pressed = false;
-
+
int btn_pressed_now = !digitalRead(PIN_BTN);
if (btn_pressed_now && !btn_pressed) {
- active = !active;
+ cutting = !cutting;
update_screen = true;
- if (active) {
- stepper_driver1.enable();
+ if (cutting) {
+ //stepper_driver1.enable();
+ knob.disable();
} else {
- stepper_driver1.disable();
+ //stepper_driver1.disable();
+ knob.enable();
}
}
- if (active) {
+ /*
+ if (cutting) {
stepper1.moveTo(800);
stepper1.runToPosition();
stepper1.setCurrentPosition(0);
- active = false;
- update_screen = true;
+ cutting = false;
}
+ */
- if (update_screen) {
+ if (update_screen) {
update_screen = false;
display.clearDisplay();
display.setCursor(0, 0);
- display.printf("Length: %8.2f in\n", length);
+ display.printf("Length: %8.2f in\n", knob_value);
display.setCursor(0, 16);
display.printf("Counter: %7d cuts\n", counter);
display.setCursor(0, 40);
- display.println(active ? "RUNNING..." : "STOPPED");
+ display.println(cutting ? "RUNNING..." : "STOPPED");
display.setCursor(0, 56);
- display.println(active ? "[ press to stop ]" : "[ press to start ]");
+ display.println(cutting ? "[ press to stop ]" : "[ press to start ]");
display.display();
}
diff --git a/code/cane_control/knob.cpp b/code/cane_control/knob.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..92e68d10e9b687f3f0beb763d7eedb9cc82101e3
--- /dev/null
+++ b/code/cane_control/knob.cpp
@@ -0,0 +1,49 @@
+#include "knob.hpp"
+
+Knob::Knob(int pin_A, int pin_B, float val_inc, float val_min, float val_max) {
+ this->pin_A = pin_A;
+ this->pin_B = pin_B;
+ this->val_inc = val_inc;
+ this->val_min = val_min;
+ this->val_max = val_max;
+ this->value = val_min;
+}
+
+void Knob::begin(float start_value) {
+ pinMode(this->pin_A, INPUT);
+ pinMode(this->pin_B, INPUT);
+
+ this->value = start_value;
+
+ this->state = READ_FAST(this->pin_A) | (READ_FAST(this->pin_B) << 1);
+ this->state_prev = state;
+
+ enable();
+
+ attachInterrupt(digitalPinToInterrupt(this->pin_A), this->pin_callback, CHANGE);
+ attachInterrupt(digitalPinToInterrupt(this->pin_B), this->pin_callback, CHANGE);
+}
+
+void Knob::enable() {
+ this->active = true;
+}
+
+void Knob::disable() {
+ this->active = false;
+}
+
+void Knob::pin_callback() {
+ this->state = READ_FAST(this->pin_A) | (READ_FAST(this->pin_B) << 1);
+ int key = (this->state << 2) | this->state_prev;
+ if (this->active) {
+ k += this->lookup_move[key];
+ if (k >= 4) {
+ this->value = min(this->value+this->val_inc, this->val_max);
+ k -= 4;
+ } else if (k <= -4) {
+ this->value = min(this->value-this->val_inc, this->val_min);
+ k += 4;
+ }
+ }
+ this->state_prev = this->state;
+}
diff --git a/code/cane_control/knob.hpp b/code/cane_control/knob.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..33227ced25850f58d0ab567186be30e5b404cf50
--- /dev/null
+++ b/code/cane_control/knob.hpp
@@ -0,0 +1,29 @@
+#ifndef KNOB_H
+#define KNOB_H
+
+#include <Arduino.h>
+
+#define READ_FAST(pin) ((sio_hw->gpio_in & (1 << pin)) > 0)
+
+class Knob {
+ public:
+ Knob(int pin_A, int pin_B, float val_inc, float val_min, float val_max);
+ void begin(float start_value);
+ float value;
+ bool active = false;
+ void pin_callback();
+ private:
+ void enable();
+ void disable();
+ void update_value();
+ int pin_A;
+ int pin_B;
+ float val_inc;
+ float val_min;
+ float val_max;
+ int state;
+ int state_prev;
+ static constexpr const int lookup_move[] = {0,-1,1,-2,1,0,2,-1,-1,2,0,1,-2,1,-1,0};
+};
+
+#endif
diff --git a/code/cane_control/motion.cpp b/code/cane_control/motion.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..926d3623784e434a59a231a643cfd0fce579710b
--- /dev/null
+++ b/code/cane_control/motion.cpp
@@ -0,0 +1,21 @@
+/*
+void homing() {
+ stepper_driver2.moveAtVelocity(-HOMING_VELOCITY);
+ delay(200);
+ stepper_driver2.moveAtVelocity(HOMING_VELOCITY);
+ delay(100);
+ bool done = false;
+ while (!done) {
+ uint16_t stall_guard_result = stepper_driver2.getStallGuardResult();
+ done = stall_guard_result < STALL_GUARD_THRESHOLD;
+ }
+ stepper_driver2.moveAtVelocity(0);
+ stepper_driver2.enable();
+}
+
+AccelStepper stepper1(AccelStepper::DRIVER, PIN_STEP1, PIN_DIR1);
+AccelStepper stepper2(AccelStepper::DRIVER, PIN_STEP2, PIN_DIR2);
+
+TMC2209 stepper_driver1;
+TMC2209 stepper_driver2;
+*/
diff --git a/code/cane_control/motion.hpp b/code/cane_control/motion.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..5e556ed74f2921119e9f7df2d8e175bbb4c715c1
--- /dev/null
+++ b/code/cane_control/motion.hpp
@@ -0,0 +1,8 @@
+#ifndef MOTION_H
+#define MOTION_H
+
+#include <Arduino.h>
+#include <TMC2209.h>
+#include <AccelStepper.h>
+
+#endif