hmm, didn't know i had a git for this one

ClawMachineOverhaul.ino

@@ -2,8 +2,7 @@
 #include "StepperXController.h"
 #include "Time.h"
 
-#define LeftPin 3
-#define RightPin 2
+#define JoystickPin 63
 
 #define grabPin 19
 
@@ -14,15 +13,17 @@ void setup(){
     Serial.begin(115200);
     
     // Set the pin mode for the defined pins
-    pinMode(LeftPin, INPUT_PULLUP);
-    pinMode(RightPin, INPUT_PULLUP);
     pinMode(grabPin, INPUT_PULLUP);
 
     initSteppers();
     initXStepper();
 }
 
-float position = 0;
+bool isGrabbing = false;
+float startGrabbingTime = 0;
+const float moveToDropZoneTime = 1750; // How long to move right (relative to me)
+
+const int joyCriticalPoint = 10;
 
 void loop(){
   // Updates deltatime
@@ -30,13 +31,29 @@ void loop(){
 
   stepperXLoop();
 
-    bool left = digitalRead(LeftPin) == LOW;
-    bool right = digitalRead(RightPin) == LOW;
+  // Joystick. TODO: Make this only run when needed. Too lazy now.
+  int joystickValueRaw = analogRead(JoystickPin);
+  int joystickValue = map(joystickValueRaw, 0, 1023, 0, 100);
+  bool left = joystickValue > 100-joyCriticalPoint;
+  bool right = joystickValue < joyCriticalPoint;
+
+  // Serial.print("Left: ");
+  // Serial.print(left);
+  // Serial.print("    Right: ");
+  // Serial.println(right);
+
+  if (isGrabbing && millis() > startGrabbingTime + moveToDropZoneTime) {
+    isGrabbing = false;
+    processJoystickInput(false, false); // Quickly stop motor
+    delay(1000);
+    moveStepper(StepperAxis::Head, 10000, 100); // open hand
+  }
 
   processJoystickInput(left, right);
 
   if (digitalRead(grabPin) == LOW){
       beginGrabSequence();
+      //initGrabber();
   }
 
   // //Serial.print(millis());
@@ -51,9 +68,16 @@ void loop(){
   delay(10);  // delay in milliseconds
 }
 
-void beginGrabSequence(){
-    moveStepper(StepperAxis::Head, 1000, 100);
-    moveStepper(StepperAxis::Y, 10000, -1100);
-    moveStepper(StepperAxis::Head, 1000, -100, 100);
-    moveStepper(StepperAxis::Y, 10000, 1100);
+void initGrabber(){
+  moveStepper(StepperAxis::Head, 100000, 1000);
+}
+
+void beginGrabSequence(){
+    moveStepper(StepperAxis::Head, 10000, 100); // open hand
+    moveStepper(StepperAxis::Y, 10000, -1100);
+    moveStepper(StepperAxis::Head, 1000, -100, 100); // close hand
+    moveStepper(StepperAxis::Y, 10000, 1100);
+
+    isGrabbing = true;
+    startGrabbingTime = millis();
 }

StepperController.h

@@ -70,7 +70,7 @@ void initSteppers(){
         steppers[i].setStepsPerRevolution(200);
     }
 
-    moveStepper(StepperAxis::Y, 10000, 1100);
+    moveStepper(StepperAxis::Y, 10000, 1000);
+    moveStepper(StepperAxis::Head, 10000, 100);
 
-    // moveStepper(StepperAxis::Head, 10000, 50);
 }

StepperXController.h

@@ -20,14 +20,14 @@ void processJoystickInput(bool left, bool right){
         //     isMovingLeft = true;
         //     stepper.stop();
         // }
-        stepper.spin(16000);
+        stepper.spin(14000);
     }
     else if (right){
         // if (isMovingLeft){
         //     isMovingLeft = false;
         //     stepper.stop();
         // }
-        stepper.spin(-16000);
+        stepper.spin(-14000);
     }
     else
         stepper.stop();