doohoyi/forest-all-around
1
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity

roundly 'moving' added.

Browse source
This commit is contained in:
Dooho Yi 2021-05-06 23:18:38 +09:00
parent 11e21ba386
commit 9bca5aaa35
1 changed files with 64 additions and 9 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

61
roundly/src/main.cpp
View file

@ -112,7 +112,39 @@ AccelStepper stepper(AccelStepper::FULL4WIRE, D5, D6, D7, D8, false); // N.B. -
// my tasks // my tasks
extern Task stepping_task; extern Task stepping_task;
extern Task moving_task;
extern Task rest_task; extern Task rest_task;
// 'move' task --> relative movements
int move_target = 0;
int move_duration = 10000;
void moving() {
//
float velocity = move_target / move_duration * 1000; // unit conv.: (steps/msec) --> (steps/sec)
float speed = fabs(velocity);
//
MONITORING_SERIAL.print("move_target --> "); MONITORING_SERIAL.println(move_target);
MONITORING_SERIAL.print("move_duration --> "); MONITORING_SERIAL.println(move_duration);
//
if (speed > STEPS_PER_SEC_MAX) {
MONITORING_SERIAL.println("oh.. it might be TOO FAST for me..");
} else {
MONITORING_SERIAL.println("okay. i m going.");
}
//
stepper.enableOutputs();
stepper.moveTo(move_target + stepper.currentPosition());
stepper.setSpeed(velocity);
//NOTE: 'setSpeed' should come LATER than 'moveTo'!
// --> 'moveTo' re-calculate the velocity.
// --> so we need to re-override it.
//
// }
}
Task moving_task(0, TASK_ONCE, &moving);
// 'step' task --> absolute movements
int step_target = 0; int step_target = 0;
int step_duration = 10000; int step_duration = 10000;
void stepping() { void stepping() {
@ -227,17 +259,39 @@ Task blink_task(0, TASK_FOREVER, &blink, &runner, true); // -> ENABLED, at start
void onNoteHandler(Note & n) { void onNoteHandler(Note & n) {
//is it for me? //is it for me?
if (n.id == MY_GROUP_ID || n.id == MY_ID) { if (n.id == MY_GROUP_ID || n.id == MY_ID) {
//
if (n.pitch == 0) {
//
if (n.onoff == 1) {
// //
step_target = n.x1; step_target = n.x1;
step_duration = n.x2; step_duration = n.x2;
if (step_duration < 1000) step_duration = 1000; if (step_duration < 1000) step_duration = 1000;
//
if (n.onoff == 1) {
stepping_task.restartDelayed(10); stepping_task.restartDelayed(10);
//
} else if (n.onoff == 0) { } else if (n.onoff == 0) {
rest_task.restartDelayed(10); //
move_target = 0;
move_duration = 1000;
moving_task.restartDelayed(10);
} }
// //
} else if (n.pitch == 1) {
//
if (n.onoff == 1) {
//
move_target = n.x1;
move_duration = n.x2;
if (move_duration < 1000) move_duration = 1000;
moving_task.restartDelayed(10);
//
} else if (n.onoff == 0) {
move_target = 0;
move_duration = 1000;
moving_task.restartDelayed(10);
}
//
}
} }
} }
@ -369,6 +423,7 @@ void setup() {
//tasks //tasks
runner.addTask(stepping_task); runner.addTask(stepping_task);
runner.addTask(moving_task);
runner.addTask(rest_task); runner.addTask(rest_task);
rest_task.restartDelayed(500); rest_task.restartDelayed(500);
} }