Merge branch 'master' of https://github.com/masskro0/Website

Merge commit

Arduino/servoFunctions.ino

@@ -0,0 +1,83 @@
+//move servo from idle position to destination and back
+void move_servo(struct servoMot *serv){
+  //check if you have to move forward or backward
+  if (serv->target_pos > serv->idle_pos){
+    //move to destination
+    int i = serv->current_pos;
+
+    #ifdef DEBUGSERVO
+    Serial.print("i should be current pos: ");
+    Serial.println(i);
+    #endif
+
+    while(!(serv->state)){
+      //check if servo is at its destination
+      if (serv->current_pos == (serv->target_pos)-1){
+        serv->state = 1;
+      }
+      (serv->connected_servo).write(i);
+
+      #ifdef DEBUGSERVO
+      Serial.print("position i: ");
+      Serial.println(i);
+      Serial.print("state: ");
+      Serial.println(serv->state);
+      #endif
+
+      serv->current_pos = i;
+      i++;
+      delay(20);
+
+    }
+    i = serv->current_pos;
+    //return to idle position
+    while (serv->state){
+      if (serv->current_pos == (serv->idle_pos)+1){
+        serv->state = 0;
+      }
+      (serv->connected_servo).write(i);
+
+      #ifdef DEBUGSERVO
+      Serial.print("position i: ");
+      Serial.println(i);
+      Serial.print("target_pos_fetcher: ");
+      Serial.println(serv->target_pos);
+      #endif
+
+      serv->current_pos = i;
+      i--;
+      delay(10);
+    }
+  } else {
+    int i = serv->current_pos;
+    while(!(serv->state)){
+      if (serv->current_pos == (serv->target_pos)+1){
+        serv->state = 1;
+      }
+      (serv->connected_servo).write(i);
+      serv->current_pos = i;
+      i--;
+      delay(20);
+
+    }
+    i = serv->current_pos;
+    //return to idle position
+    while (serv->state){
+      if (serv->current_pos == (serv->idle_pos)-1){
+        serv->state = 0;
+      }
+      (serv->connected_servo).write(i);
+      serv->current_pos = i;
+      i++;
+      delay(10);
+    }
+  }
+}
+
+void move_servos_to_idle(struct servoMot *serv1, struct servoMot *serv2){
+  //move to starting position
+  (serv1->connected_servo).write(serv1->idle_pos);
+  serv1->current_pos = serv1->idle_pos;
+  (serv2->connected_servo).write(serv2->idle_pos);
+  serv2->current_pos = serv2->idle_pos;
+}

Arduino/stepperFunctions.ino

@@ -0,0 +1,65 @@
+//turns the stepper motor to position pos with delays del after each step
+int stepperSteps(struct stepperMot *mot, int pos, int del){
+  if (mot->current_pos != pos){ 
+      #ifdef DEBUGSTEP
+      Serial.print("test");
+      #endif
+      //if delaytime is reached move one step
+      if (millis() > mot->old_steppertime){
+      //switch between four steps
+      switch(mot->stepperstate){
+        case 0: PORTC |= (1<<mot->pinA0);
+                PORTC &= ~(1<<mot->pinA1);
+                PORTC |= (1<<mot->pinA2);
+                PORTC &= ~(1<<mot->pinA3);
+                mot->stepperstate++;
+                break;
+        case 1: PORTC &= ~(1<<mot->pinA0);
+                PORTC |= (1<<mot->pinA1);
+                PORTC |= (1<<mot->pinA2);
+                PORTC &= ~(1<<mot->pinA3);
+                mot->stepperstate++;
+                break; 
+        case 2: PORTC &= ~(1<<mot->pinA0);
+                PORTC |= (1<<mot->pinA1);
+                PORTC &= ~(1<<mot->pinA2);
+                PORTC |= (1<<mot->pinA3);
+                mot->stepperstate++;
+                break; 
+        case 3: PORTC |= (1<<mot->pinA0);
+                PORTC &= ~(1<<mot->pinA1);
+                PORTC &= ~(1<<mot->pinA2);
+                PORTC |= (1<<mot->pinA3);  
+                mot->stepperstate = 0;
+                break; 
+      }
+      mot->current_pos++;
+      mot->old_steppertime = millis() + del;
+    }
+    //return is working
+    return 1;
+  } else {
+    //return is finished
+    return 0;
+  }
+}
+
+void calibrate(struct stepperMot *mot){
+  #ifdef DEBUGSTEP
+  Serial.println("tries to calibrate");
+  #endif
+
+  mot->is_working = 1;
+  //move stepper until the interrupt is triggered
+  while((mot->current_pos) > 0){
+    //set destination of stepper to infinity to keep turning
+    mot->is_working = stepperSteps(mot, 65535, STEPPERSPEED);
+    #ifdef DEBUGSTEP
+    Serial.print("calibrating, current pos: ");
+    Serial.println(mot->current_pos);
+    #endif
+  }
+  mot->is_working = 0;//maybe delete, for servo test
+  write_to_all_clients('r'); //stupid
+  stepper1.is_calibrated = 1;
+}