72 lines
1.6 KiB
C
72 lines
1.6 KiB
C
#ifndef EGGDUINO_H
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#define EGGDUINO_H
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#include <Arduino.h>
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#include <Servo.h>
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#include <avr/eeprom.h>
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#include "AccelStepper.h"
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#include "SerialCommand.h"
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#include "button.h"
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// implemented Eggbot-Protocol-Version v13
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#define initSting "EBBv13_and_above Protocol emulated by Eggduino-Firmware V1.6a"
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// Rotational Stepper
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#define step1 2
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#define dir1 5
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#define enableRotMotor 8
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#define rotMicrostep 16
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// Pen Stepper
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#define step2 3
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#define dir2 6
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#define enablePenMotor 8
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#define penMicrostep 16
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#define servoPin 4
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#define penUpPosEEAddress ((uint16_t *)0)
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#define penDownPosEEAddress ((uint16_t *)2)
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extern AccelStepper rotMotor;
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extern AccelStepper penMotor;
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extern Servo penServo;
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extern SerialCommand SCmd;
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extern int penMin;
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extern int penMax;
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extern int penUpPos;
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extern int penDownPos;
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extern int servoRateUp;
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extern int servoRateDown;
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extern long rotStepError;
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extern long penStepError;
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extern int penState;
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extern uint32_t nodeCount;
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extern unsigned int layer;
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extern boolean prgButtonState;
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extern uint8_t rotStepCorrection;
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extern uint8_t penStepCorrection;
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extern float rotSpeed;
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extern float penSpeed;
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extern boolean motorsEnabled;
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void makeComInterface();
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void initHardware();
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void moveOneStep();
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void moveToDestination();
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void sendAck();
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void sendError();
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void motorsOff();
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void motorsOn();
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void toggleMotors();
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void doTogglePen();
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void setprgButtonState();
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bool parseSMArgs(uint16_t *duration, int *penStepsEBB, int *rotStepsEBB);
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void prepareMove(uint16_t duration, int penStepsEBB, int rotStepsEBB);
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void storePenUpPosInEE();
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void storePenDownPosInEE();
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#endif
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