0d7fe3e922
- motors toggle button: allows for manual adjustments and silences motors - pen toggle button: pen up and down positions are stored in EEPROM - SMQB command: allows faster and smoother operation with custom version of eggbot extension (bartebor/eggbot_extensions) - PRG button fix
44 lines
983 B
C++
44 lines
983 B
C++
void initHardware(){
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// enable eeprom wait in avr/eeprom.h functions
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SPMCSR &= ~SELFPRGEN;
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loadPenPosFromEE();
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pinMode(enableRotMotor, OUTPUT);
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pinMode(enablePenMotor, OUTPUT);
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pinMode(prgButton, INPUT_PULLUP);
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pinMode(penToggleButton, INPUT_PULLUP);
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pinMode(motorsButton, INPUT_PULLUP);
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rotMotor.setMaxSpeed(2000.0);
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rotMotor.setAcceleration(10000.0);
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penMotor.setMaxSpeed(2000.0);
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penMotor.setAcceleration(10000.0);
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motorsOff();
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penServo.attach(servoPin);
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penServo.write(penState);
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}
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void inline loadPenPosFromEE() {
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penUpPos = eeprom_read_word(penUpPosEEAddress);
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penDownPos = eeprom_read_word(penDownPosEEAddress);
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penState = penUpPos;
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}
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void inline storePenUpPosInEE() {
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eeprom_update_word(penUpPosEEAddress, penUpPos);
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}
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void inline storePenDownPosInEE() {
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eeprom_update_word(penDownPosEEAddress, penDownPos);
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}
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void inline sendAck(){
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Serial.print("OK\r\n");
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}
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void inline sendError(){
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Serial.print("unknown CMD\r\n");
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}
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