Fix first motor command by setting speed before move

Not working and removed:
- AccelStepper: Move to FastAccelStepper for ESP32
- Servo: Changed to ESP32 - check if that is ok
- Serial Comm Interface now at 115200 -> change back to 9600 later

.gitignore

@@ -215,3 +215,4 @@ pip-log.txt
 
 #Mr Developer
 .mr.developer.cfg
+src/credentials.h

README.md

@@ -44,3 +44,15 @@ http://wiki.evilmadscientist.com/Installing_software
 				#		return serialPort
 		- In my version lines 1355-1360
  
+
+## Setup
+Add credentials.h file with content like this:
+
+    const char *kWifiSsid = "MySSID";
+    const char *kWifiPassword = "MySecret";
+
+To disable Wifi:
+
+    const char *kWifiSsid = 0;
+    const char *kWifiPassword = 0;
+

include/EggDuino.h

@@ -2,16 +2,41 @@
 #define EGGDUINO_H
 
 #include <Arduino.h>
+#ifdef ESP32
+#include <ESP32Servo.h>
+#include <WiFi.h>
+#include <WebServer.h>
+#include <SPIFFS.h>
+#else
 #include <Servo.h>
-#include <avr/eeprom.h>
+#endif
 
-#include "AccelStepper.h"
+#include <FastAccelStepper.h>
 #include "SerialCommand.h"
 #include "button.h"
 
 // implemented Eggbot-Protocol-Version v13
 #define initSting "EBBv13_and_above Protocol emulated by Eggduino-Firmware V1.6a"
 
+#ifdef ESP32
+
+// Rotational Stepper
+#define dir1 16
+#define enableRotMotor 12
+#define step1 26
+#define rotMicrostep 32
+
+// Pen Stepper
+#define step2 25
+#define dir2 27
+#define enablePenMotor 12
+#define penMicrostep 32
+
+#define servoPin 17
+
+
+#else
+
 // Rotational Stepper
 #define step1 2
 #define dir1 5
@@ -26,31 +51,39 @@
 
 #define servoPin 4
 
-#define penUpPosEEAddress ((uint16_t *)0)
-#define penDownPosEEAddress ((uint16_t *)2)
 
-extern AccelStepper rotMotor;
+#endif
-extern AccelStepper penMotor;
+
+struct ConfigParameter {
+	const char *key;
+	int *value;
+	String description;
+	int defaultValue;
+};
+
+extern FastAccelStepperEngine g_stepEngine;
+extern FastAccelStepper *g_pStepperRotate;
+extern FastAccelStepper *g_pStepperPen;
+
 extern Servo penServo;
 extern SerialCommand SCmd;
 
-extern int penMin;
+extern int g_iPenUpPos;
-extern int penMax;
+extern int g_iPenDownPos;
-extern int penUpPos;
+extern int g_iServoRateUp;
-extern int penDownPos;
+extern int g_iServoRateDown;
-extern int servoRateUp;
+extern long g_iRotStepError;
-extern int servoRateDown;
+extern long g_iPenStepError;
-extern long rotStepError;
+extern int g_iPenState;
-extern long penStepError;
+extern uint32_t g_uiNodeCount;
-extern int penState;
+extern unsigned int g_uiLayer;
-extern uint32_t nodeCount;
+extern boolean g_bPrgButtonState;
-extern unsigned int layer;
+extern float fROT_STEP_CORRECTION;
-extern boolean prgButtonState;
+extern float fPEN_STEP_CORRECTION;
-extern uint8_t rotStepCorrection;
+extern boolean g_bMotorsEnabled;
-extern uint8_t penStepCorrection;
+
-extern float rotSpeed;
+extern ConfigParameter configParameters[];
-extern float penSpeed;
+extern const size_t configParameterCount;
-extern boolean motorsEnabled;
 
 void makeComInterface();
 void initHardware();
@@ -68,4 +101,15 @@ void prepareMove(uint16_t duration, int penStepsEBB, int rotStepsEBB);
 void storePenUpPosInEE();
 void storePenDownPosInEE();
 
+bool initConfigStore();
+bool loadConfigFromFile();
+bool saveConfigToFile();
+String buildConfigJson();
+bool applyConfigJson(const String &payload, String &errorMessage);
+void startWebInterface();
+void handleWebInterface();
+void Log(const String &message);
+void Log(const char *message);
+String buildLogsJson(uint32_t sinceSeq);
+
 #endif

inkscape/linux/patch/ebb_serial.py

@@ -0,0 +1,452 @@
+# coding=utf-8
+'''
+ebb_serial.py
+Serial connection utilities for EiBotBoard
+https://github.com/evil-mad/plotink
+
+Intended to provide some common interfaces that can be used by
+EggBot, WaterColorBot, AxiDraw, and similar machines.
+
+See below for version information
+
+Thanks to Shel Michaels for bug fixes and helpful suggestions.
+
+
+The MIT License (MIT)
+
+Copyright (c) 2022 Windell H. Oskay, Evil Mad Scientist Laboratories
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+'''
+
+import logging
+from packaging.version import parse
+
+from .plot_utils_import import from_dependency_import
+inkex = from_dependency_import('ink_extensions.inkex')
+serial = from_dependency_import('serial')
+from serial.tools.list_ports import comports \
+    #pylint: disable=wrong-import-position, wrong-import-order
+
+logger = logging.getLogger(__name__)
+
+def version():
+    '''Version number for this document'''
+    return "0.19"   # Dated 2022-10-05
+
+
+def findPort():
+    '''
+    Find first available EiBotBoard by searching USB ports. Return serial port object.
+    '''
+    try:
+        com_ports_list = list(comports())
+    except TypeError:
+        return None
+    ebb_port = None
+    for port in com_ports_list:
+        if port[0].startswith("/dev/ttyUSB"):
+            ebb_port = port[0]  # Success; EBB found by name match.
+            break  # stop searching-- we are done.
+    for port in com_ports_list:
+        if port[1].startswith("EiBotBoard"):
+            ebb_port = port[0]  # Success; EBB found by name match.
+            break  # stop searching-- we are done.
+    if ebb_port is None:
+        for port in com_ports_list:
+            if port[2].startswith("USB VID:PID=04D8:FD92"):
+                ebb_port = port[0]  # Success; EBB found by VID/PID match.
+                break  # stop searching-- we are done.
+    return ebb_port
+
+
+def find_named_ebb(port_name):
+    '''
+    Find a specific EiBotBoard identified by a string giving either:
+           The enumerated serial port, or
+           An EBB "Name tag"
+    Names should be 3-16 characters long. Comparisons are not case sensitive.
+    (Name tags may assigned with the ST command on firmware 2.5.5 and later.)
+    If found:     Return serial port name (enumeration)
+    If not found, Return None
+    '''
+    if port_name is not None:
+        needle = 'SER=' + port_name     # pyserial 3
+        needle2 = 'SNR=' + port_name    # pyserial 2.7
+        needle3 = '(' + port_name + ')' # e.g., "(COM4)"
+
+        needle = needle.lower()
+        needle2 = needle2.lower()
+        needle3 = needle3.lower()
+        plower = port_name.lower()
+
+        try:
+            com_ports_list = list(comports())
+        except TypeError:
+            return None
+
+        for port in com_ports_list:
+            p_0 = port[0].lower()
+            p_1 = port[1].lower()
+            p_2 = port[2].lower()
+
+            if needle in p_2:
+                return port[0]  # Success; EBB found by name match.
+            if needle2 in p_2:
+                return port[0]  # Success; EBB found by name match.
+            if needle3 in p_1:
+                return port[0]  # Success; EBB found by port match.
+
+            p_1 = p_1[11:]
+            if p_1.startswith(plower):
+                return port[0]  # Success; EBB found by name match.
+            if p_0.startswith(plower):
+                return port[0]  # Success; EBB found by port match.
+
+            needle.replace(" ", "_") # SN on Windows has underscores, not spaces.
+            if needle in p_2:
+                return port[0]  # Success; EBB found by port match.
+
+            needle2.replace(" ", "_") # SN on Windows has underscores, not spaces.
+            if needle2 in p_2:
+                return port[0]  # Success; EBB found by port match.
+    return None
+
+
+def query_nickname(port_name, verbose=True):
+    '''
+    Query the EBB nickname and report it.
+    If verbose is True or omitted, the result will be human readable.
+    A short version is returned if verbose is False.
+    Requires firmware version 2.5.5 or newer. http://evil-mad.github.io/EggBot/ebb.html#QT
+    '''
+    if port_name is not None:
+        version_status = min_version(port_name, "2.5.5")
+
+        if version_status:
+            raw_string = (query(port_name, 'QT\r'))
+            if raw_string.isspace():
+                if verbose:
+                    return "This AxiDraw does not have a nickname assigned."
+                return None
+            if verbose:
+                return "AxiDraw nickname: " + raw_string
+            return str(raw_string).strip()
+        if version_status is False:
+            if verbose:
+                return "AxiDraw naming requires firmware version 2.5.5 or higher."
+    return None
+
+
+def write_nickname(port_name, nickname):
+    '''
+    Write the EBB nickname.
+    Requires firmware version 2.5.5 or newer. http://evil-mad.github.io/EggBot/ebb.html#ST
+    '''
+    if port_name is not None:
+        version_status = min_version(port_name, "2.5.5")
+
+        if version_status:
+            try:
+                cmd = 'ST,' + nickname + '\r'
+                command(port_name,cmd)
+                return True
+            except:
+                return False
+    return None
+
+
+def reboot(port_name):
+    '''
+    Reboot the EBB, as though it were just powered on.
+    Requires firmware version 2.5.5 or newer. http://evil-mad.github.io/EggBot/ebb.html#RB
+    '''
+    if port_name is not None:
+        version_status = min_version(port_name, "2.5.5")
+        if version_status:
+            try:
+                command(port_name,'RB\r')
+            except:
+                pass
+
+
+def list_port_info():
+    '''Find and return a list of all USB devices and their information.'''
+    try:
+        com_ports_list = list(comports())
+    except TypeError:
+        return None
+
+    port_info_list = []
+    for port in com_ports_list:
+        port_info_list.append(port[0]) # port name
+        port_info_list.append(port[1]) # Identifier
+        port_info_list.append(port[2]) # VID/PID
+    if port_info_list:
+        return port_info_list
+    return None
+
+
+def listEBBports():
+    '''Find and return a list of all EiBotBoard units connected via USB port.'''
+    
+    try:
+        com_ports_list = list(comports())
+    except TypeError:
+        return None
+    ebb_ports_list = []
+    for port in com_ports_list:
+        port_has_ebb = False
+        if port[0].startswith("/dev/ttyUSB"):
+            port_has_ebb = True
+        elif port[1].startswith("EiBotBoard"):
+            port_has_ebb = True
+        elif port[2].startswith("USB VID:PID=04D8:FD92"):
+            port_has_ebb = True
+        if port_has_ebb:
+            ebb_ports_list.append(port)
+    if ebb_ports_list:
+        return ebb_ports_list
+    return None
+
+
+def list_named_ebbs():
+    '''Return descriptive list of all EiBotBoard units'''
+    ebb_ports_list = listEBBports()
+    if not ebb_ports_list:
+        return None
+    ebb_names_list = []
+    for port in ebb_ports_list:
+        name_found = False
+        p_0 = port[0]
+        p_1 = port[1]
+        p_2 = port[2]
+        if p_1.startswith("EiBotBoard"):
+            temp_string = p_1[11:]
+            if temp_string:
+                if temp_string is not None:
+                    ebb_names_list.append(temp_string)
+                    name_found = True
+        if not name_found:
+            # Look for "SER=XXXX LOCAT" pattern,
+            #  typical of Pyserial 3 on Windows.
+            if 'SER=' in p_2 and ' LOCAT' in p_2:
+                index1 = p_2.find('SER=') + len('SER=')
+                index2 = p_2.find(' LOCAT', index1)
+                temp_string = p_2[index1:index2]
+                if len(temp_string) < 3:
+                    temp_string = None
+                if temp_string is not None:
+                    ebb_names_list.append(temp_string)
+                    name_found = True
+        if not name_found:
+            # Look for "...SNR=XXXX" pattern,
+            #  typical of Pyserial 2.7 on Windows
+            if 'SNR=' in p_2:
+                index1 = p_2.find('SNR=') + len('SNR=')
+                index2 = len(p_2)
+                temp_string = p_2[index1:index2]
+                if len(temp_string) < 3:
+                    temp_string = None
+                if temp_string is not None:
+                    ebb_names_list.append(temp_string)
+                    name_found = True
+        if not name_found:
+            ebb_names_list.append(p_0)
+    return ebb_names_list
+
+
+def testPort(port_name):
+    """
+    Open a given serial port, verify that it is an EiBotBoard,
+    and return a SerialPort object that we can reference later.
+
+    This routine only opens the port; it will need to be closed as well,
+    for example with closePort( port_name ).
+    You, who open the port, are responsible for closing it as well.
+    """
+    if port_name is not None:
+        try:
+            serial_port = serial.Serial(port_name, timeout=1.0, baudrate=115200)  # 1 second timeout!
+
+            serial_port.flushInput()  # deprecated function name;
+            # use serial_port.reset_input_buffer()
+            # if we can be sure that we have pySerial 3+.
+
+            serial_port.write('v\r'.encode('ascii'))
+            str_version = serial_port.readline()
+            if str_version and str_version.startswith("EBB".encode('ascii')):
+                return serial_port
+
+            serial_port.write('v\r'.encode('ascii'))
+            str_version = serial_port.readline()
+            if str_version and str_version.startswith("EBB".encode('ascii')):
+                return serial_port
+            serial_port.close()
+        except serial.SerialException as err:
+            logger.error("Error testing serial port `{}` connection".format(port_name))
+            logger.info("Error context:", exc_info=err)
+    return None
+
+
+def openPort():
+    '''
+    Find and open a port to a single attached EiBotBoard.
+    The first port located will be used.
+    '''
+    found_port = findPort()
+    serial_port = testPort(found_port)
+    if serial_port:
+        return serial_port
+    return None
+
+
+def open_named_port(port_name):
+    '''
+    Find and open a port to a single attached EiBotBoard, indicated by name.
+    The first port located will be used.
+    '''
+    found_port = find_named_ebb(port_name)
+    serial_port = testPort(found_port)
+    if serial_port:
+        return serial_port
+    return None
+
+
+def closePort(port_name):
+    '''Close the given serial port.'''
+    if port_name is not None:
+        try:
+            port_name.close()
+        except serial.SerialException:
+            pass
+
+
+def query(port_name, cmd, verbose=True):
+    '''General command to send a query to the EiBotBoard'''
+    if port_name is not None and cmd is not None:
+        response = ''
+        try:
+            port_name.write(cmd.encode('ascii'))
+            response = port_name.readline().decode('ascii')
+            n_retry_count = 0
+            while len(response) == 0 and n_retry_count < 100:
+                # get new response to replace null response if necessary
+                response = port_name.readline()
+                n_retry_count += 1
+            if cmd.split(",")[0].strip().lower() not in ["a", "i", "mr", "pi", "qm", "qg", "v"]:
+                # Most queries return an "OK" after the data requested.
+                # We skip this for those few queries that do not return an extra line.
+                unused_response = port_name.readline()  # read in extra blank/OK line
+                n_retry_count = 0
+                while len(unused_response) == 0 and n_retry_count < 100:
+                    # get new response to replace null response if necessary
+                    unused_response = port_name.readline()
+                    n_retry_count += 1
+        except (serial.SerialException, IOError, RuntimeError, OSError) as err:
+            if verbose:
+                logger.error("Error reading serial data")
+            else:
+                logger.info("Error reading serial data")
+            logger.info("Error context:", exc_info=err)
+
+        if 'Err:' in response:
+            error_msg = '\n'.join(('Unexpected response from EBB.',
+               '    Command: {0}'.format(cmd.strip()),
+               '    Response: {0}'.format(response.strip())))
+            if verbose:
+                logger.error(error_msg)
+            else:
+                logger.info(error_msg)
+        return response
+    return None
+
+
+def command(port_name, cmd, verbose=True):
+    '''General command to send a command to the EiBotBoard'''
+    if port_name is not None and cmd is not None:
+        try:
+            port_name.write(cmd.encode('ascii'))
+            response = port_name.readline().decode('ascii')
+            n_retry_count = 0
+            while len(response) == 0 and n_retry_count < 100:
+                # get new response to replace null response if necessary
+                response = port_name.readline().decode('ascii')
+                n_retry_count += 1
+            if response.strip().startswith("OK"):
+                # Debug option: indicate which command:
+                # inkex.errormsg( 'OK after command: ' + cmd )
+                pass
+            else:
+                if response:
+                    error_msg = '\n'.join(('Unexpected response from EBB.',
+                                           '    Command: {0}'.format(cmd.strip()),
+                                           '    Response: {0}'.format(response.strip())))
+                else:
+                    error_msg = 'EBB Serial Timeout after command: {0}'.format(cmd)
+                if verbose:
+                    logger.error(error_msg)
+                else:
+                    logger.info(error_msg)
+        except (serial.SerialException, IOError, RuntimeError, OSError) as err:
+            if cmd.strip().lower() not in ["rb"]: # Ignore error on reboot (RB) command
+                if verbose:
+                    logger.error('Failed after command: {0}'.format(cmd))
+                else:
+                    logger.info('Failed after command: {0}'.format(cmd))
+                logger.info("Error context:", exc_info=err)
+
+
+def bootload(port_name):
+    '''Enter bootloader mode. Do not try to read back data.'''
+    if port_name is not None:
+        try:
+            port_name.write('BL\r'.encode('ascii'))
+            return True
+        except:
+            return False
+    return None
+
+
+def min_version(port_name, version_string):
+    '''
+    Query the EBB firmware version for the EBB located at port_name.
+    Return True if the EBB firmware version is at least version_string.
+    Return False if the EBB firmware version is below version_string.
+    Return None if we are unable to determine True or False.
+    '''
+    if port_name is not None:
+        ebb_version_string = queryVersion(port_name)  # Full string, human readable
+        ebb_version_string = ebb_version_string.split("Firmware Version ", 1)
+
+        if len(ebb_version_string) > 1:
+            ebb_version_string = ebb_version_string[1]
+        else:
+            return None  # We haven't received a reasonable version number response.
+
+        ebb_version_string = ebb_version_string.strip()  # Stripped copy, for number comparisons
+        if parse(ebb_version_string) >= parse(version_string):
+            return True
+        return False
+    return None
+
+
+def queryVersion(port_name):
+    '''Query EBB Version String'''
+    return query(port_name, 'V\r', True)

inkscape/linux/readme.md

@@ -0,0 +1,6 @@
+# Inkscape Plugin
+This directory contains the plugin that fits to the EggBot firmware.
+Use the ebb_serial.py file to patch the plugin so that all /dev/ttyUSBx devices can be used.
+Currently only the first found tty USB device will be used.
+
+If plugin doesn't work because of missing python dependencies, just install them with apt or similar system tool.

lib/AccelStepper/src/AccelStepper.cpp

@@ -1,633 +0,0 @@
-// AccelStepper.cpp
-//
-// Copyright (C) 2009-2013 Mike McCauley
-// $Id: AccelStepper.cpp,v 1.19 2014/10/31 06:05:27 mikem Exp mikem $
-
-#include "AccelStepper.h"
-
-#if 0
-// Some debugging assistance
-void dump(uint8_t* p, int l)
-{
-    int i;
-
-    for (i = 0; i < l; i++)
-    {
-	Serial.print(p[i], HEX);
-	Serial.print(" ");
-    }
-    Serial.println("");
-}
-#endif
-
-void AccelStepper::moveTo(long absolute)
-{
-    if (_targetPos != absolute)
-    {
-	_targetPos = absolute;
-	computeNewSpeed();
-	// compute new n?
-    }
-}
-
-void AccelStepper::move(long relative)
-{
-    moveTo(_currentPos + relative);
-}
-
-// Implements steps according to the current step interval
-// You must call this at least once per step
-// returns true if a step occurred
-boolean AccelStepper::runSpeed()
-{
-    // Dont do anything unless we actually have a step interval
-    if (!_stepInterval)
-	return false;
-
-    unsigned long time = micros();
-    unsigned long nextStepTime = _lastStepTime + _stepInterval;
-    // Gymnastics to detect wrapping of either the nextStepTime and/or the current time
-    if (   ((nextStepTime >= _lastStepTime) && ((time >= nextStepTime) || (time < _lastStepTime)))
-	|| ((nextStepTime < _lastStepTime) && ((time >= nextStepTime) && (time < _lastStepTime))))
-    {
-	if (_direction == DIRECTION_CW)
-	{
-	    // Clockwise
-	    _currentPos += 1;
-	}
-	else
-	{
-	    // Anticlockwise  
-	    _currentPos -= 1;
-	}
-	step(_currentPos);
-
-	_lastStepTime = time;
-	return true;
-    }
-    else
-    {
-	return false;
-    }
-}
-
-long AccelStepper::distanceToGo()
-{
-    return _targetPos - _currentPos;
-}
-
-long AccelStepper::targetPosition()
-{
-    return _targetPos;
-}
-
-long AccelStepper::currentPosition()
-{
-    return _currentPos;
-}
-
-// Useful during initialisations or after initial positioning
-// Sets speed to 0
-void AccelStepper::setCurrentPosition(long position)
-{
-    _targetPos = _currentPos = position;
-    _n = 0;
-    _stepInterval = 0;
-}
-
-void AccelStepper::computeNewSpeed()
-{
-    long distanceTo = distanceToGo(); // +ve is clockwise from curent location
-
-    long stepsToStop = (long)((_speed * _speed) / (2.0 * _acceleration)); // Equation 16
-
-    if (distanceTo == 0 && stepsToStop <= 1)
-    {
-	// We are at the target and its time to stop
-	_stepInterval = 0;
-	_speed = 0.0;
-	_n = 0;
-	return;
-    }
-
-    if (distanceTo > 0)
-    {
-	// We are anticlockwise from the target
-	// Need to go clockwise from here, maybe decelerate now
-	if (_n > 0)
-	{
-	    // Currently accelerating, need to decel now? Or maybe going the wrong way?
-	    if ((stepsToStop >= distanceTo) || _direction == DIRECTION_CCW)
-		_n = -stepsToStop; // Start deceleration
-	}
-	else if (_n < 0)
-	{
-	    // Currently decelerating, need to accel again?
-	    if ((stepsToStop < distanceTo) && _direction == DIRECTION_CW)
-		_n = -_n; // Start accceleration
-	}
-    }
-    else if (distanceTo < 0)
-    {
-	// We are clockwise from the target
-	// Need to go anticlockwise from here, maybe decelerate
-	if (_n > 0)
-	{
-	    // Currently accelerating, need to decel now? Or maybe going the wrong way?
-	    if ((stepsToStop >= -distanceTo) || _direction == DIRECTION_CW)
-		_n = -stepsToStop; // Start deceleration
-	}
-	else if (_n < 0)
-	{
-	    // Currently decelerating, need to accel again?
-	    if ((stepsToStop < -distanceTo) && _direction == DIRECTION_CCW)
-		_n = -_n; // Start accceleration
-	}
-    }
-
-    // Need to accelerate or decelerate
-    if (_n == 0)
-    {
-	// First step from stopped
-	_cn = _c0;
-	_direction = (distanceTo > 0) ? DIRECTION_CW : DIRECTION_CCW;
-    }
-    else
-    {
-	// Subsequent step. Works for accel (n is +_ve) and decel (n is -ve).
-	_cn = _cn - ((2.0 * _cn) / ((4.0 * _n) + 1)); // Equation 13
-	_cn = max(_cn, _cmin); 
-    }
-    _n++;
-    _stepInterval = _cn;
-    _speed = 1000000.0 / _cn;
-    if (_direction == DIRECTION_CCW)
-	_speed = -_speed;
-
-#if 0
-    Serial.println(_speed);
-    Serial.println(_acceleration);
-    Serial.println(_cn);
-    Serial.println(_c0);
-    Serial.println(_n);
-    Serial.println(_stepInterval);
-    Serial.println(distanceTo);
-    Serial.println(stepsToStop);
-    Serial.println("-----");
-#endif
-}
-
-// Run the motor to implement speed and acceleration in order to proceed to the target position
-// You must call this at least once per step, preferably in your main loop
-// If the motor is in the desired position, the cost is very small
-// returns true if the motor is still running to the target position.
-boolean AccelStepper::run()
-{
-    if (runSpeed())
-	computeNewSpeed();
-    return _speed != 0.0 || distanceToGo() != 0;
-}
-
-AccelStepper::AccelStepper(uint8_t interface, uint8_t pin1, uint8_t pin2, uint8_t pin3, uint8_t pin4, bool enable)
-{
-    _interface = interface;
-    _currentPos = 0;
-    _targetPos = 0;
-    _speed = 0.0;
-    _maxSpeed = 1.0;
-    _acceleration = 0.0;
-    _sqrt_twoa = 1.0;
-    _stepInterval = 0;
-    _minPulseWidth = 1;
-    _enablePin = 0xff;
-    _lastStepTime = 0;
-    _pin[0] = pin1;
-    _pin[1] = pin2;
-    _pin[2] = pin3;
-    _pin[3] = pin4;
-
-    // NEW
-    _n = 0;
-    _c0 = 0.0;
-    _cn = 0.0;
-    _cmin = 1.0;
-    _direction = DIRECTION_CCW;
-
-    int i;
-    for (i = 0; i < 4; i++)
-	_pinInverted[i] = 0;
-    if (enable)
-	enableOutputs();
-    // Some reasonable default
-    setAcceleration(1);
-}
-
-AccelStepper::AccelStepper(void (*forward)(), void (*backward)())
-{
-    _interface = 0;
-    _currentPos = 0;
-    _targetPos = 0;
-    _speed = 0.0;
-    _maxSpeed = 1.0;
-    _acceleration = 0.0;
-    _sqrt_twoa = 1.0;
-    _stepInterval = 0;
-    _minPulseWidth = 1;
-    _enablePin = 0xff;
-    _lastStepTime = 0;
-    _pin[0] = 0;
-    _pin[1] = 0;
-    _pin[2] = 0;
-    _pin[3] = 0;
-    _forward = forward;
-    _backward = backward;
-
-    // NEW
-    _n = 0;
-    _c0 = 0.0;
-    _cn = 0.0;
-    _cmin = 1.0;
-    _direction = DIRECTION_CCW;
-
-    int i;
-    for (i = 0; i < 4; i++)
-	_pinInverted[i] = 0;
-    // Some reasonable default
-    setAcceleration(1);
-}
-
-void AccelStepper::setMaxSpeed(float speed)
-{
-    if (_maxSpeed != speed)
-    {
-	_maxSpeed = speed;
-	_cmin = 1000000.0 / speed;
-	// Recompute _n from current speed and adjust speed if accelerating or cruising
-	if (_n > 0)
-	{
-	    _n = (long)((_speed * _speed) / (2.0 * _acceleration)); // Equation 16
-	    computeNewSpeed();
-	}
-    }
-}
-
-void AccelStepper::setAcceleration(float acceleration)
-{
-    if (acceleration == 0.0)
-	return;
-    if (_acceleration != acceleration)
-    {
-	// Recompute _n per Equation 17
-	_n = _n * (_acceleration / acceleration);
-	// New c0 per Equation 7, with correction per Equation 15
-	_c0 = 0.676 * sqrt(2.0 / acceleration) * 1000000.0; // Equation 15
-	_acceleration = acceleration;
-	computeNewSpeed();
-    }
-}
-
-void AccelStepper::setSpeed(float speed)
-{
-    if (speed == _speed)
-        return;
-    speed = constrain(speed, -_maxSpeed, _maxSpeed);
-    if (speed == 0.0)
-	_stepInterval = 0;
-    else
-    {
-	_stepInterval = fabs(1000000.0 / speed);
-	_direction = (speed > 0.0) ? DIRECTION_CW : DIRECTION_CCW;
-    }
-    _speed = speed;
-}
-
-float AccelStepper::speed()
-{
-    return _speed;
-}
-
-// Subclasses can override
-void AccelStepper::step(long step)
-{
-    switch (_interface)
-    {
-        case FUNCTION:
-            step0(step);
-            break;
-
-	case DRIVER:
-	    step1(step);
-	    break;
-    
-	case FULL2WIRE:
-	    step2(step);
-	    break;
-    
-	case FULL3WIRE:
-	    step3(step);
-	    break;  
-
-	case FULL4WIRE:
-	    step4(step);
-	    break;  
-
-	case HALF3WIRE:
-	    step6(step);
-	    break;  
-		
-	case HALF4WIRE:
-	    step8(step);
-	    break;  
-    }
-}
-
-// You might want to override this to implement eg serial output
-// bit 0 of the mask corresponds to _pin[0]
-// bit 1 of the mask corresponds to _pin[1]
-// ....
-void AccelStepper::setOutputPins(uint8_t mask)
-{
-    uint8_t numpins = 2;
-    if (_interface == FULL4WIRE || _interface == HALF4WIRE)
-	numpins = 4;
-    else if (_interface == FULL3WIRE || _interface == HALF3WIRE)
-	numpins = 3;
-    uint8_t i;
-    for (i = 0; i < numpins; i++)
-	digitalWrite(_pin[i], (mask & (1 << i)) ? (HIGH ^ _pinInverted[i]) : (LOW ^ _pinInverted[i]));
-}
-
-// 0 pin step function (ie for functional usage)
-void AccelStepper::step0(long step)
-{
-  if (_speed > 0)
-    _forward();
-  else
-    _backward();
-}
-
-// 1 pin step function (ie for stepper drivers)
-// This is passed the current step number (0 to 7)
-// Subclasses can override
-void AccelStepper::step1(long step)
-{
-    // _pin[0] is step, _pin[1] is direction
-    setOutputPins(_direction ? 0b10 : 0b00); // Set direction first else get rogue pulses
-    setOutputPins(_direction ? 0b11 : 0b01); // step HIGH
-    // Caution 200ns setup time 
-    // Delay the minimum allowed pulse width
-    delayMicroseconds(_minPulseWidth);
-    setOutputPins(_direction ? 0b10 : 0b00); // step LOW
-
-}
-
-
-// 2 pin step function
-// This is passed the current step number (0 to 7)
-// Subclasses can override
-void AccelStepper::step2(long step)
-{
-    switch (step & 0x3)
-    {
-	case 0: /* 01 */
-	    setOutputPins(0b10);
-	    break;
-
-	case 1: /* 11 */
-	    setOutputPins(0b11);
-	    break;
-
-	case 2: /* 10 */
-	    setOutputPins(0b01);
-	    break;
-
-	case 3: /* 00 */
-	    setOutputPins(0b00);
-	    break;
-    }
-}
-// 3 pin step function
-// This is passed the current step number (0 to 7)
-// Subclasses can override
-void AccelStepper::step3(long step)
-{
-    switch (step % 3)
-    {
-	case 0:    // 100
-	    setOutputPins(0b100);
-	    break;
-
-	case 1:    // 001
-	    setOutputPins(0b001);
-	    break;
-
-	case 2:    //010
-	    setOutputPins(0b010);
-	    break;
-	    
-    }
-}
-
-// 4 pin step function for half stepper
-// This is passed the current step number (0 to 7)
-// Subclasses can override
-void AccelStepper::step4(long step)
-{
-    switch (step & 0x3)
-    {
-	case 0:    // 1010
-	    setOutputPins(0b0101);
-	    break;
-
-	case 1:    // 0110
-	    setOutputPins(0b0110);
-	    break;
-
-	case 2:    //0101
-	    setOutputPins(0b1010);
-	    break;
-
-	case 3:    //1001
-	    setOutputPins(0b1001);
-	    break;
-    }
-}
-
-// 3 pin half step function
-// This is passed the current step number (0 to 7)
-// Subclasses can override
-void AccelStepper::step6(long step)
-{
-    switch (step % 6)
-    {
-	case 0:    // 100
-	    setOutputPins(0b100);
-            break;
-	    
-        case 1:    // 101
-	    setOutputPins(0b101);
-            break;
-	    
-	case 2:    // 001
-	    setOutputPins(0b001);
-            break;
-	    
-        case 3:    // 011
-	    setOutputPins(0b011);
-            break;
-	    
-	case 4:    // 010
-	    setOutputPins(0b010);
-            break;
-	    
-	case 5:    // 011
-	    setOutputPins(0b110);
-            break;
-	    
-    }
-}
-
-// 4 pin half step function
-// This is passed the current step number (0 to 7)
-// Subclasses can override
-void AccelStepper::step8(long step)
-{
-    switch (step & 0x7)
-    {
-	case 0:    // 1000
-	    setOutputPins(0b0001);
-            break;
-	    
-        case 1:    // 1010
-	    setOutputPins(0b0101);
-            break;
-	    
-	case 2:    // 0010
-	    setOutputPins(0b0100);
-            break;
-	    
-        case 3:    // 0110
-	    setOutputPins(0b0110);
-            break;
-	    
-	case 4:    // 0100
-	    setOutputPins(0b0010);
-            break;
-	    
-        case 5:    //0101
-	    setOutputPins(0b1010);
-            break;
-	    
-	case 6:    // 0001
-	    setOutputPins(0b1000);
-            break;
-	    
-        case 7:    //1001
-	    setOutputPins(0b1001);
-            break;
-    }
-}
-    
-// Prevents power consumption on the outputs
-void    AccelStepper::disableOutputs()
-{   
-    if (! _interface) return;
-
-    setOutputPins(0); // Handles inversion automatically
-    if (_enablePin != 0xff)
-        digitalWrite(_enablePin, LOW ^ _enableInverted);
-}
-
-void    AccelStepper::enableOutputs()
-{
-    if (! _interface) 
-	return;
-
-    pinMode(_pin[0], OUTPUT);
-    pinMode(_pin[1], OUTPUT);
-    if (_interface == FULL4WIRE || _interface == HALF4WIRE)
-    {
-        pinMode(_pin[2], OUTPUT);
-        pinMode(_pin[3], OUTPUT);
-    }
-    else if (_interface == FULL3WIRE || _interface == HALF3WIRE)
-    {
-        pinMode(_pin[2], OUTPUT);
-    }
-
-    if (_enablePin != 0xff)
-    {
-        pinMode(_enablePin, OUTPUT);
-        digitalWrite(_enablePin, HIGH ^ _enableInverted);
-    }
-}
-
-void AccelStepper::setMinPulseWidth(unsigned int minWidth)
-{
-    _minPulseWidth = minWidth;
-}
-
-void AccelStepper::setEnablePin(uint8_t enablePin)
-{
-    _enablePin = enablePin;
-
-    // This happens after construction, so init pin now.
-    if (_enablePin != 0xff)
-    {
-        pinMode(_enablePin, OUTPUT);
-        digitalWrite(_enablePin, HIGH ^ _enableInverted);
-    }
-}
-
-void AccelStepper::setPinsInverted(bool directionInvert, bool stepInvert, bool enableInvert)
-{
-    _pinInverted[0] = stepInvert;
-    _pinInverted[1] = directionInvert;
-    _enableInverted = enableInvert;
-}
-
-void AccelStepper::setPinsInverted(bool pin1Invert, bool pin2Invert, bool pin3Invert, bool pin4Invert, bool enableInvert)
-{    
-    _pinInverted[0] = pin1Invert;
-    _pinInverted[1] = pin2Invert;
-    _pinInverted[2] = pin3Invert;
-    _pinInverted[3] = pin4Invert;
-    _enableInverted = enableInvert;
-}
-
-// Blocks until the target position is reached and stopped
-void AccelStepper::runToPosition()
-{
-    while (run())
-	;
-}
-
-boolean AccelStepper::runSpeedToPosition()
-{
-    if (_targetPos == _currentPos)
-	return false;
-    if (_targetPos >_currentPos)
-	_direction = DIRECTION_CW;
-    else
-	_direction = DIRECTION_CCW;
-    return runSpeed();
-}
-
-// Blocks until the new target position is reached
-void AccelStepper::runToNewPosition(long position)
-{
-    moveTo(position);
-    runToPosition();
-}
-
-void AccelStepper::stop()
-{
-    if (_speed != 0.0)
-    {    
-	long stepsToStop = (long)((_speed * _speed) / (2.0 * _acceleration)) + 1; // Equation 16 (+integer rounding)
-	if (_speed > 0)
-	    move(stepsToStop);
-	else
-	    move(-stepsToStop);
-    }
-}

lib/AccelStepper/src/AccelStepper.h

@@ -1,666 +0,0 @@
-// AccelStepper.h
-//
-/// \mainpage AccelStepper library for Arduino
-///
-/// This is the Arduino AccelStepper library.
-/// It provides an object-oriented interface for 2, 3 or 4 pin stepper motors.
-///
-/// The standard Arduino IDE includes the Stepper library
-/// (http://arduino.cc/en/Reference/Stepper) for stepper motors. It is
-/// perfectly adequate for simple, single motor applications.
-///
-/// AccelStepper significantly improves on the standard Arduino Stepper library in several ways:
-/// \li Supports acceleration and deceleration
-/// \li Supports multiple simultaneous steppers, with independent concurrent stepping on each stepper
-/// \li API functions never delay() or block
-/// \li Supports 2, 3 and 4 wire steppers, plus 3 and 4 wire half steppers.
-/// \li Supports alternate stepping functions to enable support of AFMotor (https://github.com/adafruit/Adafruit-Motor-Shield-library)
-/// \li Supports stepper drivers such as the Sparkfun EasyDriver (based on 3967 driver chip)
-/// \li Very slow speeds are supported
-/// \li Extensive API
-/// \li Subclass support
-///
-/// The latest version of this documentation can be downloaded from 
-/// http://www.airspayce.com/mikem/arduino/AccelStepper
-/// The version of the package that this documentation refers to can be downloaded 
-/// from http://www.airspayce.com/mikem/arduino/AccelStepper/AccelStepper-1.47.zip
-///
-/// Example Arduino programs are included to show the main modes of use.
-///
-/// You can also find online help and discussion at http://groups.google.com/group/accelstepper
-/// Please use that group for all questions and discussions on this topic. 
-/// Do not contact the author directly, unless it is to discuss commercial licensing.
-/// Before asking a question or reporting a bug, please read http://www.catb.org/esr/faqs/smart-questions.html
-///
-/// Tested on Arduino Diecimila and Mega with arduino-0018 & arduino-0021 
-/// on OpenSuSE 11.1 and avr-libc-1.6.1-1.15,
-/// cross-avr-binutils-2.19-9.1, cross-avr-gcc-4.1.3_20080612-26.5.
-/// Tested on Teensy http://www.pjrc.com/teensy including Teensy 3.1 built using Arduino IDE 1.0.5 with 
-/// teensyduino addon 1.18 and later.
-///
-/// \par Installation
-///
-/// Install in the usual way: unzip the distribution zip file to the libraries
-/// sub-folder of your sketchbook. 
-///
-/// \par Theory
-///
-/// This code uses speed calculations as described in 
-/// "Generate stepper-motor speed profiles in real time" by David Austin 
-/// http://fab.cba.mit.edu/classes/MIT/961.09/projects/i0/Stepper_Motor_Speed_Profile.pdf
-/// with the exception that AccelStepper uses steps per second rather than radians per second
-/// (because we dont know the step angle of the motor)
-/// An initial step interval is calculated for the first step, based on the desired acceleration
-/// On subsequent steps, shorter step intervals are calculated based 
-/// on the previous step until max speed is achieved.
-/// 
-/// \par Donations
-///
-/// This library is offered under a free GPL license for those who want to use it that way. 
-/// We try hard to keep it up to date, fix bugs
-/// and to provide free support. If this library has helped you save time or money, please consider donating at
-/// http://www.airspayce.com or here:
-///
-/// \htmlonly <form action="https://www.paypal.com/cgi-bin/webscr" method="post"><input type="hidden" name="cmd" value="_donations" /> <input type="hidden" name="business" value="mikem@airspayce.com" /> <input type="hidden" name="lc" value="AU" /> <input type="hidden" name="item_name" value="Airspayce" /> <input type="hidden" name="item_number" value="AccelStepper" /> <input type="hidden" name="currency_code" value="USD" /> <input type="hidden" name="bn" value="PP-DonationsBF:btn_donateCC_LG.gif:NonHosted" /> <input type="image" alt="PayPal — The safer, easier way to pay online." name="submit" src="https://www.paypalobjects.com/en_AU/i/btn/btn_donateCC_LG.gif" /> <img alt="" src="https://www.paypalobjects.com/en_AU/i/scr/pixel.gif" width="1" height="1" border="0" /></form> \endhtmlonly
-/// 
-/// \par Trademarks
-///
-/// AccelStepper is a trademark of AirSpayce Pty Ltd. The AccelStepper mark was first used on April 26 2010 for
-/// international trade, and is used only in relation to motor control hardware and software.
-/// It is not to be confused with any other similar marks covering other goods and services.
-///
-/// \par Copyright
-///
-/// This software is Copyright (C) 2010 Mike McCauley. Use is subject to license
-/// conditions. The main licensing options available are GPL V2 or Commercial:
-///
-/// \par Open Source Licensing GPL V2
-/// This is the appropriate option if you want to share the source code of your
-/// application with everyone you distribute it to, and you also want to give them
-/// the right to share who uses it. If you wish to use this software under Open
-/// Source Licensing, you must contribute all your source code to the open source
-/// community in accordance with the GPL Version 2 when your application is
-/// distributed. See http://www.gnu.org/copyleft/gpl.html
-/// 
-/// \par Commercial Licensing
-/// This is the appropriate option if you are creating proprietary applications
-/// and you are not prepared to distribute and share the source code of your
-/// application. Contact info@airspayce.com for details.
-///
-/// \par Revision History
-/// \version 1.0 Initial release
-///
-/// \version 1.1 Added speed() function to get the current speed.
-/// \version 1.2 Added runSpeedToPosition() submitted by Gunnar Arndt.
-/// \version 1.3 Added support for stepper drivers (ie with Step and Direction inputs) with _pins == 1
-/// \version 1.4 Added functional contructor to support AFMotor, contributed by Limor, with example sketches.
-/// \version 1.5 Improvements contributed by Peter Mousley: Use of microsecond steps and other speed improvements
-///              to increase max stepping speed to about 4kHz. New option for user to set the min allowed pulse width.
-///              Added checks for already running at max speed and skip further calcs if so. 
-/// \version 1.6 Fixed a problem with wrapping of microsecond stepping that could cause stepping to hang. 
-///              Reported by Sandy Noble.
-///              Removed redundant _lastRunTime member.
-/// \version 1.7 Fixed a bug where setCurrentPosition() did not always work as expected. 
-///              Reported by Peter Linhart.
-/// \version 1.8 Added support for 4 pin half-steppers, requested by Harvey Moon
-/// \version 1.9 setCurrentPosition() now also sets motor speed to 0.
-/// \version 1.10 Builds on Arduino 1.0
-/// \version 1.11 Improvments from Michael Ellison:
-///   Added optional enable line support for stepper drivers
-///   Added inversion for step/direction/enable lines for stepper drivers
-/// \version 1.12 Announce Google Group
-/// \version 1.13 Improvements to speed calculation. Cost of calculation is now less in the worst case, 
-///    and more or less constant in all cases. This should result in slightly beter high speed performance, and
-///    reduce anomalous speed glitches when other steppers are accelerating. 
-///    However, its hard to see how to replace the sqrt() required at the very first step from 0 speed.
-/// \version 1.14 Fixed a problem with compiling under arduino 0021 reported by EmbeddedMan
-/// \version 1.15 Fixed a problem with runSpeedToPosition which did not correctly handle
-///    running backwards to a smaller target position. Added examples
-/// \version 1.16 Fixed some cases in the code where abs() was used instead of fabs().
-/// \version 1.17 Added example ProportionalControl
-/// \version 1.18 Fixed a problem: If one calls the funcion runSpeed() when Speed is zero, it makes steps 
-///    without counting. reported by  Friedrich, Klappenbach.
-/// \version 1.19 Added MotorInterfaceType and symbolic names for the number of pins to use
-///               for the motor interface. Updated examples to suit.
-///               Replaced individual pin assignment variables _pin1, _pin2 etc with array _pin[4].
-///               _pins member changed to _interface.
-///               Added _pinInverted array to simplify pin inversion operations.
-///               Added new function setOutputPins() which sets the motor output pins.
-///               It can be overridden in order to provide, say, serial output instead of parallel output
-///               Some refactoring and code size reduction.
-/// \version 1.20 Improved documentation and examples to show need for correctly
-///               specifying AccelStepper::FULL4WIRE and friends.
-/// \version 1.21 Fixed a problem where desiredSpeed could compute the wrong step acceleration
-///               when _speed was small but non-zero. Reported by Brian Schmalz.
-///               Precompute sqrt_twoa to improve performance and max possible stepping speed
-/// \version 1.22 Added Bounce.pde example
-///               Fixed a problem where calling moveTo(), setMaxSpeed(), setAcceleration() more 
-///               frequently than the step time, even
-///               with the same values, would interfere with speed calcs. Now a new speed is computed 
-///               only if there was a change in the set value. Reported by Brian Schmalz.
-/// \version 1.23 Rewrite of the speed algorithms in line with 
-///               http://fab.cba.mit.edu/classes/MIT/961.09/projects/i0/Stepper_Motor_Speed_Profile.pdf
-///               Now expect smoother and more linear accelerations and decelerations. The desiredSpeed()
-///               function was removed.
-/// \version 1.24  Fixed a problem introduced in 1.23: with runToPosition, which did never returned
-/// \version 1.25  Now ignore attempts to set acceleration to 0.0
-/// \version 1.26  Fixed a problem where certina combinations of speed and accelration could cause
-///                oscillation about the target position.
-/// \version 1.27  Added stop() function to stop as fast as possible with current acceleration parameters.
-///                Also added new Quickstop example showing its use.
-/// \version 1.28  Fixed another problem where certain combinations of speed and accelration could cause
-///                oscillation about the target position.
-///                Added support for 3 wire full and half steppers such as Hard Disk Drive spindle.
-///                Contributed by Yuri Ivatchkovitch.
-/// \version 1.29  Fixed a problem that could cause a DRIVER stepper to continually step
-///                with some sketches. Reported by Vadim.
-/// \version 1.30  Fixed a problem that could cause stepper to back up a few steps at the end of
-///                accelerated travel with certain speeds. Reported and patched by jolo.
-/// \version 1.31  Updated author and distribution location details to airspayce.com
-/// \version 1.32  Fixed a problem with enableOutputs() and setEnablePin on Arduino Due that
-///                prevented the enable pin changing stae correctly. Reported by Duane Bishop.
-/// \version 1.33  Fixed an error in example AFMotor_ConstantSpeed.pde did not setMaxSpeed();
-///                Fixed a problem that caused incorrect pin sequencing of FULL3WIRE and HALF3WIRE.
-///                Unfortunately this meant changing the signature for all step*() functions.
-///                Added example MotorShield, showing how to use AdaFruit Motor Shield to control
-///                a 3 phase motor such as a HDD spindle motor (and without using the AFMotor library.
-/// \version 1.34  Added setPinsInverted(bool pin1Invert, bool pin2Invert, bool pin3Invert, bool pin4Invert, bool enableInvert) 
-///                to allow inversion of 2, 3 and 4 wire stepper pins. Requested by Oleg.
-/// \version 1.35  Removed default args from setPinsInverted(bool, bool, bool, bool, bool) to prevent ambiguity with 
-///                setPinsInverted(bool, bool, bool). Reported by Mac Mac.
-/// \version 1.36  Changed enableOutputs() and disableOutputs() to be virtual so can be overridden.
-///                Added new optional argument 'enable' to constructor, which allows you toi disable the 
-///                automatic enabling of outputs at construction time. Suggested by Guido.
-/// \version 1.37  Fixed a problem with step1 that could cause a rogue step in the 
-///                wrong direction (or not,
-///                depending on the setup-time requirements of the connected hardware). 
-///                Reported by Mark Tillotson.
-/// \version 1.38  run() function incorrectly always returned true. Updated function and doc so it returns true 
-///                if the motor is still running to the target position.
-/// \version 1.39  Updated typos in keywords.txt, courtesey Jon Magill.
-/// \version 1.40  Updated documentation, including testing on Teensy 3.1
-/// \version 1.41  Fixed an error in the acceleration calculations, resulting in acceleration of haldf the intended value
-/// \version 1.42  Improved support for FULL3WIRE and HALF3WIRE output pins. These changes were in Yuri's original
-///                contribution but did not make it into production.<br>
-/// \version 1.43  Added DualMotorShield example. Shows how to use AccelStepper to control 2 x 2 phase steppers using the 
-///                Itead Studio Arduino Dual Stepper Motor Driver Shield model IM120417015.<br>
-/// \version 1.44  examples/DualMotorShield/DualMotorShield.ino examples/DualMotorShield/DualMotorShield.pde
-///                was missing from the distribution.<br>
-/// \version 1.45  Fixed a problem where if setAcceleration was not called, there was no default
-///                acceleration. Reported by Michael Newman.<br>
-/// \version 1.45  Fixed inaccuracy in acceleration rate by using Equation 15, suggested by Sebastian Gracki.<br>
-///                Performance improvements in runSpeed suggested by Jaakko Fagerlund.<br>
-/// \version 1.46  Fixed error in documentation for runToPosition().
-///                Reinstated time calculations in runSpeed() since new version is reported 
-///                not to work correctly under some circumstances. Reported by Oleg V Gavva.<br>
-
-///
-/// \author  Mike McCauley (mikem@airspayce.com) DO NOT CONTACT THE AUTHOR DIRECTLY: USE THE LISTS
-// Copyright (C) 2009-2013 Mike McCauley
-// $Id: AccelStepper.h,v 1.21 2014/10/31 06:05:30 mikem Exp mikem $
-
-#ifndef AccelStepper_h
-#define AccelStepper_h
-
-#include <stdlib.h>
-#if ARDUINO >= 100
-#include <Arduino.h>
-#else
-#include <WProgram.h>
-#include <wiring.h>
-#endif
-
-// These defs cause trouble on some versions of Arduino
-#undef round
-
-/////////////////////////////////////////////////////////////////////
-/// \class AccelStepper AccelStepper.h <AccelStepper.h>
-/// \brief Support for stepper motors with acceleration etc.
-///
-/// This defines a single 2 or 4 pin stepper motor, or stepper moter with fdriver chip, with optional
-/// acceleration, deceleration, absolute positioning commands etc. Multiple
-/// simultaneous steppers are supported, all moving 
-/// at different speeds and accelerations. 
-///
-/// \par Operation
-/// This module operates by computing a step time in microseconds. The step
-/// time is recomputed after each step and after speed and acceleration
-/// parameters are changed by the caller. The time of each step is recorded in
-/// microseconds. The run() function steps the motor once if a new step is due.
-/// The run() function must be called frequently until the motor is in the
-/// desired position, after which time run() will do nothing.
-///
-/// \par Positioning
-/// Positions are specified by a signed long integer. At
-/// construction time, the current position of the motor is consider to be 0. Positive
-/// positions are clockwise from the initial position; negative positions are
-/// anticlockwise. The current position can be altered for instance after
-/// initialization positioning.
-///
-/// \par Caveats
-/// This is an open loop controller: If the motor stalls or is oversped,
-/// AccelStepper will not have a correct 
-/// idea of where the motor really is (since there is no feedback of the motor's
-/// real position. We only know where we _think_ it is, relative to the
-/// initial starting point).
-///
-/// \par Performance
-/// The fastest motor speed that can be reliably supported is about 4000 steps per
-/// second at a clock frequency of 16 MHz on Arduino such as Uno etc. 
-/// Faster processors can support faster stepping speeds. 
-/// However, any speed less than that
-/// down to very slow speeds (much less than one per second) are also supported,
-/// provided the run() function is called frequently enough to step the motor
-/// whenever required for the speed set.
-/// Calling setAcceleration() is expensive,
-/// since it requires a square root to be calculated.
-class AccelStepper
-{
-public:
-    /// \brief Symbolic names for number of pins.
-    /// Use this in the pins argument the AccelStepper constructor to 
-    /// provide a symbolic name for the number of pins
-    /// to use.
-    typedef enum
-    {
-	FUNCTION  = 0, ///< Use the functional interface, implementing your own driver functions (internal use only)
-	DRIVER    = 1, ///< Stepper Driver, 2 driver pins required
-	FULL2WIRE = 2, ///< 2 wire stepper, 2 motor pins required
-	FULL3WIRE = 3, ///< 3 wire stepper, such as HDD spindle, 3 motor pins required
-    FULL4WIRE = 4, ///< 4 wire full stepper, 4 motor pins required
-	HALF3WIRE = 6, ///< 3 wire half stepper, such as HDD spindle, 3 motor pins required
-	HALF4WIRE = 8  ///< 4 wire half stepper, 4 motor pins required
-    } MotorInterfaceType;
-
-    /// Constructor. You can have multiple simultaneous steppers, all moving
-    /// at different speeds and accelerations, provided you call their run()
-    /// functions at frequent enough intervals. Current Position is set to 0, target
-    /// position is set to 0. MaxSpeed and Acceleration default to 1.0.
-    /// The motor pins will be initialised to OUTPUT mode during the
-    /// constructor by a call to enableOutputs().
-    /// \param[in] interface Number of pins to interface to. 1, 2, 4 or 8 are
-    /// supported, but it is preferred to use the \ref MotorInterfaceType symbolic names. 
-    /// AccelStepper::DRIVER (1) means a stepper driver (with Step and Direction pins).
-    /// If an enable line is also needed, call setEnablePin() after construction.
-    /// You may also invert the pins using setPinsInverted().
-    /// AccelStepper::FULL2WIRE (2) means a 2 wire stepper (2 pins required). 
-    /// AccelStepper::FULL3WIRE (3) means a 3 wire stepper, such as HDD spindle (3 pins required). 
-    /// AccelStepper::FULL4WIRE (4) means a 4 wire stepper (4 pins required). 
-    /// AccelStepper::HALF3WIRE (6) means a 3 wire half stepper, such as HDD spindle (3 pins required)
-    /// AccelStepper::HALF4WIRE (8) means a 4 wire half stepper (4 pins required)
-    /// Defaults to AccelStepper::FULL4WIRE (4) pins.
-    /// \param[in] pin1 Arduino digital pin number for motor pin 1. Defaults
-    /// to pin 2. For a AccelStepper::DRIVER (interface==1), 
-    /// this is the Step input to the driver. Low to high transition means to step)
-    /// \param[in] pin2 Arduino digital pin number for motor pin 2. Defaults
-    /// to pin 3. For a AccelStepper::DRIVER (interface==1), 
-    /// this is the Direction input the driver. High means forward.
-    /// \param[in] pin3 Arduino digital pin number for motor pin 3. Defaults
-    /// to pin 4.
-    /// \param[in] pin4 Arduino digital pin number for motor pin 4. Defaults
-    /// to pin 5.
-    /// \param[in] enable If this is true (the default), enableOutputs() will be called to enable
-    /// the output pins at construction time.
-    AccelStepper(uint8_t interface = AccelStepper::FULL4WIRE, uint8_t pin1 = 2, uint8_t pin2 = 3, uint8_t pin3 = 4, uint8_t pin4 = 5, bool enable = true);
-
-    /// Alternate Constructor which will call your own functions for forward and backward steps. 
-    /// You can have multiple simultaneous steppers, all moving
-    /// at different speeds and accelerations, provided you call their run()
-    /// functions at frequent enough intervals. Current Position is set to 0, target
-    /// position is set to 0. MaxSpeed and Acceleration default to 1.0.
-    /// Any motor initialization should happen before hand, no pins are used or initialized.
-    /// \param[in] forward void-returning procedure that will make a forward step
-    /// \param[in] backward void-returning procedure that will make a backward step
-    AccelStepper(void (*forward)(), void (*backward)());
-    
-    /// Set the target position. The run() function will try to move the motor (at most one step per call)
-    /// from the current position to the target position set by the most
-    /// recent call to this function. Caution: moveTo() also recalculates the speed for the next step. 
-    /// If you are trying to use constant speed movements, you should call setSpeed() after calling moveTo().
-    /// \param[in] absolute The desired absolute position. Negative is
-    /// anticlockwise from the 0 position.
-    void    moveTo(long absolute); 
-
-    /// Set the target position relative to the current position
-    /// \param[in] relative The desired position relative to the current position. Negative is
-    /// anticlockwise from the current position.
-    void    move(long relative);
-
-    /// Poll the motor and step it if a step is due, implementing
-    /// accelerations and decelerations to acheive the target position. You must call this as
-    /// frequently as possible, but at least once per minimum step time interval,
-    /// preferably in your main loop. Note that each call to run() will make at most one step, and then only when a step is due,
-    /// based on the current speed and the time since the last step.
-    /// \return true if the motor is still running to the target position.
-    boolean run();
-
-    /// Poll the motor and step it if a step is due, implementing a constant
-    /// speed as set by the most recent call to setSpeed(). You must call this as
-    /// frequently as possible, but at least once per step interval,
-    /// \return true if the motor was stepped.
-    boolean runSpeed();
-
-    /// Sets the maximum permitted speed. The run() function will accelerate
-    /// up to the speed set by this function.
-    /// Caution: the maximum speed achievable depends on your processor and clock speed.
-    /// \param[in] speed The desired maximum speed in steps per second. Must
-    /// be > 0. Caution: Speeds that exceed the maximum speed supported by the processor may
-    /// Result in non-linear accelerations and decelerations.
-    void    setMaxSpeed(float speed);
-
-    /// Sets the acceleration/deceleration rate.
-    /// \param[in] acceleration The desired acceleration in steps per second
-    /// per second. Must be > 0.0. This is an expensive call since it requires a square 
-    /// root to be calculated. Dont call more ofthen than needed
-    void    setAcceleration(float acceleration);
-
-    /// Sets the desired constant speed for use with runSpeed().
-    /// \param[in] speed The desired constant speed in steps per
-    /// second. Positive is clockwise. Speeds of more than 1000 steps per
-    /// second are unreliable. Very slow speeds may be set (eg 0.00027777 for
-    /// once per hour, approximately. Speed accuracy depends on the Arduino
-    /// crystal. Jitter depends on how frequently you call the runSpeed() function.
-    void    setSpeed(float speed);
-
-    /// The most recently set speed
-    /// \return the most recent speed in steps per second
-    float   speed();
-
-    /// The distance from the current position to the target position.
-    /// \return the distance from the current position to the target position
-    /// in steps. Positive is clockwise from the current position.
-    long    distanceToGo();
-
-    /// The most recently set target position.
-    /// \return the target position
-    /// in steps. Positive is clockwise from the 0 position.
-    long    targetPosition();
-
-    /// The currently motor position.
-    /// \return the current motor position
-    /// in steps. Positive is clockwise from the 0 position.
-    long    currentPosition();  
-
-    /// Resets the current position of the motor, so that wherever the motor
-    /// happens to be right now is considered to be the new 0 position. Useful
-    /// for setting a zero position on a stepper after an initial hardware
-    /// positioning move.
-    /// Has the side effect of setting the current motor speed to 0.
-    /// \param[in] position The position in steps of wherever the motor
-    /// happens to be right now.
-    void    setCurrentPosition(long position);  
-    
-    /// Moves the motor (with acceleration/deceleration) 
-    /// to the target position and blocks until it is at
-    /// position. Dont use this in event loops, since it blocks.
-    void    runToPosition();
-
-    /// Runs at the currently selected speed until the target position is reached
-    /// Does not implement accelerations.
-    /// \return true if it stepped
-    boolean runSpeedToPosition();
-
-    /// Moves the motor (with acceleration/deceleration)
-    /// to the new target position and blocks until it is at
-    /// position. Dont use this in event loops, since it blocks.
-    /// \param[in] position The new target position.
-    void    runToNewPosition(long position);
-
-    /// Sets a new target position that causes the stepper
-    /// to stop as quickly as possible, using the current speed and acceleration parameters.
-    void stop();
-
-    /// Disable motor pin outputs by setting them all LOW
-    /// Depending on the design of your electronics this may turn off
-    /// the power to the motor coils, saving power.
-    /// This is useful to support Arduino low power modes: disable the outputs
-    /// during sleep and then reenable with enableOutputs() before stepping
-    /// again.
-    virtual void    disableOutputs();
-
-    /// Enable motor pin outputs by setting the motor pins to OUTPUT
-    /// mode. Called automatically by the constructor.
-    virtual void    enableOutputs();
-
-    /// Sets the minimum pulse width allowed by the stepper driver. The minimum practical pulse width is 
-    /// approximately 20 microseconds. Times less than 20 microseconds
-    /// will usually result in 20 microseconds or so.
-    /// \param[in] minWidth The minimum pulse width in microseconds. 
-    void    setMinPulseWidth(unsigned int minWidth);
-
-    /// Sets the enable pin number for stepper drivers.
-    /// 0xFF indicates unused (default).
-    /// Otherwise, if a pin is set, the pin will be turned on when 
-    /// enableOutputs() is called and switched off when disableOutputs() 
-    /// is called.
-    /// \param[in] enablePin Arduino digital pin number for motor enable
-    /// \sa setPinsInverted
-    void    setEnablePin(uint8_t enablePin = 0xff);
-
-    /// Sets the inversion for stepper driver pins
-    /// \param[in] directionInvert True for inverted direction pin, false for non-inverted
-    /// \param[in] stepInvert      True for inverted step pin, false for non-inverted
-    /// \param[in] enableInvert    True for inverted enable pin, false (default) for non-inverted
-    void    setPinsInverted(bool directionInvert = false, bool stepInvert = false, bool enableInvert = false);
-
-    /// Sets the inversion for 2, 3 and 4 wire stepper pins
-    /// \param[in] pin1Invert True for inverted pin1, false for non-inverted
-    /// \param[in] pin2Invert True for inverted pin2, false for non-inverted
-    /// \param[in] pin3Invert True for inverted pin3, false for non-inverted
-    /// \param[in] pin4Invert True for inverted pin4, false for non-inverted
-    /// \param[in] enableInvert    True for inverted enable pin, false (default) for non-inverted
-    void    setPinsInverted(bool pin1Invert, bool pin2Invert, bool pin3Invert, bool pin4Invert, bool enableInvert);
-
-protected:
-
-    /// \brief Direction indicator
-    /// Symbolic names for the direction the motor is turning
-    typedef enum
-    {
-	DIRECTION_CCW = 0,  ///< Clockwise
-        DIRECTION_CW  = 1   ///< Counter-Clockwise
-    } Direction;
-
-    /// Forces the library to compute a new instantaneous speed and set that as
-    /// the current speed. It is called by
-    /// the library:
-    /// \li  after each step
-    /// \li  after change to maxSpeed through setMaxSpeed()
-    /// \li  after change to acceleration through setAcceleration()
-    /// \li  after change to target position (relative or absolute) through
-    /// move() or moveTo()
-    void           computeNewSpeed();
-
-    /// Low level function to set the motor output pins
-    /// bit 0 of the mask corresponds to _pin[0]
-    /// bit 1 of the mask corresponds to _pin[1]
-    /// You can override this to impment, for example serial chip output insted of using the
-    /// output pins directly
-    virtual void   setOutputPins(uint8_t mask);
-
-    /// Called to execute a step. Only called when a new step is
-    /// required. Subclasses may override to implement new stepping
-    /// interfaces. The default calls step1(), step2(), step4() or step8() depending on the
-    /// number of pins defined for the stepper.
-    /// \param[in] step The current step phase number (0 to 7)
-    virtual void   step(long step);
-
-    /// Called to execute a step using stepper functions (pins = 0) Only called when a new step is
-    /// required. Calls _forward() or _backward() to perform the step
-    /// \param[in] step The current step phase number (0 to 7)
-    virtual void   step0(long step);
-
-    /// Called to execute a step on a stepper driver (ie where pins == 1). Only called when a new step is
-    /// required. Subclasses may override to implement new stepping
-    /// interfaces. The default sets or clears the outputs of Step pin1 to step, 
-    /// and sets the output of _pin2 to the desired direction. The Step pin (_pin1) is pulsed for 1 microsecond
-    /// which is the minimum STEP pulse width for the 3967 driver.
-    /// \param[in] step The current step phase number (0 to 7)
-    virtual void   step1(long step);
-
-    /// Called to execute a step on a 2 pin motor. Only called when a new step is
-    /// required. Subclasses may override to implement new stepping
-    /// interfaces. The default sets or clears the outputs of pin1 and pin2
-    /// \param[in] step The current step phase number (0 to 7)
-    virtual void   step2(long step);
-
-    /// Called to execute a step on a 3 pin motor, such as HDD spindle. Only called when a new step is
-    /// required. Subclasses may override to implement new stepping
-    /// interfaces. The default sets or clears the outputs of pin1, pin2,
-    /// pin3
-    /// \param[in] step The current step phase number (0 to 7)
-    virtual void   step3(long step);
-
-    /// Called to execute a step on a 4 pin motor. Only called when a new step is
-    /// required. Subclasses may override to implement new stepping
-    /// interfaces. The default sets or clears the outputs of pin1, pin2,
-    /// pin3, pin4.
-    /// \param[in] step The current step phase number (0 to 7)
-    virtual void   step4(long step);
-
-    /// Called to execute a step on a 3 pin motor, such as HDD spindle. Only called when a new step is
-    /// required. Subclasses may override to implement new stepping
-    /// interfaces. The default sets or clears the outputs of pin1, pin2,
-    /// pin3
-    /// \param[in] step The current step phase number (0 to 7)
-    virtual void   step6(long step);
-
-    /// Called to execute a step on a 4 pin half-steper motor. Only called when a new step is
-    /// required. Subclasses may override to implement new stepping
-    /// interfaces. The default sets or clears the outputs of pin1, pin2,
-    /// pin3, pin4.
-    /// \param[in] step The current step phase number (0 to 7)
-    virtual void   step8(long step);
-
-private:
-    /// Number of pins on the stepper motor. Permits 2 or 4. 2 pins is a
-    /// bipolar, and 4 pins is a unipolar.
-    uint8_t        _interface;          // 0, 1, 2, 4, 8, See MotorInterfaceType
-
-    /// Arduino pin number assignments for the 2 or 4 pins required to interface to the
-    /// stepper motor or driver
-    uint8_t        _pin[4];
-
-    /// Whether the _pins is inverted or not
-    uint8_t        _pinInverted[4];
-
-    /// The current absolution position in steps.
-    long           _currentPos;    // Steps
-
-    /// The target position in steps. The AccelStepper library will move the
-    /// motor from the _currentPos to the _targetPos, taking into account the
-    /// max speed, acceleration and deceleration
-    long           _targetPos;     // Steps
-
-    /// The current motos speed in steps per second
-    /// Positive is clockwise
-    float          _speed;         // Steps per second
-
-    /// The maximum permitted speed in steps per second. Must be > 0.
-    float          _maxSpeed;
-
-    /// The acceleration to use to accelerate or decelerate the motor in steps
-    /// per second per second. Must be > 0
-    float          _acceleration;
-    float          _sqrt_twoa; // Precomputed sqrt(2*_acceleration)
-
-    /// The current interval between steps in microseconds.
-    /// 0 means the motor is currently stopped with _speed == 0
-    unsigned long  _stepInterval;
-
-    /// The last step time in microseconds
-    unsigned long  _lastStepTime;
-
-    /// The minimum allowed pulse width in microseconds
-    unsigned int   _minPulseWidth;
-
-    /// Is the direction pin inverted?
-    ///bool           _dirInverted; /// Moved to _pinInverted[1]
-
-    /// Is the step pin inverted?
-    ///bool           _stepInverted; /// Moved to _pinInverted[0]
-
-    /// Is the enable pin inverted?
-    bool           _enableInverted;
-
-    /// Enable pin for stepper driver, or 0xFF if unused.
-    uint8_t        _enablePin;
-
-    /// The pointer to a forward-step procedure
-    void (*_forward)();
-
-    /// The pointer to a backward-step procedure
-    void (*_backward)();
-
-    /// The step counter for speed calculations
-    long _n;
-
-    /// Initial step size in microseconds
-    float _c0;
-
-    /// Last step size in microseconds
-    float _cn;
-
-    /// Min step size in microseconds based on maxSpeed
-    float _cmin; // at max speed
-
-    /// Current direction motor is spinning in
-    boolean _direction; // 1 == CW
-
-};
-
-/// @example Random.pde
-/// Make a single stepper perform random changes in speed, position and acceleration
-
-/// @example Overshoot.pde
-///  Check overshoot handling
-/// which sets a new target position and then waits until the stepper has 
-/// achieved it. This is used for testing the handling of overshoots
-
-/// @example MultiStepper.pde
-/// Shows how to multiple simultaneous steppers
-/// Runs one stepper forwards and backwards, accelerating and decelerating
-/// at the limits. Runs other steppers at the same time
-
-/// @example ConstantSpeed.pde
-/// Shows how to run AccelStepper in the simplest,
-/// fixed speed mode with no accelerations
-
-/// @example Blocking.pde 
-/// Shows how to use the blocking call runToNewPosition
-/// Which sets a new target position and then waits until the stepper has 
-/// achieved it.
-
-/// @example AFMotor_MultiStepper.pde
-/// Control both Stepper motors at the same time with different speeds
-/// and accelerations. 
-
-/// @example AFMotor_ConstantSpeed.pde
-/// Shows how to run AccelStepper in the simplest,
-/// fixed speed mode with no accelerations
-
-/// @example ProportionalControl.pde
-/// Make a single stepper follow the analog value read from a pot or whatever
-/// The stepper will move at a constant speed to each newly set posiiton, 
-/// depending on the value of the pot.
-
-/// @example Bounce.pde
-/// Make a single stepper bounce from one limit to another, observing
-/// accelrations at each end of travel
-
-/// @example Quickstop.pde
-/// Check stop handling.
-/// Calls stop() while the stepper is travelling at full speed, causing
-/// the stepper to stop as quickly as possible, within the constraints of the
-/// current acceleration.
-
-/// @example MotorShield.pde
-/// Shows how to use AccelStepper to control a 3-phase motor, such as a HDD spindle motor
-/// using the Adafruit Motor Shield http://www.ladyada.net/make/mshield/index.html.
-
-/// @example DualMotorShield.pde
-/// Shows how to use AccelStepper to control 2 x 2 phase steppers using the 
-/// Itead Studio Arduino Dual Stepper Motor Driver Shield
-/// model IM120417015
-
-#endif 

platformio.ini

@@ -9,10 +9,13 @@
 ; https://docs.platformio.org/page/projectconf.html
 
 [env:uno]
-platform = atmelavr
+platform = platformio/espressif32
-board = uno
+board = esp32dev
 framework = arduino
-monitor_speed = 9600
+monitor_speed = 115200
-upload_speed = 115200
+upload_speed = 576000
-upload_port= COM3
+upload_port = /dev/ttyUSB*
-lib_deps = arduino-libraries/Servo@^1.3.0
+lib_deps = 
+	madhephaestus/ESP32Servo@^3.0.6
+	bblanchon/ArduinoJson@^6.21.5
+	gin66/FastAccelStepper@^0.33.13

src/Config_Web.cpp

@@ -0,0 +1,413 @@
+#include "EggDuino.h"
+#include <ArduinoJson.h>
+#include "credentials.h"
+
+namespace
+{
+	const char *kConfigPath = "/config.json";
+
+	WebServer server(80);
+	bool configStoreReady = false;
+
+	ConfigParameter *findParameter(const String &key)
+	{
+		for (size_t i = 0; i < configParameterCount; ++i)
+		{
+			if (key.equals(configParameters[i].key))
+			{
+				return &configParameters[i];
+			}
+		}
+		return nullptr;
+	}
+
+	void applyDefaults()
+	{
+		for (size_t i = 0; i < configParameterCount; ++i)
+		{
+			*configParameters[i].value = configParameters[i].defaultValue;
+		}
+	}
+
+	void handleRoot()
+	{
+		static const char kPage[] PROGMEM = R"HTML(
+<!doctype html>
+<html lang="de">
+<head>
+<meta charset="utf-8" />
+<meta name="viewport" content="width=device-width, initial-scale=1" />
+<title>EggDuino Konfiguration</title>
+<style>
+body { font-family: "Segoe UI", sans-serif; margin: 20px; background: #f3f6fb; color: #1a1a1a; }
+main { max-width: 760px; margin: 0 auto; background: #fff; border-radius: 12px; padding: 20px; box-shadow: 0 8px 24px rgba(0,0,0,0.08); }
+h1 { margin-top: 0; font-size: 1.35rem; }
+label { display: block; margin: 14px 0 6px; font-weight: 600; }
+input[type='number'] { width: 100%; padding: 10px; border: 1px solid #c7d2e5; border-radius: 8px; box-sizing: border-box; }
+button { margin-top: 18px; border: 0; background: #0b5ed7; color: white; padding: 10px 14px; border-radius: 8px; cursor: pointer; }
+#status { margin-top: 12px; min-height: 1.2em; }
+#log { margin-top: 20px; border: 1px solid #d6dfef; border-radius: 8px; background: #0f172a; color: #d2e3ff; padding: 10px; height: 220px; overflow-y: auto; white-space: pre-wrap; font-family: ui-monospace, SFMono-Regular, Menlo, Monaco, Consolas, monospace; font-size: 0.9rem; }
+#logTitle { margin-top: 24px; margin-bottom: 8px; font-weight: 700; }
+</style>
+</head>
+<body>
+<main>
+<h1>EggDuino Parameter</h1>
+<form id="cfgForm"></form>
+<button id="saveBtn" type="button">Speichern</button>
+<div id="status"></div>
+<div id="logTitle">Logs</div>
+<div id="log"></div>
+</main>
+<script>
+let lastSeq = 0;
+
+async function loadConfig() {
+  const resp = await fetch('/api/config', { cache: 'no-store' });
+  if (!resp.ok) throw new Error('Konfiguration konnte nicht geladen werden');
+  return resp.json();
+}
+
+function renderForm(config) {
+  const form = document.getElementById('cfgForm');
+  form.innerHTML = '';
+  (config.parameters || []).forEach(p => {
+    const label = document.createElement('label');
+    label.textContent = p.description || p.key;
+    const input = document.createElement('input');
+    input.type = 'number';
+    input.value = p.value;
+    input.dataset.key = p.key;
+    form.appendChild(label);
+    form.appendChild(input);
+  });
+}
+
+async function saveConfig() {
+  const status = document.getElementById('status');
+  const inputs = [...document.querySelectorAll('input[data-key]')];
+  const payload = {
+    parameters: inputs.map(i => ({ key: i.dataset.key, value: Number(i.value) }))
+  };
+  const resp = await fetch('/api/config', {
+    method: 'POST',
+    headers: { 'Content-Type': 'application/json' },
+    body: JSON.stringify(payload)
+  });
+  if (!resp.ok) {
+    const text = await resp.text();
+    throw new Error(text || 'Speichern fehlgeschlagen');
+  }
+  const saved = await resp.json();
+  renderForm(saved);
+  status.textContent = 'Gespeichert';
+}
+
+async function pollLogs() {
+  const box = document.getElementById('log');
+  const resp = await fetch('/api/logs?since=' + lastSeq);
+  if (!resp.ok) {
+    return;
+  }
+  const payload = await resp.json();
+  (payload.logs || []).forEach(entry => {
+    box.textContent += entry.text + '\n';
+  });
+  if (typeof payload.lastSeq === 'number') {
+    lastSeq = payload.lastSeq;
+  }
+  box.scrollTop = box.scrollHeight;
+}
+
+(async function init() {
+  const status = document.getElementById('status');
+  try {
+    const cfg = await loadConfig();
+    renderForm(cfg);
+    status.textContent = 'Bereit';
+  } catch (e) {
+    status.textContent = e.message;
+  }
+  document.getElementById('saveBtn').addEventListener('click', async () => {
+    try {
+      await saveConfig();
+    } catch (e) {
+      status.textContent = e.message;
+    }
+  });
+  pollLogs();
+  setInterval(pollLogs, 800);
+})();
+</script>
+</body>
+</html>
+)HTML";
+
+		server.send(200, "text/html", kPage);
+	}
+
+	void handleGetConfig()
+	{
+		if (!configStoreReady && !initConfigStore())
+		{
+			server.send(500, "text/plain", "Config storage not available");
+			return;
+		}
+		server.sendHeader("Cache-Control", "no-store, no-cache, must-revalidate");
+		server.sendHeader("Pragma", "no-cache");
+		server.sendHeader("Expires", "0");
+		server.send(200, "application/json", buildConfigJson());
+	}
+
+	void handlePostConfig()
+	{
+		if (!configStoreReady && !initConfigStore())
+		{
+			server.send(500, "text/plain", "Config storage not available");
+			return;
+		}
+
+		if (!server.hasArg("plain"))
+		{
+			server.send(400, "text/plain", "Missing JSON body");
+			return;
+		}
+
+		String error;
+		if (!applyConfigJson(server.arg("plain"), error))
+		{
+			Log(String("Config JSON fehlerhaft: ") + error);
+			server.send(400, "text/plain", error);
+			return;
+		}
+
+		if (!saveConfigToFile())
+		{
+			Log("Config konnte nicht gespeichert werden");
+			server.send(500, "text/plain", "Could not save config");
+			return;
+		}
+
+		Log(String("Config gespeichert: penUpPos=") + g_iPenUpPos + ", penDownPos=" + g_iPenDownPos);
+		server.send(200, "application/json", buildConfigJson());
+	}
+
+	void handleGetLogs()
+	{
+		uint32_t since = 0;
+		if (server.hasArg("since"))
+		{
+			since = static_cast<uint32_t>(server.arg("since").toInt());
+		}
+		server.send(200, "application/json", buildLogsJson(since));
+	}
+
+	void handleNotFound()
+	{
+		if (server.uri().startsWith("/api/"))
+		{
+			server.send(404, "text/plain", "API endpoint not found");
+			return;
+		}
+		handleRoot();
+	}
+} // namespace
+
+ConfigParameter configParameters[] = {
+	// {"penUpPos", &g_iPEN_UP_POS, "Pen Up Position", 5},
+	// {"penDownPos", &g_iPEN_DOWN_POS, "Pen Down Position", 20},
+};
+
+const size_t configParameterCount = sizeof(configParameters) / sizeof(configParameters[0]);
+
+bool initConfigStore()
+{
+	if (!SPIFFS.begin(true))
+	{
+		configStoreReady = false;
+		return false;
+	}
+	configStoreReady = loadConfigFromFile();
+	return configStoreReady;
+}
+
+bool loadConfigFromFile()
+{
+	applyDefaults();
+
+	File file = SPIFFS.open(kConfigPath, "r");
+	if (!file)
+	{
+		Log("config.json fehlt, defaults werden gespeichert");
+		return saveConfigToFile();
+	}
+
+	StaticJsonDocument<1024> doc;
+	DeserializationError err = deserializeJson(doc, file);
+	file.close();
+	if (err)
+	{
+		Log("config.json ist ungueltig, defaults werden gespeichert");
+		return saveConfigToFile();
+	}
+
+	JsonArray params = doc["parameters"].as<JsonArray>();
+	for (JsonObject item : params)
+	{
+		const char *key = item["key"];
+		if (key == nullptr)
+		{
+			continue;
+		}
+		ConfigParameter *param = findParameter(String(key));
+		if (param == nullptr)
+		{
+			continue;
+		}
+		if (item.containsKey("value"))
+		{
+			*param->value = item["value"].as<int>();
+		}
+		if (item.containsKey("description"))
+		{
+			param->description = item["description"].as<String>();
+		}
+	}
+	Log(String("Config geladen: penUpPos=") + g_iPenUpPos + ", penDownPos=" + g_iPenDownPos);
+
+	return true;
+}
+
+bool saveConfigToFile()
+{
+	File file = SPIFFS.open(kConfigPath, "w");
+	if (!file)
+	{
+		Log("SPIFFS open write failed");
+		return false;
+	}
+
+	StaticJsonDocument<1024> doc;
+	JsonArray params = doc.createNestedArray("parameters");
+	for (size_t i = 0; i < configParameterCount; ++i)
+	{
+		JsonObject item = params.createNestedObject();
+		item["key"] = configParameters[i].key;
+		item["value"] = *configParameters[i].value;
+		item["description"] = configParameters[i].description;
+	}
+
+	bool ok = serializeJsonPretty(doc, file) > 0;
+	file.flush();
+	file.close();
+	if (!ok)
+	{
+		Log("serializeJsonPretty failed");
+	}
+	return ok;
+}
+
+String buildConfigJson()
+{
+	StaticJsonDocument<1024> doc;
+	JsonArray params = doc.createNestedArray("parameters");
+	for (size_t i = 0; i < configParameterCount; ++i)
+	{
+		JsonObject item = params.createNestedObject();
+		item["key"] = configParameters[i].key;
+		item["value"] = *configParameters[i].value;
+		item["description"] = configParameters[i].description;
+	}
+
+	String output;
+	serializeJson(doc, output);
+	return output;
+}
+
+bool applyConfigJson(const String &payload, String &errorMessage)
+{
+	StaticJsonDocument<1024> doc;
+	DeserializationError err = deserializeJson(doc, payload);
+	if (err)
+	{
+		errorMessage = "Invalid JSON payload";
+		return false;
+	}
+
+	JsonArray params = doc["parameters"].as<JsonArray>();
+	if (params.isNull())
+	{
+		errorMessage = "JSON must contain 'parameters' array";
+		return false;
+	}
+
+	for (JsonObject item : params)
+	{
+		const char *key = item["key"];
+		if (key == nullptr || !item.containsKey("value"))
+		{
+			continue;
+		}
+
+		ConfigParameter *param = findParameter(String(key));
+		if (param == nullptr)
+		{
+			continue;
+		}
+
+		*param->value = item["value"].as<int>();
+		if (item.containsKey("description"))
+		{
+			param->description = item["description"].as<String>();
+		}
+	}
+
+	return true;
+}
+
+void startWebInterface()
+{
+	initConfigStore();
+	if (kWifiSsid != 0)
+	{
+
+		WiFi.mode(WIFI_STA);
+		WiFi.begin(kWifiSsid, kWifiPassword);
+
+		const unsigned long connectStart = millis();
+		const unsigned long connectTimeoutMs = 10000;
+		while (WiFi.status() != WL_CONNECTED && millis() - connectStart < connectTimeoutMs)
+		{
+			delay(250);
+		}
+
+		
+		if (WiFi.status() == WL_CONNECTED)
+		{
+			Serial.println(String("http://") + WiFi.localIP().toString());
+		}
+		else
+		{
+			Serial.println("WLAN Verbindung fehlgeschlagen");
+		}
+
+		server.on("/", HTTP_GET, handleRoot);
+		server.on("/api/config", HTTP_GET, handleGetConfig);
+		server.on("/api/config", HTTP_POST, handlePostConfig);
+		server.on("/api/logs", HTTP_GET, handleGetLogs);
+		server.onNotFound(handleNotFound);
+		server.begin();
+	}
+	else
+	{
+		Serial.println("Verwende kein WLAN.");
+	}
+}
+
+void handleWebInterface()
+{
+	if (kWifiSsid != NULL)
+	{
+		server.handleClient();
+	}
+}

src/Functions.cpp

@@ -1,84 +1,100 @@
 #include "EggDuino.h"
 
-
+void queryPen()
-void queryPen() {
+{
+   Log(__FUNCTION__);
 	char state;
-	if (penState==penUpPos)
+	if (g_iPenState == g_iPenUpPos)
-		state='1';
+		state = '1';
 	else
-		state='0';
+		state = '0';
-	Serial.print(String(state)+"\r\n");
+	Serial.print(String(state) + "\r\n");
 	sendAck();
 }
 
-void queryButton() {
+void queryButton()
-	Serial.print(String(prgButtonState) +"\r\n");
+{
+	Serial.print(String(g_bPrgButtonState) + "\r\n");
 	sendAck();
-	prgButtonState = 0;
+	g_bPrgButtonState = 0;
 }
 
-void queryLayer() {
+void queryLayer()
-	Serial.print(String(layer) +"\r\n");
+{
+   Log(__FUNCTION__);
+	Serial.print(String(g_uiLayer) + "\r\n");
 	sendAck();
 }
 
-void setLayer() {
+void setLayer()
-	uint32_t value=0;
+{
+   Log(__FUNCTION__);
+	uint32_t value = 0;
 	char *arg1;
 	arg1 = SCmd.next();
-	if (arg1 != NULL) {
+	if (arg1 != NULL)
+	{
 		value = atoi(arg1);
-		layer=value;
+		g_uiLayer = value;
 		sendAck();
 	}
 	else
 		sendError();
 }
 
-void queryNodeCount() {
+void queryNodeCount()
-	Serial.print(String(nodeCount) +"\r\n");
+{
+	Serial.print(String(g_uiNodeCount) + "\r\n");
 	sendAck();
-
 }
 
-void setNodeCount() {
+void setNodeCount()
-	uint32_t value=0;
+{
+   Log(__FUNCTION__);
+	uint32_t value = 0;
 	char *arg1;
 	arg1 = SCmd.next();
-	if (arg1 != NULL) {
+	if (arg1 != NULL)
+	{
 		value = atoi(arg1);
-		nodeCount=value;
+		g_uiNodeCount = value;
 		sendAck();
 	}
 	else
 		sendError();
 }
 
-void nodeCountIncrement() {
+void nodeCountIncrement()
-	nodeCount=nodeCount++;
+{
+	g_uiNodeCount = g_uiNodeCount++;
 	sendAck();
 }
 
-void nodeCountDecrement() {
+void nodeCountDecrement()
-	nodeCount=nodeCount--;
+{
+	g_uiNodeCount = g_uiNodeCount--;
 	sendAck();
 }
 
-void stepperMove() {
+void stepperMove()
-	uint16_t duration=0; //in ms
+{
-	int penStepsEBB=0; //Pen
+   Log(__FUNCTION__);
-	int rotStepsEBB=0; //Rot
+	uint16_t duration = 0; // in ms
+	int penStepsEBB = 0;   // Pen
+	int rotStepsEBB = 0;   // Rot
 
 	moveToDestination();
 
-	if (!parseSMArgs(&duration, &penStepsEBB, &rotStepsEBB)) {
+	if (!parseSMArgs(&duration, &penStepsEBB, &rotStepsEBB))
+	{
 		sendError();
 		return;
 	}
 
 	sendAck();
 
-	if ( (penStepsEBB==0) && (rotStepsEBB==0) ) {
+	if ((penStepsEBB == 0) && (rotStepsEBB == 0))
+	{
 		delay(duration);
 		return;
 	}
@@ -86,48 +102,55 @@ void stepperMove() {
 	prepareMove(duration, penStepsEBB, rotStepsEBB);
 }
 
-void setPen(){
+void setPen()
+{
+   Log(__FUNCTION__);
 	int cmd;
 	int value;
 	char *arg;
+	char cstrMsg[20];
 
 	moveToDestination();
 
 	arg = SCmd.next();
-	if (arg != NULL) {
+	if (arg != NULL)
+	{
 		cmd = atoi(arg);
-		switch (cmd) {
+		switch (cmd)
-			case 0:
+		{
-				penServo.write(penUpPos);
+		case 0:
-				penState=penUpPos;
+			penServo.write(g_iPenUpPos);
-				break;
+			break;
 
-			case 1:
+		case 1:
-				penServo.write(penDownPos);
+			penServo.write(g_iPenDownPos);
-				penState=penDownPos;
+			break;
-				break;
 
-			default:
+		default:
-				sendError();
+			sendError();
 		}
 	}
 	char *val;
 	val = SCmd.next();
-	if (val != NULL) {
+	if (val != NULL)
+	{
 		value = atoi(val);
 		sendAck();
 		delay(value);
 	}
-	if (val==NULL && arg !=NULL)  {
+	if (val == NULL && arg != NULL)
+	{
 		sendAck();
 		delay(500);
 	}
 	//	Serial.println("delay");
-	if (val==NULL && arg ==NULL)
+	if (val == NULL && arg == NULL)
 		sendError();
 }
 
-void togglePen(){
+void togglePen()
+{
+   Log(__FUNCTION__);
 	int value;
 	char *arg;
 
@@ -144,17 +167,24 @@ void togglePen(){
 	delay(value);
 }
 
-void doTogglePen() {
+void doTogglePen()
-	if (penState==penUpPos) {
+{
-		penServo.write(penDownPos);
+   Log(__FUNCTION__);
-		penState=penDownPos;
+	if (g_iPenState == g_iPenUpPos)
-	} else   {
+	{
-		penServo.write(penUpPos);
+		penServo.write(g_iPenDownPos);
-		penState=penUpPos;
+		g_iPenState = g_iPenDownPos;
+	}
+	else
+	{
+		penServo.write(g_iPenUpPos);
+		g_iPenState = g_iPenUpPos;
 	}
 }
 
-void enableMotors(){
+void enableMotors()
+{
+   Log(__FUNCTION__);
 	int cmd;
 	int value;
 	char *arg;
@@ -165,35 +195,45 @@ void enableMotors(){
 	val = SCmd.next();
 	if (val != NULL)
 		value = atoi(val);
-	//values parsed
+	// values parsed
-	if ((arg != NULL) && (val == NULL)){
+	if ((arg != NULL) && (val == NULL))
-		switch (cmd) {
+	{
-			case 0: motorsOff();
+		switch (cmd)
-				sendAck();
+		{
-				break;
+		case 0:
-			case 1: motorsOn();
+			motorsOff();
-				sendAck();
+			sendAck();
-				break;
+			break;
-			default:
+		case 1:
-				sendError();
+			motorsOn();
+			sendAck();
+			break;
+		default:
+			sendError();
 		}
 	}
-	//the following implementaion is a little bit cheated, because i did not know, how to implement different values for first and second argument.
+	// the following implementaion is a little bit cheated, because i did not know, how to implement different values for first and second argument.
-	if ((arg != NULL) && (val != NULL)){
+	if ((arg != NULL) && (val != NULL))
-		switch (value) {
+	{
-			case 0: motorsOff();
+		switch (value)
-				sendAck();
+		{
-				break;
+		case 0:
-			case 1: motorsOn();
+			motorsOff();
-				sendAck();
+			sendAck();
-				break;
+			break;
-			default:
+		case 1:
-				sendError();
+			motorsOn();
+			sendAck();
+			break;
+		default:
+			sendError();
 		}
 	}
 }
 
-void stepperModeConfigure(){
+void stepperModeConfigure()
+{
+   Log(__FUNCTION__);
 	int cmd;
 	int value;
 	char *arg;
@@ -204,63 +244,76 @@ void stepperModeConfigure(){
 	val = SCmd.next();
 	if (val != NULL)
 		value = atoi(val);
-	if ((arg != NULL) && (val != NULL)){
+	if ((arg != NULL) && (val != NULL))
-		switch (cmd) {
+	{
-			case 4: penDownPos= (int) ((float) (value-6000)/(float) 133.3); // transformation from EBB to PWM-Servo
+		switch (cmd)
-				storePenDownPosInEE();
+		{
-				sendAck();
+		case 4:
-				break;
+			g_iPenDownPos = (int)((float)(value - 6000) / (float)133.3); // transformation from EBB to PWM-Servo
-			case 5: penUpPos= (int)((float) (value-6000)/(float) 133.3); // transformation from EBB to PWM-Servo
+			storePenDownPosInEE();
-				storePenUpPosInEE();
+			sendAck();
-				sendAck();
+			break;
-				break;
+		case 5:
-			case 6: //rotMin=value;    ignored
+			g_iPenUpPos = (int)((float)(value - 6000) / (float)133.3); // transformation from EBB to PWM-Servo
-				sendAck();
+			storePenUpPosInEE();
-				break;
+			sendAck();
-			case 7: //rotMax=value;    ignored
+			break;
-				sendAck();
+		case 6: // rotMin=value;    ignored
-				break;
+			sendAck();
-			case 11: servoRateUp=value;
+			break;
-				 sendAck();
+		case 7: // rotMax=value;    ignored
-				 break;
+			sendAck();
-			case 12: servoRateDown=value;
+			break;
-				 sendAck();
+		case 11:
-				 break;
+			g_iServoRateUp = value;
-			default:
+			sendAck();
-				 sendError();
+			break;
+		case 12:
+			g_iServoRateDown = value;
+			sendAck();
+			break;
+		default:
+			sendError();
 		}
 	}
 }
 
-void sendVersion(){
+void sendVersion()
+{
+   Log(__FUNCTION__);
 	Serial.print(initSting);
 	Serial.print("\r\n");
 }
 
-void unrecognized(const char *command){
+void unrecognized(const char *command)
+{
+   Log(__FUNCTION__);
 	sendError();
 }
 
-void ignore(){
+void ignore()
+{
+   Log(__FUNCTION__);
 	sendAck();
 }
 
-void makeComInterface(){
+void makeComInterface()
-	SCmd.addCommand("v",sendVersion);
+{
-	SCmd.addCommand("EM",enableMotors);
+	SCmd.addCommand("v", sendVersion);
-	SCmd.addCommand("SC",stepperModeConfigure);
+	SCmd.addCommand("EM", enableMotors);
-	SCmd.addCommand("SP",setPen);
+	SCmd.addCommand("SC", stepperModeConfigure);
-	SCmd.addCommand("SM",stepperMove);
+	SCmd.addCommand("SP", setPen);
-	SCmd.addCommand("SE",ignore);
+	SCmd.addCommand("SM", stepperMove);
-	SCmd.addCommand("TP",togglePen);
+	SCmd.addCommand("SE", ignore);
-	SCmd.addCommand("PO",ignore);    //Engraver command, not implemented, gives fake answer
+	SCmd.addCommand("TP", togglePen);
-	SCmd.addCommand("NI",nodeCountIncrement);
+	SCmd.addCommand("PO", ignore); // Engraver command, not implemented, gives fake answer
-	SCmd.addCommand("ND",nodeCountDecrement);
+	SCmd.addCommand("NI", nodeCountIncrement);
-	SCmd.addCommand("SN",setNodeCount);
+	SCmd.addCommand("ND", nodeCountDecrement);
-	SCmd.addCommand("QN",queryNodeCount);
+	SCmd.addCommand("SN", setNodeCount);
-	SCmd.addCommand("SL",setLayer);
+	SCmd.addCommand("QN", queryNodeCount);
-	SCmd.addCommand("QL",queryLayer);
+	SCmd.addCommand("SL", setLayer);
-	SCmd.addCommand("QP",queryPen);
+	SCmd.addCommand("QL", queryLayer);
-	SCmd.addCommand("QB",queryButton);  //"PRG" Button,
+	SCmd.addCommand("QP", queryPen);
+	SCmd.addCommand("QB", queryButton);	  //"PRG" Button,
 	SCmd.setDefaultHandler(unrecognized); // Handler for command that isn't matched (says "What?")
 }

src/Helper_Functions.cpp

@@ -1,81 +1,113 @@
 #include "EggDuino.h"
 
-inline void loadPenPosFromEE() {
+void initHardware()
-	penUpPos = eeprom_read_word(penUpPosEEAddress);
+{
-	penDownPos = eeprom_read_word(penDownPosEEAddress);
+	if (!initConfigStore())
-	penState = penUpPos;
+	{
-}
+		g_iPenUpPos = 5;
+		g_iPenDownPos = 20;
+	}
+	g_iPenState = g_iPenUpPos;
 
-void initHardware(){
+	g_stepEngine.init();
-	// enable eeprom wait in avr/eeprom.h functions
+	g_pStepperRotate = g_stepEngine.stepperConnectToPin(step1);
-	SPMCSR &= ~SELFPRGEN;
+	if (g_pStepperRotate)
+	{
+		// rotMotor.setMaxSpeed(2000.0);
+		// rotMotor.setAcceleration(10000.0);
 
-	loadPenPosFromEE();
+		g_pStepperRotate->setDirectionPin(dir1);
+		g_pStepperRotate->setEnablePin(enableRotMotor);
+		g_pStepperRotate->setAcceleration(10000);
+		g_pStepperRotate->setAutoEnable(false);
+	}
 
-	pinMode(enableRotMotor, OUTPUT);
+	// Stepper pen init
-	pinMode(enablePenMotor, OUTPUT);
+	g_pStepperPen = g_stepEngine.stepperConnectToPin(step2);
+	if (g_pStepperPen)
+	{
+		// penMotor.setMaxSpeed(2000.0);
+		// penMotor.setAcceleration(10000.0);
+		g_pStepperPen->setDirectionPin(dir2);
+		g_pStepperPen->setEnablePin(enablePenMotor);
+		g_pStepperPen->setAcceleration(10000);
+		g_pStepperPen->setAutoEnable(false);
+	}
 
-	rotMotor.setMaxSpeed(2000.0);
-	rotMotor.setAcceleration(10000.0);
-	penMotor.setMaxSpeed(2000.0);
-	penMotor.setAcceleration(10000.0);
 	motorsOff();
 	penServo.attach(servoPin);
-	penServo.write(penState);
+	penServo.write(g_iPenState);
 }
 
-
+void storePenUpPosInEE()
-
+{
-void storePenUpPosInEE() {
+	saveConfigToFile();
-	eeprom_update_word(penUpPosEEAddress, penUpPos);
 }
 
-void storePenDownPosInEE() {
+void storePenDownPosInEE()
-	eeprom_update_word(penDownPosEEAddress, penDownPos);
+{
+	saveConfigToFile();
 }
 
-void sendAck(){
+void sendAck()
+{
+   Log(__FUNCTION__);
 	Serial.print("OK\r\n");
 }
 
-void sendError(){
+void sendError()
+{
+   Log(__FUNCTION__);
 	Serial.print("unknown CMD\r\n");
 }
 
-void motorsOff() {
+void motorsOff()
-	digitalWrite(enableRotMotor, HIGH);
+{
-	digitalWrite(enablePenMotor, HIGH);
+   Log(__FUNCTION__);
-	motorsEnabled = 0;
+	g_pStepperPen->disableOutputs();
+	g_pStepperRotate->disableOutputs();
+	g_bMotorsEnabled = 0;
 }
 
-void motorsOn() {
+void motorsOn()
-	digitalWrite(enableRotMotor, LOW) ;
+{
-	digitalWrite(enablePenMotor, LOW) ;
+   Log(__FUNCTION__);
-	motorsEnabled = 1;
+	g_pStepperPen->enableOutputs();
+	g_pStepperRotate->enableOutputs();
+	g_bMotorsEnabled = 1;
 }
 
-void toggleMotors() {
+void toggleMotors()
-	if (motorsEnabled) {
+{
+   Log(__FUNCTION__);
+	if (g_bMotorsEnabled)
+	{
 		motorsOff();
-	} else {
+	}
+	else
+	{
 		motorsOn();
 	}
 }
 
-bool parseSMArgs(uint16_t *duration, int *penStepsEBB, int *rotStepsEBB) {
+bool parseSMArgs(uint16_t *duration, int *penStepsEBB, int *rotStepsEBB)
+{
 	char *arg1;
 	char *arg2;
 	char *arg3;
 	arg1 = SCmd.next();
-	if (arg1 != NULL) {
+	if (arg1 != NULL)
+	{
 		*duration = atoi(arg1);
 		arg2 = SCmd.next();
 	}
-	if (arg2 != NULL) {
+	if (arg2 != NULL)
+	{
 		*penStepsEBB = atoi(arg2);
 		arg3 = SCmd.next();
 	}
-	if (arg3 != NULL) {
+	if (arg3 != NULL)
+	{
 		*rotStepsEBB = atoi(arg3);
 
 		return true;
@@ -84,56 +116,62 @@ bool parseSMArgs(uint16_t *duration, int *penStepsEBB, int *rotStepsEBB) {
 	return false;
 }
 
-void prepareMove(uint16_t duration, int penStepsEBB, int rotStepsEBB) {
+void prepareMove(uint16_t duration, int penStepsEBB, int rotStepsEBB)
-	if (!motorsEnabled) {
+{
+	if (!g_bMotorsEnabled)
+	{
 		motorsOn();
 	}
-	if( (1 == rotStepCorrection) && (1 == penStepCorrection) ){ // if coordinatessystems are identical
-		//set Coordinates and Speed
-		rotMotor.move(rotStepsEBB);
-		rotMotor.setSpeed( abs( (float)rotStepsEBB * (float)1000 / (float)duration ) );
-		penMotor.move(penStepsEBB);
-		penMotor.setSpeed( abs( (float)penStepsEBB * (float)1000 / (float)duration ) );
-	} 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...
-		long penSteps =   (  (long)penStepsEBB * 16 / penStepCorrection) + (long)penStepError;
 
-		int rotStepsToGo = (int) (rotSteps/16);		//Calc Steps to go, which are possible on our machine
-		int penStepsToGo = (int) (penSteps/16);
 
-		rotStepError = (long)rotSteps - ((long) rotStepsToGo * (long)16);	// calc Position-Error, if there is one
+		if ((1 == fROT_STEP_CORRECTION) && (1 == fPEN_STEP_CORRECTION))
-		penStepError = (long)penSteps - ((long) penStepsToGo * (long)16);
+		{ // if coordinatessystems are identical
+			// set Coordinates and Speed
+			g_pStepperRotate->setSpeedInTicks(abs((float)rotStepsEBB * (float)1000 / (float)duration));
+			g_pStepperRotate->move(rotStepsEBB);
 
-		long temp_rotSpeed =  ((long)rotStepsToGo * (long)1000 / (long)duration );	// calc Speed in Integer Math
+			g_pStepperPen->setSpeedInTicks(abs((float)penStepsEBB * (float)1000 / (float)duration));
-		long temp_penSpeed =  ((long)penStepsToGo * (long)1000 / (long)duration ) ;
+			g_pStepperPen->move(penStepsEBB);
+		}
+	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 / fROT_STEP_CORRECTION) + (long)g_iRotStepError; // correct incoming EBB-Steps to our microstep-Setting and multiply  by 16 to avoid floatingpoint...
+		long penSteps = ((long)penStepsEBB * 16 / fPEN_STEP_CORRECTION) + (long)g_iPenStepError;
 
-		float rotSpeed= (float) abs(temp_rotSpeed);	// type cast
+		int rotStepsToGo = (int)(rotSteps / 16); // Calc Steps to go, which are possible on our machine
-		float penSpeed= (float) abs(temp_penSpeed);
+		int penStepsToGo = (int)(penSteps / 16);
 
-		//set Coordinates and Speed
+		g_iRotStepError = (long)rotSteps - ((long)rotStepsToGo * (long)16); // calc Position-Error, if there is one
-		rotMotor.move(rotStepsToGo);		// finally, let us set the target position...
+		g_iPenStepError = (long)penSteps - ((long)penStepsToGo * (long)16);
-		rotMotor.setSpeed(rotSpeed);		// and the Speed!
+
-		penMotor.move(penStepsToGo);
+		long temp_rotSpeed = ((long)rotStepsToGo * (long)1000 / (long)duration); // calc Speed in Integer Math
-		penMotor.setSpeed( penSpeed );
+		long temp_penSpeed = ((long)penStepsToGo * (long)1000 / (long)duration);
+
+		float rotSpeed = (float)abs(temp_rotSpeed); // type cast
+			float penSpeed = (float)abs(temp_penSpeed);
+
+			// set Coordinates and Speed
+			g_pStepperRotate->setSpeedInTicks(rotSpeed);
+			g_pStepperRotate->move(rotStepsToGo);
+
+			g_pStepperPen->setSpeedInTicks(penSpeed);
+			g_pStepperPen->move(penStepsToGo);
+		}
 	}
+
+void moveOneStep()
+{
+	while (g_pStepperPen->isRunning() || g_pStepperRotate->isRunning());
 }
 
-void moveOneStep() {
+void moveToDestination()
-	if ( penMotor.distanceToGo() || rotMotor.distanceToGo() ) {
+{
-		penMotor.runSpeedToPosition(); // Moving.... moving... moving....
+	while (g_pStepperPen->isRunning() || g_pStepperRotate->isRunning());
-		rotMotor.runSpeedToPosition();
-	}
 }
 
-void moveToDestination() {
+void setprgButtonState()
-	while ( penMotor.distanceToGo() || rotMotor.distanceToGo() ) {
+{
-		penMotor.runSpeedToPosition(); // Moving.... moving... moving....
+	g_bPrgButtonState = 1;
-		rotMotor.runSpeedToPosition();
-	}
-}
-
-void setprgButtonState(){
-	prgButtonState = 1;
 }

src/Logging.cpp

@@ -0,0 +1,91 @@
+#include "EggDuino.h"
+
+namespace {
+constexpr size_t kLogCapacity = 80;
+constexpr size_t kLogLineLength = 160;
+
+char g_logLines[kLogCapacity][kLogLineLength];
+uint32_t g_logSeq[kLogCapacity];
+size_t g_logWritePos = 0;
+uint32_t g_nextLogSeq = 1;
+
+void appendJsonEscaped(String &out, const char *text) {
+	out += "\"";
+	for (size_t i = 0; text[i] != '\0'; ++i) {
+		const char c = text[i];
+		switch (c) {
+			case '\\':
+				out += "\\\\";
+				break;
+			case '"':
+				out += "\\\"";
+				break;
+			case '\n':
+				out += "\\n";
+				break;
+			case '\r':
+				out += "\\r";
+				break;
+			case '\t':
+				out += "\\t";
+				break;
+			default:
+				if (static_cast<unsigned char>(c) < 0x20) {
+					out += '?';
+				} else {
+					out += c;
+				}
+				break;
+		}
+	}
+	out += "\"";
+}
+} // namespace
+
+void Log(const String &message) {
+	snprintf(
+		g_logLines[g_logWritePos],
+		kLogLineLength,
+		"[%010lu] %s",
+		static_cast<unsigned long>(millis()),
+		message.c_str()
+	);
+	g_logSeq[g_logWritePos] = g_nextLogSeq++;
+	g_logWritePos = (g_logWritePos + 1) % kLogCapacity;
+}
+
+void Log(const char *message) {
+	Log(String(message));
+}
+
+String buildLogsJson(uint32_t sinceSeq) {
+	String output;
+	output.reserve(2048);
+	output += "{\"logs\":[";
+	uint32_t lastSeq = sinceSeq;
+	bool first = true;
+
+	for (size_t i = 0; i < kLogCapacity; ++i) {
+		const size_t idx = (g_logWritePos + i) % kLogCapacity;
+		const uint32_t seq = g_logSeq[idx];
+		if (seq == 0 || seq <= sinceSeq) {
+			continue;
+		}
+
+		if (!first) {
+			output += ",";
+		}
+		first = false;
+		output += "{\"seq\":";
+		output += String(seq);
+		output += ",\"text\":";
+		appendJsonEscaped(output, g_logLines[idx]);
+		output += "}";
+		lastSeq = seq;
+	}
+
+	output += "],\"lastSeq\":";
+	output += String(lastSeq);
+	output += "}";
+	return output;
+}

src/main.cpp

@@ -29,53 +29,114 @@
 
 //-----------------------------------------------------------------------------------------------------------
 
-//make Objects
+FastAccelStepperEngine g_stepEngine = FastAccelStepperEngine();
-AccelStepper rotMotor(AccelStepper::DRIVER, step1, dir1);
+FastAccelStepper *g_pStepperRotate = NULL;
-AccelStepper penMotor(AccelStepper::DRIVER, step2, dir2);
+FastAccelStepper *g_pStepperPen = NULL;
+
+// make Objects
 Servo penServo;
 SerialCommand SCmd;
-//create Buttons
+
+// create Buttons
 #ifdef prgButton
-	Button prgButtonToggle(prgButton, setprgButtonState);
+Button prgButtonToggle(prgButton, setprgButtonState);
 #endif
 #ifdef penToggleButton
-	Button penToggle(penToggleButton, doTogglePen);
+Button penToggle(penToggleButton, doTogglePen);
 #endif
 #ifdef motorsButton
-	Button motorsToggle(motorsButton, toggleMotors);
+Button motorsToggle(motorsButton, toggleMotors);
 #endif
-// Variables... be careful, by messing around here, everything has a reason and crossrelations...
-int penMin=0;
-int penMax=0;
-int penUpPos=5;  //can be overwritten from EBB-Command SC
-int penDownPos=20; //can be overwritten from EBB-Command SC
-int servoRateUp=0; //from EBB-Protocol not implemented on machine-side
-int servoRateDown=0; //from EBB-Protocol not implemented on machine-side
-long rotStepError=0;
-long penStepError=0;
-int penState=penUpPos;
-uint32_t nodeCount=0;
-unsigned int layer=0;
-boolean prgButtonState=0;
-uint8_t rotStepCorrection = 16/rotMicrostep ; //devide EBB-Coordinates by this factor to get EGGduino-Steps
-uint8_t penStepCorrection = 16/penMicrostep ; //devide EBB-Coordinates by this factor to get EGGduino-Steps
-float rotSpeed=0;
-float penSpeed=0; // these are local variables for Function SteppermotorMove-Command, but for performance-reasons it will be initialized here
-boolean motorsEnabled = 0;
 
-void setup() {   
+// Variables... be careful, by messing around here, everything has a reason and crossrelations...
-	Serial.begin(9600);
+int g_iPenUpPos = 5;	   // can be overwritten from EBB-Command SC
+int g_iPenDownPos = 20;   // can be overwritten from EBB-Command SC
+int g_iServoRateUp = 0;   // from EBB-Protocol not implemented on machine-side
+int g_iServoRateDown = 0; // from EBB-Protocol not implemented on machine-side
+long g_iRotStepError = 0;
+long g_iPenStepError = 0;
+int g_iPenState = g_iPenUpPos;
+uint32_t g_uiNodeCount = 0;
+unsigned int g_uiLayer = 0;
+boolean g_bPrgButtonState = 0;
+float fROT_STEP_CORRECTION = 16.0 / rotMicrostep; // devide EBB-Coordinates by this factor to get EGGduino-Steps
+float fPEN_STEP_CORRECTION = 16.0 / penMicrostep; // devide EBB-Coordinates by this factor to get EGGduino-Steps
+boolean g_bMotorsEnabled = 0;
+
+// Stepper Test
+#ifdef TEST
+// #define dirPinStepper 16
+// #define enablePinStepper 12
+// #define stepPinStepper 26
+#endif
+
+void setup()
+{
+	Serial.begin(115200);
+	Serial.println("Starting...");
+	Log("Starting...");
 	makeComInterface();
 	initHardware();
+	startWebInterface();
 }
 
-void loop() {
+uint8_t g_uiState = 0;
+unsigned long g_uiLastTim = millis();
 
+void loop()
+{
+#ifdef TEST
 
-	moveOneStep();
+	unsigned long uiNow = millis();
+	motorsOn();
+
+	if (uiNow - g_uiLastTim > 5000)
+	{
+		g_uiLastTim = uiNow;
+		switch (g_uiState)
+		{
+		case 0:
+			Log(String(g_uiState));
+			g_pStepperRotate->setSpeedInUs(10); // the parameter is us/step !!!
+			g_pStepperRotate->setAcceleration(10000);
+			g_pStepperRotate->move(1000);
+			g_uiState++;
+			break;
+
+		case 1:
+			Log(String(g_uiState));
+			g_pStepperRotate->setSpeedInUs(10); // the parameter is us/step !!!
+			g_pStepperRotate->setAcceleration(10000);
+			g_pStepperRotate->move(-1000);
+			g_uiState++;
+			break;
+
+		case 2:
+			Log(String(g_uiState));
+			g_pStepperPen->setSpeedInUs(10); // the parameter is us/step !!!
+			g_pStepperPen->setAcceleration(10000);
+			g_pStepperPen->move(1000);
+			g_uiState++;
+			break;
+
+		case 3:
+			Log(String(g_uiState));
+			g_pStepperPen->setSpeedInUs(10); // the parameter is us/step !!!
+			g_pStepperPen->setAcceleration(10000);
+			g_pStepperPen->move(-1000);
+			g_uiState = 0;
+			break;
+
+		default:
+			break;
+		}
+		Log("Alive");
+	}
+#else
+	// moveOneStep();
 	SCmd.readSerial();
-
+	handleWebInterface();
-	
+#endif
 
 #ifdef penToggleButton
 	penToggle.check();