Merge pull request #6 from bartebor/cocktailyogi

Some code cleanup, minor improvements and indentation fix

EggDuino.ino

@@ -45,7 +45,6 @@ Thanks to my wife and my daughter for their patience. :-)
 // #define penToggleButton 12 // pen up/down button
 // #define motorsButton 4 // motors enable button
 
-// #define CommandSMQB
 //-----------------------------------------------------------------------------------------------------------
 
 #define penUpPosEEAddress ((uint16_t *)0)
@@ -92,10 +91,7 @@ void setup() {
 }
 
 void loop() {
-	if ( penMotor.distanceToGo() || rotMotor.distanceToGo() ) {
-		penMotor.runSpeedToPosition(); // Moving.... moving... moving....
-		rotMotor.runSpeedToPosition();
-	}
+	moveOneStep();
 
 	SCmd.readSerial();
 

Functions.ino

@@ -5,9 +5,6 @@ void makeComInterface(){
 	SCmd.addCommand("SC",stepperModeConfigure);
 	SCmd.addCommand("SP",setPen);
 	SCmd.addCommand("SM",stepperMove);
-  #ifdef CommandSMQB
-	  SCmd.addCommand("SMQB",stepperMoveQueryButton); // composite function enabling smooth movement
-  #endif
 	SCmd.addCommand("SE",ignore);
 	SCmd.addCommand("TP",togglePen);
 	SCmd.addCommand("PO",ignore);    //Engraver command, not implemented, gives fake answer
@@ -89,10 +86,8 @@ void stepperMove() {
 	uint16_t duration=0; //in ms
 	int penStepsEBB=0; //Pen
 	int rotStepsEBB=0; //Rot
-  while ( penMotor.distanceToGo() || rotMotor.distanceToGo() ) {
-	  		penMotor.runSpeedToPosition(); // Moving.... moving... moving....
-	  		rotMotor.runSpeedToPosition();
-  }
+
+	moveToDestination();
 
 	if (!parseSMArgs(&duration, &penStepsEBB, &rotStepsEBB)) {
 		sendError();
@@ -103,46 +98,19 @@ void stepperMove() {
 
 	if ( (penStepsEBB==0) && (rotStepsEBB==0) ) {
 		delay(duration);
-    //sendAck();
 		return;
 	}
 
-  doMove(duration, penStepsEBB, rotStepsEBB);
-  //sendAck();
+	prepareMove(duration, penStepsEBB, rotStepsEBB);
 }
 
-#ifdef CommandSMQB
-	void stepperMoveQueryButton() {
-	  uint16_t duration=0; //in ms
-	  int penStepsEBB=0; //Pen
-	  int rotStepsEBB=0; //Rot
-
-	  if (!parseSMArgs(&duration, &penStepsEBB, &rotStepsEBB)) {
-		sendError();
-		return;
-	  }
-
-	  if ( (penStepsEBB==0) && (rotStepsEBB==0) ) {
-		delay(duration);
-		queryButton();
-		return;
-	  }
-
-	  // sending ACK before actual move to allow buffering 
-	  queryButton();
-	  doMove(duration, penStepsEBB, rotStepsEBB);
-	}
-#endif
-
-
 void setPen(){
 	int cmd;
 	int value;
 	char *arg;
-    while ( penMotor.distanceToGo() || rotMotor.distanceToGo() ) {
-	    penMotor.runSpeedToPosition(); // Moving.... moving... moving....
-	    rotMotor.runSpeedToPosition();
-    }
+
+	moveToDestination();
+
 	arg = SCmd.next();
 	if (arg != NULL) {
 		cmd = atoi(arg);
@@ -180,10 +148,9 @@ void setPen(){
 void togglePen(){
 	int value;
 	char *arg;
-    while ( penMotor.distanceToGo() || rotMotor.distanceToGo() ) {
-				penMotor.runSpeedToPosition(); // Moving.... moving... moving....
-				rotMotor.runSpeedToPosition();
-    }
+
+	moveToDestination();
+
 	arg = SCmd.next();
 	if (arg != NULL)
 		value = atoi(arg);

Helper_Functions.ino

@@ -7,18 +7,6 @@ void initHardware(){
 	pinMode(enableRotMotor, OUTPUT);
 	pinMode(enablePenMotor, OUTPUT);
 
-  	#ifdef prgButton
-		pinMode(prgButton, INPUT_PULLUP);
-  	#endif
-	  
-	#ifdef penToggleButton
-		pinMode(penToggleButton, INPUT_PULLUP);
-	#endif
-	
-	#ifdef motorsButton
-		pinMode(motorsButton, INPUT_PULLUP);
-	#endif
-
 	rotMotor.setMaxSpeed(2000.0);
 	rotMotor.setAcceleration(10000.0);
 	penMotor.setMaxSpeed(2000.0);
@@ -92,7 +80,7 @@ bool parseSMArgs(uint16_t *duration, int *penStepsEBB, int *rotStepsEBB) {
 	return false;
 }
 
-void doMove(uint16_t duration, int penStepsEBB, int rotStepsEBB) {
+void prepareMove(uint16_t duration, int penStepsEBB, int rotStepsEBB) {
 	if (!motorsEnabled) {
 		motorsOn();
 	}
@@ -126,12 +114,20 @@ void doMove(uint16_t duration, int penStepsEBB, int rotStepsEBB) {
 		penMotor.move(penStepsToGo);
 		penMotor.setSpeed( penSpeed );
 	}
-/*
+}
+
+void moveOneStep() {
+	if ( penMotor.distanceToGo() || rotMotor.distanceToGo() ) {
+		penMotor.runSpeedToPosition(); // Moving.... moving... moving....
+		rotMotor.runSpeedToPosition();
+	}
+}
+
+void moveToDestination() {
 	while ( penMotor.distanceToGo() || rotMotor.distanceToGo() ) {
 		penMotor.runSpeedToPosition(); // Moving.... moving... moving....
 		rotMotor.runSpeedToPosition();
 	}
-	*/
 }
 
 void setprgButtonState(){

README.md

@@ -44,7 +44,3 @@ http://wiki.evilmadscientist.com/Installing_software
 				#		return serialPort
 		- In my version lines 1355-1360
  
-Todos and Feature-Wishlist:
-
-- implement hardware-button , EGGBOT-Guys call it "PRG-Button"
-  

button.h

@@ -29,7 +29,10 @@ private:
 	
 public:
 	
-	Button(byte p, ActionCb a): debounce(0), state(1), lastState(1), action(a), pin(p) {} ;
+	Button(byte p, ActionCb a): debounce(0), state(1), lastState(1), action(a), pin(p) {
+		pinMode(pin, INPUT_PULLUP);
+	}
+
 	void check() {
 		byte b = digitalRead(pin);
 		long t = millis();
@@ -49,10 +52,7 @@ public:
 		}
 
 		lastState = b;
-	};
-
-
-
+	}
 }; //button
 
 #endif //__BUTTON_H__