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roundly 'moving' added.

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Dooho Yi 2021-05-06 23:18:38 +09:00
parent 11e21ba386
commit 9bca5aaa35
1 changed files with 64 additions and 9 deletions
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73
roundly/src/main.cpp
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@ -112,7 +112,39 @@ AccelStepper stepper(AccelStepper::FULL4WIRE, D5, D6, D7, D8, false); // N.B. -
// my tasks
extern Task stepping_task;
extern Task moving_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_duration = 10000;
void stepping() {
@ -228,16 +260,38 @@ void onNoteHandler(Note & n) {
//is it for me?
if (n.id == MY_GROUP_ID || n.id == MY_ID) {
//
step_target = n.x1;
step_duration = n.x2;
if (step_duration < 1000) step_duration = 1000;
//
if (n.onoff == 1) {
stepping_task.restartDelayed(10);
} else if (n.onoff == 0) {
rest_task.restartDelayed(10);
if (n.pitch == 0) {
//
if (n.onoff == 1) {
//
step_target = n.x1;
step_duration = n.x2;
if (step_duration < 1000) step_duration = 1000;
stepping_task.restartDelayed(10);
//
} else if (n.onoff == 0) {
//
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
runner.addTask(stepping_task);
runner.addTask(moving_task);
runner.addTask(rest_task);
rest_task.restartDelayed(500);
}