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roundly resting task added.

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Dooho Yi 2021-02-14 19:24:49 +09:00
parent 47a05f3ac5
commit 615a6eeab9
1 changed files with 11 additions and 5 deletions
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16
roundly/src/main.cpp
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@ -52,7 +52,7 @@
//============</list of reserved keys>=========== //============</list of reserved keys>===========
//============<identity key>============ //============<identity key>============
#define ID_KEY ROUNDLY_A_KEY #define ID_KEY ROUNDLY_E_KEY
//============</identity key>=========== //============</identity key>===========
//============<parameters>============ //============<parameters>============
@ -179,7 +179,7 @@ Task nothappyalone_task(100, TASK_FOREVER, &nothappyalone); // by default, ENABL
#define RPM_MAX (STEPS_PER_SEC_MAX * STEPS_PER_SEC_TO_RPM) #define RPM_MAX (STEPS_PER_SEC_MAX * STEPS_PER_SEC_TO_RPM)
#define ACCELERATION_MAX (500) #define ACCELERATION_MAX (500)
// //
AccelStepper stepper(AccelStepper::FULL4WIRE, D5, D6, D7, D8); // N.B. - @esp8266, NEVER use "5, 6, 7, 8" -> do "D5, D6, D7, D8" !! AccelStepper stepper(AccelStepper::FULL4WIRE, D5, D6, D7, D8, false); // N.B. - @esp8266, NEVER use "5, 6, 7, 8" -> do "D5, D6, D7, D8" !!
// my tasks // my tasks
extern Task stepping_task; extern Task stepping_task;
@ -210,6 +210,7 @@ void stepping() {
} }
// //
stepper.enableOutputs();
stepper.moveTo(target_step); stepper.moveTo(target_step);
stepper.setSpeed(velocity); stepper.setSpeed(velocity);
//NOTE: 'setSpeed' should come LATER than 'moveTo'! //NOTE: 'setSpeed' should come LATER than 'moveTo'!
@ -220,9 +221,13 @@ void stepping() {
} }
Task stepping_task(0, TASK_ONCE, &stepping); Task stepping_task(0, TASK_ONCE, &stepping);
//
void rest() { void rest() {
if (stepper.distanceToGo() == 0) {
stepper.disableOutputs();
}
} }
Task rest_task(0, TASK_ONCE, &rest); Task rest_task(1000, TASK_FOREVER, &rest);
// mesh callbacks // mesh callbacks
void receivedCallback(uint32_t from, String & msg) { // REQUIRED void receivedCallback(uint32_t from, String & msg) { // REQUIRED
@ -286,8 +291,9 @@ void receivedCallback(uint32_t from, String & msg) { // REQUIRED
String str_x8 = msg.substring(29, 31); String str_x8 = msg.substring(29, 31);
if (str_ext == "X") { if (str_ext == "X") {
step_target = str_x1.toInt(); // 0 ~ 9999 int step_target_multiplier = str_x3.toInt(); // -99 ~ 999
step_duration = str_x2.toInt(); // 0 ~ 9999 step_target = str_x1.toInt() * step_target_multiplier; // -999 ~ 9999 * -99 ~ 999
step_duration = str_x2.toInt(); // -999 ~ 9999
} }
//is it for me? //is it for me?