Speed configuration and run

basic firmware with three selectable speeds and a fourth "most rapid"
speed

firmware/src/main.cpp

@@ -8,43 +8,69 @@ bool debug = true ;
 int enablePin = 22 ;
 Stepper motor(15, 14);      
 RotateControl controller;  
-int stepper_maxSpeed = 5000 ;
-int stepper_maxAcc = 10000;
+bool stepper_mode = false ;
+
+int MSTEPPING = 16 ;
+
+int stepper_maxSpeed = 900*MSTEPPING ;
+int stepper_maxAcc = 1200*MSTEPPING;
+int current_speed ;
 
 int STEPS_PER_TURN = 200 ;
-int MSTEPPING = 1 ;
 float MOTOR_RATIO = 99.05 ;
 float BELT_RATIO = 5.217391304 ;
 float STEPS_2_ROT = STEPS_PER_TURN * MSTEPPING * MOTOR_RATIO * BELT_RATIO ;
+//stepper calibs
+//1908400 steps (@mstep 8) per turn
+// ->  238550 steps for one turn, plus mstepping
+float CALIB_STEPS_2_ROT = 238550 * MSTEPPING ;
 
+int SECONDS_PER_DAY = 86400 ;
+int speed_3turns1day = 3 * CALIB_STEPS_2_ROT / SECONDS_PER_DAY ; //132,528 @ms16
 
-int stepper_speeds[4] = {8000, 4000, 1000, 100 } ;
+
+
+int stepper_speeds[4] = {MSTEPPING*900, 10000, 1000, 100 } ;
 
 
 
 //Pins declaration
 int btn_run_pin = 7 ;
-Atm_bit toggle;
-int btn_speed_pin[4] = {9, 10, 11, 12} ;
+int btn_speed_pin[4] = {12, 11, 10, 9} ;
 int led_run_pin = 6 ;
 
 
 //Automaton
 Atm_button btn_run;
 Atm_button btn_speed[4];
-int current_speed ;
+int mode ;
 Atm_led led_run;
 
 
 ///////////////   CALLBACKS   //////////////////
 
 void button_change( int idx, int v, int up ){
-  Serial.print("Speed ");
-  Serial.print(idx);
-  Serial.print(" selected : ");
-  Serial.println(stepper_speeds[idx]);
-  current_speed = stepper_speeds[idx] ;
-  motor.setMaxSpeed(current_speed);
+  mode = idx ;
+  Serial.print("Mode ");
+  Serial.print(mode); 
+  Serial.print("- speed ");
+  Serial.println(stepper_speeds[mode]);
+}
+
+void run_mode( int idx, int v, int up ){
+  if(idx){
+    current_speed = stepper_speeds[mode];
+    controller.emergencyStop();
+    motor.setMaxSpeed(current_speed);
+    stepper_mode = true ;
+    led_run.trigger(led_run.EVT_BLINK);
+  }
+  else{
+    stepper_mode = false ;
+    led_run.trigger(led_run.EVT_OFF);
+  }
+  
+
 }
 
 
@@ -52,6 +78,7 @@ void button_change( int idx, int v, int up ){
 
 void setup()
 {
+  delay(2000);
   Serial.begin(115200);
   Serial.println("Started");
 
@@ -68,18 +95,17 @@ void setup()
     //  Serial.println("toggle run");
     //  led_run.trigger(led_run.EVT_TOGGLE);
     // } )
-    .onPress( toggle, toggle.EVT_TOGGLE );
+    .onPress( run_mode, 1 )
+    .onRelease(run_mode, 0);
   
   led_run.begin(led_run_pin);
 
-  toggle.begin() // Bit machine stores the toggle state
-    .onChange( true, led_run, led_run.EVT_ON ) // And turns the led on and off
-    .onChange( false, led_run, led_run.EVT_OFF );;
 
   
   for(int i=0; i<4; i++)  {
       btn_speed[i].begin(btn_speed_pin[i])
-      .onPress(button_change, i);
+      .onPress(button_change, i)
+      .onRelease(button_change, 0);
     }
 
 
@@ -95,8 +121,8 @@ void setup()
   //Motor setup
   pinMode(enablePin, OUTPUT);
   digitalWrite(enablePin, LOW);
-  motor.setMaxSpeed(8000);
-  motor.setAcceleration(1000);
+  motor.setMaxSpeed(stepper_maxSpeed);
+  motor.setAcceleration(stepper_maxAcc);
 }
 
 /////////////////////   LOOP    /////////////////////
@@ -104,5 +130,6 @@ void setup()
 void loop() 
 {
   automaton.run();
-  controller.rotateAsync(motor);
+  if(stepper_mode){controller.rotateAsync(motor);}
+  else{controller.stopAsync();}
 }