1 |
#include <OneWire.h> |
1 |
#include <OneWire.h> |
2 |
#include <Stepper.h> |
2 |
#include <Stepper.h> |
3 |
#include <Wire.h> |
3 |
#include <Wire.h> |
4 |
|
4 |
|
5 |
/* |
5 |
/* |
6 |
|
6 |
|
7 |
protokol: |
7 |
protokol: |
8 |
|
8 |
|
9 |
M - motor na jednu stranu |
9 |
M - motor na jednu stranu |
10 |
m - motor na druhou stranu |
10 |
m - motor na druhou stranu |
11 |
-- |
11 |
-- |
12 |
a - vypni FW1 |
12 |
a - vypni FW1 |
13 |
A - zapni FW1 |
13 |
A - zapni FW1 |
14 |
-- |
14 |
-- |
15 |
b - vypni FW2 |
15 |
b - vypni FW2 |
16 |
B - zapni FW2 |
16 |
B - zapni FW2 |
17 |
-- |
17 |
-- |
18 |
c - vypni FW3 |
18 |
c - vypni FW3 |
19 |
C - zapni FW3 |
19 |
C - zapni FW3 |
20 |
-- |
20 |
-- |
21 |
i - inicializace: vypni vsechny FW, vytahni motor |
21 |
i - inicializace: vypni vsechny FW, vytahni motor |
22 |
|
22 |
|
23 |
*/ |
23 |
*/ |
24 |
|
24 |
|
25 |
#define light0 0x44 // A0 = L (I2C light0) |
25 |
#define light0 0x44 // A0 = L (I2C light0) |
26 |
#define light1 0x45 // A0 = H (I2C light1) |
26 |
#define light1 0x45 // A0 = H (I2C light1) |
27 |
|
27 |
|
28 |
int lights[] = {light0, light1}; |
28 |
int lights[] = {light0, light1}; |
29 |
|
29 |
|
30 |
//#define LAMP1 13 // Callibration Lamp 1 |
30 |
//#define LAMP1 13 // Callibration Lamp 1 |
31 |
//#define LAMP2 6 // Callibration Lamp 2 |
31 |
//#define LAMP2 6 // Callibration Lamp 2 |
32 |
|
32 |
|
33 |
|
33 |
|
34 |
#define FW1 7 // [PD7 - red] Slit Wheel 1-st from light |
34 |
#define FW1 7 // [PD7 - red] Slit Wheel 1-st from light |
35 |
#define FW2 8 // [PB0 - yellow] Grism Wheel 2-nd from light |
35 |
#define FW2 8 // [PB0 - yellow] Grism Wheel 2-nd from light |
36 |
#define FW3 3 // [PD3 - blue] Filter Wheel 3-rd from light |
36 |
#define FW3 3 // [PD3 - blue] Filter Wheel 3-rd from light |
37 |
|
37 |
|
38 |
int filters[] = {FW1, FW2, FW3}; |
38 |
int filters[] = {FW1, FW2, FW3}; |
39 |
|
39 |
|
40 |
const int STEPS = 3500; // change this to fit the number of steps |
40 |
const int STEPS = 3500; // change this to fit the number of steps |
41 |
const int SSPEED = 8000; // max. 15 // stepper motor speed |
41 |
const int SSPEED = 8000; // max. 15 // stepper motor speed |
42 |
|
42 |
|
43 |
// initialize the stepper library on pins |
43 |
// initialize the stepper library on pins |
44 |
#define M1 9 |
44 |
#define M1 9 |
45 |
#define M2 10 |
45 |
#define M2 10 |
46 |
#define M3 11 |
46 |
#define M3 11 |
47 |
#define M4 12 |
47 |
#define M4 12 |
48 |
Stepper myStepper(200, M1,M2,M3,M4); |
48 |
Stepper myStepper(200, M1,M2,M3,M4); |
49 |
|
49 |
|
50 |
// DS18S20 Temperature chip |
50 |
// DS18S20 Temperature chip |
51 |
OneWire ds(5); // 1-Wire pin |
51 |
OneWire ds(5); // 1-Wire pin |
52 |
byte addr[2][8]; // 2x 1-Wire Address |
52 |
byte addr[2][8]; // 2x 1-Wire Address |
53 |
|
53 |
|
54 |
char deleni16[16]={'0','1','1','2','3','3','4','4','5','6','6','7','7','8','9','9'}; |
54 |
char deleni16[16]={'0','1','1','2','3','3','4','4','5','6','6','7','7','8','9','9'}; |
55 |
|
55 |
|
56 |
char serInString[100]; |
56 |
char serInString[100]; |
57 |
int serInIndx = 0; |
57 |
int serInIndx = 0; |
58 |
int in1, in2; |
58 |
int in1, in2; |
59 |
|
59 |
|
60 |
void motor (word arg) |
60 |
void motor (word arg) |
61 |
{ |
61 |
{ |
62 |
word n; |
62 |
word n; |
63 |
word s=SSPEED; |
63 |
word s=SSPEED; |
64 |
|
64 |
|
65 |
/* |
65 |
/* |
66 |
for(n=0;n<2500000/SSPEED;n++) |
66 |
for(n=0;n<2500000/SSPEED;n++) |
67 |
{ |
67 |
{ |
68 |
digitalWrite(M1, LOW); |
68 |
digitalWrite(M1, LOW); |
69 |
digitalWrite(M2, HIGH); |
69 |
digitalWrite(M2, HIGH); |
70 |
digitalWrite(M1, LOW); |
70 |
digitalWrite(M1, LOW); |
71 |
digitalWrite(M2, HIGH); |
71 |
digitalWrite(M2, HIGH); |
72 |
delayMicroseconds(SSPEED); |
72 |
delayMicroseconds(SSPEED); |
73 |
digitalWrite(M1, HIGH); |
73 |
digitalWrite(M1, HIGH); |
74 |
digitalWrite(M2, LOW); |
74 |
digitalWrite(M2, LOW); |
75 |
digitalWrite(M1, HIGH); |
75 |
digitalWrite(M1, HIGH); |
76 |
digitalWrite(M2, LOW); |
76 |
digitalWrite(M2, LOW); |
77 |
delayMicroseconds(SSPEED); |
77 |
delayMicroseconds(SSPEED); |
78 |
} |
78 |
} |
79 |
*/ |
79 |
*/ |
80 |
|
80 |
|
81 |
if(arg==-1) |
81 |
if(arg==-1) |
82 |
{ |
82 |
{ |
83 |
for(n=0;n<STEPS/4;n++) |
83 |
for(n=0;n<STEPS/4;n++) |
84 |
{ |
84 |
{ |
85 |
digitalWrite(M1, LOW); |
85 |
digitalWrite(M1, LOW); |
86 |
digitalWrite(M2, HIGH); |
86 |
digitalWrite(M2, HIGH); |
87 |
// digitalWrite(M3, LOW); |
87 |
// digitalWrite(M3, LOW); |
88 |
// digitalWrite(M4, HIGH); |
88 |
// digitalWrite(M4, HIGH); |
89 |
delayMicroseconds(s); |
89 |
delayMicroseconds(s); |
90 |
// digitalWrite(M1, LOW); |
90 |
// digitalWrite(M1, LOW); |
91 |
// digitalWrite(M2, HIGH); |
91 |
// digitalWrite(M2, HIGH); |
92 |
digitalWrite(M3, HIGH); |
92 |
digitalWrite(M3, HIGH); |
93 |
digitalWrite(M4, LOW); |
93 |
digitalWrite(M4, LOW); |
94 |
delayMicroseconds(s); |
94 |
delayMicroseconds(s); |
95 |
digitalWrite(M1, HIGH); |
95 |
digitalWrite(M1, HIGH); |
96 |
digitalWrite(M2, LOW); |
96 |
digitalWrite(M2, LOW); |
97 |
// digitalWrite(M3, HIGH); |
97 |
// digitalWrite(M3, HIGH); |
98 |
// digitalWrite(M4, LOW); |
98 |
// digitalWrite(M4, LOW); |
99 |
delayMicroseconds(s); |
99 |
delayMicroseconds(s); |
100 |
// digitalWrite(M1, HIGH); |
100 |
// digitalWrite(M1, HIGH); |
101 |
// digitalWrite(M2, LOW); |
101 |
// digitalWrite(M2, LOW); |
102 |
digitalWrite(M3, LOW); |
102 |
digitalWrite(M3, LOW); |
103 |
digitalWrite(M4, HIGH); |
103 |
digitalWrite(M4, HIGH); |
104 |
delayMicroseconds(s); |
104 |
delayMicroseconds(s); |
105 |
if(s>1500)s-=16; |
105 |
if(s>1500)s-=50; |
106 |
} |
106 |
} |
107 |
} |
107 |
} |
108 |
else |
108 |
else |
109 |
{ |
109 |
{ |
110 |
for(n=0;n<STEPS/4;n++) |
110 |
for(n=0;n<STEPS/4;n++) |
111 |
{ |
111 |
{ |
112 |
// digitalWrite(M1, HIGH); |
112 |
// digitalWrite(M1, HIGH); |
113 |
// digitalWrite(M2, LOW); |
113 |
// digitalWrite(M2, LOW); |
114 |
digitalWrite(M3, LOW); |
114 |
digitalWrite(M3, LOW); |
115 |
digitalWrite(M4, HIGH); |
115 |
digitalWrite(M4, HIGH); |
116 |
delayMicroseconds(s); |
116 |
delayMicroseconds(s); |
117 |
digitalWrite(M1, HIGH); |
117 |
digitalWrite(M1, HIGH); |
118 |
digitalWrite(M2, LOW); |
118 |
digitalWrite(M2, LOW); |
119 |
// digitalWrite(M3, HIGH); |
119 |
// digitalWrite(M3, HIGH); |
120 |
// digitalWrite(M4, LOW); |
120 |
// digitalWrite(M4, LOW); |
121 |
delayMicroseconds(s); |
121 |
delayMicroseconds(s); |
122 |
// digitalWrite(M1, LOW); |
122 |
// digitalWrite(M1, LOW); |
123 |
// digitalWrite(M2, HIGH); |
123 |
// digitalWrite(M2, HIGH); |
124 |
digitalWrite(M3, HIGH); |
124 |
digitalWrite(M3, HIGH); |
125 |
digitalWrite(M4, LOW); |
125 |
digitalWrite(M4, LOW); |
126 |
delayMicroseconds(s); |
126 |
delayMicroseconds(s); |
127 |
digitalWrite(M1, LOW); |
127 |
digitalWrite(M1, LOW); |
128 |
digitalWrite(M2, HIGH); |
128 |
digitalWrite(M2, HIGH); |
129 |
// digitalWrite(M3, LOW); |
129 |
// digitalWrite(M3, LOW); |
130 |
// digitalWrite(M4, HIGH); |
130 |
// digitalWrite(M4, HIGH); |
131 |
delayMicroseconds(s); |
131 |
delayMicroseconds(s); |
132 |
if(s>1500)s-=16; |
132 |
if(s>1500)s-=50; |
133 |
} |
133 |
} |
134 |
} |
134 |
} |
135 |
/* |
135 |
/* |
136 |
myStepper.setSpeed(1); |
136 |
myStepper.setSpeed(1); |
137 |
myStepper.step(arg * 10); |
137 |
myStepper.step(arg * 10); |
138 |
myStepper.setSpeed(sspeed); |
138 |
myStepper.setSpeed(sspeed); |
139 |
myStepper.step(arg * steps); |
139 |
myStepper.step(arg * steps); |
140 |
*/ |
140 |
*/ |
141 |
digitalWrite(M1, LOW); |
141 |
digitalWrite(M1, LOW); |
142 |
digitalWrite(M2, LOW); |
142 |
digitalWrite(M2, LOW); |
143 |
digitalWrite(M3, LOW); |
143 |
digitalWrite(M3, LOW); |
144 |
digitalWrite(M4, LOW); |
144 |
digitalWrite(M4, LOW); |
145 |
} |
145 |
} |
146 |
|
146 |
|
147 |
int light (int arg) |
147 |
int light (int arg) |
148 |
{ |
148 |
{ |
149 |
int LSB = 0, MSB = 0; // data from light |
149 |
int LSB = 0, MSB = 0; // data from light |
150 |
|
150 |
|
151 |
// Setup device |
151 |
// Setup device |
152 |
Wire.beginTransmission(lights[arg]); |
152 |
Wire.beginTransmission(lights[arg]); |
153 |
Wire.send(0x00); // command register |
153 |
Wire.send(0x00); // command register |
154 |
Wire.send(0b11000001); // setup (eye light sensing; measurement range 2 [4000 lx]) |
154 |
Wire.send(0b11000001); // setup (eye light sensing; measurement range 2 [4000 lx]) |
155 |
Wire.endTransmission(); // stop transmitting |
155 |
Wire.endTransmission(); // stop transmitting |
156 |
|
156 |
|
157 |
// Delay for measurement, maybe 100ms is enough, maybe not |
157 |
// Delay for measurement, maybe 100ms is enough, maybe not |
158 |
delay(110); |
158 |
delay(110); |
159 |
|
159 |
|
160 |
// LSB |
160 |
// LSB |
161 |
Wire.beginTransmission(lights[arg]); |
161 |
Wire.beginTransmission(lights[arg]); |
162 |
Wire.send(0x01); // sends light0 |
162 |
Wire.send(0x01); // sends light0 |
163 |
Wire.endTransmission(); // stop transmitting |
163 |
Wire.endTransmission(); // stop transmitting |
164 |
// Connect to device and request one byte |
164 |
// Connect to device and request one byte |
165 |
Wire.beginTransmission(lights[arg]); |
165 |
Wire.beginTransmission(lights[arg]); |
166 |
Wire.requestFrom(lights[arg], 1); |
166 |
Wire.requestFrom(lights[arg], 1); |
167 |
LSB = Wire.receive(); |
167 |
LSB = Wire.receive(); |
168 |
Wire.endTransmission(); |
168 |
Wire.endTransmission(); |
169 |
|
169 |
|
170 |
// MSB |
170 |
// MSB |
171 |
Wire.beginTransmission(lights[arg]); |
171 |
Wire.beginTransmission(lights[arg]); |
172 |
Wire.send(0x02); // sends light0 |
172 |
Wire.send(0x02); // sends light0 |
173 |
Wire.endTransmission(); // stop transmitting |
173 |
Wire.endTransmission(); // stop transmitting |
174 |
// Connect to device and request one byte |
174 |
// Connect to device and request one byte |
175 |
Wire.beginTransmission(lights[arg]); |
175 |
Wire.beginTransmission(lights[arg]); |
176 |
Wire.requestFrom(lights[arg], 1); |
176 |
Wire.requestFrom(lights[arg], 1); |
177 |
MSB = Wire.receive(); |
177 |
MSB = Wire.receive(); |
178 |
Wire.endTransmission(); // stop transmitting |
178 |
Wire.endTransmission(); // stop transmitting |
179 |
|
179 |
|
180 |
return ((MSB << 8) + LSB); |
180 |
return ((MSB << 8) + LSB); |
181 |
} |
181 |
} |
182 |
|
182 |
|
183 |
int temperature (int arg) |
183 |
int temperature (int arg) |
184 |
{ |
184 |
{ |
185 |
int i, temp; |
185 |
int i, temp; |
186 |
byte data[12]; |
186 |
byte data[12]; |
187 |
|
187 |
|
188 |
if (OneWire::crc8 (addr[arg], 7) != addr[arg][7]) |
188 |
if (OneWire::crc8 (addr[arg], 7) != addr[arg][7]) |
189 |
{ |
189 |
{ |
190 |
Serial.print("CRC is not valid!\n"); |
190 |
Serial.print("CRC is not valid!\n"); |
191 |
return 0; |
191 |
return 0; |
192 |
} |
192 |
} |
193 |
|
193 |
|
194 |
ds.reset(); |
194 |
ds.reset(); |
195 |
ds.select(addr[arg]); |
195 |
ds.select(addr[arg]); |
196 |
ds.write(0x44, 1); // start conversion, with parasite power on at the end |
196 |
ds.write(0x44, 1); // start conversion, with parasite power on at the end |
197 |
|
197 |
|
198 |
delay(800); // maybe 750ms is enough, maybe not |
198 |
delay(800); // maybe 750ms is enough, maybe not |
199 |
|
199 |
|
200 |
ds.reset(); |
200 |
ds.reset(); |
201 |
ds.select(addr[arg]); |
201 |
ds.select(addr[arg]); |
202 |
ds.write(0xBE); // Read Scratchpad |
202 |
ds.write(0xBE); // Read Scratchpad |
203 |
|
203 |
|
204 |
for ( i = 0; i < 9; i++) // we need 9 bytes |
204 |
for ( i = 0; i < 9; i++) // we need 9 bytes |
205 |
{ |
205 |
{ |
206 |
data[i] = ds.read(); |
206 |
data[i] = ds.read(); |
207 |
} |
207 |
} |
208 |
|
208 |
|
209 |
temp = (data[1] << 8) + data[0]; //take the two bytes from the response relating to temperature |
209 |
temp = (data[1] << 8) + data[0]; //take the two bytes from the response relating to temperature |
210 |
// temp = temp >> 4; //divide by 16 to get pure celcius readout |
210 |
// temp = temp >> 4; //divide by 16 to get pure celcius readout |
211 |
|
211 |
|
212 |
return temp; |
212 |
return temp; |
213 |
} |
213 |
} |
214 |
|
214 |
|
215 |
void inicializace () |
215 |
void inicializace () |
216 |
{ |
216 |
{ |
217 |
// vysune se motor |
217 |
// vysune se motor |
218 |
motor (1); |
218 |
motor (1); |
219 |
// vsechny vystupy off |
219 |
// vsechny vystupy off |
220 |
// digitalWrite(LAMP1, LOW); |
220 |
// digitalWrite(LAMP1, LOW); |
221 |
// digitalWrite(LAMP2, LOW); |
221 |
// digitalWrite(LAMP2, LOW); |
222 |
digitalWrite(FW1, LOW); |
222 |
digitalWrite(FW1, LOW); |
223 |
digitalWrite(FW2, LOW); |
223 |
digitalWrite(FW2, LOW); |
224 |
digitalWrite(FW3, LOW); |
224 |
digitalWrite(FW3, LOW); |
225 |
} |
225 |
} |
226 |
|
226 |
|
227 |
void setup() |
227 |
void setup() |
228 |
{ |
228 |
{ |
229 |
// pinMode(LAMP1, OUTPUT); |
229 |
// pinMode(LAMP1, OUTPUT); |
230 |
// pinMode(LAMP2, OUTPUT); |
230 |
// pinMode(LAMP2, OUTPUT); |
231 |
pinMode(FW1, OUTPUT); |
231 |
pinMode(FW1, OUTPUT); |
232 |
pinMode(FW2, OUTPUT); |
232 |
pinMode(FW2, OUTPUT); |
233 |
pinMode(FW3, OUTPUT); |
233 |
pinMode(FW3, OUTPUT); |
234 |
|
234 |
|
235 |
pinMode(6, OUTPUT); |
235 |
pinMode(6, OUTPUT); |
236 |
//analogWrite(6, 254); |
236 |
//analogWrite(6, 254); |
237 |
digitalWrite(6, HIGH); |
237 |
digitalWrite(6, HIGH); |
238 |
|
238 |
|
239 |
// initialize the serial port: |
239 |
// initialize the serial port: |
240 |
Serial.begin(9600); |
240 |
Serial.begin(9600); |
241 |
|
241 |
|
242 |
Wire.begin(); // join i2c bus |
242 |
Wire.begin(); // join i2c bus |
243 |
|
243 |
|
244 |
// OneWire |
244 |
// OneWire |
245 |
ds.reset_search(); |
245 |
ds.reset_search(); |
246 |
if (!ds.search(addr[0])) // search for next thermometer |
246 |
if (!ds.search(addr[0])) // search for next thermometer |
247 |
{ |
247 |
{ |
248 |
Serial.print ("1st thermometer error."); |
248 |
Serial.print ("1st thermometer error."); |
249 |
ds.reset_search(); |
249 |
ds.reset_search(); |
250 |
delay(250); |
250 |
delay(250); |
251 |
return; |
251 |
return; |
252 |
} |
252 |
} |
253 |
if (!ds.search(addr[1])) // search for next thermometer |
253 |
if (!ds.search(addr[1])) // search for next thermometer |
254 |
{ |
254 |
{ |
255 |
Serial.print ("2nd thermometer error."); |
255 |
Serial.print ("2nd thermometer error."); |
256 |
ds.reset_search(); |
256 |
ds.reset_search(); |
257 |
delay(250); |
257 |
delay(250); |
258 |
return; |
258 |
return; |
259 |
} |
259 |
} |
260 |
|
260 |
|
261 |
inicializace (); |
261 |
inicializace (); |
262 |
} |
262 |
} |
263 |
|
263 |
|
264 |
void telemetrie () |
264 |
void telemetrie () |
265 |
{ |
265 |
{ |
266 |
int t; |
266 |
int t; |
267 |
Serial.print ("FW1="); |
267 |
Serial.print ("FW1="); |
268 |
Serial.print (digitalRead (filters[0]) ? '1' : '0'); |
268 |
Serial.print (digitalRead (filters[0]) ? '1' : '0'); |
269 |
Serial.print (",FW2="); |
269 |
Serial.print (",FW2="); |
270 |
Serial.print (digitalRead (filters[1]) ? '1' : '0'); |
270 |
Serial.print (digitalRead (filters[1]) ? '1' : '0'); |
271 |
Serial.print (",FW3="); |
271 |
Serial.print (",FW3="); |
272 |
Serial.print (digitalRead (filters[2]) ? '1' : '0'); |
272 |
Serial.print (digitalRead (filters[2]) ? '1' : '0'); |
273 |
Serial.print (",T1="); |
273 |
Serial.print (",T1="); |
274 |
t=temperature(0); |
274 |
t=temperature(0); |
275 |
Serial.print (t >> 4); |
275 |
Serial.print (t >> 4); |
276 |
Serial.print ("."); |
276 |
Serial.print ("."); |
277 |
Serial.print (deleni16[t & 0xf]); |
277 |
Serial.print (deleni16[t & 0xf]); |
278 |
Serial.print (",T2="); |
278 |
Serial.print (",T2="); |
279 |
t=temperature(1); |
279 |
t=temperature(1); |
280 |
Serial.print (t >> 4); |
280 |
Serial.print (t >> 4); |
281 |
Serial.print ("."); |
281 |
Serial.print ("."); |
282 |
Serial.print (deleni16[t & 0xf]); |
282 |
Serial.print (deleni16[t & 0xf]); |
283 |
Serial.print (",L1="); |
283 |
Serial.print (",L1="); |
284 |
Serial.print (light (0)); |
284 |
Serial.print (light (0)); |
285 |
Serial.print (",L2="); |
285 |
Serial.print (",L2="); |
286 |
Serial.print (light (1)); |
286 |
Serial.print (light (1)); |
287 |
Serial.println (); |
287 |
Serial.println (); |
288 |
} |
288 |
} |
289 |
|
289 |
|
290 |
void readSerialString () |
290 |
void readSerialString () |
291 |
{ |
291 |
{ |
292 |
serInIndx=0; |
292 |
serInIndx=0; |
293 |
do |
293 |
do |
294 |
{ |
294 |
{ |
295 |
while(Serial.available()==0); |
295 |
while(Serial.available()==0); |
296 |
serInString[serInIndx] = Serial.read(); |
296 |
serInString[serInIndx] = Serial.read(); |
297 |
Serial.print(serInString[serInIndx]); |
297 |
Serial.print(serInString[serInIndx]); |
298 |
serInIndx++; |
298 |
serInIndx++; |
299 |
} while ((serInString[serInIndx-1]!='\n')&&(serInString[serInIndx-1]!='.')); |
299 |
} while ((serInString[serInIndx-1]!='\n')&&(serInString[serInIndx-1]!='.')); |
300 |
Serial.print("\r\n="); |
300 |
Serial.print("\r\n="); |
301 |
} |
301 |
} |
302 |
|
302 |
|
303 |
void loop() |
303 |
void loop() |
304 |
{ |
304 |
{ |
305 |
// readSerialString(); |
305 |
// readSerialString(); |
306 |
|
306 |
|
307 |
if (Serial.available()) |
307 |
if (Serial.available()) |
308 |
{ |
308 |
{ |
309 |
switch (Serial.read()) |
309 |
switch (Serial.read()) |
310 |
{ |
310 |
{ |
311 |
case 'i': // inicializace |
311 |
case 'i': // inicializace |
312 |
inicializace (); |
312 |
inicializace (); |
313 |
break; |
313 |
break; |
314 |
case 'm': |
314 |
case 'm': |
315 |
motor (-1); |
315 |
motor (-1); |
316 |
break; |
316 |
break; |
317 |
case 'M': |
317 |
case 'M': |
318 |
motor (1); // vysunuto |
318 |
motor (1); // vysunuto |
319 |
break; |
319 |
break; |
320 |
|
320 |
|
321 |
case 'x': |
321 |
case 'x': |
322 |
myStepper.setSpeed(100); |
322 |
myStepper.setSpeed(100); |
323 |
myStepper.step(3000); |
323 |
myStepper.step(3000); |
324 |
break; |
324 |
break; |
325 |
case 'y': |
325 |
case 'y': |
326 |
myStepper.setSpeed(10.0); |
326 |
myStepper.setSpeed(10.0); |
327 |
myStepper.step(-3000); |
327 |
myStepper.step(-3000); |
328 |
break; |
328 |
break; |
329 |
|
329 |
|
330 |
case 'A': |
330 |
case 'A': |
331 |
digitalWrite(FW1, HIGH); |
331 |
digitalWrite(FW1, HIGH); |
332 |
break; |
332 |
break; |
333 |
case 'a': |
333 |
case 'a': |
334 |
digitalWrite(FW1, LOW); |
334 |
digitalWrite(FW1, LOW); |
335 |
break; |
335 |
break; |
336 |
case 'B': |
336 |
case 'B': |
337 |
digitalWrite(FW2, HIGH); |
337 |
digitalWrite(FW2, HIGH); |
338 |
break; |
338 |
break; |
339 |
case 'b': |
339 |
case 'b': |
340 |
digitalWrite(FW2, LOW); |
340 |
digitalWrite(FW2, LOW); |
341 |
break; |
341 |
break; |
342 |
case 'C': |
342 |
case 'C': |
343 |
digitalWrite(FW3, HIGH); |
343 |
digitalWrite(FW3, HIGH); |
344 |
break; |
344 |
break; |
345 |
case 'c': |
345 |
case 'c': |
346 |
digitalWrite(FW3, LOW); |
346 |
digitalWrite(FW3, LOW); |
347 |
break; |
347 |
break; |
348 |
} |
348 |
} |
349 |
telemetrie (); |
349 |
telemetrie (); |
350 |
Serial.flush (); |
350 |
Serial.flush (); |
351 |
// /for (serInIndx = 100; serInIndx > 0; serInIndx--) |
351 |
// /for (serInIndx = 100; serInIndx > 0; serInIndx--) |
352 |
// serInString[serInIndx] = ' '; |
352 |
// serInString[serInIndx] = ' '; |
353 |
} |
353 |
} |
354 |
|
354 |
|
355 |
// delay(100); |
355 |
// delay(100); |
356 |
} |
356 |
} |