57 lines
1.1 KiB
C++
57 lines
1.1 KiB
C++
#include "StepperController.h"
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#include "StepperXController.h"
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#include "Time.h"
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#define LeftPin 3
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#define RightPin 2
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Time time;
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void setup(){
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// Start serial communication at 115200 baud
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Serial.begin(115200);
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// Set the pin mode for the defined pins
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pinMode(LeftPin, INPUT_PULLUP);
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pinMode(RightPin, INPUT_PULLUP);
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initSteppers();
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initXStepper();
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moveStepper(StepperAxis::Y, 10000, 1000);
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}
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float position = 0;
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void loop(){
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// Updates deltatime
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time.update();
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stepperXLoop();
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bool left = digitalRead(LeftPin) == LOW;
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bool right = digitalRead(RightPin) == LOW;
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processJoystickInput(left, right);
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// //Serial.print(millis());
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// Serial.print("Left state: ");
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// Serial.print(left);
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// Serial.print(" | ");
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// Serial.print("Right state: ");
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// Serial.println(right);
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if (Serial.available() > 0){
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Serial.flush();
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}
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delay(10); // delay in milliseconds
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}
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void beginGrabSequence(){
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moveStepper(StepperAxis::Y, 10000, -1000);
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moveStepper(StepperAxis::Y, 10000, -1000);
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}
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