moved LOW to to Atm_AccelStepper

updated whole firmware, quite ready now

HTequi-firmware/lib/Atm_lien/Atm_AccelStepper.cpp

@@ -0,0 +1,519 @@
+#include "Atm_AccelStepper.h"
+
+/* Add optional parameters for the state machine to begin()
+ * Add extra initialization code
+ */
+
+Atm_AccelStepper& Atm_AccelStepper::begin(int step_pin, int dir_pin) {
+  // clang-format off
+  const static state_t state_table[] PROGMEM = {
+    /*                       ON_ENTER           ON_LOOP          ON_EXIT  EVT_DISABLE  EVT_ENABLE  EVT_ENABLED_TIMEOUT  EVT_MOVE  EVT_STOP  EVT_EMERGENCY_STOP  EVT_ON_LIMIT_LOW  EVT_ON_LIMIT_HIGH  EVT_ON_TARGET  EVT_HOMING_LOW  EVT_HOMING_HIGH  ELSE */
+    /*    DISABLE */     ENT_DISABLED,              -1,              -1,         -1,    ENABLED,                  -1,   RUNNING,        -1,                -1,               -1,                -1,            -1,    HOMING_LOW,     HOMING_HIGH,   -1,
+    /*     ENABLED */     ENT_ENABLED,              -1,              -1,    DISABLE,         -1,             DISABLE,   RUNNING,      STOP,              STOP,        LIMIT_LOW,        LIMIT_HIGH,            -1,    HOMING_LOW,     HOMING_HIGH,   -1,
+    /*     RUNNING */     ENT_RUNNING,      LP_RUNNING,              -1,    DISABLE,         -1,                  -1,   RUNNING,      STOP,              STOP,        LIMIT_LOW,        LIMIT_HIGH,       ENABLED,            -1,              -1,   -1,
+    /*        STOP */        ENT_STOP,         LP_STOP,              -1,    DISABLE,         -1,                  -1,   RUNNING,        -1,                -1,               -1,                -1,       ENABLED,            -1,              -1,   -1,
+    /*  HOMING_LOW */  ENT_HOMING_LOW,   LP_HOMING_LOW,  EXT_HOMING_LOW,    DISABLE,         -1,                  -1,        -1,      STOP,              STOP,        LIMIT_LOW,        LIMIT_HIGH,            -1,            -1,              -1,   -1,
+    /* HOMING_HIGH */ ENT_HOMING_HIGH,  LP_HOMING_HIGH, EXT_HOMING_HIGH,    DISABLE,         -1,                  -1,        -1,      STOP,              STOP,        LIMIT_LOW,        LIMIT_HIGH,            -1,            -1,              -1,   -1,
+    /*   LIMIT_LOW */   ENT_LIMIT_LOW,              -1,              -1,         -1,         -1,                  -1,   RUNNING,      STOP,              STOP,        LIMIT_LOW,                -1,            -1,            -1,              -1,   -1,
+    /*  LIMIT_HIGH */  ENT_LIMIT_HIGH,              -1,              -1,         -1,         -1,                  -1,   RUNNING,      STOP,              STOP,               -1,        LIMIT_HIGH,            -1,            -1,              -1,   -1
+  };
+  // clang-format on
+  Machine::begin( state_table, ELSE );
+  stepper = new AccelStepper(1, step_pin, dir_pin);
+  stepper->setMaxSpeed(max_speed);
+  stepper->setAcceleration(acceleration);
+  idle_timer.set(ATM_TIMER_OFF);
+  position_timer.set(POSITION_SEND_TIMER);
+  return *this;
+}
+
+/* Add C++ code for each internally handled event (input)
+ * The code must return 1 to trigger the event
+ */
+
+int Atm_AccelStepper::event( int id ) {
+  //updateLimitSwitch();
+  switch ( id ) {
+    case EVT_DISABLE:
+      return 0;
+    case EVT_ENABLE:
+      return 0;
+    case EVT_ENABLED_TIMEOUT:
+      return 0;
+    case EVT_MOVE:
+      return 0;
+    case EVT_STOP:
+      return 0;
+    case EVT_EMERGENCY_STOP:
+      return 0;
+    case EVT_ON_LIMIT_LOW:
+      switch(_limitLow_Mode) {
+        case 0:
+          //
+          Serial.println("no limit");
+          return 0;
+        case 1: //digital INPUT
+          // Serial.println("digital");
+          limitLow_State = digitalRead(_limitLow_Pin);
+          limitLow_State = _limitLow_Reversed ? !limitLow_State : limitLow_State;
+          return limitLow_State;
+        case 2:
+
+          int analogTemp = analogRead(_limitLow_Pin);
+          limitLow_State = (_limitLow_Thresholds[0] < analogTemp) && (analogTemp < _limitLow_Thresholds[1]);
+          limitLow_State = _limitLow_Reversed ? !limitLow_State : limitLow_State;
+          return limitLow_State;
+      }
+    case EVT_ON_LIMIT_HIGH:
+      switch(_limitHigh_Mode) {
+        case 0:
+          return 0;
+        case 1: //digital INPUT
+          limitHigh_State = digitalRead(_limitHigh_Pin);
+          limitHigh_State = _limitHigh_Reversed ? !limitHigh_State : limitHigh_State;
+          return limitHigh_State;
+        case 2:
+        //Serial.println("analog");
+          int analogTemp = analogRead(_limitHigh_Pin);
+          limitHigh_State = (_limitHigh_Thresholds[0] < analogTemp) && (analogTemp < _limitHigh_Thresholds[1]);
+          limitHigh_State = _limitHigh_Reversed ? !limitHigh_State : limitHigh_State;
+          return limitHigh_State;
+      }
+    case EVT_ON_TARGET:
+      return runMode ? 0 : _currentStep == _targetStep;
+    case EVT_HOMING_LOW:
+      return 0;
+    case EVT_HOMING_HIGH:
+      return 0;
+  }
+  return 0;
+}
+
+/* Add C++ code for each action
+ * This generates the 'output' for the state machine
+ *
+ * Available connectors:
+ *   push( connectors, ON_CHANGEPOSITION, 0, <v>, <up> );
+ *   push( connectors, ON_CHANGESTATE, 0, <v>, <up> );
+ *   push( connectors, ON_ONLIMITHIGH, 0, <v>, <up> );
+ *   push( connectors, ON_ONLIMITLOW, 0, <v>, <up> );
+ *   push( connectors, ON_ONTARGET, 0, <v>, <up> );
+ *   push( connectors, ON_STOP, 0, <v>, <up> );
+ */
+
+void Atm_AccelStepper::action( int id ) {
+  switch ( id ) {
+    case ENT_DISABLED:
+      push(connectors, ON_CHANGESTATE, 0,  state(), 0);
+      enabled = _enableReversed ? HIGH : LOW;
+      digitalWrite(_enablePin, enabled);
+      return;
+    case ENT_ENABLED:
+      _isHoming = 0 ;
+      if(last_trigger == EVT_ON_TARGET){push( connectors, ON_ONTARGET, 0, _currentStep, 0 );};
+      push(connectors, ON_CHANGESTATE, 0,  state(), 0);
+      enabled = _enableReversed ? LOW : HIGH ;
+      digitalWrite(_enablePin, enabled);
+
+
+      return;
+    case ENT_RUNNING:
+      push(connectors, ON_CHANGESTATE, 0,  state(), 0);
+      _isHoming = 0;
+      //push(connectors, ON_CHANGEPOSITION, 0,  _currentStep, stepper->speed());
+      position_timer.setFromNow(this, POSITION_SEND_TIMER);
+      return;
+    case LP_RUNNING:
+      stepper_update();
+      return;
+    case ENT_STOP:
+    push(connectors, ON_CHANGESTATE, 0,  state(), 0);
+      if (last_trigger == EVT_STOP) {
+        runMode = 0 ;
+        stepper->stop();
+        _targetStep = stepper->targetPosition();
+        push( connectors, ON_STOP, 0, 0, 0 );
+      }
+      if (last_trigger == EVT_EMERGENCY_STOP) {
+        _currentStep = stepper->currentPosition();
+        _targetStep = _currentStep ;
+        stepper->moveTo(_targetStep);
+        stepper->setSpeed(0);
+        push( connectors, ON_STOP, 0, 1, 0 );
+      }
+      return;
+    case LP_STOP:
+      stepper_update();
+      _currentStep = stepper->currentPosition();
+      return;
+    case ENT_HOMING_LOW:
+      push(connectors, ON_CHANGESTATE, 0,  state(), 0);
+      runMode = 1;
+      _isHoming = 1 ;
+      stepper->setSpeed(-1*homing_speed);
+      return;
+    case LP_HOMING_LOW:
+      stepper_update();
+      return;
+    case EXT_HOMING_LOW:
+      if(last_trigger == EVT_ON_LIMIT_LOW) {
+        stepper->setCurrentPosition(0);
+        _currentStep = 0;
+        Serial.println("homing low done");
+      }
+      else{Serial.println("homing low failed");}
+      _targetStep = _currentStep;
+
+      return;
+    case ENT_HOMING_HIGH:
+      push(connectors, ON_CHANGESTATE, 0,  state(), 0);
+      runMode = 1;
+      _isHoming = 2 ;
+      stepper->setSpeed(homing_speed);
+      return;
+    case LP_HOMING_HIGH:
+      stepper_update();
+      return;
+    case EXT_HOMING_HIGH:
+      if(last_trigger == EVT_ON_LIMIT_HIGH) {
+        _maxStep = stepper->currentPosition();
+        _currentStep = _maxStep;
+        Serial.println("homing high done");
+      }
+      else{Serial.println("homing high failed");}
+      _targetStep = _currentStep;
+      return;
+    case ENT_LIMIT_LOW:
+      push( connectors, ON_ONLIMITLOW, 0, 0, 0 );
+      //stop motor if going down, allow going up
+      if(_limitLow_Hard && (stepper->speed()<0) ) {trigger(EVT_EMERGENCY_STOP);}
+      else{
+        stepper_update();
+         switch(_isHoming) trigger.EVT_HOMINGtrigger(EVT_MOVE);}
+      return;
+    case ENT_LIMIT_HIGH:
+      push( connectors, ON_ONLIMITHIGH, 0, 1, 0 );
+      if(_limitHigh_Hard && (stepper->speed()>0)) {trigger(EVT_EMERGENCY_STOP);}
+      else{stepper_update(); trigger(EVT_MOVE);}
+      return;
+  }
+}
+
+/* Optionally override the default trigger() method
+ * Control how your machine processes triggers
+ */
+
+Atm_AccelStepper& Atm_AccelStepper::trigger( int event ) {
+  Machine::trigger( event );
+  return *this;
+}
+
+/* Optionally override the default state() method
+ * Control what the machine returns when another process requests its state
+ */
+
+int Atm_AccelStepper::state( void ) {
+  return Machine::state();
+}
+
+/* Nothing customizable below this line
+ ************************************************************************************************
+*/
+
+/* Still I'll customize a little just here
+*/
+
+void Atm_AccelStepper::stepper_update(void) {
+  switch (runMode) {
+    case 0: //positional modae
+      stepper->run();
+      break;
+    case 1: // speed mode
+      stepper->runSpeed();
+      break;
+  }
+  long int tempStep = stepper->currentPosition();
+  if (tempStep != _currentStep){
+    _currentStep =  tempStep;
+    if (position_timer.expired(this)){
+      push(connectors, ON_CHANGEPOSITION, 0,  _currentStep, stepper->speed());
+      position_timer.setFromNow(this, POSITION_SEND_TIMER);
+    }
+  }
+}
+
+Atm_AccelStepper& Atm_AccelStepper::setMaxSpeed( long int maxSpeed){
+  max_speed = maxSpeed ;
+  stepper->setMaxSpeed(max_speed);
+  return *this ;
+}
+
+Atm_AccelStepper& Atm_AccelStepper::setHomingSpeed(long int homingSpeed){
+  homing_speed = homingSpeed ;
+  return *this ;
+}
+
+Atm_AccelStepper& Atm_AccelStepper::setAcceleration(long int acc){
+  acceleration = acc ;
+  stepper->setAcceleration(max_speed);
+  return *this ;
+}
+
+Atm_AccelStepper& Atm_AccelStepper::position_refresh(long int refresh_ms){
+  POSITION_SEND_TIMER = refresh_ms ;
+  return *this ;
+}
+
+Atm_AccelStepper& Atm_AccelStepper::move( long int stepRel) {
+  _targetStep   = _currentStep + stepRel;
+  runMode = 0;
+  _isHoming = 0;
+  //Serial.println(_targetStep);
+  stepper->moveTo(_targetStep);
+  enable();
+  trigger( EVT_MOVE );
+  return *this;
+}
+
+Atm_AccelStepper& Atm_AccelStepper::moveTo( long int stepAbs) {
+  _targetStep   = stepAbs;
+  _isHoming = 0 ;
+  runMode = 0;
+  stepper->moveTo(_targetStep);
+  enable();
+  trigger( EVT_MOVE );
+  return *this;
+}
+
+Atm_AccelStepper& Atm_AccelStepper::rotate( long  int speed) {
+  runMode = 1;
+  _isHoming = 0 ;
+  stepper->setSpeed( speed);
+  enable();
+  trigger( EVT_MOVE );
+  return *this;
+}
+
+Atm_AccelStepper& Atm_AccelStepper::homing( bool direction ){
+  enable();
+  direction == 1 ? _isHoming = 2 : _isHoming = 1;
+  direction == 1 ? this->trigger(EVT_HOMING_HIGH) : this->trigger(EVT_HOMING_LOW);
+
+  return *this;
+}
+
+// Atm_AccelStepper& Atm_AccelStepper::rotationReversed(bool reversed){
+//   _rotationReversed = reversed ? -1 : 1 ;
+// }
+
+Atm_AccelStepper& Atm_AccelStepper::setEnablePin( int enablePin ){
+  _enablePin = enablePin ;
+  pinMode(_enablePin, OUTPUT);
+  return *this;
+}
+
+Atm_AccelStepper& Atm_AccelStepper::pinReversed( bool directionInvert,
+                              bool stepInvert, bool enableInvert){
+  stepper->setPinsInverted(directionInvert, stepInvert, enableInvert);
+  return *this;
+}
+
+Atm_AccelStepper& Atm_AccelStepper::limitLow_set(int mode,  int pin,  int reversed){
+  _limitLow_Mode = mode ;
+  _limitLow_Pin = pin ;
+  _limitLow_Reversed = reversed ;
+  if (_limitLow_Mode==1) {pinMode(_limitLow_Pin, INPUT_PULLUP);}
+  if (_limitLow_Mode==2) {pinMode(_limitLow_Pin, INPUT);}
+  return *this;
+}
+
+Atm_AccelStepper& Atm_AccelStepper::limitLow_isHard(bool hardlimit){
+  _limitLow_Hard = hardlimit;
+  return *this;
+}
+
+Atm_AccelStepper& Atm_AccelStepper::limitLow_setThresholds (int threshold_low, int threshold_high){
+  _limitLow_Thresholds[0] = threshold_low ;
+  _limitLow_Thresholds[1] = threshold_high ;
+  return *this;
+}
+
+Atm_AccelStepper& Atm_AccelStepper::limitHigh_set(int mode,  int pin,  int reversed){
+  _limitHigh_Mode = mode ;
+  _limitHigh_Pin = pin ;
+  _limitHigh_Reversed = reversed ;
+  if (_limitHigh_Mode==1) {pinMode(_limitHigh_Pin, INPUT_PULLUP);}
+  if (_limitHigh_Mode==2) {pinMode(_limitHigh_Pin, INPUT);}
+  return *this;
+}
+
+Atm_AccelStepper& Atm_AccelStepper::limitHigh_isHard(bool hardlimit){
+  _limitHigh_Hard = hardlimit;
+  return *this;
+}
+
+Atm_AccelStepper& Atm_AccelStepper::limitHigh_setThresholds (int threshold_low, int threshold_high){
+  _limitHigh_Thresholds[0] = threshold_low ;
+  _limitHigh_Thresholds[1] = threshold_high ;
+  return *this;
+}
+
+/* Public event methods
+ *
+ */
+
+Atm_AccelStepper& Atm_AccelStepper::disable() {
+  trigger( EVT_DISABLE );
+  return *this;
+}
+
+Atm_AccelStepper& Atm_AccelStepper::enable() {
+  trigger( EVT_ENABLE );
+  return *this;
+}
+
+// Atm_AccelStepper& Atm_AccelStepper::move() {
+//   trigger( EVT_MOVE );
+//   return *this;
+// }
+
+Atm_AccelStepper& Atm_AccelStepper::stop() {
+  trigger( EVT_STOP );
+  return *this;
+}
+
+Atm_AccelStepper& Atm_AccelStepper::emergency_stop() {
+  trigger( EVT_EMERGENCY_STOP );
+  return *this;
+}
+
+Atm_AccelStepper& Atm_AccelStepper::on_limit_low() {
+  trigger( EVT_ON_LIMIT_LOW );
+  return *this;
+}
+
+Atm_AccelStepper& Atm_AccelStepper::on_limit_high() {
+  trigger( EVT_ON_LIMIT_HIGH );
+  return *this;
+}
+
+Atm_AccelStepper& Atm_AccelStepper::on_target() {
+  trigger( EVT_ON_TARGET );
+  return *this;
+}
+
+
+
+/*
+ * onChangeposition() push connector variants ( slots 1, autostore 0, broadcast 0 )
+ */
+
+Atm_AccelStepper& Atm_AccelStepper::onChangeposition( Machine& machine, int event ) {
+  onPush( connectors, ON_CHANGEPOSITION, 0, 1, 1, machine, event );
+  return *this;
+}
+
+Atm_AccelStepper& Atm_AccelStepper::onChangeposition( atm_cb_push_t callback, int idx ) {
+  onPush( connectors, ON_CHANGEPOSITION, 0, 1, 1, callback, idx );
+  return *this;
+}
+
+/*
+ * onChangestate() push connector variants ( slots 1, autostore 0, broadcast 0 )
+ */
+
+Atm_AccelStepper& Atm_AccelStepper::onChangestate( Machine& machine, int event ) {
+  onPush( connectors, ON_CHANGESTATE, 0, 1, 1, machine, event );
+  return *this;
+}
+
+Atm_AccelStepper& Atm_AccelStepper::onChangestate( atm_cb_push_t callback, int idx ) {
+  onPush( connectors, ON_CHANGESTATE, 0, 1, 1, callback, idx );
+  return *this;
+}
+
+/*
+ * onOnlimithigh() push connector variants ( slots 1, autostore 0, broadcast 0 )
+ */
+
+Atm_AccelStepper& Atm_AccelStepper::onOnlimithigh( Machine& machine, int event ) {
+  onPush( connectors, ON_ONLIMITHIGH, 0, 1, 1, machine, event );
+  return *this;
+}
+
+Atm_AccelStepper& Atm_AccelStepper::onOnlimithigh( atm_cb_push_t callback, int idx ) {
+  onPush( connectors, ON_ONLIMITHIGH, 0, 1, 1, callback, idx );
+  return *this;
+}
+
+/*
+ * onOnlimitlow() push connector variants ( slots 1, autostore 0, broadcast 0 )
+ */
+
+Atm_AccelStepper& Atm_AccelStepper::onOnlimitlow( Machine& machine, int event ) {
+  onPush( connectors, ON_ONLIMITLOW, 0, 1, 1, machine, event );
+  return *this;
+}
+
+Atm_AccelStepper& Atm_AccelStepper::onOnlimitlow( atm_cb_push_t callback, int idx ) {
+  onPush( connectors, ON_ONLIMITLOW, 0, 1, 1, callback, idx );
+  return *this;
+}
+
+/*
+ * onOntarget() push connector variants ( slots 1, autostore 0, broadcast 0 )
+ */
+
+Atm_AccelStepper& Atm_AccelStepper::onOntarget( Machine& machine, int event ) {
+  onPush( connectors, ON_ONTARGET, 0, 1, 1, machine, event );
+  return *this;
+}
+
+Atm_AccelStepper& Atm_AccelStepper::onOntarget( atm_cb_push_t callback, int idx ) {
+  onPush( connectors, ON_ONTARGET, 0, 1, 1, callback, idx );
+  return *this;
+}
+
+/*
+ * onStop() push connector variants ( slots 1, autostore 0, broadcast 0 )
+ */
+
+Atm_AccelStepper& Atm_AccelStepper::onStop( Machine& machine, int event ) {
+  onPush( connectors, ON_STOP, 0, 1, 1, machine, event );
+  return *this;
+}
+
+Atm_AccelStepper& Atm_AccelStepper::onStop( atm_cb_push_t callback, int idx ) {
+  onPush( connectors, ON_STOP, 0, 1, 1, callback, idx );
+  return *this;
+}
+
+Atm_AccelStepper& Atm_AccelStepper::onOnhominglow( Machine& machine, int event ) {
+  onPush( connectors, ON_ONTARGET, 0, 1, 1, machine, event );
+  return *this;
+}
+
+Atm_AccelStepper& Atm_AccelStepper::onOnhominglow( atm_cb_push_t callback, int idx ) {
+  onPush( connectors, ON_ONTARGET, 0, 1, 1, callback, idx );
+  return *this;
+}
+
+Atm_AccelStepper& Atm_AccelStepper::onOnhominghigh( Machine& machine, int event ) {
+  onPush( connectors, ON_ONTARGET, 0, 1, 1, machine, event );
+  return *this;
+}
+
+Atm_AccelStepper& Atm_AccelStepper::onOnhominghigh( atm_cb_push_t callback, int idx ) {
+  onPush( connectors, ON_ONTARGET, 0, 1, 1, callback, idx );
+  return *this;
+}
+
+/* State trace method
+ * Sets the symbol table and the default logging method for serial monitoring
+ */
+
+Atm_AccelStepper& Atm_AccelStepper::trace( Stream & stream ) {
+  Machine::setTrace( &stream, atm_serial_debug::trace,
+    "ACCELSTEPPER\0EVT_DISABLE\0EVT_ENABLE\0EVT_ENABLED_TIMEOUT\0EVT_MOVE\0EVT_STOP\0EVT_EMERGENCY_STOP\0EVT_ON_LIMIT_LOW\0EVT_ON_LIMIT_HIGH\0EVT_ON_TARGET\0EVT_HOMING_LOW\0EVT_HOMING_HIGH\0ELSE\0DISABLED\0ENABLED\0RUNNING\0STOP\0HOMING_LOW\0HOMING_HIGH\0LIMIT_LOW\0LIMIT_HIGH" );
+  return *this;
+}

HTequi-firmware/lib/Atm_lien/Atm_AccelStepper.h

@@ -0,0 +1,190 @@
+#pragma once
+
+#include <Automaton.h>
+#include <AccelStepper.h>
+
+class Atm_AccelStepper: public Machine {
+
+ public:
+  enum { DISABLE, ENABLED, RUNNING, STOP, HOMING_LOW, HOMING_HIGH, LIMIT_LOW, LIMIT_HIGH }; // STATES
+  enum { EVT_DISABLE, EVT_ENABLE, EVT_ENABLED_TIMEOUT, EVT_MOVE, EVT_STOP,
+          EVT_EMERGENCY_STOP, EVT_ON_LIMIT_LOW, EVT_ON_LIMIT_HIGH, EVT_ON_TARGET,
+          EVT_HOMING_LOW, EVT_HOMING_HIGH, ELSE }; // EVENTS
+  Atm_AccelStepper( void ) : Machine() {};
+  Atm_AccelStepper& begin( int step_pin, int dir_pin );
+  Atm_AccelStepper& trace( Stream & stream );
+  Atm_AccelStepper& trigger( int event );
+  int state( void );
+  Atm_AccelStepper& onChangeposition( Machine& machine, int event = 0 );
+  Atm_AccelStepper& onChangeposition( atm_cb_push_t callback, int idx = 0 );
+  Atm_AccelStepper& onChangestate( Machine& machine, int event = 0 );
+  Atm_AccelStepper& onChangestate( atm_cb_push_t callback, int idx = 0 );
+  Atm_AccelStepper& onOnlimithigh( Machine& machine, int event = 0 );
+  Atm_AccelStepper& onOnlimithigh( atm_cb_push_t callback, int idx = 0 );
+  Atm_AccelStepper& onOnlimitlow( Machine& machine, int event = 0 );
+  Atm_AccelStepper& onOnlimitlow( atm_cb_push_t callback, int idx = 0 );
+  Atm_AccelStepper& onOntarget( Machine& machine, int event = 0 );
+  Atm_AccelStepper& onOntarget( atm_cb_push_t callback, int idx = 0 );
+  Atm_AccelStepper& onStop( Machine& machine, int event = 0 );
+  Atm_AccelStepper& onStop( atm_cb_push_t callback, int idx = 0 );
+  Atm_AccelStepper& onOnhominglow( Machine& machine, int event = 0 );
+  Atm_AccelStepper& onOnhominglow( atm_cb_push_t callback, int idx = 0 );
+  Atm_AccelStepper& onOnhominghigh( Machine& machine, int event = 0 );
+  Atm_AccelStepper& onOnhominghigh( atm_cb_push_t callback, int idx = 0 );
+  Atm_AccelStepper& disable( void );
+  Atm_AccelStepper& enable( void );
+  //Atm_AccelStepper& move( void );
+  Atm_AccelStepper& stop( void );
+  Atm_AccelStepper& emergency_stop( void );
+  Atm_AccelStepper& on_limit_low( void );
+  Atm_AccelStepper& on_limit_high( void );
+  Atm_AccelStepper& on_target( void );
+
+  AccelStepper *stepper;
+
+  long int homing_speed = 100;
+  long int max_speed = 5000;
+  long int acceleration = 1000;
+  Atm_AccelStepper& setMaxSpeed( long int maxSpeed = 5000);
+  Atm_AccelStepper& setHomingSpeed( long int homingSpeed = 400);
+  Atm_AccelStepper& setAcceleration( long int acc = 1000);
+
+  Atm_AccelStepper& move(long int stepRel );
+  Atm_AccelStepper& moveTo(long int stepAbs );
+  Atm_AccelStepper& rotate(long int speed );
+  Atm_AccelStepper& homing( bool direction );
+  int runMode = 0; // 0 uses run() for positioning, 1 uses runSpeed() for constant speed
+  Atm_AccelStepper& position_refresh( long int refresh_ms = 1000);
+
+  // Atm_AccelStepper& rotationReversed(bool reversed);
+
+  Atm_AccelStepper& setEnablePin( int enablePin );
+  Atm_AccelStepper& pinReversed( bool directionInvert=false,  bool stepInvert=false, bool enableInvert=false );
+  bool enabled ;
+
+
+  Atm_AccelStepper& limitLow_set(int mode = 0, int pin = -1, int reversed=0);
+  Atm_AccelStepper& limitLow_isHard(bool hardlimit = 1);
+  Atm_AccelStepper& limitLow_setThresholds (int threshold_low=510, int threshold_high = 1024);
+  Atm_AccelStepper& limitHigh_set(int mode = 0, int pin = -1, int reversed=0);
+  Atm_AccelStepper& limitHigh_isHard(bool hardlimit = 1);
+  Atm_AccelStepper& limitHigh_setThresholds (int threshold_low=510, int threshold_high = 1024);
+  bool limitLow_State;
+  bool limitHigh_State;
+
+
+
+ private:
+  enum { ENT_DISABLED, ENT_ENABLED,ENT_RUNNING, LP_RUNNING, ENT_STOP, LP_STOP, ENT_HOMING_LOW, LP_HOMING_LOW, EXT_HOMING_LOW, ENT_HOMING_HIGH, LP_HOMING_HIGH, EXT_HOMING_HIGH, ENT_LIMIT_LOW, ENT_LIMIT_HIGH }; // ACTIONS
+  enum { ON_CHANGEPOSITION, ON_CHANGESTATE, ON_ONLIMITHIGH, ON_ONLIMITLOW, ON_ONTARGET, ON_STOP, CONN_MAX }; // CONNECTORS
+  atm_connector connectors[CONN_MAX];
+  int event( int id );
+  void action( int id );
+
+  void stepper_update(void);
+
+  long int _currentStep = 0;
+  long int _targetStep = 0;
+  long int _maxStep ;
+  atm_timer_millis position_timer ;
+  int POSITION_SEND_TIMER = 50 ;
+
+  // bool _rotationReversed = 0 ;
+
+  int _enablePin = -1;
+  bool _enableReversed = 0 ;
+  atm_timer_millis idle_timer ;
+  int IDLE_TIMEOUT_DURATION = 500000 ;
+
+  int _limitLow_Pin;
+  int _limitLow_Mode = 0; //0 no limit, 1 digital, 2 analog with thresholds
+  bool _limitLow_Reversed ; //invert logic of limit switches
+  int _limitLow_Thresholds[2] ; //analog value  range for two analog limits
+  bool _limitLow_Hard = 1;
+  int _limitHigh_Pin;
+  int _limitHigh_Mode; //0 no limit, 1 digital, 2 analog with thresholds
+  bool _limitHigh_Reversed ; //invert logic of limit switches
+  int _limitHigh_Thresholds[2] ; //analog value  range for two analog limits
+  bool _limitHigh_Hard = 1 ;
+  int _isHoming = 0 ;
+  void updateLimitSwitch();
+
+};
+
+/*
+Automaton::ATML::begin - Automaton Markup Language
+
+<?xml version="1.0" encoding="UTF-8"?>
+<machines>
+  <machine name="Atm_AccelStepper">
+    <states>
+      <DISABLED index="0" on_enter="ENT_DISABLED">
+        <EVT_ENABLE>ENABLED</EVT_ENABLE>
+      </DISABLED>
+      <ENABLED index="1" on_enter="ENT_ENABLED">
+        <EVT_DISABLE>DISABLED</EVT_DISABLE>
+        <EVT_ENABLED_TIMEOUT>DISABLED</EVT_ENABLED_TIMEOUT>
+        <EVT_STOP>STOP</EVT_STOP>
+        <EVT_EMERGENCY_STOP>STOP</EVT_EMERGENCY_STOP>
+      </ENABLED>
+      <RUNNING index="2" on_loop="LP_RUNNING">
+        <EVT_DISABLE>DISABLED</EVT_DISABLE>
+        <EVT_STOP>STOP</EVT_STOP>
+        <EVT_EMERGENCY_STOP>STOP</EVT_EMERGENCY_STOP>
+        <EVT_ON_LIMIT_LOW>LIMIT_LOW</EVT_ON_LIMIT_LOW>
+        <EVT_ON_LIMIT_HIGH>LIMIT_HIGH</EVT_ON_LIMIT_HIGH>
+        <EVT_ON_TARGET>ENABLED</EVT_ON_TARGET>
+      </RUNNING>
+      <STOP index="3">
+        <EVT_DISABLE>DISABLED</EVT_DISABLE>
+        <EVT_STOP>STOP</EVT_STOP>
+        <EVT_EMERGENCY_STOP>STOP</EVT_EMERGENCY_STOP>
+      </STOP>
+      <HOMING_LOW index="4" on_enter="ENT_HOMING_LOW" on_exit="EXT_HOMING_LOW">
+        <EVT_DISABLE>DISABLED</EVT_DISABLE>
+        <EVT_STOP>STOP</EVT_STOP>
+        <EVT_EMERGENCY_STOP>STOP</EVT_EMERGENCY_STOP>
+        <EVT_ON_LIMIT_LOW>ENABLED</EVT_ON_LIMIT_LOW>
+      </HOMING_LOW>
+      <HOMING_HIGH index="5" on_enter="ENT_HOMING_HIGH" on_exit="EXT_HOMING_HIGH">
+        <EVT_DISABLE>DISABLED</EVT_DISABLE>
+        <EVT_STOP>STOP</EVT_STOP>
+        <EVT_EMERGENCY_STOP>STOP</EVT_EMERGENCY_STOP>
+        <EVT_ON_LIMIT_HIGH>ENABLED</EVT_ON_LIMIT_HIGH>
+      </HOMING_HIGH>
+      <LIMIT_LOW index="6" on_enter="ENT_LIMIT_LOW">
+        <EVT_STOP>STOP</EVT_STOP>
+        <EVT_EMERGENCY_STOP>STOP</EVT_EMERGENCY_STOP>
+        <EVT_ON_LIMIT_LOW>LIMIT_LOW</EVT_ON_LIMIT_LOW>
+      </LIMIT_LOW>
+      <LIMIT_HIGH index="7" on_enter="ENT_LIMIT_HIGH">
+        <EVT_STOP>STOP</EVT_STOP>
+        <EVT_EMERGENCY_STOP>STOP</EVT_EMERGENCY_STOP>
+        <EVT_ON_LIMIT_HIGH>LIMIT_HIGH</EVT_ON_LIMIT_HIGH>
+      </LIMIT_HIGH>
+    </states>
+    <events>
+      <EVT_DISABLE index="0" access="MIXED"/>
+      <EVT_ENABLE index="1" access="MIXED"/>
+      <EVT_ENABLED_TIMEOUT index="2" access="PRIVATE"/>
+      <EVT_STOP index="3" access="MIXED"/>
+      <EVT_EMERGENCY_STOP index="4" access="MIXED"/>
+      <EVT_ON_LIMIT_LOW index="5" access="MIXED"/>
+      <EVT_ON_LIMIT_HIGH index="6" access="MIXED"/>
+      <EVT_ON_TARGET index="7" access="MIXED"/>
+    </events>
+    <connectors>
+      <CHANGEPOSITION autostore="0" broadcast="0" dir="PUSH" slots="1"/>
+      <CHANGESTATE autostore="0" broadcast="0" dir="PUSH" slots="1"/>
+      <ONLIMITHIGH autostore="0" broadcast="0" dir="PUSH" slots="1"/>
+      <ONLIMITLOW autostore="0" broadcast="0" dir="PUSH" slots="1"/>
+      <ONTARGET autostore="0" broadcast="0" dir="PUSH" slots="1"/>
+      <STOP autostore="0" broadcast="0" dir="PUSH" slots="1"/>
+    </connectors>
+    <methods>
+    </methods>
+  </machine>
+</machines>
+
+Automaton::ATML::end
+*/

HTequi-firmware/lib/Atm_lien/Atm_Teenstep.cpp

@@ -1,412 +0,0 @@
-#include "Atm_Teenstep.h"
-
-/* Add optional parameters for the state machine to begin()
- * Add extra initialization code
- */
-
-Atm_Teenstep& Atm_Teenstep::begin(Stepper & motorRef, StepControl & stepControlRef) {
-  // clang-format off
-  const static state_t state_table[] PROGMEM = {
-    /*                             ON_ENTER     ON_LOOP          ON_EXIT  EVT_HOMING_LOW  EVT_HOMING_HIGH  EVT_MOVE_TIMEOUT  EVT_LIMIT_HIGH   EVT_LIMIT_LOW  EVT_EMERGENCYSTOP  EVT_STOP  EVT_ONTARGET  EVT_MOVE  EVT_DISABLE  EVT_ENABLE  ELSE */
-    /*       DISABLED */       ENT_DISABLED,         -1,              -1,     HOMING_LOW,     HOMING_HIGH,               -1,             -1,             -1,                -1,       -1,           -1,       -1,          -1,    ENABLED,   -1,
-    /*        ENABLED */        ENT_ENABLED,         -1,              -1,     HOMING_LOW,     HOMING_HIGH,               -1,             -1,             -1,                -1,       -1,           -1,  RUNNING,    DISABLED,         -1,   -1,
-    /*        RUNNING */        ENT_RUNNING, LP_RUNNING,              -1,     HOMING_LOW,     HOMING_HIGH,               -1,             -1,             -1,    EMERGENCY_STOP, STOPPING,      ENABLED,  RUNNING,          -1,         -1,   -1,
-    /*       STOPPING */       ENT_STOPPING,         -1,              -1,             -1,              -1,               -1, EMERGENCY_STOP, EMERGENCY_STOP,    EMERGENCY_STOP,       -1,           -1,  RUNNING,          -1,         -1,   -1,
-    /* EMERGENCY_STOP */ ENT_EMERGENCY_STOP,         -1,              -1,             -1,              -1,               -1,             -1,             -1,                -1,       -1,           -1,  RUNNING,          -1,    ENABLED,   -1,
-    /*    HOMING_HIGH */    ENT_HOMING_HIGH,         -1, EXT_HOMING_HIGH,             -1,              -1,               -1,        ENABLED,             -1,    EMERGENCY_STOP, STOPPING,           -1,       -1,          -1,         -1,   -1,
-    /*     HOMING_LOW */     ENT_HOMING_LOW,         -1,  EXT_HOMING_LOW,             -1,              -1,               -1,            -1,        ENABLED,    EMERGENCY_STOP, STOPPING,           -1,       -1,          -1,         -1,   -1,
-  };
-  // clang-format on
-  Machine::begin( state_table, ELSE );
-  this-> motor =   &motorRef;
-  this-> controller = &stepControlRef;
-  return *this;
-}
-
-/* Add C++ code for each internally handled event (input)
- * The code must return 1 to trigger the event
- */
-
-int Atm_Teenstep::event( int id ) {
-  updateLimitSwitch();
-  switch ( id ) {
-    case EVT_HOMING_LOW:
-      return 0;
-    case EVT_HOMING_HIGH:
-      return 0;
-    case EVT_MOVE_TIMEOUT:
-      return 0;
-    case EVT_LIMIT_HIGH:
-      return limitState[0];
-    case EVT_LIMIT_LOW:
-      return limitState[1];
-    case EVT_EMERGENCYSTOP:
-      return 0;
-    case EVT_STOP:
-      return 0;
-    case EVT_ONTARGET:
-      return _currentStep == _targetStep;
-    case EVT_MOVE:
-      return 0;
-    case EVT_DISABLE:
-      return 0;
-    case EVT_ENABLE:
-      return 0;
-  }
-  return 0;
-}
-
-/* Add C++ code for each action
- * This generates the 'output' for the state machine
- *
- * Available connectors:
- *   push( connectors, ON_CHANGE, 0, <v>, <up> );
- *   push( connectors, ON_CHANGEPOSITION, 0, <v>, <up> );
- *   push( connectors, ON_LIMITHIGH, 0, <v>, <up> );
- *   push( connectors, ON_LIMITLOW, 0, <v>, <up> );
- */
-
-void Atm_Teenstep::action( int id ) {
-  switch ( id ) {
-    long int tempStep ;
-    case ENT_DISABLED:
-      push(connectors, ON_CHANGE, 0,  state(), 0);
-      enabled = _enableReversed ? HIGH : LOW;
-      digitalWrite(_enablePin, enabled);
-      sendOSC();
-      return;
-    case ENT_ENABLED:
-      push(connectors, ON_CHANGE, 0,  state(), 0);
-      enabled = _enableReversed ? LOW : HIGH ;
-      digitalWrite(_enablePin, enabled);
-      sendOSC();
-      return;
-    case ENT_RUNNING:
-      push(connectors, ON_CHANGE, 0,  state(), 0);
-      push(connectors, ON_CHANGE, 0,  2, 0);
-      return;
-    case LP_RUNNING:
-      tempStep = motor->getPosition();
-      if (tempStep != _currentStep){
-        _currentStep =  tempStep;
-        push(connectors, ON_CHANGEPOSITION, 0,  _currentStep, 0);
-      }
-
-      //updateLimitSwitch();
-      sendOSC();
-      return;
-    case ENT_STOPPING:
-      push(connectors, ON_CHANGE, 0,  state(), 0);
-      sendOSC();
-      return;
-    case ENT_EMERGENCY_STOP:
-      push(connectors, ON_CHANGE, 0,  state(), 0);
-      controller->emergencyStop();
-      trigger(EVT_ENABLE);
-      sendOSC();
-      return;
-    case ENT_HOMING_HIGH:
-      push(connectors, ON_CHANGE, 0,  state(), 0);
-      if(_limitType) {
-        motor->setTargetRel(2147483647);
-        controller->moveAsync(*motor);
-        }
-      sendOSC();
-      return;
-    case EXT_HOMING_HIGH:
-      controller->emergencyStop();
-      if(last_trigger == EVT_LIMIT_HIGH){
-        _maxStep = motor->getPosition();
-        push(connectors, ON_LIMITHIGH, 0,  _maxStep, 0);
-        Serial.print("Stepper maxPos ");
-        Serial.println(motor->getPosition());
-        trigger(EVT_ENABLE);
-      }
-      else{
-        push(connectors, ON_LIMITLOW, 0,  1, 0);
-        Serial.println("homing failed ");
-        trigger(EVT_EMERGENCYSTOP);
-      }
-
-      return;
-    case ENT_HOMING_LOW:
-      push(connectors, ON_CHANGE, 0,  state(), 0);
-      if(_limitType) {
-        motor->setTargetRel(-2147483647);
-        controller->moveAsync(*motor);
-        }
-      sendOSC();
-      return;
-    case EXT_HOMING_LOW:
-      controller->emergencyStop();
-      if(last_trigger == EVT_LIMIT_LOW){
-        push(connectors, ON_LIMITLOW, 0,  1, 0);
-        motor->setPosition(0);
-        Serial.print("Stepper homed ");
-        Serial.println(motor->getPosition());
-        trigger(EVT_ENABLE);
-      }
-      else{
-        push(connectors, ON_LIMITHIGH, 0,  1, 0);
-        Serial.println("homing failed ");
-        trigger(EVT_EMERGENCYSTOP);
-      }
-
-
-      return;
-  }
-}
-
-/* Optionally override the default trigger() method
- * Control how your machine processes triggers
- */
-
-Atm_Teenstep& Atm_Teenstep::trigger( int event ) {
-  Machine::trigger( event );
-  return *this;
-}
-
-/* Optionally override the default state() method
- * Control what the machine returns when another process requests its state
- */
-
-int Atm_Teenstep::state( void ) {
-  return Machine::state();
-}
-
-/* CUSTOM METHODS
-********************************************************************************************************
-*/
-
-// Atm_TeensyStep& Atm_TeensyStep::enable( bool enable ){
-//
-//   return *this;
-// }
-
-/////////   ENABLE/DISABLE    ////////
-
-Atm_Teenstep& Atm_Teenstep::setEnablePin( int enablePin ){
-  _enablePin = enablePin ;
-  pinMode(_enablePin, OUTPUT);
-  return *this;
-}
-
-Atm_Teenstep& Atm_Teenstep::enableReversed( bool reverse ){
-  _enableReversed = reverse ;
-  return *this;
-}
-
-/////////   LIMITS    ////////
-
-Atm_Teenstep& Atm_Teenstep::setLimitPins( int limitPinLow){
-  _limitPin[0] = limitPinLow;
-  pinMode(_limitPin[0], INPUT);
-  return *this;
-}
-
-Atm_Teenstep& Atm_Teenstep::setLimitPins( int limitPinLow, int limitPinHigh){
- _limitPin[0] = limitPinLow;
- _limitPin[1] = limitPinHigh;
- pinMode(_limitPin[0], INPUT);
- pinMode(_limitPin[1], INPUT);
- return *this;
-}
-
-Atm_Teenstep& Atm_Teenstep::setLimitType( int limitType){
- _limitType = limitType;
- return *this;
-}
-
-Atm_Teenstep& Atm_Teenstep::limitReversed( bool reversed){
- _limitReversed = reversed;
- return *this;
-}
-
-Atm_Teenstep& Atm_Teenstep::limitThresholds( int limitThreshold0,
-       int limitThreshold1,  int limitThreshold2, int limitThreshold3){
- _limitThresholds[0] = limitThreshold0;
- _limitThresholds[1] = limitThreshold1;
- _limitThresholds[2] = limitThreshold2;
- _limitThresholds[3] = limitThreshold3;
- return *this;
-}
-
-void Atm_Teenstep::updateLimitSwitch(){
-  switch (_limitType) { // limitType!=0 means there is limit to check
-    case NONE:
-      return ;
-    case DIGITAL_1:
-      limitState[0] = digitalRead(_limitPin[0]);
-      limitState[0] = _limitReversed ? !limitState[0] : limitState[0];
-      return;
-    case DIGITAL_2:
-    limitState[0] = digitalRead(_limitPin[0]);
-    limitState[1] = digitalRead(_limitPin[1]);
-    limitState[0] = _limitReversed ? !limitState[0] : limitState[0];
-    limitState[1] = _limitReversed ? !limitState[1] : limitState[1];
-      return;
-    case ANALOG_1:
-    int read = analogRead(_limitPin[0]) ;
-    limitState[0] = _limitThresholds[0] < read && read < _limitThresholds[1] ;
-    limitState[1] = _limitThresholds[2] < read && read < _limitThresholds[3] ;
-      return;
-  }
-
-}
-
-
-Atm_Teenstep& Atm_Teenstep::onOSC( void ){
-//  _enableReversed = reverse ;
-  return *this;
-}
-
-Atm_Teenstep& Atm_Teenstep::sendOSC( void ){
-//  _enableReversed = reverse ;
-  return *this;
-}
-
-/* Nothing customizable below this line
- ************************************************************************************************
-*/
-
-/* Public event methods
- *
- */
- Atm_Teenstep& Atm_Teenstep::homing_low() {
-   trigger( EVT_HOMING_LOW );
-   return *this;
- }
-
- Atm_Teenstep& Atm_Teenstep::homing_high() {
-   trigger( EVT_HOMING_HIGH );
-   return *this;
- }
-
-Atm_Teenstep& Atm_Teenstep::move_timeout() {
-  trigger( EVT_MOVE_TIMEOUT );
-  return *this;
-}
-
-Atm_Teenstep& Atm_Teenstep::limit_high() {
-  trigger( EVT_LIMIT_HIGH );
-  return *this;
-}
-
-Atm_Teenstep& Atm_Teenstep::limit_low() {
-  trigger( EVT_LIMIT_LOW );
-  return *this;
-}
-
-Atm_Teenstep& Atm_Teenstep::emergencystop() {
-  trigger( EVT_EMERGENCYSTOP );
-  return *this;
-}
-
-Atm_Teenstep& Atm_Teenstep::stop() {
-  trigger( EVT_STOP );
-  return *this;
-}
-
-Atm_Teenstep& Atm_Teenstep::ontarget() {
-  trigger( EVT_ONTARGET );
-  return *this;
-}
-
-Atm_Teenstep& Atm_Teenstep::move(long int stepRel) {
-  _targetStep   = _currentStep + stepRel;
-  //Serial.println(_targetStep);
-  motor->setTargetAbs(_targetStep);
-  controller->moveAsync(*motor);
-  enable();
-  trigger( EVT_MOVE );
-  return *this;
-}
-
-Atm_Teenstep& Atm_Teenstep::moveTo(long int stepAbs) {
-  _targetStep   = stepAbs;
-  motor->setTargetAbs(_targetStep);
-  controller->moveAsync(*motor);
-  enable();
-  trigger( EVT_MOVE );
-  return *this;
-}
-
-Atm_Teenstep& Atm_Teenstep::disable() {
-  trigger( EVT_DISABLE );
-  return *this;
-}
-
-Atm_Teenstep& Atm_Teenstep::enable() {
-  trigger( EVT_ENABLE );
-}
-
-Atm_Teenstep& Atm_Teenstep::homing(bool direction) {
-  direction ? trigger( EVT_HOMING_HIGH ) : trigger(EVT_HOMING_LOW);
-  return *this;
-}
-
-/*
- * onChange() push connector variants ( slots 1, autostore 0, broadcast 0 )
- */
-
-Atm_Teenstep& Atm_Teenstep::onChange( Machine& machine, int event ) {
-  onPush( connectors, ON_CHANGE, 0, 1, 1, machine, event );
-  return *this;
-}
-
-Atm_Teenstep& Atm_Teenstep::onChange( atm_cb_push_t callback, int idx ) {
-  onPush( connectors, ON_CHANGE, 0, 1, 1, callback, idx );
-  return *this;
-}
-
-/*
- * onChangeposition() push connector variants ( slots 1, autostore 0, broadcast 0 )
- */
-
-Atm_Teenstep& Atm_Teenstep::onChangeposition( Machine& machine, int event ) {
-  onPush( connectors, ON_CHANGEPOSITION, 0, 1, 1, machine, event );
-  return *this;
-}
-
-Atm_Teenstep& Atm_Teenstep::onChangeposition( atm_cb_push_t callback, int idx ) {
-  onPush( connectors, ON_CHANGEPOSITION, 0, 1, 1, callback, idx );
-  return *this;
-}
-
-/*
- * onLimithigh() push connector variants ( slots 1, autostore 0, broadcast 0 )
- */
-
-Atm_Teenstep& Atm_Teenstep::onLimithigh( Machine& machine, int event ) {
-  onPush( connectors, ON_LIMITHIGH, 0, 1, 1, machine, event );
-  return *this;
-}
-
-Atm_Teenstep& Atm_Teenstep::onLimithigh( atm_cb_push_t callback, int idx ) {
-  onPush( connectors, ON_LIMITHIGH, 0, 1, 1, callback, idx );
-  return *this;
-}
-
-/*
- * onLimitlow() push connector variants ( slots 1, autostore 0, broadcast 0 )
- */
-
-Atm_Teenstep& Atm_Teenstep::onLimitlow( Machine& machine, int event ) {
-  onPush( connectors, ON_LIMITLOW, 0, 1, 1, machine, event );
-  return *this;
-}
-
-Atm_Teenstep& Atm_Teenstep::onLimitlow( atm_cb_push_t callback, int idx ) {
-  onPush( connectors, ON_LIMITLOW, 0, 1, 1, callback, idx );
-  return *this;
-}
-
-/* State trace method
- * Sets the symbol table and the default logging method for serial monitoring
- */
-
- Atm_Teenstep& Atm_Teenstep::trace( Stream & stream ) {
-   Machine::setTrace( &stream, atm_serial_debug::trace,
-     "TEENSTEP\0EVT_HOMING_LOW\0EVT_HOMING_HIGH\0EVT_MOVE_TIMEOUT\0EVT_LIMIT_HIGH\0EVT_LIMIT_LOW\0EVT_EMERGENCYSTOP\0EVT_STOP\0EVT_ONTARGET\0EVT_MOVE\0EVT_DISABLE\0EVT_ENABLE\0ELSE\0DISABLED\0ENABLED\0RUNNING\0STOPPING\0EMERGENCY_STOP\0HOMING_HIGH\0HOMING_LOW" );
-   return *this;
- }

HTequi-firmware/lib/Atm_lien/Atm_Teenstep.h

@@ -1,157 +0,0 @@
-#pragma once
-
-#include <Automaton.h>
-#include <TeensyStep.h>
-
-class Atm_Teenstep: public Machine {
-
- public:
-   enum { DISABLED, ENABLED, RUNNING, STOPPING, EMERGENCY_STOP, HOMING_HIGH, HOMING_LOW }; // STATES
-   enum { EVT_HOMING_LOW, EVT_HOMING_HIGH, EVT_MOVE_TIMEOUT, EVT_LIMIT_HIGH, EVT_LIMIT_LOW, EVT_EMERGENCYSTOP, EVT_STOP, EVT_ONTARGET, EVT_MOVE, EVT_DISABLE, EVT_ENABLE, ELSE }; // EVENTS
-  Atm_Teenstep( void ) : Machine() {};
-  Atm_Teenstep& begin( Stepper & motorRef, StepControl & stepControlRef );
-  Atm_Teenstep& trace( Stream & stream );
-  Atm_Teenstep& trigger( int event );
-  int state( void );
-  Atm_Teenstep& onChange( Machine& machine, int event = 0 );
-  Atm_Teenstep& onChange( atm_cb_push_t callback, int idx = 0 );
-  Atm_Teenstep& onChangeposition( Machine& machine, int event = 0 );
-  Atm_Teenstep& onChangeposition( atm_cb_push_t callback, int idx = 0 );
-  Atm_Teenstep& onLimithigh( Machine& machine, int event = 0 );
-  Atm_Teenstep& onLimithigh( atm_cb_push_t callback, int idx = 0 );
-  Atm_Teenstep& onLimitlow( Machine& machine, int event = 0 );
-  Atm_Teenstep& onLimitlow( atm_cb_push_t callback, int idx = 0 );
-  Atm_Teenstep& homing_low( void );
-  Atm_Teenstep& homing_high( void );
-  Atm_Teenstep& move_timeout( void );
-  Atm_Teenstep& limit_high( void );
-  Atm_Teenstep& limit_low( void );
-  Atm_Teenstep& emergencystop( void );
-  Atm_Teenstep& stop( void );
-  Atm_Teenstep& ontarget( void );
-  Atm_Teenstep& move( void );
-  Atm_Teenstep& disable( void );
-  Atm_Teenstep& enable( void );
-
-
-  Atm_Teenstep& move( long int stepRel );
-  Atm_Teenstep& moveTo( long int stepAbs );
-  Atm_Teenstep& homing( bool direction );
-
-  Atm_Teenstep& setLimitType( int limitType = 0);
-  Atm_Teenstep& setLimitPins( int limitPinLow);
-  Atm_Teenstep& setLimitPins( int limitPinLow, int limitPinHigh);
-  Atm_Teenstep& limitReversed( bool reversed );
-  Atm_Teenstep& limitThresholds( int limitThreshold0, int limitThreshold1,
-                                  int limitThreshold2, int limitThreshold3);
-  bool limitState[2] ; // up to two limits, at least one for homing
-
-  virtual Atm_Teenstep& onOSC( void );
-  virtual Atm_Teenstep& sendOSC( void );
-
-  Stepper * motor;
-  StepControl * controller;
-
-  Atm_Teenstep& setEnablePin( int enablePin );
-  Atm_Teenstep& enableReversed( bool reverse );
-  bool enabled ;
-
-
-
- private:
-  enum { ENT_DISABLED, ENT_ENABLED, ENT_RUNNING, LP_RUNNING, ENT_STOPPING, ENT_EMERGENCY_STOP, ENT_HOMING_HIGH, EXT_HOMING_HIGH, ENT_HOMING_LOW, EXT_HOMING_LOW }; // ACTIONS
-  enum { ON_CHANGE, ON_CHANGEPOSITION, ON_LIMITHIGH, ON_LIMITLOW, CONN_MAX }; // CONNECTORS
-  atm_connector connectors[CONN_MAX];
-  int event( int id );
-  void action( int id );
-
-  atm_timer_millis idle_timer ;
-  int IDLE_TIMEOUT_DURATION = 500000 ;
-  atm_timer_millis moving_timer ;
-  int MOVING_TIMEOUT_DURATION = 12000000 ;
-  atm_counter homing_counterout ;
-
-  long int _currentStep = 0;
-  long int _targetStep = 0;
-  long int _maxStep ;
-
-  int _enablePin = -1;
-  bool _enableReversed = 0 ;
-
-  int _limitPin[2];
-  enum { NONE, DIGITAL_1, DIGITAL_2, ANALOG_1 };
-  int _limitType; //type of limit switch, from list over
-  bool _limitReversed ; //invert logic of limit switches
-  int _limitThresholds[4] ; //analog value  range for two analog limits
-  void updateLimitSwitch();
-};
-
-/*
-Automaton::ATML::begin - Automaton Markup Language
-
-<?xml version="1.0" encoding="UTF-8"?>
-<machines>
-  <machine name="Atm_Teenstep">
-    <states>
-      <DISABLED index="0" on_enter="ENT_DISABLED">
-        <EVT_ENABLE>ENABLED</EVT_ENABLE>
-      </DISABLED>
-      <ENABLED index="1" on_enter="ENT_ENABLED">
-        <EVT_MOVE>RUNNING</EVT_MOVE>
-        <EVT_DISABLE>DISABLED</EVT_DISABLE>
-      </ENABLED>
-      <RUNNING index="2" on_enter="ENT_RUNNING" on_loop="LP_RUNNING">
-        <EVT_LIMIT_HIGH>EMERGENCY_STOP</EVT_LIMIT_HIGH>
-        <EVT_LIMIT_LOW>EMERGENCY_STOP</EVT_LIMIT_LOW>
-        <EVT_EMERGENCYSTOP>EMERGENCY_STOP</EVT_EMERGENCYSTOP>
-        <EVT_STOP>STOPPING</EVT_STOP>
-        <EVT_ONTARGET>ENABLED</EVT_ONTARGET>
-        <EVT_MOVE>RUNNING</EVT_MOVE>
-      </RUNNING>
-      <STOPPING index="3" on_enter="ENT_STOPPING">
-        <EVT_LIMIT_HIGH>EMERGENCY_STOP</EVT_LIMIT_HIGH>
-        <EVT_LIMIT_LOW>EMERGENCY_STOP</EVT_LIMIT_LOW>
-        <EVT_EMERGENCYSTOP>EMERGENCY_STOP</EVT_EMERGENCYSTOP>
-        <EVT_MOVE>RUNNING</EVT_MOVE>
-      </STOPPING>
-      <EMERGENCY_STOP index="4" on_enter="ENT_EMERGENCY_STOP">
-        <EVT_MOVE>RUNNING</EVT_MOVE>
-        <EVT_ENABLE>ENABLED</EVT_ENABLE>
-      </EMERGENCY_STOP>
-      <HOMING_HIGH index="5" on_enter="ENT_HOMING_HIGH" on_exit="EXT_HOMING_HIGH">
-        <EVT_LIMIT_HIGH>ENABLED</EVT_LIMIT_HIGH>
-        <EVT_LIMIT_LOW>EMERGENCY_STOP</EVT_LIMIT_LOW>
-        <EVT_EMERGENCYSTOP>EMERGENCY_STOP</EVT_EMERGENCYSTOP>
-        <EVT_STOP>STOPPING</EVT_STOP>
-      </HOMING_HIGH>
-      <HOMING_LOW index="6" on_enter="ENT_HOMING_LOW" on_exit="EXT_HOMING_LOW">
-        <EVT_LIMIT_HIGH>EMERGENCY_STOP</EVT_LIMIT_HIGH>
-        <EVT_LIMIT_LOW>ENABLED</EVT_LIMIT_LOW>
-        <EVT_EMERGENCYSTOP>EMERGENCY_STOP</EVT_EMERGENCYSTOP>
-        <EVT_STOP>STOPPING</EVT_STOP>
-      </HOMING_LOW>
-    </states>
-    <events>
-      <EVT_MOVE_TIMEOUT index="0" access="MIXED"/>
-      <EVT_LIMIT_HIGH index="1" access="MIXED"/>
-      <EVT_LIMIT_LOW index="2" access="MIXED"/>
-      <EVT_EMERGENCYSTOP index="3" access="MIXED"/>
-      <EVT_STOP index="4" access="MIXED"/>
-      <EVT_ONTARGET index="5" access="MIXED"/>
-      <EVT_MOVE index="6" access="MIXED"/>
-      <EVT_DISABLE index="7" access="MIXED"/>
-      <EVT_ENABLE index="8" access="MIXED"/>
-    </events>
-    <connectors>
-      <CHANGE autostore="0" broadcast="0" dir="PUSH" slots="1"/>
-      <CHANGEPOSITION autostore="0" broadcast="0" dir="PUSH" slots="1"/>
-      <LIMITHIGH autostore="0" broadcast="0" dir="PUSH" slots="1"/>
-      <LIMITLOW autostore="0" broadcast="0" dir="PUSH" slots="1"/>
-    </connectors>
-    <methods>
-    </methods>
-  </machine>
-</machines>
-
-Automaton::ATML::end
-*/

HTequi-firmware/lib/Atm_lien/Atm_Teenstep_OSC.cpp

@@ -1,36 +0,0 @@
-#include "Atm_Teenstep_OSC.h"
-
-Atm_Teenstep_OSC& Atm_Teenstep_OSC::begin(Atm_Teenstep& stepperMachineRef, EthernetUDP& udpRef, OSCBundle& bndl, const char* address) {
-  this-> stepperMachine = &stepperMachineRef;
-  _adress = address;
-  this->_udpRef =   &udpRef;
-  this->_bndl = &bndl ;
-  //stepperMachine->onChangeposition( sendPosition, 0);
-  return *this;
-}
-
-
-
-Atm_Teenstep_OSC& Atm_Teenstep_OSC::onOSC(OSCMessage& msg ){
-  Serial.println("OSC");
-  int patternOffset = msg.match(_adress) ;
-  if(patternOffset){
-    if(msg.fullMatch("/speedAcc", patternOffset)){
-      stepperMachine->motor->setMaxSpeed(msg.getInt(0));
-      stepperMachine->motor->setAcceleration(msg.getInt(1));
-    }
-    if(msg.fullMatch("/enable", patternOffset)){msg.getInt(0) ? stepperMachine->trigger(stepperMachine->EVT_ENABLE) : stepperMachine->trigger(stepperMachine->EVT_DISABLE);}
-    //if(msg.fullMatch("/home", patternOffset)){home(msg.getInt(0));}
-    if(msg.fullMatch("/move", patternOffset)){stepperMachine->move(msg.getInt(0));Serial.println(msg.getInt(0));}
-    if(msg.fullMatch("/moveTo", patternOffset)){stepperMachine->moveTo(msg.getInt(0));}
-    if(msg.fullMatch("/stop", patternOffset)){stepperMachine->stop();}
-    if(msg.fullMatch("/emergencyStop", patternOffset)){stepperMachine->emergencystop();}
-    if(msg.fullMatch("/home", patternOffset)){stepperMachine->homing(msg.getInt(0));}
-
-    return *this;
-  }
-}
-
-void Atm_Teenstep_OSC::sendPosition(int idx, int v, int up) {
-  _bndl->add(_adress).add(v);
-}

HTequi-firmware/lib/Atm_lien/Atm_Teenstep_OSC.h

@@ -1,31 +0,0 @@
-#pragma once
-
-#include "Atm_Teenstep.h"
-
-#include <EthernetUdp.h>
-#include <OSCMessage.h>
-#include <OSCBundle.h>
-
-class Atm_Teenstep_OSC {
-
-  public:
-    Atm_Teenstep_OSC( void ){};
-    Atm_Teenstep_OSC& begin(Atm_Teenstep & stepperMachineRef,
-                              EthernetUDP& udpRef,
-                               OSCBundle& bndl,
-                               const char* address);
-    Atm_Teenstep* stepperMachine ;
-    const char* _adress = "/OSC";
-    EthernetUDP* _udpRef ;
-    Atm_Teenstep_OSC& onOSC(OSCMessage& msg );
-    Atm_Teenstep_OSC& sendOSC( void );
-
-    void sendPosition(int idx, int v, int up);
-
-  private:
-   // AccelStepper _motor;
-   // Stepper *_motor;       // STEP pin: 2, DIR pin: 3
-   // StepControl _controller;
-   OSCBundle* _bndl;
-
-};

HTequi-firmware/lib/Atm_lien/Atm_TeensyStep.cpp

@@ -1,268 +0,0 @@
-#include "Atm_TeensyStep.h"
-
-
-/* Add optional parameters for the state machine to begin()
- * Add extra initialization code
- */
-
-Atm_TeensyStep& Atm_TeensyStep::begin(Stepper & motorRef, StepControl & stepControlRef,
-                  EthernetUDP& udpRef, OSCBundle& bndl, const char* address ) {
-  // clang-format off
-  const static state_t state_table[] PROGMEM = {
-    /*                 ON_ENTER     ON_LOOP       ON_EXIT  EVT_IDLE_TIMER  EVT_ON_TARGET  EVT_GOTO  ELSE */
-    /*     IDLE */     ENT_IDLE,         -1,     EXT_IDLE,             -1,            -1,  RUNNING,   -1,
-    /*    READY */    ENT_READY,         -1,           -1,           IDLE,            -1,  RUNNING,   -1,
-    /*  RUNNING */  ENT_RUNNING, LP_RUNNING,           -1,             -1,      STOPPING,  RUNNING,   -1,
-    /* STOPPING */ ENT_STOPPING,         -1, EXT_STOPPING,             -1,         READY,       -1,   -1,
-  };
-  // clang-format on
-  Machine::begin( state_table, ELSE );
-  this-> motor =   &motorRef;
-  this-> controller = &stepControlRef;
-  _adress = address;
-  this->_udpRef =   &udpRef;
-  this->_bndl = &bndl ;
-  return *this;
-}
-
-/* Add C++ code for each internally handled event (input)
- * The code must return 1 to trigger the event
- */
-
-int Atm_TeensyStep::event( int id ) {
-  switch ( id ) {
-    case EVT_IDLE_TIMER:
-      return 0;
-    case EVT_ON_TARGET:
-      //motor->get(targetStep);
-      return _currentStep == _targetStep ;
-      // return _motor.distanceToGo()== 0 ;
-  }
-  return 0;
-}
-
-/* Add C++ code for each action
- * This generates the 'output' for the state machine
- *
- * Available connectors:
- *   push( connectors, ON_ONCHANGE, 0, <v>, <up> );
- */
-
-void Atm_TeensyStep::action( int id ) {
-  String strg = _adress;
-  switch ( id ) {
-    case ENT_IDLE:
-      enable(0);
-      return;
-    case EXT_IDLE:
-      enable(1);
-      return;
-    case ENT_READY:
-
-      return;
-    case ENT_RUNNING:
-
-      // _controller.moveAsync(*_motor);
-      return;
-    case LP_RUNNING:
-      // _motor.run();
-      _currentStep = motor->getPosition();
-
-      strg += "/step";
-      _bndl->add(strg.c_str()).add(_currentStep);
-      updateLimitSwitch();
-      if(limitState[0] || limitState[1]) {emergencyStop();}
-     // Serial.println(_motor.currentPosition());
-      return;
-    case ENT_STOPPING:
-      return;
-    case EXT_STOPPING:
-      if(_isHoming && limitState[0]){motor->setPosition(0);}
-      if(_isHoming && limitState[1]){maxStep = motor->getPosition();;}
-      _isHoming=0;
-      return;
-  }
-}
-
-/* Optionally override the default trigger() method
- * Control how your machine processes triggers
- */
-
-Atm_TeensyStep& Atm_TeensyStep::trigger( int event ) {
-  Machine::trigger( event );
-  return *this;
-}
-
-Atm_TeensyStep& Atm_TeensyStep::onOSC(OSCMessage& msg ){
-  Serial.println("OSC");
-  int patternOffset = msg.match(_adress) ;
-  if(patternOffset){
-    if(msg.fullMatch("/speedAcc", patternOffset)){
-      motor->setMaxSpeed(msg.getInt(0));
-      motor->setAcceleration(msg.getInt(1));
-    }
-    if(msg.fullMatch("/enable", patternOffset)){enable(msg.getInt(0));}
-    if(msg.fullMatch("/home", patternOffset)){home(msg.getInt(0));}
-    if(msg.fullMatch("/move", patternOffset)){move(msg.getInt(0));}
-    if(msg.fullMatch("/moveTo", patternOffset)){moveTo(msg.getInt(0));}
-    if(msg.fullMatch("/stop", patternOffset)){stop();}
-    if(msg.fullMatch("/emergencyStop", patternOffset)){emergencyStop();}
-
-    return *this;
-  }
-}
-
-/* Optionally override the default state() method
- * Control what the machine returns when another process requests its state
- */
-
-int Atm_TeensyStep::state( void ) {
-  return Machine::state();
-}
-
-void Atm_TeensyStep::updateLimitSwitch(){
-  switch (_limitType) { // limitType!=0 means there is limit to check
-    case NONE:
-      return ;
-    case DIGITAL_1:
-      limitState[0] = digitalRead(_limitPin[0]);
-      limitState[0] = _limitReversed ? !limitState[0] : limitState[0];
-      return;
-    case DIGITAL_2:
-    limitState[0] = digitalRead(_limitPin[0]);
-    limitState[1] = digitalRead(_limitPin[1]);
-    limitState[0] = _limitReversed ? !limitState[0] : limitState[0];
-    limitState[1] = _limitReversed ? !limitState[1] : limitState[1];
-      return;
-    case ANALOG_1:
-    int read = analogRead(_limitPin[0]) ;
-    limitState[0] = _limitThresholds[0] < read && read < _limitThresholds[1] ;
-    limitState[1] = _limitThresholds[2] < read && read < _limitThresholds[3] ;
-      return;
-  }
-
-}
-
-/* Nothing customizable below this line
- ************************************************************************************************
-*/
-
-/* Public event methods
- *
- */
- Atm_TeensyStep& Atm_TeensyStep::setLimitPins( int limitPinLow){
-   _limitPin[0] = limitPinLow;
-   pinMode(_limitPin[0], INPUT);
-   return *this;
- }
-
-Atm_TeensyStep& Atm_TeensyStep::setLimitPins( int limitPinLow, int limitPinHigh){
-  _limitPin[0] = limitPinLow;
-  _limitPin[1] = limitPinHigh;
-  pinMode(_limitPin[0], INPUT);
-  pinMode(_limitPin[1], INPUT);
-  return *this;
-}
-
-Atm_TeensyStep& Atm_TeensyStep::setLimitType( int limitType){
-  _limitType = limitType;
-  return *this;
-}
-
-Atm_TeensyStep& Atm_TeensyStep::limitReversed( bool reversed){
-  _limitReversed = reversed;
-  return *this;
-}
-
-Atm_TeensyStep& Atm_TeensyStep::limitThresholds( int limitThreshold0,
-        int limitThreshold1,  int limitThreshold2, int limitThreshold3){
-  _limitThresholds[0] = limitThreshold0;
-  _limitThresholds[1] = limitThreshold1;
-  _limitThresholds[2] = limitThreshold2;
-  _limitThresholds[3] = limitThreshold3;
-  return *this;
-}
-
-Atm_TeensyStep& Atm_TeensyStep::enable( bool enable ){
-  enabled = enable ;
-  enabled = _enableReversed ? !enabled : enabled ;
-  digitalWrite(_enablePin, enabled);
-  return *this;
-}
-
-Atm_TeensyStep& Atm_TeensyStep::setEnablePin( int enablePin ){
-  _enablePin = enablePin ;
-  pinMode(_enablePin, OUTPUT);
-  return *this;
-}
-
-Atm_TeensyStep& Atm_TeensyStep::enableReversed( bool reverse ){
-  _enableReversed = reverse ;
-  return *this;
-}
-
-Atm_TeensyStep& Atm_TeensyStep::home( bool limit ){
-  _isHoming = 1 ;
-  limit ? move(-2147483647) : move(2147483647) ; // move to very far away until hit
-  return *this;
-}
-
-Atm_TeensyStep& Atm_TeensyStep::move(long int stepRel ) {
-  _targetStep   += stepRel;
-  motor->setTargetAbs(_targetStep);
-  controller->moveAsync(*motor);
-
-  // _motor.move(targetStep);
-  // _motor.run();
-  // Serial.println(_motor.distanceToGo());
-  // _motor.setMaxSpeed(5000);
-  // _motor.setAcceleration(6000);
-  trigger( EVT_GOTO );
-  return *this;
-}
-
-Atm_TeensyStep& Atm_TeensyStep::moveTo(long int stepAbs ) {
-  _targetStep   = stepAbs;
-  motor->setTargetAbs(_targetStep);
-  controller->moveAsync(*motor);
-  trigger( EVT_GOTO );
-  return *this;
-}
-
-Atm_TeensyStep& Atm_TeensyStep::stop(){
-  controller->stopAsync();
-  //trigger( EVT_STOPPING );
-  return *this;
-}
-
-Atm_TeensyStep& Atm_TeensyStep::emergencyStop(){
-  controller->emergencyStop();
-  //trigger( EVT_STOPPING );
-  return *this;
-}
-
-//Atm_TeensyStep& Atm_TeensyStep::onOSC(OSCMessage& msg)
-
-/*
- * onOnchange() push connector variants ( slots 1, autostore 0, broadcast 0 )
- */
-
-Atm_TeensyStep& Atm_TeensyStep::onOnchange( Machine& machine, int event ) {
-  onPush( connectors, ON_ONCHANGE, 0, 1, 1, machine, event );
-  return *this;
-}
-
-Atm_TeensyStep& Atm_TeensyStep::onOnchange( atm_cb_push_t callback, int idx ) {
-  onPush( connectors, ON_ONCHANGE, 0, 1, 1, callback, idx );
-  return *this;
-}
-
-/* State trace method
- * Sets the symbol table and the default logging method for serial monitoring
- */
-
-Atm_TeensyStep& Atm_TeensyStep::trace( Stream & stream ) {
-  Machine::setTrace( &stream, atm_serial_debug::trace,
-    "STEPPER\0EVT_IDLE_TIMER\0EVT_ON_TARGET\0EVT_GOTO\0ELSE\0IDLE\0READY\0RUNNING\0STOPPING" );
-  return *this;
-}

HTequi-firmware/lib/Atm_lien/Atm_TeensyStep.h

@@ -1,120 +0,0 @@
-#pragma once
-
-#include <Automaton.h>
-#include <TeensyStep.h>
-
-#include <EthernetUdp.h>
-#include <OSCMessage.h>
-#include <OSCBundle.h>
-// #include <AccelStepper.h>
-class Atm_TeensyStep: public Machine {
-
- public:
-  enum { IDLE, READY, RUNNING, STOPPING }; // STATES
-  enum { EVT_IDLE_TIMER, EVT_ON_TARGET, EVT_GOTO, ELSE }; // EVENTS
-  Atm_TeensyStep( void ) : Machine()  {};
-  Atm_TeensyStep& begin( Stepper & motorRef, StepControl & stepControlRef,
-                    EthernetUDP& udpRef, OSCBundle& bndl, const char* address ) ;
-
-  Atm_TeensyStep& trace( Stream & stream );
-  Atm_TeensyStep& trigger( int event );
-  int state( void );
-  Atm_TeensyStep& onOnchange( Machine& machine, int event = 0 );
-  Atm_TeensyStep& onOnchange( atm_cb_push_t callback, int idx = 0 );
-  int enable_timeout; //in idle mode, how long before sleep (stepper disabled
-  Atm_TeensyStep& setLimitType( int limitType = 0);
-  Atm_TeensyStep& setLimitPins( int limitPinLow);
-  Atm_TeensyStep& setLimitPins( int limitPinLow, int limitPinHigh);
-  Atm_TeensyStep& limitReversed( bool reversed );
-  Atm_TeensyStep& limitThresholds( int limitThreshold0, int limitThreshold1,
-                                  int limitThreshold2, int limitThreshold3);
-  Atm_TeensyStep& setEnablePin( int enablePin );
-  Atm_TeensyStep& enableReversed( bool reverse );
-  bool enabled ;
-  Atm_TeensyStep& enable( bool enable );
-  Atm_TeensyStep& home( bool limit ); // 0(default) for home, 1 for max value
-  Atm_TeensyStep& move( long int stepRel );
-  Atm_TeensyStep& moveTo( long int stepAbs );
-  Atm_TeensyStep& stop();
-  Atm_TeensyStep& emergencyStop();
-  Stepper * motor;
-  StepControl * controller;
-
-  bool limitState[2] ; // up to two limits, at least one for homing
-  bool homed; //stepper has been homed
-  long int maxStep ;
-
-  const char* _adress = "/OSC";
-  EthernetUDP* _udpRef ;
-  Atm_TeensyStep& onOSC(OSCMessage& msg );
-
- private:
-  // AccelStepper _motor;
-  // Stepper *_motor;       // STEP pin: 2, DIR pin: 3
-  // StepControl _controller;
-  OSCBundle* _bndl;
-
-
-
-  enum { ENT_IDLE, EXT_IDLE, ENT_READY, ENT_RUNNING, LP_RUNNING,
-          ENT_STOPPING, EXT_STOPPING }; // ACTIONS
-  enum { ON_ONCHANGE, CONN_MAX }; // CONNECTORS
-  atm_connector connectors[CONN_MAX];
-  int event( int id );
-  void action( int id );
-
-  long int _currentStep ;
-  long int _targetStep ;
-
-  int _enablePin;
-  bool _enableReversed ;
-
-
-
-
-  int _limitPin[2];
-  enum { NONE, DIGITAL_1, DIGITAL_2, ANALOG_1 };
-  int _limitType; //type of limit switch, from list over
-  bool _limitReversed ; //invert logic of limit switches
-  int _limitThresholds[4] ; //analog value  range for two analog limits
-  void updateLimitSwitch();
-  bool _isHoming;
-};
-
-/*
-Automaton::ATML::begin - Automaton Markup Language
-
-<?xml version="1.0" encoding="UTF-8"?>
-<machines>
-  <machine name="Atm_stepper">
-    <states>
-      <IDLE index="0" on_enter="ENT_IDLE">
-        <EVT_GOTO>RUNNING</EVT_GOTO>
-      </IDLE>
-      <READY index="1" on_enter="ENT_READY">
-        <EVT_IDLE_TIMER>IDLE</EVT_IDLE_TIMER>
-        <EVT_GOTO>RUNNING</EVT_GOTO>
-      </READY>
-      <RUNNING index="2" on_enter="ENT_RUNNING" on_loop="LP_RUNNING">
-        <EVT_ON_TARGET>STOPPING</EVT_ON_TARGET>
-        <EVT_GOTO>RUNNING</EVT_GOTO>
-      </RUNNING>
-      <STOPPING index="3" on_enter="ENT_STOPPING" on_exit="EXT_STOPPING">
-        <EVT_ON_TARGET>READY</EVT_ON_TARGET>
-      </STOPPING>
-    </states>
-    <events>
-      <EVT_IDLE_TIMER index="0" access="PRIVATE"/>
-      <EVT_ON_TARGET index="1" access="PRIVATE"/>
-      <EVT_GOTO index="2" access="PUBLIC"/>
-    </events>
-    <connectors>
-      <ONCHANGE autostore="0" broadcast="0" dir="PUSH" slots="1"/>
-    </connectors>
-    <methods>
-    </methods>
-  </machine>
-</machines>
-
-Automaton::ATML::end
-*/

HTequi-firmware/lib/Atm_lien/Atm_Tstepper.cpp

@@ -1,519 +0,0 @@
-#include "Atm_Tstepper.h"
-
-/* Add optional parameters for the state machine to begin()
- * Add extra initialization code
- */
-
-Atm_Tstepper& Atm_Tstepper::begin(Stepper & motorRef, StepControl & stepControlRef) {
-  // clang-format off
-  const static state_t state_table[] PROGMEM = {
-    /*                              ON_ENTER      ON_LOOP     ON_EXIT  EVT_HOMING_COUNTER  EVT_IDLE_TIMEOUT  EVT_MOVE_TIMEOUT  EVT_LIMIT_LOW  EVT_LIMIT_HIGH  EVT_EMERGENCY  EVT_STOP  EVT_ONTARGET  EVT_MOVE  EVT_DISABLE  EVT_ENABLE  EVT_HOMING  ELSE */
-    /*          DISABLED */     ENT_DISABLED,          -1,         -1,                 -1,               -1,               -1,            -1,             -1,            -1,       -1,           -1,       -1,          -1,    ENABLED,        -1,    -1,
-    /*           ENABLED */      ENT_ENABLED,          -1,         -1,                 -1,         DISABLED,               -1,            -1,             -1,            -1,       -1,           -1,  RUNNING,    DISABLED,         -1,    HOMING,    -1,
-    /*           RUNNING */      ENT_RUNNING,  LP_RUNNING,         -1,                 -1,               -1,     MOVE_TIMEOUT,     EMERGENCY,      EMERGENCY,     EMERGENCY, STOPPING,      ENABLED,  RUNNING,          -1,         -1,        -1,    -1,
-    /*          STOPPING */     ENT_STOPPING, LP_STOPPING,         -1,                 -1,               -1,               -1,     EMERGENCY,      EMERGENCY,     EMERGENCY,       -1,           -1,  RUNNING,          -1,         -1,        -1,    -1,
-    /*         EMERGENCY */    ENT_EMERGENCY,          -1,         -1,                 -1,               -1,               -1,            -1,             -1,            -1,       -1,           -1,       -1,          -1,         -1,        -1,    -1,
-    /*            HOMING */       ENT_HOMING,   LP_HOMING, EXT_HOMING,                 -1,               -1,     MOVE_TIMEOUT,     EMERGENCY,      EMERGENCY,     EMERGENCY, STOPPING, MOVE_TIMEOUT,       -1,          -1,         -1,        -1,    -1,
-    /*      MOVE_TIMEOUT */ ENT_MOVE_TIMEOUT,          -1,         -1,                 -1,               -1,               -1,     EMERGENCY,             -1,     EMERGENCY,       -1,           -1,       -1,          -1,         -1,        -1,    -1,
-    /* HOMING_COUNTEROUT */               -1,          -1,         -1,                 -1,               -1,               -1,            -1,             -1,            -1,       -1,           -1,       -1,          -1,         -1,        -1,    -1
-  };
-  // clang-format on
-  Machine::begin( state_table, ELSE );
-  this-> motor =   &motorRef;
-  this-> controller = &stepControlRef;
-  idle_timer.set(ATM_TIMER_OFF);
-  moving_timer.set(ATM_TIMER_OFF);
-  return *this;
-}
-
-/* Add C++ code for each internally handled event (input)
- * The code must return 1 to trigger the event
- */
-
-int Atm_Tstepper::event( int id ) {
-  switch ( id ) {
-    case EVT_HOMING_COUNTER:
-      return 0;
-    case EVT_IDLE_TIMEOUT:
-      return 0; //idle_timer.expired(this);
-    case EVT_MOVE_TIMEOUT:
-      return 0; //moving_timer.expired(this);
-    case EVT_LIMIT_LOW:
-      return limitState[0];//limitState[0];
-    case EVT_LIMIT_HIGH:
-      return limitState[1];///limitState[1];
-    case EVT_EMERGENCY:
-      return 0;
-    case EVT_STOP:
-      return 0;
-    case EVT_ONTARGET: //triggers if stepper reached _targetStep
-      return _currentStep == _targetStep ;
-    case EVT_MOVE:
-      return 0;
-    case EVT_DISABLE:
-      return 0;
-    case EVT_ENABLE:
-      return 0;
-    case EVT_HOMING:
-      return 0;
-  }
-  return 0;
-}
-
-/* Add C++ code for each action
- * This generates the 'output' for the state machine
- *
- * Available connectors:
- *   push( connectors, ON_ONCHANGE, 0, <v>, <up> );
- *   push( connectors, ON_ONCHANGEACCELERATION, 0, <v>, <up> );
- *   push( connectors, ON_ONCHANGEPOSITION, 0, <v>, <up> );
- *   push( connectors, ON_ONCHANGESTATE, 0, <v>, <up> );
- *   push( connectors, ON_ONHIGHLIMIT, 0, <v>, <up> );
- *   push( connectors, ON_ONHOMINGCOUNTEROUT, 0, <v>, <up> );
- *   push( connectors, ON_ONHOMINGTIMEOUT, 0, <v>, <up> );
- *   push( connectors, ON_ONIDLETIMEOUT, 0, <v>, <up> );
- *   push( connectors, ON_ONLOWLIMIT, 0, <v>, <up> );
- *   push( connectors, ON_ONMOVETIMEOUT, 0, <v>, <up> );
- *   push( connectors, ON_SPEED, 0, <v>, <up> );
- */
-
-void Atm_Tstepper::action( int id ) {
-  switch ( id ) {
-    long int tempStep ;
-    case ENT_DISABLED:
-      idle_timer.set(ATM_TIMER_OFF);
-      moving_timer.set(ATM_TIMER_OFF);
-      enabled = _enableReversed ? HIGH : LOW;
-      digitalWrite(_enablePin, enabled);
-      sendOSC();
-      return;
-    case ENT_ENABLED:
-      // idle_timer.set(IDLE_TIMEOUT_DURATION);
-      // moving_timer.set(ATM_TIMER_OFF);
-      enabled = _enableReversed ? LOW : HIGH ;
-      digitalWrite(_enablePin, enabled);
-      sendOSC();
-      return;
-    case ENT_RUNNING:
-      // idle_timer.set(ATM_TIMER_OFF);
-      // moving_timer.set(MOVING_TIMEOUT_DURATION);
-      return;
-    case LP_RUNNING:
-      tempStep = motor->getPosition();
-      connectors[ON_ONCHANGEPOSITION].push(_currentStep);
-      // if (tempStep != _currentStep){push( connectors, ON_ONCHANGEPOSITION, 0, _currentStep, 0 );} ;
-      _currentStep =  tempStep;
-      updateLimitSwitch();
-      sendOSC();
-      return;
-    case ENT_STOPPING:
-      idle_timer.set(ATM_TIMER_OFF);
-      moving_timer.set(ATM_TIMER_OFF);
-      sendOSC();
-      return;
-    case LP_STOPPING:
-      return;
-    case ENT_EMERGENCY:
-      idle_timer.set(ATM_TIMER_OFF);
-      moving_timer.set(ATM_TIMER_OFF);
-      controller->emergencyStop();
-      sendOSC();
-      return;
-    case ENT_HOMING:
-      // idle_timer.set(ATM_TIMER_OFF);
-      // moving_timer.set(MOVING_TIMEOUT_DURATION);
-      _limitType ? move(-2147483647) : trigger(EVT_STOP) ;
-      sendOSC();
-      return;
-    case LP_HOMING:
-      updateLimitSwitch();
-      sendOSC();
-      return;
-    case EXT_HOMING:
-      switch(next_trigger){
-        case EVT_LIMIT_LOW:
-          Serial.println("LOW");
-          move(10);
-          return;
-        case EVT_LIMIT_HIGH:
-          Serial.println("HIGH");
-          move(-10);
-          return;
-      }
-
-      return;
-    case ENT_MOVE_TIMEOUT:
-      idle_timer.set(ATM_TIMER_OFF);
-      moving_timer.set(ATM_TIMER_OFF);
-      emergency();
-      return;
-  }
-}
-
-/* Optionally override the default trigger() method
- * Control how your machine processes triggers
- */
-
-Atm_Tstepper& Atm_Tstepper::trigger( int event ) {
-  Machine::trigger( event );
-  return *this;
-}
-
-/* Optionally override the default state() method
- * Control what the machine returns when another process requests its state
- */
-
-int Atm_Tstepper::state( void ) {
-  return Machine::state();
-}
-
-/* CUSTOM METHODS
-********************************************************************************************************
-*/
-
-// Atm_TeensyStep& Atm_TeensyStep::enable( bool enable ){
-//
-//   return *this;
-// }
-
-/////////   ENABLE/DISABLE    ////////
-
-Atm_Tstepper& Atm_Tstepper::setEnablePin( int enablePin ){
-  _enablePin = enablePin ;
-  pinMode(_enablePin, OUTPUT);
-  return *this;
-}
-
-Atm_Tstepper& Atm_Tstepper::enableReversed( bool reverse ){
-  _enableReversed = reverse ;
-  return *this;
-}
-
-/////////   LIMITS    ////////
-
-Atm_Tstepper& Atm_Tstepper::setLimitPins( int limitPinLow){
-  _limitPin[0] = limitPinLow;
-  pinMode(_limitPin[0], INPUT);
-  return *this;
-}
-
-Atm_Tstepper& Atm_Tstepper::setLimitPins( int limitPinLow, int limitPinHigh){
- _limitPin[0] = limitPinLow;
- _limitPin[1] = limitPinHigh;
- pinMode(_limitPin[0], INPUT);
- pinMode(_limitPin[1], INPUT);
- return *this;
-}
-
-Atm_Tstepper& Atm_Tstepper::setLimitType( int limitType){
- _limitType = limitType;
- return *this;
-}
-
-Atm_Tstepper& Atm_Tstepper::limitReversed( bool reversed){
- _limitReversed = reversed;
- return *this;
-}
-
-Atm_Tstepper& Atm_Tstepper::limitThresholds( int limitThreshold0,
-       int limitThreshold1,  int limitThreshold2, int limitThreshold3){
- _limitThresholds[0] = limitThreshold0;
- _limitThresholds[1] = limitThreshold1;
- _limitThresholds[2] = limitThreshold2;
- _limitThresholds[3] = limitThreshold3;
- return *this;
-}
-
-void Atm_Tstepper::updateLimitSwitch(){
-  switch (_limitType) { // limitType!=0 means there is limit to check
-    case NONE:
-      return ;
-    case DIGITAL_1:
-      limitState[0] = digitalRead(_limitPin[0]);
-      limitState[0] = _limitReversed ? !limitState[0] : limitState[0];
-      return;
-    case DIGITAL_2:
-    limitState[0] = digitalRead(_limitPin[0]);
-    limitState[1] = digitalRead(_limitPin[1]);
-    limitState[0] = _limitReversed ? !limitState[0] : limitState[0];
-    limitState[1] = _limitReversed ? !limitState[1] : limitState[1];
-      return;
-    case ANALOG_1:
-    int read = analogRead(_limitPin[0]) ;
-    limitState[0] = _limitThresholds[0] < read && read < _limitThresholds[1] ;
-    limitState[1] = _limitThresholds[2] < read && read < _limitThresholds[3] ;
-      return;
-  }
-
-}
-
-int Atm_Tstepper::printPosition(){Serial.println(_currentStep);return 0;}
-
-Atm_Tstepper& Atm_Tstepper::onOSC( void ){
-//  _enableReversed = reverse ;
-  return *this;
-}
-
-Atm_Tstepper& Atm_Tstepper::sendOSC( void ){
-//  _enableReversed = reverse ;
-  return *this;
-}
-
-
-// Atm_Tstepper& Atm_Tstepper::move(long int stepRel ) {
-//
-//   // _motor.move(targetStep);
-//   // _motor.run();
-//   // Serial.println(_motor.distanceToGo());
-//   // _motor.setMaxSpeed(5000);
-//   // _motor.setAcceleration(6000);
-//   trigger( EVT_GOTO );
-//   return *this;
-// }
-
-/* Nothing customizable below this line
- ************************************************************************************************
-*/
-
-/* Public event methods
- *
- */
-
-Atm_Tstepper& Atm_Tstepper::homing_counter() {
-  trigger( EVT_HOMING_COUNTER );
-  return *this;
-}
-
-Atm_Tstepper& Atm_Tstepper::idle_timeout() {
-  trigger( EVT_IDLE_TIMEOUT );
-  return *this;
-}
-
-Atm_Tstepper& Atm_Tstepper::move_timeout() {
-  trigger( EVT_MOVE_TIMEOUT );
-  return *this;
-}
-
-Atm_Tstepper& Atm_Tstepper::limit_low() {
-  trigger( EVT_LIMIT_LOW );
-  return *this;
-}
-
-Atm_Tstepper& Atm_Tstepper::limit_high() {
-  trigger( EVT_LIMIT_HIGH );
-  return *this;
-}
-
-Atm_Tstepper& Atm_Tstepper::emergency() {
-  controller->emergencyStop();
-  trigger( EVT_EMERGENCY );
-  return *this;
-}
-
-Atm_Tstepper& Atm_Tstepper::stop() {
-  controller->stop();
-  trigger( EVT_STOP );
-  return *this;
-}
-
-Atm_Tstepper& Atm_Tstepper::ontarget() {
-  trigger( EVT_ONTARGET );
-  return *this;
-}
-
-Atm_Tstepper& Atm_Tstepper::move(long int stepRel) {
-  _targetStep   += stepRel;
-  motor->setTargetAbs(_targetStep);
-  controller->moveAsync(*motor);
-  enable();
-  trigger( EVT_MOVE );
-  return *this;
-}
-
-Atm_Tstepper& Atm_Tstepper::moveTo(long int stepAbs) {
-  _targetStep   = stepAbs;
-  motor->setTargetAbs(_targetStep);
-  controller->moveAsync(*motor);
-  enable();
-  trigger( EVT_MOVE );
-  return *this;
-}
-
-Atm_Tstepper& Atm_Tstepper::disable() {
-  trigger( EVT_DISABLE );
-  return *this;
-}
-
-Atm_Tstepper& Atm_Tstepper::enable() {
-  trigger( EVT_ENABLE );
-  return *this;
-}
-
-Atm_Tstepper& Atm_Tstepper::homing(int direction) {
-  trigger( EVT_HOMING );
-  return *this;
-}
-
-/*
- * onOnchange() push connector variants ( slots 1, autostore 0, broadcast 0 )
- */
-
-Atm_Tstepper& Atm_Tstepper::onOnchange( Machine& machine, int event ) {
-  onPush( connectors, ON_ONCHANGE, 0, 1, 1, machine, event );
-  return *this;
-}
-
-Atm_Tstepper& Atm_Tstepper::onOnchange( atm_cb_push_t callback, int idx ) {
-  onPush( connectors, ON_ONCHANGE, 0, 1, 1, callback, idx );
-  return *this;
-}
-
-/*
- * onOnchangeacceleration() push connector variants ( slots 1, autostore 0, broadcast 0 )
- */
-
-Atm_Tstepper& Atm_Tstepper::onOnchangeacceleration( Machine& machine, int event ) {
-  onPush( connectors, ON_ONCHANGEACCELERATION, 0, 1, 1, machine, event );
-  return *this;
-}
-
-Atm_Tstepper& Atm_Tstepper::onOnchangeacceleration( atm_cb_push_t callback, int idx ) {
-  onPush( connectors, ON_ONCHANGEACCELERATION, 0, 1, 1, callback, idx );
-  return *this;
-}
-
-/*
- * onOnchangeposition() push connector variants ( slots 1, autostore 0, broadcast 0 )
- */
-
-Atm_Tstepper& Atm_Tstepper::onOnchangeposition( Machine& machine, int event ) {
-  onPush( connectors, ON_ONCHANGEPOSITION, 0, 1, 1, machine, event );
-  return *this;
-}
-
-Atm_Tstepper& Atm_Tstepper::onOnchangeposition( atm_cb_push_t callback, int idx ) {
-  onPush( connectors, ON_ONCHANGEPOSITION, 0, 1, 1, callback, idx );
-  return *this;
-}
-
-/*
- * onOnchangestate() push connector variants ( slots 1, autostore 0, broadcast 0 )
- */
-
-Atm_Tstepper& Atm_Tstepper::onOnchangestate( Machine& machine, int event ) {
-  onPush( connectors, ON_ONCHANGESTATE, 0, 1, 1, machine, event );
-  return *this;
-}
-
-Atm_Tstepper& Atm_Tstepper::onOnchangestate( atm_cb_push_t callback, int idx ) {
-  onPush( connectors, ON_ONCHANGESTATE, 0, 1, 1, callback, idx );
-  return *this;
-}
-
-/*
- * onOnhighlimit() push connector variants ( slots 1, autostore 0, broadcast 0 )
- */
-
-Atm_Tstepper& Atm_Tstepper::onOnhighlimit( Machine& machine, int event ) {
-  onPush( connectors, ON_ONHIGHLIMIT, 0, 1, 1, machine, event );
-  return *this;
-}
-
-Atm_Tstepper& Atm_Tstepper::onOnhighlimit( atm_cb_push_t callback, int idx ) {
-  onPush( connectors, ON_ONHIGHLIMIT, 0, 1, 1, callback, idx );
-  return *this;
-}
-
-/*
- * onOnhomingcounterout() push connector variants ( slots 1, autostore 0, broadcast 0 )
- */
-
-Atm_Tstepper& Atm_Tstepper::onOnhomingcounterout( Machine& machine, int event ) {
-  onPush( connectors, ON_ONHOMINGCOUNTEROUT, 0, 1, 1, machine, event );
-  return *this;
-}
-
-Atm_Tstepper& Atm_Tstepper::onOnhomingcounterout( atm_cb_push_t callback, int idx ) {
-  onPush( connectors, ON_ONHOMINGCOUNTEROUT, 0, 1, 1, callback, idx );
-  return *this;
-}
-
-/*
- * onOnhomingtimeout() push connector variants ( slots 1, autostore 0, broadcast 0 )
- */
-
-Atm_Tstepper& Atm_Tstepper::onOnhomingtimeout( Machine& machine, int event ) {
-  onPush( connectors, ON_ONHOMINGTIMEOUT, 0, 1, 1, machine, event );
-  return *this;
-}
-
-Atm_Tstepper& Atm_Tstepper::onOnhomingtimeout( atm_cb_push_t callback, int idx ) {
-  onPush( connectors, ON_ONHOMINGTIMEOUT, 0, 1, 1, callback, idx );
-  return *this;
-}
-
-/*
- * onOnidletimeout() push connector variants ( slots 1, autostore 0, broadcast 0 )
- */
-
-Atm_Tstepper& Atm_Tstepper::onOnidletimeout( Machine& machine, int event ) {
-  onPush( connectors, ON_ONIDLETIMEOUT, 0, 1, 1, machine, event );
-  return *this;
-}
-
-Atm_Tstepper& Atm_Tstepper::onOnidletimeout( atm_cb_push_t callback, int idx ) {
-  onPush( connectors, ON_ONIDLETIMEOUT, 0, 1, 1, callback, idx );
-  return *this;
-}
-
-/*
- * onOnlowlimit() push connector variants ( slots 1, autostore 0, broadcast 0 )
- */
-
-Atm_Tstepper& Atm_Tstepper::onOnlowlimit( Machine& machine, int event ) {
-  onPush( connectors, ON_ONLOWLIMIT, 0, 1, 1, machine, event );
-  return *this;
-}
-
-Atm_Tstepper& Atm_Tstepper::onOnlowlimit( atm_cb_push_t callback, int idx ) {
-  onPush( connectors, ON_ONLOWLIMIT, 0, 1, 1, callback, idx );
-  return *this;
-}
-
-/*
- * onOnmovetimeout() push connector variants ( slots 1, autostore 0, broadcast 0 )
- */
-
-Atm_Tstepper& Atm_Tstepper::onOnmovetimeout( Machine& machine, int event ) {
-  onPush( connectors, ON_ONMOVETIMEOUT, 0, 1, 1, machine, event );
-  return *this;
-}
-
-Atm_Tstepper& Atm_Tstepper::onOnmovetimeout( atm_cb_push_t callback, int idx ) {
-  onPush( connectors, ON_ONMOVETIMEOUT, 0, 1, 1, callback, idx );
-  return *this;
-}
-
-/*
- * onSpeed() push connector variants ( slots 1, autostore 0, broadcast 0 )
- */
-
-Atm_Tstepper& Atm_Tstepper::onSpeed( Machine& machine, int event ) {
-  onPush( connectors, ON_SPEED, 0, 1, 1, machine, event );
-  return *this;
-}
-
-Atm_Tstepper& Atm_Tstepper::onSpeed( atm_cb_push_t callback, int idx ) {
-  onPush( connectors, ON_SPEED, 0, 1, 1, callback, idx );
-  return *this;
-}
-
-/* State trace method
- * Sets the symbol table and the default logging method for serial monitoring
- */
-
-Atm_Tstepper& Atm_Tstepper::trace( Stream & stream ) {
-  Machine::setTrace( &stream, atm_serial_debug::trace,
-    "TSTEPPER\0EVT_HOMING_COUNTER\0EVT_IDLE_TIMEOUT\0EVT_MOVE_TIMEOUT\0EVT_LIMIT_LOW\0EVT_LIMIT_HIGH\0EVT_EMERGENCY\0EVT_STOP\0EVT_ONTARGET\0EVT_MOVE\0EVT_DISABLE\0EVT_ENABLE\0ELSE\0DISABLED\0ENABLED\0RUNNING\0STOPPING\0EMERGENCY\0HOMING\0MOVE_TIMEOUT\0HOMING_COUNTEROUT" );
-  return *this;
-}

HTequi-firmware/lib/Atm_lien/Atm_Tstepper.h

@@ -1,184 +0,0 @@
-#pragma once
-
-#include <Automaton.h>
-//#include <Atm_timer.h>
-
-#include <TeensyStep.h>
-
-class Atm_Tstepper: public Machine {
-
- public:
-  enum { DISABLED, ENABLED, RUNNING, STOPPING, EMERGENCY, HOMING, MOVE_TIMEOUT, HOMING_COUNTEROUT }; // STATES
-  enum { EVT_HOMING_COUNTER, EVT_IDLE_TIMEOUT, EVT_MOVE_TIMEOUT, EVT_LIMIT_LOW, EVT_LIMIT_HIGH, EVT_EMERGENCY, EVT_STOP, EVT_ONTARGET, EVT_MOVE, EVT_DISABLE, EVT_ENABLE, EVT_HOMING, ELSE }; // EVENTS
-  Atm_Tstepper( void ) : Machine() {};
-  Atm_Tstepper& begin( Stepper & motorRef, StepControl & stepControlRef );
-  Atm_Tstepper& trace( Stream & stream );
-  Atm_Tstepper& trigger( int event );
-  int state( void );
-  Atm_Tstepper& onOnchange( Machine& machine, int event = 0 );
-  Atm_Tstepper& onOnchange( atm_cb_push_t callback, int idx = 0 );
-  Atm_Tstepper& onOnchangeacceleration( Machine& machine, int event = 0 );
-  Atm_Tstepper& onOnchangeacceleration( atm_cb_push_t callback, int idx = 0 );
-  Atm_Tstepper& onOnchangeposition( Machine& machine, int event = 0 );
-  Atm_Tstepper& onOnchangeposition( atm_cb_push_t callback, int idx = 0 );
-  Atm_Tstepper& onOnchangestate( Machine& machine, int event = 0 );
-  Atm_Tstepper& onOnchangestate( atm_cb_push_t callback, int idx = 0 );
-  Atm_Tstepper& onOnhighlimit( Machine& machine, int event = 0 );
-  Atm_Tstepper& onOnhighlimit( atm_cb_push_t callback, int idx = 0 );
-  Atm_Tstepper& onOnhomingcounterout( Machine& machine, int event = 0 );
-  Atm_Tstepper& onOnhomingcounterout( atm_cb_push_t callback, int idx = 0 );
-  Atm_Tstepper& onOnhomingtimeout( Machine& machine, int event = 0 );
-  Atm_Tstepper& onOnhomingtimeout( atm_cb_push_t callback, int idx = 0 );
-  Atm_Tstepper& onOnidletimeout( Machine& machine, int event = 0 );
-  Atm_Tstepper& onOnidletimeout( atm_cb_push_t callback, int idx = 0 );
-  Atm_Tstepper& onOnlowlimit( Machine& machine, int event = 0 );
-  Atm_Tstepper& onOnlowlimit( atm_cb_push_t callback, int idx = 0 );
-  Atm_Tstepper& onOnmovetimeout( Machine& machine, int event = 0 );
-  Atm_Tstepper& onOnmovetimeout( atm_cb_push_t callback, int idx = 0 );
-  Atm_Tstepper& onSpeed( Machine& machine, int event = 0 );
-  Atm_Tstepper& onSpeed( atm_cb_push_t callback, int idx = 0 );
-  Atm_Tstepper& homing_counter( void );
-  Atm_Tstepper& idle_timeout( void );
-  Atm_Tstepper& move_timeout( void );
-  Atm_Tstepper& limit_low( void );
-  Atm_Tstepper& limit_high( void );
-  Atm_Tstepper& emergency( void );
-  Atm_Tstepper& stop( void );
-  Atm_Tstepper& ontarget( void );
-  Atm_Tstepper& move( long int stepRel );
-  Atm_Tstepper& moveTo( long int stepAbs );
-  Atm_Tstepper& disable( void );
-  Atm_Tstepper& enable( void );
-  Atm_Tstepper& homing( int direction );
-
-
-  Atm_Tstepper& setLimitType( int limitType = 0);
-  Atm_Tstepper& setLimitPins( int limitPinLow);
-  Atm_Tstepper& setLimitPins( int limitPinLow, int limitPinHigh);
-  Atm_Tstepper& limitReversed( bool reversed );
-  Atm_Tstepper& limitThresholds( int limitThreshold0, int limitThreshold1,
-                                  int limitThreshold2, int limitThreshold3);
-  bool limitState[2] ; // up to two limits, at least one for homing
-
-  virtual Atm_Tstepper& onOSC( void );
-  virtual Atm_Tstepper& sendOSC( void );
-
-  Stepper * motor;
-  StepControl * controller;
-
-  Atm_Tstepper& setEnablePin( int enablePin );
-  Atm_Tstepper& enableReversed( bool reverse );
-  bool enabled ;
-  // Atm_TeensyStep& enable( bool enable );
-
-  int printPosition();
-
- private:
-  enum { ENT_DISABLED, ENT_ENABLED, ENT_RUNNING, LP_RUNNING, ENT_STOPPING, LP_STOPPING, ENT_EMERGENCY, ENT_HOMING, LP_HOMING, EXT_HOMING, ENT_MOVE_TIMEOUT }; // ACTIONS
-  enum { ON_ONCHANGE, ON_ONCHANGEACCELERATION, ON_ONCHANGEPOSITION, ON_ONCHANGESTATE, ON_ONHIGHLIMIT, ON_ONHOMINGCOUNTEROUT, ON_ONHOMINGTIMEOUT, ON_ONIDLETIMEOUT, ON_ONLOWLIMIT, ON_ONMOVETIMEOUT, ON_SPEED, CONN_MAX }; // CONNECTORS
-  atm_connector connectors[CONN_MAX];
-  int event( int id );
-  void action( int id );
-
-  atm_timer_millis idle_timer ;
-  int IDLE_TIMEOUT_DURATION = 500000 ;
-  atm_timer_millis moving_timer ;
-  int MOVING_TIMEOUT_DURATION = 12000000 ;
-  atm_counter homing_counterout ;
-
-  long int _currentStep ;
-  long int _targetStep ;
-
-  int _enablePin = -1;
-  bool _enableReversed = 0 ;
-
-  int _limitPin[2];
-  enum { NONE, DIGITAL_1, DIGITAL_2, ANALOG_1 };
-  int _limitType; //type of limit switch, from list over
-  bool _limitReversed ; //invert logic of limit switches
-  int _limitThresholds[4] ; //analog value  range for two analog limits
-  void updateLimitSwitch();
-
-
-
-};
-
-/*
-Automaton::ATML::begin - Automaton Markup Language
-
-<?xml version="1.0" encoding="UTF-8"?>
-<machines>
-  <machine name="Atm_Tstepper">
-    <states>
-      <DISABLED index="0" on_enter="ENT_DISABLED">
-        <EVT_ENABLE>ENABLED</EVT_ENABLE>
-      </DISABLED>
-      <ENABLED index="1" on_enter="ENT_ENABLED">
-        <EVT_IDLE_TIMEOUT>DISABLED</EVT_IDLE_TIMEOUT>
-        <EVT_MOVE>RUNNING</EVT_MOVE>
-        <EVT_DISABLE>DISABLED</EVT_DISABLE>
-      </ENABLED>
-      <RUNNING index="2" on_enter="ENT_RUNNING" on_loop="LP_RUNNING">
-        <EVT_MOVE_TIMEOUT>MOVE_TIMEOUT</EVT_MOVE_TIMEOUT>
-        <EVT_LIMIT_LOW>EMERGENCY</EVT_LIMIT_LOW>
-        <EVT_LIMIT_HIGH>EMERGENCY</EVT_LIMIT_HIGH>
-        <EVT_EMERGENCY>EMERGENCY</EVT_EMERGENCY>
-        <EVT_STOP>STOPPING</EVT_STOP>
-        <EVT_ONTARGET>ENABLED</EVT_ONTARGET>
-        <EVT_MOVE>RUNNING</EVT_MOVE>
-      </RUNNING>
-      <STOPPING index="3" on_enter="ENT_STOPPING" on_loop="LP_STOPPING">
-        <EVT_LIMIT_LOW>EMERGENCY</EVT_LIMIT_LOW>
-        <EVT_LIMIT_HIGH>EMERGENCY</EVT_LIMIT_HIGH>
-        <EVT_EMERGENCY>EMERGENCY</EVT_EMERGENCY>
-        <EVT_MOVE>RUNNING</EVT_MOVE>
-      </STOPPING>
-      <EMERGENCY index="4" on_enter="ENT_EMERGENCY">
-      </EMERGENCY>
-      <HOMING index="5" on_enter="ENT_HOMING" on_loop="LP_HOMING" on_exit="EXT_HOMING">
-        <EVT_MOVE_TIMEOUT>MOVE_TIMEOUT</EVT_MOVE_TIMEOUT>
-        <EVT_LIMIT_LOW>ENABLED</EVT_LIMIT_LOW>
-        <EVT_LIMIT_HIGH>ENABLED</EVT_LIMIT_HIGH>
-        <EVT_EMERGENCY>EMERGENCY</EVT_EMERGENCY>
-        <EVT_STOP>STOPPING</EVT_STOP>
-        <EVT_ONTARGET>MOVE_TIMEOUT</EVT_ONTARGET>
-      </HOMING>
-      <MOVE_TIMEOUT index="6" on_enter="ENT_MOVE_TIMEOUT">
-        <EVT_MOVE_TIMEOUT>MOVE_TIMEOUT</EVT_MOVE_TIMEOUT>
-      </MOVE_TIMEOUT>
-      <HOMING_COUNTEROUT index="7">
-      </HOMING_COUNTEROUT>
-    </states>
-    <events>
-      <EVT_HOMING_COUNTER index="0" access="MIXED"/>
-      <EVT_IDLE_TIMEOUT index="1" access="MIXED"/>
-      <EVT_MOVE_TIMEOUT index="2" access="MIXED"/>
-      <EVT_LIMIT_LOW index="3" access="MIXED"/>
-      <EVT_LIMIT_HIGH index="4" access="MIXED"/>
-      <EVT_EMERGENCY index="5" access="MIXED"/>
-      <EVT_STOP index="6" access="MIXED"/>
-      <EVT_ONTARGET index="7" access="MIXED"/>
-      <EVT_MOVE index="8" access="MIXED"/>
-      <EVT_DISABLE index="9" access="MIXED"/>
-      <EVT_ENABLE index="10" access="MIXED"/>
-    </events>
-    <connectors>
-      <ONCHANGE autostore="0" broadcast="0" dir="PUSH" slots="1"/>
-      <ONCHANGEACCELERATION autostore="0" broadcast="0" dir="PUSH" slots="1"/>
-      <ONCHANGEPOSITION autostore="0" broadcast="0" dir="PUSH" slots="1"/>
-      <ONCHANGESTATE autostore="0" broadcast="0" dir="PUSH" slots="1"/>
-      <ONHIGHLIMIT autostore="0" broadcast="0" dir="PUSH" slots="1"/>
-      <ONHOMINGCOUNTEROUT autostore="0" broadcast="0" dir="PUSH" slots="1"/>
-      <ONHOMINGTIMEOUT autostore="0" broadcast="0" dir="PUSH" slots="1"/>
-      <ONIDLETIMEOUT autostore="0" broadcast="0" dir="PUSH" slots="1"/>
-      <ONLOWLIMIT autostore="0" broadcast="0" dir="PUSH" slots="1"/>
-      <ONMOVETIMEOUT autostore="0" broadcast="0" dir="PUSH" slots="1"/>
-      <SPEED autostore="0" broadcast="0" dir="PUSH" slots="1"/>
-    </connectors>
-    <methods>
-    </methods>
-  </machine>
-</machines>
-
-Automaton::ATML::end
-*/

HTequi-firmware/lib/Atm_lien/Atm_Tstepper_OSC.cpp

@@ -1,30 +0,0 @@
-#include "Atm_Tstepper_OSC.h"
-
-Atm_Tstepper_OSC& Atm_Tstepper_OSC::begin(Atm_Tstepper & stepperMachineRef, EthernetUDP& udpRef, OSCBundle& bndl, const char* address) {
-  this-> stepperMachine = &stepperMachineRef;
-  _adress = address;
-  this->_udpRef =   &udpRef;
-  this->_bndl = &bndl ;
-  return *this;
-}
-
-
-
-Atm_Tstepper_OSC& Atm_Tstepper_OSC::onOSC(OSCMessage& msg ){
-  Serial.println("OSC");
-  int patternOffset = msg.match(_adress) ;
-  if(patternOffset){
-    if(msg.fullMatch("/speedAcc", patternOffset)){
-      stepperMachine->motor->setMaxSpeed(msg.getInt(0));
-      stepperMachine->motor->setAcceleration(msg.getInt(1));
-    }
-    if(msg.fullMatch("/enable", patternOffset)){msg.getInt(0) ? stepperMachine->trigger(stepperMachine->EVT_ENABLE) : stepperMachine->trigger(stepperMachine->EVT_DISABLE);}
-    //if(msg.fullMatch("/home", patternOffset)){home(msg.getInt(0));}
-    if(msg.fullMatch("/move", patternOffset)){stepperMachine->move(msg.getInt(0));}
-    if(msg.fullMatch("/moveTo", patternOffset)){stepperMachine->moveTo(msg.getInt(0));}
-    if(msg.fullMatch("/stop", patternOffset)){stepperMachine->stop();}
-    if(msg.fullMatch("/emergencyStop", patternOffset)){stepperMachine->emergency();}
-
-    return *this;
-  }
-}

HTequi-firmware/lib/Atm_lien/Atm_Tstepper_OSC.h

@@ -1,26 +0,0 @@
-#pragma once
-
-#include "Atm_Tstepper.h"
-
-#include <EthernetUdp.h>
-#include <OSCMessage.h>
-#include <OSCBundle.h>
-
-class Atm_Tstepper_OSC {
-
-  public:
-    Atm_Tstepper_OSC( void ){};
-    Atm_Tstepper_OSC& begin(Atm_Tstepper & stepperMachineRef, EthernetUDP& udpRef, OSCBundle& bndl, const char* address);
-    Atm_Tstepper* stepperMachine ;
-    const char* _adress = "/OSC";
-    EthernetUDP* _udpRef ;
-    Atm_Tstepper_OSC& onOSC(OSCMessage& msg );
-    Atm_Tstepper& sendOSC( void );
-
-  private:
-   // AccelStepper _motor;
-   // Stepper *_motor;       // STEP pin: 2, DIR pin: 3
-   // StepControl _controller;
-   OSCBundle* _bndl;
-
-};

HTequi-firmware/lib/Atm_lien/Atm_out.cpp

@@ -1,260 +0,0 @@
-#include "Atm_out.h"
-
-Atm_out& Atm_out::begin( int attached_pin, bool activeLow,
-            EthernetUDP& udpRef, OSCBundle& bndl, const char* address ) {
-  // clang-format off
-  static const state_t state_table[] PROGMEM = {
-    /*               ON_ENTER    ON_LOOP    ON_EXIT  EVT_ON_TIMER  EVT_OFF_TIMER EVT_WT_TIMER EVT_COUNTER  EVT_ON  EVT_OFF  EVT_BLINK  EVT_TOGGLE  EVT_TOGGLE_BLINK   ELSE */
-    /* IDLE      */  ENT_INIT, ATM_SLEEP,        -1,           -1,            -1,          -1,         -1,  WT_ON,      -1,  WT_START,         ON,         WT_START,    -1, // LED off
-    /* ON        */    ENT_ON, ATM_SLEEP,        -1,           -1,            -1,          -1,         -1,     -1,     OFF,  WT_START,        OFF,              OFF,    -1, // LED on
-    /* START     */    ENT_ON,        -1,        -1,    BLINK_OFF,            -1,          -1,         -1,  WT_ON,     OFF,        -1,        OFF,              OFF,    -1, // Start blinking
-    /* BLINK_OFF */   ENT_OFF,        -1,        -1,           -1,          LOOP,          -1,         -1,  WT_ON,     OFF,        -1,        OFF,              OFF,    -1,
-    /* LOOP      */        -1,        -1,        -1,           -1,            -1,          -1,       DONE,  WT_ON,     OFF,        -1,        OFF,              OFF, START,
-    /* DONE      */        -1,        -1, EXT_CHAIN,           -1,           OFF,          -1,         -1,  WT_ON,     OFF,  WT_START,        OFF,              OFF,    -1, // Wait after last blink
-    /* OFF       */   ENT_OFF,        -1,        -1,           -1,            -1,          -1,         -1,  WT_ON,     OFF,  WT_START,         -1,               -1,  IDLE, // All off -> IDLE
-    /* WT_ON     */        -1,        -1,        -1,           -1,            -1,          ON,         -1,  WT_ON,     OFF,  WT_START,         -1,               -1,    -1, // LEAD for ON
-    /* WT_START  */        -1,        -1,        -1,           -1,            -1,       START,         -1,  WT_ON,     OFF,  WT_START,         -1,               -1,    -1, // LEAD for BLINK
-  };
-  // clang-format on
-  Machine::begin( state_table, ELSE );
-  pin = attached_pin;
-  this->activeLow = activeLow;
-  level = 255;
-  toLow = 0;
-  toHigh = 255;
-  wrap = false;
-  pinMode( pin, OUTPUT );
-  digitalWrite( pin, activeLow ? HIGH : LOW );
-  on_timer.set( 500 );
-  off_timer.set( 500 );
-  pwm( 512, 1 );
-  lead_timer.set( 0 );
-  repeat_count = ATM_COUNTER_OFF;
-  counter.set( repeat_count );
-  while ( state() != 0 ) cycle();
-  _adress = address;
-  this->_udpRef =   &udpRef;
-  this->_bndl = &bndl ;
-  return *this;
-}
-
-Atm_out& Atm_out::pwm( uint16_t width, float freq ) {
-
-    if ( freq > -1 ) {
-		this->freq = freq;
-	} else {
-		freq = this->freq;
-	}
-	this->width = width;
-	float cycle_width = 1000 / freq;
-	on_timer.set( cycle_width / 1024 * this->width );
-	off_timer.set( cycle_width / 1024 * ( 1024 - this->width ) );
-	return *this;
-}
-
-Atm_out& Atm_out::frequency( float freq ) {
-
-	this->freq = freq;
-	float cycle_width = 1000 / freq;
-	on_timer.set( cycle_width / 1024 * this->width );
-	off_timer.set( cycle_width / 1024 * ( 1024 - this->width ) );
-	return *this;
-}
-
-int Atm_out::event( int id ) {
-  switch ( id ) {
-    case EVT_ON_TIMER:
-      return on_timer.expired( this );
-    case EVT_OFF_TIMER:
-      return off_timer.expired( this );
-    case EVT_WT_TIMER:
-      return lead_timer.expired( this );
-    case EVT_COUNTER:
-      return counter.expired();
-  }
-  return 0;
-}
-
-void Atm_out::action( int id ) {
-  switch ( id ) {
-    case ENT_INIT:
-      counter.set( repeat_count );
-      return;
-    case ENT_ON:
-      if ( on_timer.value > 0 ) { // Never turn if on_timer is zero (duty cycle 0 must be dark)
-        if ( activeLow ) {
-          digitalWrite( pin, LOW );
-        } else {
-          if ( level == toHigh ) {
-            digitalWrite( pin, HIGH );
-          } else {
-            analogWrite( pin, mapLevel( level ) );
-          }
-        }
-      }
-      return;
-    case ENT_OFF:
-      counter.decrement();
-      if ( !activeLow ) {
-        digitalWrite( pin, LOW );
-      } else {
-        if ( level == toHigh ) {
-          digitalWrite( pin, HIGH );
-        } else {
-          analogWrite( pin, mapLevel( level ) );
-        }
-      }
-      return;
-    case EXT_CHAIN:
-      onfinish.push( 0 );
-      return;
-  }
-}
-
-int Atm_out::mapLevel( int level ) {
-  if ( levelMapSize ) {
-    return levelMap[level];
-  } else {
-    return map( level, toLow, toHigh, 0, 255 );
-  }
-}
-
-Atm_out& Atm_out::on( void ) {
-  trigger( EVT_ON );
-  return *this;
-}
-
-Atm_out& Atm_out::off( void ) {
-  trigger( EVT_OFF );
-  return *this;
-}
-
-Atm_out& Atm_out::toggle( void ) {
-  trigger( EVT_TOGGLE );
-  return *this;
-}
-
-Atm_out& Atm_out::toggleBlink( void ) {
-  trigger( EVT_TOGGLE_BLINK );
-  return *this;
-}
-
-Atm_out& Atm_out::start( void ) {
-  trigger( EVT_BLINK );
-  return *this;
-}
-
-Atm_out& Atm_out::onFinish( Machine& machine, int event /* = 0 */ ) {
-  onfinish.set( &machine, event );
-  return *this;
-}
-
-Atm_out& Atm_out::onFinish( atm_cb_push_t callback, int idx /* = 0 */ ) {
-  onfinish.set( callback, idx );
-  return *this;
-}
-
-Atm_out& Atm_out::blink( uint32_t duration, uint32_t pause_duration, uint16_t repeat_count /* = ATM_COUNTER_OFF */ ) {
-  blink( duration );  // Time in which led is fully on
-  pause( pause_duration );
-  repeat( repeat_count );
-  return *this;
-}
-
-Atm_out& Atm_out::blink( uint32_t duration ) {
-  on_timer.set( duration );  // Time in which led is fully on
-  return *this;
-}
-
-Atm_out& Atm_out::blink( void ) {
-  trigger( EVT_BLINK );
-  return *this;
-}
-
-Atm_out& Atm_out::range( int toLow, int toHigh, bool wrap /* = false */ ) {
-  this->toLow = toLow;
-  this->toHigh = toHigh;
-  this->wrap = wrap;
-  level = toHigh;
-  return *this;
-}
-
-Atm_out& Atm_out::levels( unsigned char* map, int mapsize, bool wrap /* = false */ ) {
-  this->levelMap = map;
-  levelMapSize = mapsize;
-  range( 0, mapsize - 1, wrap );
-  return *this;
-}
-
-Atm_out& Atm_out::pause( uint32_t duration ) {  // Time in which led is fully off
-  off_timer.set( duration ? duration : 1 );     // Make sure off_timer is never 0 (work around)
-  return *this;
-}
-
-Atm_out& Atm_out::fade( int fade ) {
-  return *this;
-}  // Dummy for method compatibility with Atm_fade
-
-Atm_out& Atm_out::lead( uint32_t ms ) {
-  lead_timer.set( ms );
-  return *this;
-}
-
-Atm_out& Atm_out::repeat( uint16_t repeat ) {
-  counter.set( repeat_count = repeat );
-  return *this;
-}
-
-int Atm_out::brightness( int level /* = -1 */ ) {
-  if ( level > -1 ) {
-    this->level = level;
-    if ( current == ON || current == START ) {
-      analogWrite( pin, mapLevel( level ) );
-    }
-  }
-  return this->level;
-}
-
-int Atm_out::brighten( int v ) {
-  if ( abs( v ) == 1 ) {
-    int br = (int)this->level + v;
-    if ( br > toHigh )
-      br = wrap ? toLow : toHigh;
-    if ( br < toLow )
-      br = wrap ? toHigh : toLow;
-    brightness( br );
-  }
-  return this->level;
-}
-
-Atm_out& Atm_out::trigger( int event ) {
-  if ( event > ELSE ) {
-    brighten( event == EVT_BRUP ? 1 : -1 );
-  } else {
-    Machine::trigger( event );
-  }
-  return *this;
-}
-
-Atm_out& Atm_out::onOSC(OSCMessage& msg ){
-  Serial.println("OSC");
-  int patternOffset = msg.match(_adress) ;
-  if(patternOffset){
-
-    if(msg.fullMatch("/on", patternOffset)){trigger(EVT_ON);}
-    if(msg.fullMatch("/off", patternOffset)){trigger(EVT_OFF);}
-    if(msg.fullMatch("/toggle", patternOffset)){trigger(EVT_TOGGLE);}
-    if(msg.fullMatch("/blink", patternOffset)){trigger(EVT_BLINK);}
-    if(msg.fullMatch("/brightness", patternOffset)){brightness(msg.getInt(0));}
-
-    return *this;
-  }
-}
-
-Atm_out& Atm_out::trace( Stream& stream ) {
-  setTrace( &stream, atm_serial_debug::trace,
-            "LED\0EVT_ON_TIMER\0EVT_OFF_TIMER\0EVT_WT_TIMER\0EVT_COUNTER\0EVT_ON\0EVT_OFF\0EVT_"
-            "BLINK\0EVT_TOGGLE\0EVT_TOGGLE_BLINK\0ELSE\0"
-            "IDLE\0ON\0START\0BLINK_OFF\0LOOP\0DONE\0OFF\0WT_ON\0WT_START" );
-  return *this;
-}

HTequi-firmware/lib/Atm_lien/Atm_out.h

@@ -1,67 +0,0 @@
-#pragma once
-
-#include <Automaton.h>
-
-#include <EthernetUdp.h>
-#include <OSCMessage.h>
-#include <OSCBundle.h>
-
-class Atm_out : public Machine {
- public:
-  enum { IDLE, ON, START, BLINK_OFF, LOOP, DONE, OFF, WT_ON, WT_START };
-  enum { EVT_ON_TIMER, EVT_OFF_TIMER, EVT_WT_TIMER, EVT_COUNTER, EVT_ON, EVT_OFF, EVT_BLINK, EVT_TOGGLE, EVT_TOGGLE_BLINK, ELSE, EVT_BRUP, EVT_BRDN }; // BRUP/BRDN pseudo
-  enum { EVT_START = EVT_BLINK };
-
-  Atm_out( void ) : Machine(){};
-  Atm_out& begin( int attached_pin, bool activeLow,
-          EthernetUDP& udpRef, OSCBundle& bndl, const char* address  );
-  Atm_out& blink( void );
-  Atm_out& blink( uint32_t duration );
-  Atm_out& blink( uint32_t duration, uint32_t pause_duration, uint16_t repeat_count = ATM_COUNTER_OFF );
-  Atm_out& pwm( uint16_t width, float freq = -1 );
-  Atm_out& frequency( float freq );
-  Atm_out& pause( uint32_t duration );
-  Atm_out& fade( int fade );
-  Atm_out& lead( uint32_t ms );
-  Atm_out& repeat( uint16_t repeat );
-  int brightness( int level = -1 );
-  Atm_out& on( void );
-  Atm_out& off( void );
-  Atm_out& toggle( void );
-  Atm_out& toggleBlink( void );
-  Atm_out& start( void );
-  Atm_out& trace( Stream& stream );
-  Atm_out& onFinish( Machine& machine, int event = 0 );
-  Atm_out& onFinish( atm_cb_push_t callback, int idx = 0 );
-  Atm_out& range( int toLow, int toHigh, bool wrap = false );
-  Atm_out& levels( unsigned char* map, int mapsize, bool wrap = false );
-  int brighten( int v = 1 );
-  Atm_out& trigger( int event );
-
-  const char* _adress = "/OSC";
-  EthernetUDP* _udpRef ;
-  Atm_out& onOSC(OSCMessage& msg );
-  OSCBundle* _bndl;
-
-
- private:
-  enum { ENT_INIT, ENT_ON, ENT_OFF, EXT_CHAIN };
-  uint8_t level;
-  short pin;
-  bool activeLow;
-  uint8_t toHigh, toLow;
-  bool wrap;
-  uint16_t repeat_count;
-  uint16_t width;
-  float freq;
-  atm_timer_millis on_timer, off_timer, lead_timer;
-  atm_counter counter;
-  atm_connector onfinish;
-  unsigned char* levelMap;
-  int levelMapSize;
-  int mapLevel( int level );
-
-
-  int event( int id );
-  void action( int id );
-};

HTequi-firmware/lib/Automaton-1.0.2/src/Atm_fade.cpp

@@ -1,152 +0,0 @@
-#include "Atm_fade.hpp"
-
-Atm_fade& Atm_fade::begin( int attached_pin ) {
-  // clang-format off
-  const static state_t state_table[] PROGMEM = {
-    /*               ON_ENTER    ON_LOOP       ON_EXIT  EVT_CNT_FADE EVT_TM_FADE   EVT_TM_ON  EVT_TM_OFF   EVT_CNT_RPT  EVT_ON EVT_OFF EVT_BLINK  EVT_TOGGLE  EVT_TOGGLE_BLINK    ELSE  */
-    /* IDLE   */      ENT_OFF, ATM_SLEEP,           -1,           -1,         -1,         -1,         -1,           -1,OSTARTU,   IDLE,    START,    OSTARTU,            START,     -1,  // LED off
-    /* ON     */       ENT_ON, ATM_SLEEP,           -1,           -1,         -1,         -1,         -1,           -1,     -1,OSTARTD,    START,    OSTARTD,          OSTARTD,     -1,  // LED on
-    /* START  */      ENT_OFF,        -1,           -1,           -1,         -1,         -1,         -1,           -1,OSTARTU,   IDLE,    START,       IDLE,             IDLE, STARTU,  // Start fading
-    /* STARTU */    ENT_START,        -1,           -1,           -1,         -1,         -1,         UP,           -1,OSTARTU,   IDLE,    START,       IDLE,             IDLE,     -1,  
-    /* UP     */       ENT_UP,        -1,           -1,       STARTD,         UP,         -1,         -1,           -1,OSTARTU,   IDLE,    START,       IDLE,             IDLE,     -1,
-    /* STARTD */    ENT_START,        -1,           -1,           -1,         -1,       DOWN,         -1,           -1,OSTARTU,   IDLE,    START,       IDLE,             IDLE,     -1,
-    /* DOWN   */     ENT_DOWN,        -1,           -1,       REPEAT,       DOWN,         -1,         -1,           -1,OSTARTU,   IDLE,    START,       IDLE,             IDLE,     -1,
-    /* REPEAT */   ENT_REPEAT,        -1,           -1,           -1,         -1,         -1,         -1,         DONE,OSTARTU,   IDLE,    START,       IDLE,             IDLE, STARTU,
-    /* DONE   */     ENT_DONE,        -1,           -1,           -1,         -1,         -1,         -1,           -1,     -1,     -1,       -1,         -1,               -1,   IDLE,
-    /* OSTARTU*/    ENT_START,        -1,           -1,           -1,         -1,         -1,         -1,           -1,     -1,   IDLE,    START,       IDLE,             IDLE,    OUP,  
-    /* OUP    */       ENT_UP,        -1,           -1,           ON,        OUP,         -1,         -1,           -1,     -1,   IDLE,    START,       IDLE,             IDLE,     -1,
-    /* OSTARTD*/    ENT_START,        -1,           -1,           -1,         -1,         -1,         -1,           -1,OSTARTU,   IDLE,    START,       IDLE,             IDLE,  ODOWN,
-    /* ODOWN  */     ENT_DOWN,        -1,           -1,         IDLE,      ODOWN,         -1,         -1,           -1,OSTARTU,   IDLE,    START,       IDLE,             IDLE,     -1,
-
-  };
-  // clang-format on
-  Machine::begin( state_table, ELSE );
-  pin = attached_pin;
-  pinMode( pin, OUTPUT );
-  timer_fade.set( 0 );   // Number of ms per slope step (slope duration: rate * 32 ms)
-  timer_on.set( 500 );   // Plateau between slopes (in which led is fully on)
-  timer_off.set( 500 );  // Pause between slopes (in which led is fully off)
-  counter_fade.set( SLOPE_SIZE );
-  counter_repeat.set( ATM_COUNTER_OFF );
-  repeat_count = ATM_COUNTER_OFF;
-  return *this;
-}
-
-Atm_fade& Atm_fade::blink( uint32_t duration, uint32_t pause_duration, uint16_t repeat_count /* = ATM_COUNTER_OFF */ ) {
-  blink( duration );  // Time in which led is fully on
-  pause( pause_duration );
-  repeat( repeat_count );
-  return *this;
-}
-
-Atm_fade& Atm_fade::blink( uint32_t duration ) {
-  timer_on.set( duration );  // Plateau between slopes (in which led is fully on)
-  return *this;
-}
-
-Atm_fade& Atm_fade::blink( void ) {
-  trigger( EVT_BLINK );
-  return *this;
-}
-
-Atm_fade& Atm_fade::pause( uint32_t duration ) {  // Pause between slopes (in which led is fully off)
-  timer_off.set( duration ? duration : 1 );       // Make sure off_timer is never 0 (work around)
-  return *this;
-}
-
-Atm_fade& Atm_fade::fade( int fade ) {
-  timer_fade.set( fade >= 0 ? fade : ATM_TIMER_OFF );  // Number of ms per slope step (slope duration: rate * 32 ms)
-  return *this;
-}
-
-Atm_fade& Atm_fade::repeat( uint16_t repeat ) {
-  counter_repeat.set( repeat_count = repeat );
-  return *this;
-}
-
-int Atm_fade::event( int id ) {
-  switch ( id ) {
-    case EVT_TM_FADE:
-      return timer_fade.expired( this );
-    case EVT_TM_ON:
-      return timer_on.expired( this );
-    case EVT_TM_OFF:
-      return timer_off.expired( this );
-    case EVT_CNT_FADE:
-      return counter_fade.expired();
-    case EVT_CNT_RPT:
-      return counter_repeat.expired();
-  }
-  return 0;
-}
-
-void Atm_fade::action( int id ) {
-  switch ( id ) {
-    case ENT_ON:
-      analogWrite( pin, 255 );
-      return;
-    case ENT_REPEAT:
-      counter_repeat.decrement();
-      return;
-    case ENT_OFF:
-      counter_repeat.set( repeat_count );
-      analogWrite( pin, 0 );
-      return;
-    case ENT_START:
-      counter_fade.set( SLOPE_SIZE );
-      return;
-    case ENT_UP:
-      analogWrite( pin, slope[SLOPE_SIZE - counter_fade.value] );
-      counter_fade.decrement();
-      return;
-    case ENT_DOWN:
-      analogWrite( pin, slope[counter_fade.value - 1] );
-      counter_fade.decrement();
-      return;
-    case ENT_DONE:
-      onfinish.push( 0 );
-      return;    
-  }
-}
-
-Atm_fade& Atm_fade::on( void ) {
-  trigger( EVT_ON );
-  return *this;
-}
-
-Atm_fade& Atm_fade::off( void ) {
-  trigger( EVT_OFF );
-  return *this;
-}
-
-Atm_fade& Atm_fade::toggle( void ) {
-  trigger( EVT_TOGGLE );
-  return *this;
-}
-
-Atm_fade& Atm_fade::toggleBlink( void ) {
-  trigger( EVT_TOGGLE_BLINK );
-  return *this;
-}
-
-Atm_fade& Atm_fade::start( void ) {
-  trigger( EVT_BLINK );
-  return *this;
-}
-
-Atm_fade& Atm_fade::onFinish( Machine& machine, int event /* = 0 */ ) {
-  onfinish.set( &machine, event );
-  return *this;
-}
-
-Atm_fade& Atm_fade::onFinish( atm_cb_push_t callback, int idx /* = 0 */ ) {
-  onfinish.set( callback, idx );
-  return *this;
-}
-
-Atm_fade& Atm_fade::trace( Stream& stream ) {
-  setTrace( &stream, atm_serial_debug::trace,
-            "FADE\0EVT_CNT_FADE\0EVT_TM_FADE\0EVT_TM_ON\0EVT_TM_OFF\0EVT_CNT_RPT\0EVT_ON\0EVT_OFF\0EVT_BLINK\0EVT_TOGGLE\0EVT_TOGGLE_BLINK\0ELSE\0"
-            "IDLE\0ON\0START\0STARTU\0UP\0STARTD\0DOWN\0REPEAT\0DONE\0OSTARTU\0OUP\0OSTARTD\0ODOWN" );
-  return *this;
-}

HTequi-firmware/lib/Automaton-1.0.2/src/Atm_fade.hpp

@@ -1,39 +0,0 @@
-#pragma once
-
-#include <Automaton.h>
-
-class Atm_fade : public Machine {
- public:
-  enum { IDLE, ON, START, STARTU, UP, STARTD, DOWN, REPEAT, DONE, OSTARTU, OUP, OSTARTD, ODOWN };
-  enum { EVT_CNT_FADE, EVT_TM_FADE, EVT_TM_ON, EVT_TM_OFF, EVT_CNT_RPT, EVT_ON, EVT_OFF, EVT_BLINK, EVT_TOGGLE, EVT_TOGGLE_BLINK, ELSE };
-  enum { EVT_START = EVT_BLINK };
-
-  Atm_fade( void ) : Machine(){};
-  Atm_fade& begin( int attached_pin );
-  Atm_fade& trace( Stream& stream );
-  Atm_fade& blink( uint32_t duration, uint32_t pause_duration, uint16_t repeat_count = ATM_COUNTER_OFF );
-  Atm_fade& blink( uint32_t duration );
-  Atm_fade& blink( void );
-  Atm_fade& pause( uint32_t duration );
-  Atm_fade& fade( int fade );
-  Atm_fade& repeat( uint16_t repeat );
-  Atm_fade& on( void );
-  Atm_fade& off( void );
-  Atm_fade& toggle( void );
-  Atm_fade& toggleBlink( void );
-  Atm_fade& start( void );
-  Atm_fade& onFinish( Machine& machine, int event = 0 );
-  Atm_fade& onFinish( atm_cb_push_t callback, int idx = 0 );
-
- private:
-  enum { ENT_REPEAT, ENT_OFF, ENT_ON, ENT_UP, ENT_DOWN, ENT_START, ENT_DONE };
-  static const uint8_t SLOPE_SIZE = 32;
-  uint8_t slope[SLOPE_SIZE] = {0, 0, 1, 1, 2, 2, 3, 4, 5, 6, 7, 8, 10, 12, 15, 18, 22, 26, 31, 37, 44, 54, 63, 76, 90, 108, 127, 153, 180, 217, 230, 255};
-  short pin;
-  uint16_t repeat_count;
-  atm_connector onfinish;
-  atm_timer_millis timer_fade, timer_on, timer_off;
-  atm_counter counter_fade, counter_repeat;
-  int event( int id );
-  void action( int id );
-};

HTequi-firmware/lib/Automaton-1.0.2/src/Atm_led.cpp

@@ -1,241 +0,0 @@
-#include "Atm_led.hpp"
-
-Atm_led& Atm_led::begin( int attached_pin, bool activeLow ) {
-  // clang-format off
-  static const state_t state_table[] PROGMEM = {
-    /*               ON_ENTER    ON_LOOP    ON_EXIT  EVT_ON_TIMER  EVT_OFF_TIMER EVT_WT_TIMER EVT_COUNTER  EVT_ON  EVT_OFF  EVT_BLINK  EVT_TOGGLE  EVT_TOGGLE_BLINK   ELSE */
-    /* IDLE      */  ENT_INIT, ATM_SLEEP,        -1,           -1,            -1,          -1,         -1,  WT_ON,      -1,  WT_START,         ON,         WT_START,    -1, // LED off
-    /* ON        */    ENT_ON, ATM_SLEEP,        -1,           -1,            -1,          -1,         -1,     -1,     OFF,  WT_START,        OFF,              OFF,    -1, // LED on
-    /* START     */    ENT_ON,        -1,        -1,    BLINK_OFF,            -1,          -1,         -1,  WT_ON,     OFF,        -1,        OFF,              OFF,    -1, // Start blinking
-    /* BLINK_OFF */   ENT_OFF,        -1,        -1,           -1,          LOOP,          -1,         -1,  WT_ON,     OFF,        -1,        OFF,              OFF,    -1,
-    /* LOOP      */        -1,        -1,        -1,           -1,            -1,          -1,       DONE,  WT_ON,     OFF,        -1,        OFF,              OFF, START,
-    /* DONE      */        -1,        -1, EXT_CHAIN,           -1,           OFF,          -1,         -1,  WT_ON,     OFF,  WT_START,        OFF,              OFF,    -1, // Wait after last blink
-    /* OFF       */   ENT_OFF,        -1,        -1,           -1,            -1,          -1,         -1,  WT_ON,     OFF,  WT_START,         -1,               -1,  IDLE, // All off -> IDLE
-    /* WT_ON     */        -1,        -1,        -1,           -1,            -1,          ON,         -1,  WT_ON,     OFF,  WT_START,         -1,               -1,    -1, // LEAD for ON
-    /* WT_START  */        -1,        -1,        -1,           -1,            -1,       START,         -1,  WT_ON,     OFF,  WT_START,         -1,               -1,    -1, // LEAD for BLINK
-  };
-  // clang-format on
-  Machine::begin( state_table, ELSE );
-  pin = attached_pin;
-  this->activeLow = activeLow;
-  level = 255;
-  toLow = 0;
-  toHigh = 255;
-  wrap = false;
-  pinMode( pin, OUTPUT );
-  digitalWrite( pin, activeLow ? HIGH : LOW );
-  on_timer.set( 500 );
-  off_timer.set( 500 );
-  pwm( 512, 1 );
-  lead_timer.set( 0 );
-  repeat_count = ATM_COUNTER_OFF;
-  counter.set( repeat_count );
-  while ( state() != 0 ) cycle();
-  return *this;
-}
-
-Atm_led& Atm_led::pwm( uint16_t width, float freq ) {
-
-    if ( freq > -1 ) {
-		this->freq = freq;
-	} else {
-		freq = this->freq;
-	}
-	this->width = width;
-	float cycle_width = 1000 / freq;
-	on_timer.set( cycle_width / 1024 * this->width );
-	off_timer.set( cycle_width / 1024 * ( 1024 - this->width ) );
-	return *this;
-}
-
-Atm_led& Atm_led::frequency( float freq ) {
-
-	this->freq = freq;
-	float cycle_width = 1000 / freq;
-	on_timer.set( cycle_width / 1024 * this->width );
-	off_timer.set( cycle_width / 1024 * ( 1024 - this->width ) );
-	return *this;
-}
-
-int Atm_led::event( int id ) {
-  switch ( id ) {
-    case EVT_ON_TIMER:
-      return on_timer.expired( this );
-    case EVT_OFF_TIMER:
-      return off_timer.expired( this );
-    case EVT_WT_TIMER:
-      return lead_timer.expired( this );
-    case EVT_COUNTER:
-      return counter.expired();
-  }
-  return 0;
-}
-
-void Atm_led::action( int id ) {
-  switch ( id ) {
-    case ENT_INIT:
-      counter.set( repeat_count );
-      return;
-    case ENT_ON:
-      if ( on_timer.value > 0 ) { // Never turn if on_timer is zero (duty cycle 0 must be dark)
-        if ( activeLow ) {
-          digitalWrite( pin, LOW );
-        } else {
-          if ( level == toHigh ) {
-            digitalWrite( pin, HIGH );
-          } else {
-            analogWrite( pin, mapLevel( level ) );
-          }
-        }
-      }
-      return;
-    case ENT_OFF:
-      counter.decrement();
-      if ( !activeLow ) {
-        digitalWrite( pin, LOW );
-      } else {
-        if ( level == toHigh ) {
-          digitalWrite( pin, HIGH );
-        } else {
-          analogWrite( pin, mapLevel( level ) );
-        }
-      }
-      return;
-    case EXT_CHAIN:
-      onfinish.push( 0 );
-      return;
-  }
-}
-
-int Atm_led::mapLevel( int level ) {
-  if ( levelMapSize ) {
-    return levelMap[level];
-  } else {
-    return map( level, toLow, toHigh, 0, 255 );
-  }
-}
-
-Atm_led& Atm_led::on( void ) {
-  trigger( EVT_ON );
-  return *this;
-}
-
-Atm_led& Atm_led::off( void ) {
-  trigger( EVT_OFF );
-  return *this;
-}
-
-Atm_led& Atm_led::toggle( void ) {
-  trigger( EVT_TOGGLE );
-  return *this;
-}
-
-Atm_led& Atm_led::toggleBlink( void ) {
-  trigger( EVT_TOGGLE_BLINK );
-  return *this;
-}
-
-Atm_led& Atm_led::start( void ) {
-  trigger( EVT_BLINK );
-  return *this;
-}
-
-Atm_led& Atm_led::onFinish( Machine& machine, int event /* = 0 */ ) {
-  onfinish.set( &machine, event );
-  return *this;
-}
-
-Atm_led& Atm_led::onFinish( atm_cb_push_t callback, int idx /* = 0 */ ) {
-  onfinish.set( callback, idx );
-  return *this;
-}
-
-Atm_led& Atm_led::blink( uint32_t duration, uint32_t pause_duration, uint16_t repeat_count /* = ATM_COUNTER_OFF */ ) {
-  blink( duration );  // Time in which led is fully on
-  pause( pause_duration );
-  repeat( repeat_count );
-  return *this;
-}
-
-Atm_led& Atm_led::blink( uint32_t duration ) {
-  on_timer.set( duration );  // Time in which led is fully on
-  return *this;
-}
-
-Atm_led& Atm_led::blink( void ) {
-  trigger( EVT_BLINK );
-  return *this;
-}
-
-Atm_led& Atm_led::range( int toLow, int toHigh, bool wrap /* = false */ ) {
-  this->toLow = toLow;
-  this->toHigh = toHigh;
-  this->wrap = wrap;
-  level = toHigh;
-  return *this;
-}
-
-Atm_led& Atm_led::levels( unsigned char* map, int mapsize, bool wrap /* = false */ ) {
-  this->levelMap = map;
-  levelMapSize = mapsize;
-  range( 0, mapsize - 1, wrap );
-  return *this;
-}
-
-Atm_led& Atm_led::pause( uint32_t duration ) {  // Time in which led is fully off
-  off_timer.set( duration ? duration : 1 );     // Make sure off_timer is never 0 (work around)
-  return *this;
-}
-
-Atm_led& Atm_led::fade( int fade ) {
-  return *this;
-}  // Dummy for method compatibility with Atm_fade
-
-Atm_led& Atm_led::lead( uint32_t ms ) {
-  lead_timer.set( ms );
-  return *this;
-}
-
-Atm_led& Atm_led::repeat( uint16_t repeat ) {
-  counter.set( repeat_count = repeat );
-  return *this;
-}
-
-int Atm_led::brightness( int level /* = -1 */ ) {
-  if ( level > -1 ) {
-    this->level = level;
-    if ( current == ON || current == START ) {
-      analogWrite( pin, mapLevel( level ) );
-    }
-  }
-  return this->level;
-}
-
-int Atm_led::brighten( int v ) {
-  if ( abs( v ) == 1 ) {
-    int br = (int)this->level + v;
-    if ( br > toHigh )
-      br = wrap ? toLow : toHigh;
-    if ( br < toLow )
-      br = wrap ? toHigh : toLow;
-    brightness( br );
-  }
-  return this->level;
-}
-
-Atm_led& Atm_led::trigger( int event ) {
-  if ( event > ELSE ) {
-    brighten( event == EVT_BRUP ? 1 : -1 );
-  } else {
-    Machine::trigger( event );
-  }
-  return *this;
-}
-
-Atm_led& Atm_led::trace( Stream& stream ) {
-  setTrace( &stream, atm_serial_debug::trace,
-            "LED\0EVT_ON_TIMER\0EVT_OFF_TIMER\0EVT_WT_TIMER\0EVT_COUNTER\0EVT_ON\0EVT_OFF\0EVT_"
-            "BLINK\0EVT_TOGGLE\0EVT_TOGGLE_BLINK\0ELSE\0"
-            "IDLE\0ON\0START\0BLINK_OFF\0LOOP\0DONE\0OFF\0WT_ON\0WT_START" );
-  return *this;
-}

HTequi-firmware/lib/Automaton-1.0.2/src/Atm_led.hpp

@@ -1,56 +0,0 @@
-#pragma once
-
-#include <Automaton.h>
-
-class Atm_led : public Machine {
- public:
-  enum { IDLE, ON, START, BLINK_OFF, LOOP, DONE, OFF, WT_ON, WT_START };
-  enum { EVT_ON_TIMER, EVT_OFF_TIMER, EVT_WT_TIMER, EVT_COUNTER, EVT_ON, EVT_OFF, EVT_BLINK, EVT_TOGGLE, EVT_TOGGLE_BLINK, ELSE, EVT_BRUP, EVT_BRDN }; // BRUP/BRDN pseudo
-  enum { EVT_START = EVT_BLINK };
-
-  Atm_led( void ) : Machine(){};
-  Atm_led& begin( int attached_pin, bool activeLow = false );
-  Atm_led& blink( void );
-  Atm_led& blink( uint32_t duration );
-  Atm_led& blink( uint32_t duration, uint32_t pause_duration, uint16_t repeat_count = ATM_COUNTER_OFF );
-  Atm_led& pwm( uint16_t width, float freq = -1 );
-  Atm_led& frequency( float freq ); 
-  Atm_led& pause( uint32_t duration );
-  Atm_led& fade( int fade );
-  Atm_led& lead( uint32_t ms );
-  Atm_led& repeat( uint16_t repeat );
-  int brightness( int level = -1 );
-  Atm_led& on( void );
-  Atm_led& off( void );
-  Atm_led& toggle( void );
-  Atm_led& toggleBlink( void );
-  Atm_led& start( void );
-  Atm_led& trace( Stream& stream );
-  Atm_led& onFinish( Machine& machine, int event = 0 );
-  Atm_led& onFinish( atm_cb_push_t callback, int idx = 0 );
-  Atm_led& range( int toLow, int toHigh, bool wrap = false );
-  Atm_led& levels( unsigned char* map, int mapsize, bool wrap = false );
-  int brighten( int v = 1 );
-  Atm_led& trigger( int event );
-
- private:
-  enum { ENT_INIT, ENT_ON, ENT_OFF, EXT_CHAIN };
-  uint8_t level;
-  short pin;
-  bool activeLow;
-  uint8_t toHigh, toLow;
-  bool wrap;
-  uint16_t repeat_count;
-  uint16_t width;
-  float freq;
-  atm_timer_millis on_timer, off_timer, lead_timer;
-  atm_counter counter;
-  atm_connector onfinish;
-  unsigned char* levelMap;
-  int levelMapSize;  
-  int mapLevel( int level );
-
-
-  int event( int id );
-  void action( int id );
-};

HTequi-firmware/lib/Automaton-1.0.2/src/Atm_player.cpp

@@ -1,242 +0,0 @@
-#include "Atm_player.hpp"
-
-/* Add optional parameters for the state machine to begin()
- * Add extra initialization code
- */
-
-Atm_player& Atm_player::begin( int pin /* = - 1 */ ) {
-  // clang-format off
-  const static state_t state_table[] PROGMEM = {
-    /*             ON_ENTER    ON_LOOP  ON_EXIT  EVT_START  EVT_STOP  EVT_TOGGLE  EVT_TIMER  EVT_EOPAT  EVT_REPEAT   ELSE */
-    /*   IDLE */   ENT_IDLE, ATM_SLEEP,      -1,     START,       -1,      START,        -1,        -1,         -1,    -1,
-    /*  START */  ENT_START,        -1,      -1,        -1,       -1,         -1,        -1,        -1,         -1, SOUND,
-    /*  SOUND */  ENT_SOUND,        -1,      -1,        -1,     IDLE,       IDLE,     QUIET,        -1,         -1,    -1,
-    /*  QUIET */  ENT_QUIET,        -1,      -1,        -1,     IDLE,       IDLE,      NEXT,        -1,         -1,    -1,
-    /*   NEXT */   ENT_NEXT,        -1,      -1,        -1,     IDLE,       IDLE,        -1,    REPEAT,         -1, SOUND,
-    /* REPEAT */ ENT_REPEAT,        -1,      -1,        -1,     IDLE,       IDLE,        -1,        -1,     FINISH, START,
-    /* FINISH */ ENT_FINISH,        -1,      -1,        -1,     IDLE,         -1,        -1,        -1,       IDLE, START,
-  };
-  // clang-format on
-  Machine::begin( state_table, ELSE );
-  Atm_player::pin = pin;
-  speed( 100 );
-  pitch( 100 );
-  repeat( 1 );
-  play( 880, 50 );
-  return *this;
-}
-
-/* Add C++ code for each event (input)
- * The code must return 1 if the event should be triggered
- */
-
-int Atm_player::event( int id ) {
-  switch ( id ) {
-    case EVT_START:
-      return 0;
-    case EVT_TIMER:
-      return timer.expired( this );
-    case EVT_EOPAT:
-      if ( patternwidth == 32 ) {
-        return ( step * 3 * sizeof( uint32_t ) ) >= patternsize;
-      } else {
-        return ( step * 3 * sizeof( int ) ) >= patternsize;
-      }
-    case EVT_REPEAT:
-      return counter_repeat.expired();
-  }
-  return 0;
-}
-
-/* Add C++ code for each action
- * This generates the 'output' for the state machine
- */
-
-void Atm_player::action( int id ) {
-  switch ( id ) {
-    case ENT_FINISH:
-      push( connectors, ON_FINISH, 0, 0, 0 );
-      return;
-    case ENT_IDLE:
-#ifndef ATM_PLAYER_DISABLE_TONE    
-      if ( pin >= 0 ) noTone( pin );  // Tone takes up 7 bytes extra SRAM
-#endif
-      counter_repeat.set( repeatCount );
-      return;
-    case ENT_START:
-      step = 0;
-      counter_repeat.decrement();
-      return;
-    case ENT_SOUND:
-      if ( patternwidth == 32 ) {
-        uint32_t v = pattern32[step * 3] * (uint32_t)pitchFactor;
-        push( connectors, ON_NOTE, true, v & 0xFFFF, v >> 16 & 0xFFFF );
-#ifndef ATM_PLAYER_DISABLE_TONE    
-        if ( pin >= 0 ) tone( pin, pattern32[step * 3] * pitchFactor );
-#endif
-        timer.set( pattern32[step * 3 + 1] * speedFactor );
-      } else {
-        push( connectors, ON_NOTE, true, pattern16[step * 3] * pitchFactor, 1 );
-#ifndef ATM_PLAYER_DISABLE_TONE    
-        if ( pin >= 0 ) tone( pin, pattern16[step * 3] * pitchFactor );
-#endif
-        timer.set( pattern16[step * 3 + 1] * speedFactor );        
-      }
-      return;
-    case ENT_QUIET:
-      if ( patternwidth == 32 ) {
-        uint32_t v = pattern32[step * 3] * (uint32_t)pitchFactor;
-        push( connectors, ON_NOTE, false, v & 0xFFFF, v >> 16 & 0xFFFF );
-#ifndef ATM_PLAYER_DISABLE_TONE    
-        if ( pin >= 0 ) noTone( pin );
-#endif        
-        timer.set( pattern32[step * 3 + 2] * speedFactor );
-      } else {
-        push( connectors, ON_NOTE, false, pattern16[step * 3] * pitchFactor, 0 );
-#ifndef ATM_PLAYER_DISABLE_TONE    
-        if ( pin >= 0 ) noTone( pin );
-#endif
-        timer.set( pattern16[step * 3 + 2] * speedFactor );
-      }
-      return;
-    case ENT_NEXT:
-      step++;
-      return;
-    case ENT_REPEAT:
-      return;
-  }
-}
-
-/* How many times to repeat the pattern
- *
- */
-
-Atm_player& Atm_player::repeat( uint16_t v /* = -1 */) {
-  counter_repeat.set( repeatCount = v );
-  return *this;
-}
-
-Atm_player& Atm_player::speed( float v ) {
-  speedFactor = 100 / v;
-  return *this;
-}
-
-Atm_player& Atm_player::pitch( float v ) {
-  pitchFactor = v / 100;
-  return *this;
-}
-
-Atm_player& Atm_player::start( void ) {
-  trigger( EVT_START );
-  return *this;
-}
-
-Atm_player& Atm_player::stop( void ) {
-  trigger( EVT_STOP );
-  return *this;
-}
-
-Atm_player& Atm_player::toggle( void ) {
-  trigger( EVT_TOGGLE );
-  return *this;
-}
-
-/* Sets the pattern and pattern length (in bytes)
- *
- */
-
-Atm_player& Atm_player::play( int* pat, int patsize ) {
-  patternwidth = 16;
-  pattern16 = pat;
-  patternsize = patsize;
-  counter_repeat.set( repeatCount );
-  step = 0;
-  return *this;
-}
-
-Atm_player& Atm_player::play( uint32_t* pat, int patsize ) {
-  patternwidth = 32;
-  pattern32 = pat;
-  patternsize = patsize;
-  counter_repeat.set( repeatCount );
-  step = 0;
-  return *this;
-}
-
-Atm_player& Atm_player::play( int freq, int period, int pause /* = 0 */ ) {
-  patternwidth = 16;
-  stub[0] = freq;
-  stub[1] = period;
-  stub[2] = pause;
-  pattern16 = stub;
-  patternsize = 3 * sizeof( int );
-  step = 0;
-  return *this;
-}
-
-/* Optionally override the default trigger() method
- * Control what triggers your machine can and cannot process
- */
-
-Atm_player& Atm_player::trigger( int event ) {
-  Machine::trigger( event );
-  return *this;
-}
-
-/* Optionally override the default state() method
- * Control what the machine returns when another process requests its state()
- */
-
-int Atm_player::state( void ) {
-  return Machine::state();
-}
-
-/* Nothing customizable below this line
- ************************************************************************************************
-*/
-
-/* onFinish() push connector variants ( slots 1, autostore 0, broadcast 0 )
- *
- * Usage in action() handler: push( connectors, ON_FINISH, 0, v, up)
- */
-
-Atm_player& Atm_player::onFinish( Machine& machine, int event ) {
-  onPush( connectors, ON_FINISH, 0, 1, 1, machine, event );
-  return *this;
-}
-Atm_player& Atm_player::onFinish( atm_cb_push_t callback, int idx ) {
-  onPush( connectors, ON_FINISH, 0, 1, 1, callback, idx );
-  return *this;
-}
-
-/* onNote() push connector variants ( slots 2, autostore 0, broadcast 0 )
- *
- * Usage in action() handler: push( connectors, ON_NOTE, sub, v, up)
- */
-
-Atm_player& Atm_player::onNote( Machine& machine, int event ) {
-  onPush( connectors, ON_NOTE, 0, 2, 1, machine, event );
-  return *this;
-}
-Atm_player& Atm_player::onNote( atm_cb_push_t callback, int idx ) {
-  onPush( connectors, ON_NOTE, 0, 2, 1, callback, idx );
-  return *this;
-}
-Atm_player& Atm_player::onNote( int sub, Machine& machine, int event ) {
-  onPush( connectors, ON_NOTE, sub, 2, 0, machine, event );
-  return *this;
-}
-Atm_player& Atm_player::onNote( int sub, atm_cb_push_t callback, int idx ) {
-  onPush( connectors, ON_NOTE, sub, 2, 0, callback, idx );
-  return *this;
-}
-
-/* State trace method
- * Sets the symbol table and the default logging method for serial monitoring
- */
-
-Atm_player& Atm_player::trace( Stream& stream ) {
-  Machine::setTrace( &stream, atm_serial_debug::trace,
-                     "PLAYER\0EVT_START\0EVT_STOP\0EVT_TOGGLE\0EVT_TIMER\0EVT_EOPAT\0EVT_REPEAT\0ELSE\0IDLE\0START\0SOUND\0QUIET\0NEXT\0REPEAT\0FINISH" );
-  return *this;
-}

HTequi-firmware/lib/Automaton-1.0.2/src/Atm_player.hpp

@@ -1,112 +0,0 @@
-#pragma once
-
-#include <Automaton.h>
-
-#if defined( _VARIANT_ARDUINO_DUE_X ) || defined( ARDUINO_FEATHER52 ) 
-#define ATM_PLAYER_DISABLE_TONE
-#endif
-
-class Atm_player : public Machine {
- public:
-  enum { IDLE, START, SOUND, QUIET, NEXT, REPEAT, FINISH };                          // STATES
-  enum { EVT_START, EVT_STOP, EVT_TOGGLE, EVT_TIMER, EVT_EOPAT, EVT_REPEAT, ELSE };  // EVENTS
-  Atm_player( void ) : Machine(){};
-  Atm_player& begin( int pin = -1 );
-  Atm_player& trace( Stream& stream );
-  Atm_player& trigger( int event );
-  int state( void );
-  Atm_player& play( int* pat, int size );
-  Atm_player& play( uint32_t* pat, int size );
-  Atm_player& play( int freq, int period, int pause = 0 );
-  Atm_player& repeat( uint16_t v = -1 );
-  Atm_player& speed( float v );
-  Atm_player& pitch( float v );
-  Atm_player& start( void );
-  Atm_player& stop( void );
-  Atm_player& toggle( void );
-  Atm_player& onFinish( Machine& machine, int event = 0 );
-  Atm_player& onFinish( atm_cb_push_t callback, int idx = 0 );
-  Atm_player& onNote( Machine& machine, int event = 0 );
-  Atm_player& onNote( atm_cb_push_t callback, int idx = 0 );
-  Atm_player& onNote( int sub, Machine& machine, int event = 0 );
-  Atm_player& onNote( int sub, atm_cb_push_t callback, int idx = 0 );
-
- private:
-  int pin;
-  int* pattern16; // Can also be 32 bit on some hardware (teensy 3.x)
-  uint32_t* pattern32;
-  uint16_t patternsize;
-  uint8_t patternwidth;
-  int step;
-  uint16_t repeatCount;
-  float speedFactor, pitchFactor;
-  int stub[3];
-  atm_timer_millis timer;
-  atm_counter counter_repeat;
-  enum { ENT_IDLE, ENT_START, ENT_SOUND, ENT_QUIET, ENT_NEXT, ENT_REPEAT, ENT_FINISH };  // ACTIONS
-  enum { ON_FINISH, ON_NOTE, CONN_MAX = 3 };                                             // CONNECTORS
-  atm_connector connectors[CONN_MAX];
-  int event( int id );
-  void action( int id );
-};
-
-/*
-Automaton::ATML::begin - Automaton Markup Language
-
-<?xml version="1.0" encoding="UTF-8"?>
-<machines>
-  <machine name="Atm_player">
-    <states>
-      <IDLE index="0" sleep="1" on_enter="ENT_IDLE">
-        <EVT_START>START</EVT_START>
-        <EVT_TOGGLE>START</EVT_TOGGLE>
-      </IDLE>
-      <START index="1" on_enter="ENT_START">
-        <ELSE>SOUND</ELSE>
-      </START>
-      <SOUND index="2" on_enter="ENT_SOUND">
-        <EVT_STOP>IDLE</EVT_STOP>
-        <EVT_TOGGLE>IDLE</EVT_TOGGLE>
-        <EVT_TIMER>QUIET</EVT_TIMER>
-      </SOUND>
-      <QUIET index="3" on_enter="ENT_QUIET">
-        <EVT_STOP>IDLE</EVT_STOP>
-        <EVT_TOGGLE>IDLE</EVT_TOGGLE>
-        <EVT_TIMER>NEXT</EVT_TIMER>
-      </QUIET>
-      <NEXT index="4" on_enter="ENT_NEXT">
-        <EVT_STOP>IDLE</EVT_STOP>
-        <EVT_TOGGLE>IDLE</EVT_TOGGLE>
-        <EVT_EOPAT>REPEAT</EVT_EOPAT>
-        <ELSE>SOUND</ELSE>
-      </NEXT>
-      <REPEAT index="5" on_enter="ENT_REPEAT">
-        <EVT_STOP>IDLE</EVT_STOP>
-        <EVT_TOGGLE>IDLE</EVT_TOGGLE>
-        <EVT_REPEAT>FINISH</EVT_REPEAT>
-        <ELSE>START</ELSE>
-      </REPEAT>
-      <FINISH index="6" on_enter="ENT_FINISH">
-        <EVT_REPEAT>IDLE</EVT_REPEAT>
-        <ELSE>START</ELSE>
-      </FINISH>
-    </states>
-    <events>
-      <EVT_START index="0"/>
-      <EVT_STOP index="1"/>
-      <EVT_TOGGLE index="2"/>
-      <EVT_TIMER index="3"/>
-      <EVT_EOPAT index="4"/>
-      <EVT_REPEAT index="5"/>
-    </events>
-    <connectors>
-      <FINISH autostore="0" broadcast="0" dir="PUSH" slots="1"/>
-      <NOTE autostore="0" broadcast="0" dir="PUSH" slots="2"/>
-    </connectors>
-    <methods>
-    </methods>
-  </machine>
-</machines>
-
-Automaton::ATML::end
-*/

HTequi-firmware/lib/Automaton-master/examples/extern_LED/.vscode/settings.json

@@ -0,0 +1,5 @@
+{
+    "terminal.integrated.env.linux": {
+        "PATH": "/home/ian/.platformio/penv/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin"
+    }
+}

HTequi-firmware/lib/Automaton-master/examples/extern_LED/Atm_led_mcp.cpp

@@ -0,0 +1,36 @@
+/*
+ * Atm_led_mcp.cpp
+ *
+ *  Created on: 09.12.2017
+ *      Author: ian
+ */
+
+#include <Atm_led_mcp.h>
+#include <Atm_led.hpp>
+
+Atm_led_mcp::Atm_led_mcp(Adafruit_MCP23017& _gpio):
+	Atm_led(),			// base class ctor would also be called implicitly, but better style to mention this explicitly :)
+	gpio(_gpio) {
+	// nothing to see here
+}
+
+void Atm_led_mcp::initLED() {
+	gpio.pinMode(pin, OUTPUT);
+	gpio.digitalWrite(pin, activeLow ? HIGH : LOW);
+	Serial.printf("LED init on pin %c%x\n", activeLow?'~':' ', pin);
+}
+
+void Atm_led_mcp::switchOn() {
+	Serial.printf("LED ON on pin %c%x\n", activeLow?'~':' ', pin);
+	gpio.digitalWrite(pin, !activeLow);
+}
+
+void Atm_led_mcp::switchOff() {
+	Serial.printf("LED OFF on pin %c%x\n", activeLow?'~':' ', pin);
+	gpio.digitalWrite(pin, activeLow);
+}
+
+void Atm_led_mcp::setBrightness(int value) {
+	if (value == toHigh) switchOn(); else if(value==toLow) switchOff(); else
+	Serial.printf("ERROR: Setting brightness on GPIO expander is not possible (pin: %d)\n", pin);
+}

HTequi-firmware/lib/Automaton-master/examples/extern_LED/Atm_led_mcp.h

@@ -0,0 +1,28 @@
+/*
+ * Atm_led_mcp.h
+ *
+ *  Created on: 09.12.2017
+ *      Author: ian
+ */
+
+#ifndef SRC_ATM_LED_MCP_H_
+#define SRC_ATM_LED_MCP_H_
+
+#include "Adafruit_MCP23017.h"
+#include <Atm_led.hpp>
+
+class Atm_led_mcp: public Atm_led {
+public:
+	Atm_led_mcp(Adafruit_MCP23017& _gpio);
+
+private:
+	Adafruit_MCP23017& gpio;
+
+protected:
+	virtual void initLED();
+	virtual void switchOn();
+	virtual void switchOff();
+    virtual void setBrightness(int value);
+};
+
+#endif /* SRC_ATM_LED_MCP_H_ */

HTequi-firmware/lib/Automaton-master/examples/extern_LED/main.cpp

@@ -0,0 +1,18 @@
+#include <automaton.h>
+#include <atm_led_mcp.h>
+#include "Adafruit_MCP23017.h"
+
+
+Adafruit_MCP23017 ioext;
+Atm_led_mcp led(ioext);
+
+
+void setup() {
+  ioext.begin();
+  led.begin(6, true);
+  led.On();
+}
+
+void loop() {
+  automaton.run();
+}

HTequi-firmware/lib/Automaton-1.0.2/library.json

@@ -1,6 +1,6 @@
 {
     "name": "Automaton",
-    "version": "1.0.2",
+    "version": "1.0.3",
     "keywords": "state, machine",
     "description": "A multi tasking table driven finite state machine framework for Arduino",
     "authors":

HTequi-firmware/lib/Automaton-1.0.2/library.properties

@@ -1,5 +1,5 @@
 name=Automaton
-version=1.0.2
+version=1.0.3
 author=Tinkerspy <tinkerspy@myown.mailcan.com>
 maintainer=Tinkerspy <tinkerspy@myown.mailcan.com>
 sentence=A multi tasking table driven finite state machine framework

HTequi-firmware/lib/Automaton-master/platformio.ini

@@ -0,0 +1,54 @@
+; PlatformIO Project Configuration File
+;
+;   Build options: build flags, source filter
+;   Upload options: custom upload port, speed and extra flags
+;   Library options: dependencies, extra library storages
+;   Advanced options: extra scripting
+;
+; Please visit documentation for the other options and examples
+; http://docs.platformio.org/page/projectconf.html
+
+[platformio]
+
+#env_default = esp12e
+env_default = d1_mini
+
+[common_env_data]
+
+# Automaton + PR #50 (https://github.com/tinkerspy/Automaton/pull/50)
+# Automaton-Esp8266 + PR #5 (https://github.com/tinkerspy/Automaton-Esp8266/pull/5)
+# 334 = Adafruit MCP23017 Arduino Library
+lib_deps_ext =	https://github.com/euphi/Automaton.git
+		https://github.com/euphi/Automaton-Esp8266.git
+		MFRC522
+		Adafruit MCP23017 Arduino Library
+
+lib_deps_int = Hash
+
+[env:esp12e]
+platform = espressif8266
+board = d1_mini
+framework = arduino
+
+lib_ldf_mode=chain+
+lib_deps= ${common_env_data.lib_deps_int}
+	  ${common_env_data.lib_deps_ext}
+
+# Build for ESP-ADC (in-circuit), 512kb Flash only!
+build_flags = -Wl,-Tesp8266.flash.512k64.ld                                                                                                                                                                                                                                    
+
+# ck: DTR connected to GPIO0, RTS connected to RESET
+upload_resetmethod = ck
+upload_speed = 460800
+
+
+[env:d1_mini]
+platform = espressif8266
+board = d1_mini
+framework = arduino
+
+lib_ldf_mode=chain+
+lib_deps= ${common_env_data.lib_deps_int}
+	  ${common_env_data.lib_deps_ext}
+
+upload_speed = 460800

HTequi-firmware/lib/Automaton-1.0.2/src/Atm_button.cpp

@@ -28,7 +28,7 @@ Atm_button& Atm_button::begin( int attached_pin ) {
   timer_delay.set( ATM_TIMER_OFF );
   timer_repeat.set( ATM_TIMER_OFF );
   timer_auto.set( ATM_TIMER_OFF );
-  pinMode( pin, INPUT_PULLUP );
+  initButton();
   return *this;
 }
 
@@ -45,9 +45,9 @@ int Atm_button::event( int id ) {
     case EVT_AUTO:
       return timer_auto.expired( this );
     case EVT_PRESS:
-      return !digitalRead( pin );
+    	return isPressed();
     case EVT_RELEASE:
-      return digitalRead( pin );
+    	return isReleased();
     case EVT_COUNTER:
       return counter_longpress.expired();
   }
@@ -151,3 +151,15 @@ Atm_button& Atm_button::trace( Stream& stream ) {
             "AUTO_ST\0ELSE\0IDLE\0WAIT\0PRESSED\0REPEAT\0RELEASE\0LIDLE\0LWAIT\0LPRESSED\0LRELEASE\0WRELEASE\0AUTO" );
   return *this;
 }
+
+void Atm_button::initButton() {
+	pinMode( pin, INPUT_PULLUP );
+}
+
+bool Atm_button::isPressed() {
+	return !digitalRead( pin );
+}
+
+bool Atm_button::isReleased() {
+	return digitalRead( pin );
+}

HTequi-firmware/lib/Automaton-1.0.2/src/Atm_button.hpp

@@ -35,4 +35,8 @@ class Atm_button : public Machine {
 
   int event( int id );
   void action( int id );
+
+  virtual void initButton();
+  virtual bool isPressed();
+  virtual bool isReleased();
 };

HTequi-firmware/lib/Automaton-1.0.2/src/Automaton.h

@@ -91,9 +91,9 @@ class Factory : Automaton {
 #include <Atm_controller.hpp>
 #include <Atm_digital.hpp>
 #include <Atm_encoder.hpp>
-#include <Atm_fade.hpp>
-#include <Atm_led.hpp>
+//#include <Atm_fade.hpp>
+//#include <Atm_led.hpp>
 #include <Atm_fan.hpp>
 #include <Atm_step.hpp>
-#include <Atm_player.hpp>
+//#include <Atm_player.hpp>
 #include <Atm_timer.hpp>

HTequi-firmware/lib/Automaton-1.0.2/src/atm_timer_millis.cpp

@@ -11,6 +11,14 @@ void atm_timer_millis::set( uint32_t v ) {
 }
 
 /*
+ * atm_timer_millis::setFromNow( Machine* machine, uint32_t v ) -
+ * Sets the timer to be expired v millis from now
+ */
+void atm_timer_millis::setFromNow( Machine* machine, uint32_t v ) {
+  value = millis() - machine->state_millis + v;
+}
+
+/*
  * atm_timer_millis::expired( this ) - Checks a millis timer for expiry (== 0)
  * This is a rollover-safe 32 bit unsigned integer comparison
  *

HTequi-firmware/lib/Automaton-1.0.2/src/atm_timer_millis.hpp

@@ -11,5 +11,6 @@ class atm_timer_millis {
  public:
   uint32_t value;
   void set( uint32_t v );
+  void setFromNow( Machine* machine, uint32_t v );
   int expired( Machine* machine );
 };

HTequi-firmware/src/blobcnc_low/main.cpp

@@ -3,8 +3,9 @@
 
 //Automaton and custom machines
 #include <Automaton.h>
-#include "Atm_Teenstep.h"
-#include "Atm_Teenstep_OSC.h"
+// #include "Atm_Teenstep.h"
+// #include "Atm_Teenstep_OSC.h"
+#include "Atm_AccelStepper.h"
 
 //osc
 #include <SPI.h>
@@ -14,6 +15,7 @@
 #include <OSCBundle.h>
 
 
+
 // Enter a MAC address and IP address for your controller below.
 // The IP address will be dependent on your local network:
 byte mac[] = {
@@ -23,10 +25,10 @@ byte mac[] = {
 IPAddress ip(192, 168, 1, 104);    //local IP of Arduino/Teensy
 unsigned int localPort = 8000;      // local port to listen on (not needed for multicast)
 
-IPAddress outIp(192, 168, 1, 102);
-const unsigned int outPort = 9000;
-// IPAddress ipMulti(239, 200, 200, 200); // ipMidi Multicast address
-// unsigned int portMulti = 9977;   // ipMidi Mutlicast port 1
+// IPAddress outIp(192, 168, 1, 102);
+// const unsigned int outPort = 9000;
+IPAddress ipMulti(239, 200, 200, 200); // ipMidi Multicast address
+unsigned int portMulti = 9977;   // ipMidi Mutlicast port 1
 
 
 // buffers for receiving and sending data
@@ -41,37 +43,42 @@ EthernetUDP Udp;
 OSCBundle bndl;
 
 /////////////////// STEPPER machines  ////////////////////////
-const int HIGH_SPEED = 800 ;
+const int HIGH_SPEED = 1200 ;
 const int HIGH_ACC = 800 ;
 const int LOW_SPEED = 100 ;
 const int LOW_ACC = 1000 ;
 
-Atm_Teenstep_OSC A_low_OSC;
-Atm_Teenstep A_low_step;
-Stepper A_low_stepper(8 , 7);
-StepControl A_low_controller ;
+// Atm_Teenstep_OSC A_low_OSC;
+// Atm_Teenstep A_low_step;
+// Stepper A_low_stepper(8 , 7);
+// StepControl A_low_controller ;
+Atm_AccelStepper A_low_step ;
+
+// Atm_Teenstep_OSC B_low_OSC;
+// Atm_Teenstep B_low_step;
+// Stepper B_low_stepper(32 , 31);
+// StepControl B_low_controller ;
+Atm_AccelStepper B_low_step ;
 
-Atm_Teenstep_OSC B_low_OSC;
-Atm_Teenstep B_low_step;
-Stepper B_low_stepper(32 , 31);
-StepControl B_low_controller ;
+// Atm_Teenstep_OSC TrBr_low_OSC;
+// Atm_Teenstep TrBr_low_step;
+// Stepper TrBr_low_stepper(2 , 1);
+// StepControl TrBr_low_controller ;
+Atm_AccelStepper TrBr_low_step ;
 
-Atm_Teenstep_OSC TrBr_low_OSC;
-Atm_Teenstep TrBr_low_step;
-Stepper TrBr_low_stepper(2 , 1);
-StepControl TrBr_low_controller ;
+// Atm_Teenstep_OSC LevBr_low_OSC;
+// Atm_Teenstep LevBr_low_step;
+// Stepper LevBr_low_stepper(5 , 4);
+// StepControl LevBr_low_controller ;
+Atm_AccelStepper LevBr_low_step ;
 
-Atm_Teenstep_OSC LevBr_low_OSC;
-Atm_Teenstep LevBr_low_step;
-Stepper LevBr_low_stepper(5 , 4);
-StepControl LevBr_low_controller ;
 
 
 /////////////////// Servo and pump  ////////////////////////
 
-const int filling_pwm_pin = 14;
-const int brush_pwm_pin = 20;
-const int crusher_pin = 16;
+const int filling_pwm_pin = 20;
+const int brush_pwm_pin = 14;
+const int crusher_pin = 20;
 
 
 void motorsOSC(OSCMessage &msg){
@@ -83,82 +90,87 @@ void motorsOSC(OSCMessage &msg){
 //////////////  Setup  /////////////////////
 
 void setup() {
- SPI.setSCK(27);
- Ethernet.init(10);//(10)
- teensyMAC(mac);
- Ethernet.begin(mac, ip);              // start the Ethernet and UDP:
- // Udp.beginMulticast(ipMulti, portMulti); // for modified Teensy Ethernet library
-  Udp.begin(localPort);
+ delay(2000);
 
  //  SERIAL
  Serial.begin(115200); // higher Baud rate for faster refresh, CHANGE IN SERIAL MONITOR
- delay(2000);
+ //delay(2000);
  Serial.println("Started Low");
 
+ // ETHERNET
+ SPI.setSCK(27);
+ Ethernet.init(10);//(10)
+ teensyMAC(mac);
+
+ Ethernet.begin(mac);              // start the Ethernet and UDP:
+ Udp.beginMulticast(ipMulti, portMulti); // for modified Teensy Ethernet library
+  // Udp.begin(localPort);
+
+Serial.print("Started ethernet, IP is ");
+Serial.println(Ethernet.localIP());
+
  //  STEPPERS
- A_low_step.trace( Serial );
- A_low_step.begin(A_low_stepper, A_low_controller)
-           .setEnablePin(6)//.enableReversed(1);//.enable(1);
-           .setLimitType(3).setLimitPins(A16).limitReversed(false).limitThresholds(600, 750, 950, 1200);
- A_low_stepper.setMaxSpeed(HIGH_SPEED);
- A_low_stepper.setAcceleration(HIGH_ACC);
- A_low_stepper.setInverseRotation(true);
- A_low_OSC.begin(A_low_step, Udp, bndl, "/A_low");
- A_low_step.onChangeposition([](int idx, int v, int up){bndl.add("/A_low_OSC/step").add(v);});
- A_low_step.onChange([](int idx, int v, int up){bndl.add("/A_low_OSC/state").add(v);});
- A_low_step.onLimitlow([](int idx, int v, int up){bndl.add("/A_low_OSC/limitLow").add(v);});
- A_low_step.onLimithigh([](int idx, int v, int up){bndl.add("/A_low_OSC/limitHigh").add(v);});
-
- B_low_step.trace( Serial );
- B_low_step.begin(B_low_stepper, B_low_controller)
-           .setEnablePin(30)//.enableReversed(1);//.enable(1);
-           .setLimitType(3).setLimitPins(A14).limitReversed(false).limitThresholds(600, 750, 950, 1200);
- B_low_stepper.setMaxSpeed(HIGH_SPEED);
- B_low_stepper.setAcceleration(HIGH_ACC);
- B_low_stepper.setInverseRotation(true);
- B_low_OSC.begin(B_low_step, Udp, bndl, "/B_low");
- B_low_step.onChangeposition([](int idx, int v, int up){bndl.add("/B_low_OSC/step").add(v);});
- B_low_step.onChange([](int idx, int v, int up){bndl.add("/B_low_OSC/state").add(v);});
- B_low_step.onLimitlow([](int idx, int v, int up){bndl.add("/B_low_OSC/limitLow").add(v);});
- B_low_step.onLimithigh([](int idx, int v, int up){bndl.add("/B_low_OSC/limitHigh").add(v);});
-
- TrBr_low_step.trace( Serial );
- TrBr_low_step.begin(TrBr_low_stepper, TrBr_low_controller)
-           .setEnablePin(0)//.enableReversed(1);//.enable(1);
-           .setLimitType(2).setLimitPins(17, 15).limitReversed(true).limitThresholds(600, 750, 950, 1200);
- TrBr_low_stepper.setMaxSpeed(HIGH_SPEED);
- TrBr_low_stepper.setAcceleration(HIGH_ACC);
- TrBr_low_stepper.setInverseRotation(true);
- TrBr_low_OSC.begin(TrBr_low_step, Udp, bndl, "/TrBr_low");
- TrBr_low_step.onChangeposition([](int idx, int v, int up){bndl.add("/TrBr_low_OSC/step").add(v);});
- TrBr_low_step.onChange([](int idx, int v, int up){bndl.add("/TrBr_low_OSC/state").add(v);});
- TrBr_low_step.onLimitlow([](int idx, int v, int up){bndl.add("/TrBr_low_OSC/limitLow").add(v);});
- TrBr_low_step.onLimithigh([](int idx, int v, int up){bndl.add("/TrBr_low_OSC/limitHigh").add(v);});
-
- LevBr_low_step.trace( Serial );
- LevBr_low_step.begin(LevBr_low_stepper, LevBr_low_controller)
-           .setEnablePin(3)//.enableReversed(1);//.enable(1);
-           .setLimitType(2).setLimitPins(39, 37).limitReversed(true).limitThresholds(600, 750, 950, 1200);
- LevBr_low_stepper.setMaxSpeed(HIGH_SPEED);
- LevBr_low_stepper.setAcceleration(HIGH_ACC);
- LevBr_low_stepper.setInverseRotation(true);
- LevBr_low_OSC.begin(LevBr_low_step, Udp, bndl, "/LevBr_low");
- LevBr_low_step.onChangeposition([](int idx, int v, int up){bndl.add("/LevBr_low_OSC/step").add(v);});
- LevBr_low_step.onChange([](int idx, int v, int up){bndl.add("/LevBr_low_OSC/state").add(v);});
- LevBr_low_step.onLimitlow([](int idx, int v, int up){bndl.add("/LevBr_low_OSC/limitLow").add(v);});
- LevBr_low_step.onLimithigh([](int idx, int v, int up){bndl.add("/LevBr_low_OSC/limitHigh").add(v);});
+
+ A_low_step.begin(8, 7).setEnablePin(6).pinReversed(1)//.trace(Serial)
+  .limitLow_set(2, 37, 0).limitLow_setThresholds(600, 720).limitLow_isHard(0)
+  .limitHigh_set(2, 37, 0).limitHigh_setThresholds(900, 1000).limitHigh_isHard(0)
+  .setMaxSpeed(HIGH_SPEED).setAcceleration(HIGH_ACC);
+ A_low_step.onChangeposition([](int idx, int v, int up){bndl.add("/A_low/step").add(v).add(up);});
+ A_low_step.onChangestate([](int idx, int v, int up){bndl.add("/A_low/state").add(v);});
+ A_low_step.onOnlimitlow([](int idx, int v, int up){bndl.add("/A_low/limitLow").add(v);});
+ A_low_step.onOnlimithigh([](int idx, int v, int up){bndl.add("/A_low/limitHigh").add(v);});
+ A_low_step.onOntarget([](int idx, int v, int up){bndl.add("/A_low/onTarget").add(v);});
+
+ B_low_step.begin(32 , 31).setEnablePin(30).pinReversed(0)//.trace(Serial)
+  .limitLow_set(2, 35, 0).limitLow_setThresholds(600, 720).limitLow_isHard(0)
+  .limitHigh_set(2, 35, 0).limitHigh_setThresholds(900, 1000).limitHigh_isHard(0)
+  .setMaxSpeed(HIGH_SPEED).setAcceleration(HIGH_ACC);
+ B_low_step.onChangeposition([](int idx, int v, int up){bndl.add("/B_low/step").add(v).add(up);});
+ B_low_step.onChangestate([](int idx, int v, int up){bndl.add("/B_low/state").add(v);});
+ B_low_step.onOnlimitlow([](int idx, int v, int up){bndl.add("/B_low/limitLow").add(v);});
+ B_low_step.onOnlimithigh([](int idx, int v, int up){bndl.add("/B_low/limitHigh").add(v);});
+ B_low_step.onOntarget([](int idx, int v, int up){bndl.add("/B_low/onTarget").add(v);});
+
+ TrBr_low_step.begin(2, 1).setEnablePin(0).pinReversed(1).trace(Serial)
+  .limitLow_set(1, 19, 1).limitLow_isHard(1)
+  .limitHigh_set(1, 17, 1).limitHigh_isHard(1)
+  .setMaxSpeed(HIGH_SPEED).setAcceleration(HIGH_ACC);
+ TrBr_low_step.onChangeposition([](int idx, int v, int up){bndl.add("/TrBr_low/step").add(v).add(up);});
+ TrBr_low_step.onChangestate([](int idx, int v, int up){bndl.add("/TrBr_low/state").add(v);});
+ TrBr_low_step.onOnlimitlow([](int idx, int v, int up){bndl.add("/TrBr_low/limitLow").add(v);});
+ TrBr_low_step.onOnlimithigh([](int idx, int v, int up){bndl.add("/TrBr_low/limitHigh").add(v);});
+ TrBr_low_step.onOntarget([](int idx, int v, int up){bndl.add("/TrBr_low/onTarget").add(v);});
+
+ LevBr_low_step.begin(5 , 4).setEnablePin(3).pinReversed(1)//.trace(Serial)
+  .limitLow_set(1, 15, 1).limitLow_isHard(1)
+  .limitHigh_set(1, 39, 1).limitHigh_isHard(1)
+  .setMaxSpeed(HIGH_SPEED).setAcceleration(HIGH_ACC);
+ LevBr_low_step.onChangeposition([](int idx, int v, int up){bndl.add("/LevBr_low/step").add(v).add(up);});
+ LevBr_low_step.onChangestate([](int idx, int v, int up){bndl.add("/LevBr_low/state").add(v);});
+ LevBr_low_step.onOnlimitlow([](int idx, int v, int up){bndl.add("/LevBr_low/limitLow").add(v);});
+ LevBr_low_step.onOnlimithigh([](int idx, int v, int up){bndl.add("/LevBr_low/limitHigh").add(v);});
+ LevBr_low_step.onOntarget([](int idx, int v, int up){bndl.add("/LevBr_low/onTarget").add(v);});
 
  //  Peristaltic pump
  pinMode(filling_pwm_pin, OUTPUT);
  pinMode(brush_pwm_pin, OUTPUT);
  pinMode(crusher_pin, OUTPUT);
 
+ Serial.println("Ended setup");
+ //TrBr_low_step.move(1000);
+ Udp.beginPacket(ipMulti, portMulti);
+ // Udp.beginPacket(outIp, outPort);
+ bndl.add("/test").add("youpi");
+ bndl.send(Udp); // send the bytes to the SLIP stream
+ Udp.endPacket(); // mark the end of the OSC Packet
+ bndl.empty(); //
 }
 
 void loop() {
+  delay(1);
+  Udp.beginPacket(ipMulti, portMulti);
+  // Udp.beginPacket(outIp, outPort);
   automaton.run();
-  // Udp.beginPacket(ipMulti, portMulti);
-  Udp.beginPacket(outIp, outPort);
   bndl.send(Udp); // send the bytes to the SLIP stream
   Udp.endPacket(); // mark the end of the OSC Packet
   bndl.empty(); // empty the bundle to free room for a new one
@@ -171,11 +183,37 @@ void loop() {
       msgIn.fill(Udp.read());
 
      if(!msgIn.hasError()){
-       Serial.println("got OSC");
-       A_low_OSC.onOSC(msgIn);
-       B_low_OSC.onOSC(msgIn);
-       TrBr_low_OSC.onOSC(msgIn);
-       LevBr_low_OSC.onOSC(msgIn);
+       //Serial.println("got OSC");
+       msgIn.dispatch("/A_low/move", [](OSCMessage &msg){A_low_step.move(msg.getInt(0));});
+       msgIn.dispatch("/A_low/moveTo", [](OSCMessage &msg){A_low_step.moveTo(msg.getInt(0));});
+       msgIn.dispatch("/A_low/rotate", [](OSCMessage &msg){A_low_step.rotate(msg.getInt(0));});
+       msgIn.dispatch("/A_low/stop", [](OSCMessage &msg){A_low_step.stop();});
+       msgIn.dispatch("/A_low/emergency_stop", [](OSCMessage &msg){A_low_step.emergency_stop();});
+       msgIn.dispatch("/A_low/homing", [](OSCMessage &msg){A_low_step.homing(msg.getInt(0));});
+
+       msgIn.dispatch("/B_low/move", [](OSCMessage &msg){B_low_step.move(msg.getInt(0));});
+       msgIn.dispatch("/B_low/moveTo", [](OSCMessage &msg){B_low_step.moveTo(msg.getInt(0));});
+       msgIn.dispatch("/B_low/rotate", [](OSCMessage &msg){B_low_step.rotate(msg.getInt(0));});
+       msgIn.dispatch("/B_low/stop", [](OSCMessage &msg){B_low_step.stop();});
+       msgIn.dispatch("/B_low/emergency_stop", [](OSCMessage &msg){B_low_step.emergency_stop();});
+       msgIn.dispatch("/B_low/homing", [](OSCMessage &msg){B_low_step.homing(msg.getInt(0));});
+
+       msgIn.dispatch("/TrBr_low/move", [](OSCMessage &msg){TrBr_low_step.move(msg.getInt(0));});
+       msgIn.dispatch("/TrBr_low/moveTo", [](OSCMessage &msg){TrBr_low_step.moveTo(msg.getInt(0));});
+       msgIn.dispatch("/TrBr_low/rotate", [](OSCMessage &msg){TrBr_low_step.rotate(msg.getInt(0));});
+       msgIn.dispatch("/TrBr_low/stop", [](OSCMessage &msg){TrBr_low_step.stop();});
+       msgIn.dispatch("/TrBr_low/emergency_stop", [](OSCMessage &msg){TrBr_low_step.emergency_stop();});
+       msgIn.dispatch("/TrBr_low/homing", [](OSCMessage &msg){TrBr_low_step.homing(msg.getInt(0));});
+
+       msgIn.dispatch("/LevBr_low/move", [](OSCMessage &msg){LevBr_low_step.move(msg.getInt(0));});
+       msgIn.dispatch("/LevBr_low/moveTo", [](OSCMessage &msg){LevBr_low_step.moveTo(msg.getInt(0));});
+       msgIn.dispatch("/LevBr_low/rotate", [](OSCMessage &msg){LevBr_low_step.rotate(msg.getInt(0));});
+       msgIn.dispatch("/LevBr_low/stop", [](OSCMessage &msg){LevBr_low_step.stop();});
+       msgIn.dispatch("/LevBr_low/emergency_stop", [](OSCMessage &msg){LevBr_low_step.emergency_stop();});
+       msgIn.dispatch("/LevBr_low/homing", [](OSCMessage &msg){LevBr_low_step.homing(msg.getInt(0));});
+       // B_low_OSC.onOSC(msgIn);
+       // TrBr_low_OSC.onOSC(msgIn);
+       // LevBr_low_OSC.onOSC(msgIn);
        motorsOSC(msgIn);
 
      }

PCB/BLOBCNC_TOP/BLOBCNC_TOP-Edge.Cuts.gbr

@@ -1,11 +1,11 @@
 G04 #@! TF.GenerationSoftware,KiCad,Pcbnew,5.0.0+dfsg1-2*
-G04 #@! TF.CreationDate,2019-05-22T11:33:45+02:00*
+G04 #@! TF.CreationDate,2019-07-02T15:00:02+02:00*
 G04 #@! TF.ProjectId,BLOBCNC_TOP,424C4F42434E435F544F502E6B696361,rev?*
 G04 #@! TF.SameCoordinates,PXb438b80PY1b9d560*
 G04 #@! TF.FileFunction,Profile,NP*
 %FSLAX46Y46*%
 G04 Gerber Fmt 4.6, Leading zero omitted, Abs format (unit mm)*
-G04 Created by KiCad (PCBNEW 5.0.0+dfsg1-2) date Wed May 22 11:33:45 2019*
+G04 Created by KiCad (PCBNEW 5.0.0+dfsg1-2) date Tue Jul  2 15:00:02 2019*
 %MOMM*%
 %LPD*%
 G01*

PCB/BLOBCNC_TOP/BLOBCNC_TOP-F.Cu.gbr

@@ -1,12 +1,12 @@
 G04 #@! TF.GenerationSoftware,KiCad,Pcbnew,5.0.0+dfsg1-2*
-G04 #@! TF.CreationDate,2019-05-22T11:33:45+02:00*
+G04 #@! TF.CreationDate,2019-07-02T15:00:02+02:00*
 G04 #@! TF.ProjectId,BLOBCNC_TOP,424C4F42434E435F544F502E6B696361,rev?*
 G04 #@! TF.SameCoordinates,PXb438b80PY1b9d560*
 G04 #@! TF.FileFunction,Copper,L1,Top,Signal*
 G04 #@! TF.FilePolarity,Positive*
 %FSLAX46Y46*%
 G04 Gerber Fmt 4.6, Leading zero omitted, Abs format (unit mm)*
-G04 Created by KiCad (PCBNEW 5.0.0+dfsg1-2) date Wed May 22 11:33:45 2019*
+G04 Created by KiCad (PCBNEW 5.0.0+dfsg1-2) date Tue Jul  2 15:00:02 2019*
 %MOMM*%
 %LPD*%
 G01*
@@ -50,17 +50,20 @@ G04 #@! TD*
 G04 #@! TA.AperFunction,ComponentPad*
 %ADD22O,1.600000X2.400000*%
 G04 #@! TD*
+G04 #@! TA.AperFunction,ComponentPad*
+%ADD23O,2.700000X2.000000*%
+G04 #@! TD*
 G04 #@! TA.AperFunction,ViaPad*
-%ADD23C,2.000000*%
+%ADD24C,2.000000*%
 G04 #@! TD*
 G04 #@! TA.AperFunction,Conductor*
-%ADD24C,1.500000*%
+%ADD25C,1.500000*%
 G04 #@! TD*
 G04 #@! TA.AperFunction,Conductor*
-%ADD25C,0.500000*%
+%ADD26C,0.500000*%
 G04 #@! TD*
 G04 #@! TA.AperFunction,Conductor*
-%ADD26C,0.254000*%
+%ADD27C,0.254000*%
 G04 #@! TD*
 G04 APERTURE END LIST*
 D10*
@@ -354,20 +357,6 @@ G04 #@! TO.P,SW1,6*
 G04 #@! TO.N,Net-(Dr1-Pad2)*
 X-77851000Y-33274000D03*
 G04 #@! TD*
-D12*
-G04 #@! TO.P,U1,1*
-G04 #@! TO.N,GNDPWR*
-X-102616000Y-4699000D03*
-G04 #@! TO.P,U1,2*
-G04 #@! TO.N,+36V*
-X-102616000Y-22479000D03*
-G04 #@! TO.P,U1,3*
-G04 #@! TO.N,GND*
-X-61976000Y-4699000D03*
-G04 #@! TO.P,U1,4*
-G04 #@! TO.N,+5V*
-X-61976000Y-22479000D03*
-G04 #@! TD*
 D18*
 G04 #@! TO.P,U2,5*
 G04 #@! TO.N,N/C*
@@ -533,6 +522,24 @@ G04 #@! TO.N,+5V*
 X-75311000Y-54864000D03*
 G04 #@! TD*
 D23*
+G04 #@! TO.P,U1,1*
+G04 #@! TO.N,GNDPWR*
+X-91186000Y-7239000D03*
+X-91186000Y-9779000D03*
+G04 #@! TO.P,U1,2*
+G04 #@! TO.N,+36V*
+X-91186000Y-17399000D03*
+X-91186000Y-19939000D03*
+G04 #@! TO.P,U1,3*
+G04 #@! TO.N,GND*
+X-73406000Y-7239000D03*
+X-73406000Y-9779000D03*
+G04 #@! TO.P,U1,4*
+G04 #@! TO.N,+5V*
+X-73406000Y-17399000D03*
+X-73406000Y-19939000D03*
+G04 #@! TD*
+D24*
 G04 #@! TO.N,GND*
 X-29972000Y-75184000D03*
 X-20828000Y-75184000D03*
@@ -545,7 +552,7 @@ X-110236000Y-51308000D03*
 X-16256000Y-19812000D03*
 X-23876000Y-19812000D03*
 G04 #@! TD*
-D24*
+D25*
 G04 #@! TO.N,+36V*
 X-109601000Y-15494000D02*
 X-102616000Y-22479000D01*
@@ -563,9 +570,15 @@ X-95631000Y-30734000D02*
 X-98171000Y-30734000D01*
 X-93091000Y-33274000D02*
 X-95631000Y-30734000D01*
+X-96576000Y-22479000D02*
+X-99816000Y-22479000D01*
+X-94036000Y-19939000D02*
+X-96576000Y-22479000D01*
+X-91186000Y-19939000D02*
+X-94036000Y-19939000D01*
+X-91186000Y-17399000D02*
+X-91186000Y-19939000D01*
 G04 #@! TO.N,GNDPWR*
-X-108331000Y-10414000D02*
-X-102616000Y-4699000D01*
 X-90591000Y-35219000D02*
 X-90591000Y-33274000D01*
 X-91186000Y-35814000D02*
@@ -576,15 +589,23 @@ X-98171000Y-33274000D02*
 X-96901000Y-33274000D01*
 X-96901000Y-33274000D02*
 X-94361000Y-35814000D01*
-X-90591000Y-33274000D02*
-X-90591000Y-28154000D01*
-X-108331000Y-10414000D02*
-X-108966000Y-10414000D01*
-X-90591000Y-28154000D02*
-X-108331000Y-10414000D01*
+X-91821000Y-10414000D02*
+X-91186000Y-9779000D01*
 X-110871000Y-10414000D02*
-X-108966000Y-10414000D01*
-D25*
+X-91821000Y-10414000D01*
+X-91186000Y-9779000D02*
+X-91186000Y-7239000D01*
+X-88336000Y-9779000D02*
+X-86995000Y-11120000D01*
+X-91186000Y-9779000D02*
+X-88336000Y-9779000D01*
+X-86995000Y-11120000D02*
+X-86995000Y-24765000D01*
+X-90591000Y-28361000D02*
+X-90591000Y-33274000D01*
+X-86995000Y-24765000D02*
+X-90591000Y-28361000D01*
+D26*
 G04 #@! TO.N,Net-(Dr1-Pad1)*
 X-63881000Y-37084000D02*
 X-60706000Y-37084000D01*
@@ -665,6 +686,8 @@ X-98471000Y-48514000D02*
 X-101265000Y-51308000D01*
 X-16256000Y-23749000D02*
 X-16256000Y-19812000D01*
+X-73406000Y-7239000D02*
+X-73406000Y-9779000D01*
 G04 #@! TO.N,+5V*
 X-61976000Y-28194000D02*
 X-60706000Y-29464000D01*
@@ -762,7 +785,15 @@ X-20215000Y-35665000D02*
 X-12446000Y-43434000D01*
 X-12446000Y-46609000D02*
 X-12446000Y-65659000D01*
-D24*
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-      (effects (font (size 1 1) (thickness 0.15)) (justify mirror))
-    )
-    (fp_text user IN+ (at 6.35 20.32 270) (layer B.SilkS)
-      (effects (font (size 1 1) (thickness 0.15)) (justify mirror))
-    )
-    (fp_text user OUT- (at -5.08 -20.32 270) (layer B.SilkS)
-      (effects (font (size 1 1) (thickness 0.15)) (justify mirror))
-    )
-    (fp_text user OUT+ (at 5.08 -20.32 270) (layer B.SilkS)
-      (effects (font (size 1 1) (thickness 0.15)) (justify mirror))
-    )
-    (pad 1 thru_hole oval (at -8.89 20.32 270) (size 2 2.6) (drill 1) (layers *.Cu *.Mask)
-      (net 2 GNDPWR))
-    (pad 2 thru_hole oval (at 8.89 20.32 270) (size 2 2.6) (drill 1) (layers *.Cu *.Mask)
-      (net 1 +36V))
-    (pad 3 thru_hole oval (at -8.89 -20.32 270) (size 2 2.6) (drill 1) (layers *.Cu *.Mask)
-      (net 10 GND))
-    (pad 4 thru_hole oval (at 8.89 -20.32 270) (size 2 2.6) (drill 1) (layers *.Cu *.Mask)
-      (net 11 +5V))
-  )
-
   (module Lien:W5500 (layer B.Cu) (tedit 5CBF62F3) (tstamp 5CEDEEEF)
     (at 140.335 109.22 90)
     (path /5CE1C168)
@@ -1382,6 +1347,37 @@
     )
   )
 
+  (module Lien:DC-DC_MP1584EN (layer F.Cu) (tedit 5CD1FF7B) (tstamp 5D26F75F)
+    (at 106.68 42.545 270)
+    (path /5CE1C6E1)
+    (fp_text reference U1 (at 0 0.5 270) (layer F.SilkS)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (fp_text value DC-DC_MP1584EN (at 0 -0.5 90) (layer F.Fab)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (fp_line (start -8.509 11.176) (end 8.509 11.176) (layer F.SilkS) (width 0.15))
+    (fp_line (start 8.509 11.176) (end 8.509 -11.176) (layer F.SilkS) (width 0.15))
+    (fp_line (start 8.509 -11.176) (end -8.509 -11.176) (layer F.SilkS) (width 0.15))
+    (fp_line (start -8.509 -11.176) (end -8.509 11.176) (layer F.SilkS) (width 0.15))
+    (pad 1 thru_hole oval (at -6.35 8.89 270) (size 2 2.7) (drill 1) (layers *.Cu *.Mask)
+      (net 2 GNDPWR))
+    (pad 1 thru_hole oval (at -3.81 8.89 270) (size 2 2.7) (drill 1) (layers *.Cu *.Mask)
+      (net 2 GNDPWR))
+    (pad 2 thru_hole oval (at 3.81 8.89 270) (size 2 2.7) (drill 1) (layers *.Cu *.Mask)
+      (net 1 +36V))
+    (pad 2 thru_hole oval (at 6.35 8.89 270) (size 2 2.7) (drill 1) (layers *.Cu *.Mask)
+      (net 1 +36V))
+    (pad 3 thru_hole oval (at -6.35 -8.89 270) (size 2 2.7) (drill 1) (layers *.Cu *.Mask)
+      (net 10 GND))
+    (pad 3 thru_hole oval (at -3.81 -8.89 270) (size 2 2.7) (drill 1) (layers *.Cu *.Mask)
+      (net 10 GND))
+    (pad 4 thru_hole oval (at 3.81 -8.89 270) (size 2 2.7) (drill 1) (layers *.Cu *.Mask)
+      (net 11 +5V))
+    (pad 4 thru_hole oval (at 6.35 -8.89 270) (size 2 2.7) (drill 1) (layers *.Cu *.Mask)
+      (net 11 +5V))
+  )
+
   (gr_line (start 73.66 123.952) (end 73.66 28.956) (layer Edge.Cuts) (width 0.15))
   (gr_line (start 75.692 123.952) (end 73.66 123.952) (layer Edge.Cuts) (width 0.15))
   (gr_line (start 188.976 123.952) (end 75.692 123.952) (layer Edge.Cuts) (width 0.15))
@@ -1396,16 +1392,23 @@
   (segment (start 86.36 51.435) (end 89.16 51.435) (width 1.5) (layer F.Cu) (net 1))
   (segment (start 93.345 59.69) (end 90.805 59.69) (width 1.5) (layer F.Cu) (net 1))
   (segment (start 95.885 62.23) (end 93.345 59.69) (width 1.5) (layer F.Cu) (net 1))
-  (segment (start 80.645 39.37) (end 86.36 33.655) (width 1.5) (layer F.Cu) (net 2))
+  (segment (start 92.4 51.435) (end 89.16 51.435) (width 1.5) (layer F.Cu) (net 1))
+  (segment (start 94.94 48.895) (end 92.4 51.435) (width 1.5) (layer F.Cu) (net 1))
+  (segment (start 97.79 48.895) (end 94.94 48.895) (width 1.5) (layer F.Cu) (net 1))
+  (segment (start 97.79 46.355) (end 97.79 48.895) (width 1.5) (layer F.Cu) (net 1))
   (segment (start 98.385 64.175) (end 98.385 62.23) (width 1.5) (layer F.Cu) (net 2))
   (segment (start 97.79 64.77) (end 98.385 64.175) (width 1.5) (layer F.Cu) (net 2))
   (segment (start 94.615 64.77) (end 97.79 64.77) (width 1.5) (layer F.Cu) (net 2))
   (segment (start 90.805 62.23) (end 92.075 62.23) (width 1.5) (layer F.Cu) (net 2))
   (segment (start 92.075 62.23) (end 94.615 64.77) (width 1.5) (layer F.Cu) (net 2))
-  (segment (start 98.385 62.23) (end 98.385 57.11) (width 1.5) (layer F.Cu) (net 2))
-  (segment (start 80.645 39.37) (end 80.01 39.37) (width 1.5) (layer F.Cu) (net 2))
-  (segment (start 98.385 57.11) (end 80.645 39.37) (width 1.5) (layer F.Cu) (net 2))
-  (segment (start 78.105 39.37) (end 80.01 39.37) (width 1.5) (layer F.Cu) (net 2))
+  (segment (start 97.155 39.37) (end 97.79 38.735) (width 1.5) (layer F.Cu) (net 2))
+  (segment (start 78.105 39.37) (end 97.155 39.37) (width 1.5) (layer F.Cu) (net 2))
+  (segment (start 97.79 38.735) (end 97.79 36.195) (width 1.5) (layer F.Cu) (net 2))
+  (segment (start 100.64 38.735) (end 101.981 40.076) (width 1.5) (layer F.Cu) (net 2))
+  (segment (start 97.79 38.735) (end 100.64 38.735) (width 1.5) (layer F.Cu) (net 2))
+  (segment (start 101.981 40.076) (end 101.981 53.721) (width 1.5) (layer F.Cu) (net 2))
+  (segment (start 98.385 57.317) (end 98.385 62.23) (width 1.5) (layer F.Cu) (net 2))
+  (segment (start 101.981 53.721) (end 98.385 57.317) (width 1.5) (layer F.Cu) (net 2))
   (segment (start 125.095 66.04) (end 128.27 66.04) (width 0.5) (layer F.Cu) (net 3))
   (segment (start 113.03 59.69) (end 114.935 61.595) (width 0.5) (layer F.Cu) (net 3))
   (segment (start 103.505 59.69) (end 113.03 59.69) (width 0.5) (layer F.Cu) (net 3))
@@ -1457,6 +1460,7 @@
   (segment (start 172.72 52.705) (end 172.72 48.768) (width 0.5) (layer F.Cu) (net 10))
   (via (at 165.1 48.768) (size 2) (drill 1) (layers F.Cu B.Cu) (net 10))
   (segment (start 172.72 48.768) (end 165.1 48.768) (width 0.5) (layer B.Cu) (net 10))
+  (segment (start 115.57 36.195) (end 115.57 38.735) (width 0.5) (layer F.Cu) (net 10))
   (segment (start 127 57.15) (end 128.27 58.42) (width 0.5) (layer F.Cu) (net 11))
   (segment (start 127 51.435) (end 127 57.15) (width 0.5) (layer F.Cu) (net 11))
   (segment (start 121.255 58.42) (end 118.745 60.93) (width 0.5) (layer F.Cu) (net 11))
@@ -1505,6 +1509,10 @@
   (segment (start 176.53 72.39) (end 176.53 75.565) (width 0.5) (layer F.Cu) (net 11))
   (segment (start 168.761 64.621) (end 176.53 72.39) (width 0.5) (layer F.Cu) (net 11))
   (segment (start 176.53 75.565) (end 176.53 94.615) (width 0.5) (layer F.Cu) (net 11))
+  (segment (start 115.57 46.355) (end 115.57 48.895) (width 0.5) (layer F.Cu) (net 11))
+  (segment (start 115.6 50.425) (end 115.6 57.785) (width 0.5) (layer F.Cu) (net 11))
+  (segment (start 115.57 50.395) (end 115.6 50.425) (width 0.5) (layer F.Cu) (net 11))
+  (segment (start 115.57 48.895) (end 115.57 50.395) (width 0.5) (layer F.Cu) (net 11))
   (segment (start 90.805 72.39) (end 78.74 72.39) (width 1.5) (layer F.Cu) (net 12))
   (segment (start 78.74 69.85) (end 90.805 69.85) (width 1.5) (layer F.Cu) (net 13))
   (segment (start 90.805 67.31) (end 78.74 67.31) (width 1.5) (layer F.Cu) (net 14))
@@ -1654,203 +1662,227 @@
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         (xy 133.735001 36.663165) (xy 133.735 41.948421) (xy 126.435845 49.247577) (xy 126.361952 49.296951) (xy 126.312578 49.370844)
-        (xy 126.312576 49.370846) (xy 126.166348 49.589691) (xy 126.107442 49.885836) (xy 126.062055 49.894864) (xy 125.521231 50.256231)
-        (xy 125.159864 50.797055) (xy 125.032969 51.435) (xy 125.159864 52.072945) (xy 125.521231 52.613769) (xy 126.062055 52.975136)
-        (xy 126.115 52.985667) (xy 126.115001 57.062835) (xy 126.097663 57.15) (xy 126.166348 57.495309) (xy 126.192869 57.535)
+        (xy 126.312576 49.370846) (xy 126.166348 49.589691) (xy 126.097663 49.935) (xy 126.115001 50.022165) (xy 126.115 51.347835)
+        (xy 126.115 51.347836) (xy 126.115001 57.062835) (xy 126.097663 57.15) (xy 126.166348 57.495309) (xy 126.192869 57.535)
         (xy 121.342159 57.535) (xy 121.254999 57.517663) (xy 121.16784 57.535) (xy 121.167835 57.535) (xy 120.90969 57.586348)
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-        (xy 118.745 59.678421) (xy 116.287425 57.220847) (xy 116.238049 57.146951) (xy 115.94531 56.951348) (xy 115.687165 56.9)
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+        (xy 145.682337 33.019999) (xy 145.665 32.932839) (xy 145.665 32.932835) (xy 145.613652 32.67469) (xy 145.418049 32.381951)
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     )
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PCB/BLOBCNC_TOP/BLOBCNC_TOP.kicad_pcb-bak

@@ -58,10 +58,11 @@
     (pad_size 1.524 1.524)
     (pad_drill 0.762)
     (pad_to_mask_clearance 0.2)
-    (aux_axis_origin 0 0)
+    (aux_axis_origin 188.976 28.956)
+    (grid_origin 188.976 28.956)
     (visible_elements FFFFFF7F)
     (pcbplotparams
-      (layerselection 0x010fc_ffffffff)
+      (layerselection 0x01000_7fffffff)
       (usegerberextensions false)
       (usegerberattributes false)
       (usegerberadvancedattributes false)
@@ -71,7 +72,7 @@
       (plotframeref false)
       (viasonmask false)
       (mode 1)
-      (useauxorigin false)
+      (useauxorigin true)
       (hpglpennumber 1)
       (hpglpenspeed 20)
       (hpglpendiameter 15.000000)
@@ -84,7 +85,7 @@
       (subtractmaskfromsilk false)
       (outputformat 1)
       (mirror false)
-      (drillshape 1)
+      (drillshape 0)
       (scaleselection 1)
       (outputdirectory ""))
   )
@@ -1639,7 +1640,7 @@
   (segment (start 125.73 74.93) (end 114.36501 86.29499) (width 0.5) (layer F.Cu) (net 44))
   (segment (start 101.73999 86.29499) (end 100.965 85.52) (width 0.5) (layer F.Cu) (net 44))
 
-  (zone (net 10) (net_name GND) (layer F.Cu) (tstamp 5CEDF2BE) (hatch edge 0.508)
+  (zone (net 10) (net_name GND) (layer F.Cu) (tstamp 5CE5177B) (hatch edge 0.508)
     (connect_pads (clearance 0.508))
     (min_thickness 0.254)
     (fill yes (arc_segments 16) (thermal_gap 0.508) (thermal_bridge_width 0.508))

PCB/BLOBCNC_TOP/BLOBCNC_TOP.net

@@ -1,7 +1,7 @@
 (export (version D)
   (design
     (source "/home/titi/work/projets/Fresnoy/Hadrien Tequi/HTequi/PCB/BLOBCNC_TOP/BLOBCNC_TOP.sch")
-    (date "lun. 20 mai 2019 01:00:13 CEST")
+    (date "mar. 02 juil. 2019 14:54:09 CEST")
     (tool "Eeschema 5.0.0+dfsg1-2")
     (sheet (number 1) (name /) (tstamps /)
       (title_block
@@ -48,7 +48,7 @@
       (tstamp 5CE1C5A7))
     (comp (ref U1)
       (value DC-DC_MP1584EN)
-      (footprint "Lien:DC-DC LStepdown M2596")
+      (footprint Lien:DC-DC_MP1584EN)
       (libsource (lib Lien) (part DC-DC_MP1584EN) (description ""))
       (sheetpath (names /) (tstamps /))
       (tstamp 5CE1C6E1))
@@ -271,8 +271,8 @@
         (pin (num 12) (name 1A) (type output))
         (pin (num 13) (name 2A) (type output))
         (pin (num 14) (name 2B) (type output))
-        (pin (num 15) (name GND) (type output))
-        (pin (num 16) (name Vmot) (type output))))
+        (pin (num 15) (name GND) (type power_in))
+        (pin (num 16) (name Vmot) (type power_in))))
     (libpart (lib Lien) (part POL_MAX14870)
       (fields
         (field (name Reference) MotorDriver)

PCB/BLOBCNC_TOP/BLOBCNC_TOP.sch

@@ -1,4 +1,5 @@
 EESchema Schematic File Version 4
+LIBS:BLOBCNC_TOP-cache
 EELAYER 26 0
 EELAYER END
 $Descr A4 11693 8268
@@ -74,7 +75,7 @@ U 1 1 5CE1C6E1
 P 2200 1300
 F 0 "U1" V 2715 1300 50  0000 C CNN
 F 1 "DC-DC_MP1584EN" V 2624 1300 50  0000 C CNN
-F 2 "Lien:DC-DC LStepdown M2596" H 2200 1300 50  0001 C CNN
+F 2 "Lien:DC-DC_MP1584EN" H 2200 1300 50  0001 C CNN
 F 3 "" H 2200 1300 50  0001 C CNN
 	1    2200 1300
 	0    1    -1   0   

PCB/BLOBCNC_TOP/CNC/blobcnc_TOP_CURT.gcode

@@ -3,29 +3,29 @@ G21
 G90
 G94
 F100.00
-G00 Z0.2000
+G00 Z1.0000
 M03 S10000
 G4 P1
-G00 X0.7420Y-46.1855
+G00 X1.4500Y-46.1730
 G01 Z-1.8000
-G01 X0.7420Y0.7420
-G01 X-56.3455Y0.7420
-G00 Z0.2000
-G00 X-58.9955Y0.7420
+G01 X1.4500Y1.4500
+G01 X-56.3330Y1.4500
+G00 Z1.0000
+G00 X-58.9830Y1.4500
 G01 Z-1.8000
-G01 X-116.0830Y0.7420
-G01 X-116.0830Y-46.1855
-G00 Z0.2000
-G00 X-116.0830Y-48.8355
+G01 X-116.7660Y1.4500
+G01 X-116.7660Y-46.1730
+G00 Z1.0000
+G00 X-116.7660Y-48.8230
 G01 Z-1.8000
-G01 X-116.0830Y-95.7630
-G01 X-58.9955Y-95.7630
-G00 Z0.2000
-G00 X-56.3455Y-95.7630
+G01 X-116.7660Y-96.4460
+G01 X-58.9830Y-96.4460
+G00 Z1.0000
+G00 X-56.3330Y-96.4460
 G01 Z-1.8000
-G01 X0.7420Y-95.7630
-G01 X0.7420Y-48.8355
-G00 Z0.2000
-G00 Z0.2000
+G01 X1.4500Y-96.4460
+G01 X1.4500Y-48.8230
+G00 Z1.0000
+G00 Z1.0000
 G00 X0Y0
 M05