Sternenlabor/EggDuino
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Fixing indentation

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This commit is contained in:
Bartosz Borkowski
2015-05-28 22:40:39 +02:00
parent 69d3baa1b2
commit bd08ae9a98
3 changed files with 266 additions and 266 deletions
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40
Helper_Functions.ino
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@@ -1,33 +1,33 @@
void initHardware(){
// enable eeprom wait in avr/eeprom.h functions
SPMCSR &= ~SELFPRGEN;
// enable eeprom wait in avr/eeprom.h functions
SPMCSR &= ~SELFPRGEN;
loadPenPosFromEE();
loadPenPosFromEE();
pinMode(enableRotMotor, OUTPUT);
pinMode(enablePenMotor, OUTPUT);
pinMode(enableRotMotor, OUTPUT);
pinMode(enablePenMotor, OUTPUT);
rotMotor.setMaxSpeed(2000.0);
rotMotor.setAcceleration(10000.0);
penMotor.setMaxSpeed(2000.0);
penMotor.setAcceleration(10000.0);
motorsOff();
penServo.attach(servoPin);
penServo.write(penState);
rotMotor.setMaxSpeed(2000.0);
rotMotor.setAcceleration(10000.0);
penMotor.setMaxSpeed(2000.0);
penMotor.setAcceleration(10000.0);
motorsOff();
penServo.attach(servoPin);
penServo.write(penState);
}
void inline loadPenPosFromEE() {
penUpPos = eeprom_read_word(penUpPosEEAddress);
penDownPos = eeprom_read_word(penDownPosEEAddress);
penState = penUpPos;
penUpPos = eeprom_read_word(penUpPosEEAddress);
penDownPos = eeprom_read_word(penDownPosEEAddress);
penState = penUpPos;
}
void inline storePenUpPosInEE() {
eeprom_update_word(penUpPosEEAddress, penUpPos);
eeprom_update_word(penUpPosEEAddress, penUpPos);
}
void inline storePenDownPosInEE() {
eeprom_update_word(penDownPosEEAddress, penDownPos);
eeprom_update_word(penDownPosEEAddress, penDownPos);
}
void inline sendAck(){
@@ -53,7 +53,7 @@ void motorsOn() {
void toggleMotors() {
if (motorsEnabled) {
motorsOff();
} else {
} else {
motorsOn();
}
}
@@ -73,7 +73,7 @@ bool parseSMArgs(uint16_t *duration, int *penStepsEBB, int *rotStepsEBB) {
}
if (arg3 != NULL) {
*rotStepsEBB = atoi(arg3);
return true;
}
@@ -90,7 +90,7 @@ void prepareMove(uint16_t duration, int penStepsEBB, int rotStepsEBB) {
rotMotor.setSpeed( abs( (float)rotStepsEBB * (float)1000 / (float)duration ) );
penMotor.move(penStepsEBB);
penMotor.setSpeed( abs( (float)penStepsEBB * (float)1000 / (float)duration ) );
} else {
} else {
//incoming EBB-Steps will be multiplied by 16, then Integer-maths is done, result will be divided by 16
// This make thinks here really complicated, but floating point-math kills performance and memory, believe me... I tried...
long rotSteps = ( (long)rotStepsEBB * 16 / rotStepCorrection) + (long)rotStepError; //correct incoming EBB-Steps to our microstep-Setting and multiply by 16 to avoid floatingpoint...