Mark and Peter
Remote inc coolant nozzle control program
Dependencies: mbed reScale USBDevice
Dependents: Nozzle_inputs Nozzle_display
Diff: main.cpp
- Revision:
- 15:ce51026d8702
- Parent:
- 14:dd8d89133b28
- Child:
- 16:1e974964272e
--- a/main.cpp Sat Apr 13 20:38:22 2019 +0000
+++ b/main.cpp Sun Sep 15 18:41:03 2019 +0000
@@ -1,4 +1,4 @@
- #include "mbed.h"
+#include "mbed.h"
#include "Adafruit_ST7735.h"
#include "RPG.h"
#include "reScale.h"
@@ -14,17 +14,17 @@
#define GREEN 0x07E0
#define CYAN 0x07FF
#define MAGENTA 0xF81F
-#define YELLOW 0xFFE0
+#define YELLOW 0xFFE0
#define WHITE 0xFFFF
/* EEPROM Memory map:
-1 - 50: N1 angles
+1 - 50: N1 angles
51 - 100: Settings
101- 150: N2 angles
151- 200: Twitch settings
200- 250: unused
-*/
+*/
#define currentToolAddress 51
#define numToolsAddress 52
@@ -54,7 +54,7 @@
int minServo = 500;
reScale servo1Scale(-90,90,minServo,maxServo); //
- PwmOut myServo(P1_13); //display board
+PwmOut myServo(P1_13); //display board
//PwmOut myServo(D4);
//DigitalIn tUpButton(P2_11);
@@ -70,1122 +70,1252 @@
int lastDownButton;
int lastEncoderButton;
-
+int encoderMove = 0;
int dirt = 0;
-int main() {
+int main()
+{
// ************************************** SCREEN INIT *************************************************
- tft.initR(INITR_GREENTAB); // initialize a ST7735S chip, black tab
-
- tft.setRotation(3);
- tft.fillScreen(BLACK);
- tft.setCursor(30,120);
- tft.setTextColor(BLUE);
- tft.setTextWrap(false);
- tft.printf("AccuBlast v1.1");
-
- tft.setCursor(4, 4);
- tft.setTextColor(WHITE);
- tft.setTextSize(2);
- tft.printf("N1");
-
- tft.setCursor(80, 4);
- tft.setTextColor(WHITE);
- tft.setTextSize(2);
- tft.printf("N2");
-
- tft.setCursor(4, 28);
- tft.setTextColor(WHITE);
- tft.setTextSize(2);
- tft.printf("T");
-
- tft.setCursor(4, 50);
- tft.setTextColor(WHITE);
- tft.setTextSize(1);
- tft.printf("Twitch:");
-
- tft.setCursor(4, 65);
- tft.setTextColor(WHITE);
- tft.setTextSize(1);
- tft.printf("Sync:");
-
- tft.setCursor(4, 80);
- tft.setTextColor(WHITE);
- tft.setTextSize(1);
- tft.printf("AUX 1:");
-
- tft.setCursor(4, 95);
- tft.setTextColor(WHITE);
- tft.setTextSize(1);
- tft.printf("AUX 2:");
-
- tft.setCursor(4, 110);
- tft.setTextColor(WHITE);
- tft.setTextSize(1);
- tft.printf("AUX 3:");
-
- tft.setCursor(75, 95);
- tft.setTextColor(WHITE);
- tft.setTextSize(1);
- tft.printf("Num Tls");
-
- tft.setCursor(75, 110);
- tft.setTextColor(WHITE);
- tft.setTextSize(1);
- tft.printf("Num Noz");
-
- tft.setCursor(75, 50);
- tft.setTextColor(WHITE);
- tft.setTextSize(1);
- tft.printf("N1 dir:");
-
- tft.setCursor(75, 65);
- tft.setTextColor(WHITE);
- tft.setTextSize(1);
- tft.printf("N2 dir:");
+ tft.initR(INITR_GREENTAB); // initialize a ST7735S chip, black tab
+
+ tft.setRotation(3);
+ tft.fillScreen(BLACK);
+ tft.setCursor(30,120);
+ tft.setTextColor(BLUE);
+ tft.setTextWrap(false);
+ tft.printf("AccuBlast v1.3");
+
+ tft.setCursor(4, 4);
+ tft.setTextColor(WHITE);
+ tft.setTextSize(2);
+ tft.printf("N1");
+
+ tft.setCursor(80, 4);
+ tft.setTextColor(WHITE);
+ tft.setTextSize(2);
+ tft.printf("N2");
+
+ tft.setCursor(4, 28);
+ tft.setTextColor(WHITE);
+ tft.setTextSize(2);
+ tft.printf("T");
+
+ tft.setCursor(4, 50);
+ tft.setTextColor(WHITE);
+ tft.setTextSize(1);
+ tft.printf("Twitch:");
+
+ tft.setCursor(4, 65);
+ tft.setTextColor(WHITE);
+ tft.setTextSize(1);
+ tft.printf("Sync:");
+
+ tft.setCursor(4, 80);
+ tft.setTextColor(WHITE);
+ tft.setTextSize(1);
+ tft.printf("AUX 1:");
+
+ tft.setCursor(4, 95);
+ tft.setTextColor(WHITE);
+ tft.setTextSize(1);
+ tft.printf("AUX 2:");
+
+ tft.setCursor(4, 110);
+ tft.setTextColor(WHITE);
+ tft.setTextSize(1);
+ tft.printf("AUX 3:");
+
+ tft.setCursor(75, 95);
+ tft.setTextColor(WHITE);
+ tft.setTextSize(1);
+ tft.printf("Num Tls");
+
+ tft.setCursor(75, 110);
+ tft.setTextColor(WHITE);
+ tft.setTextSize(1);
+ tft.printf("Num Noz");
+
+ tft.setCursor(75, 50);
+ tft.setTextColor(WHITE);
+ tft.setTextSize(1);
+ tft.printf("N1 dir:");
+
+ tft.setCursor(75, 65);
+ tft.setTextColor(WHITE);
+ tft.setTextSize(1);
+ tft.printf("N2 dir:");
+
+ tft.setCursor(75, 80);
+ tft.setTextColor(WHITE);
+ tft.setTextSize(1);
+ tft.printf("version:");
- tft.setCursor(75, 80);
- tft.setTextColor(WHITE);
- tft.setTextSize(1);
- tft.printf("version:");
-
- // **************************************************************************************************************
- int version = 0; // 0= basic, 1=pro
- int lastVersion = 99;
-
- int sync = 0; // sync setting for N1 and N1
- int lastSync = 99;
- int syncSpread = 0;
-
- int n1Dir = 0; // direction of knob for N1
- int lastN1Dir = 99;
-
- int n2Dir = 0; // direction of knob for N2
- int lastN2Dir = 99;
+// **************************************************************************************************************
+ int version = 0; // 0= basic, 1=pro
+ int lastVersion = 99;
+
+ int sync = 0; // sync setting for N1 and N1
+ int lastSync = 99;
+ int syncSpread = 0;
+ int syncFlag =0; ///// for count/ sync = 2 issue. 2019-09-11
+
+ int n1Dir = 0; // direction of knob for N1
+ int lastN1Dir = 99;
+
+ int n2Dir = 0; // direction of knob for N2
+ int lastN2Dir = 99;
+
+ int index = 0;
- int index = 0;
-
- int count = 0;
- int maxCount = 12; //max number of menu items
- int lastCount = 99;
-
- int twitch = 0;
- int lastTwitch = 300;
- int lastTwitchMove = 0;
- int twitchStart = 0; // has twitching begun?
- int twitchDirection = 0; // 0 is up, 1 is down.
- int maxTwitch = 0;
- int minTwitch = 0;
+ int count = 0;
+ int maxCount = 12; //max number of menu items
+ int lastCount = 99;
-int tw1 = 5; // stages of servo write to control speed of sweep. 11.11 Ms = 1 degree
-int tw2 = 10;
-int tw3 = 15;
+ int twitch = 0;
+ int lastTwitch = 300;
+ int lastTwitchMove = 0;
+ int twitchStart = 0; // has twitching begun?
+ int twitchDirection = 0; // 0 is up, 1 is down.
+ int maxTwitch = 0;
+ int minTwitch = 0;
+
+ int tw1 = 5; // stages of servo write to control speed of sweep. 11.11 Ms = 1 degree
+ int tw2 = 10;
+ int tw3 = 15;
+
+ int twReadMs = 100; // interval of twitch changes us.
+
+ //************* Pull previous setting from eeprom *******************
-int twReadMs = 100; // interval of twitch changes us.
-
- //************* Pull previous setting from eeprom *******************
-
- char tempToolNo = 0; // last tool in spindle
- eeprom.read(currentToolAddress, &tempToolNo);
- int currentToolNo = (int)tempToolNo;
-
- char tempNumTools = 0; // number of tools in ATC
- eeprom.read(numToolsAddress, &tempNumTools);
- int numTools = (int)tempNumTools;
-
- char tempNumNoz = 0; // number of nozzles installed
- eeprom.read(numNozAddress, &tempNumNoz);
- int numNoz = (int)tempNumNoz;
-
- char tempLastAngle = 0; // last angle of last tool in spindle N1
- eeprom.read(currentToolNo, &tempLastAngle);
- int lastAngle = (int)tempLastAngle;
- lastAngle = lastAngle - 90; // Not storing signed int, so signed value is 45 less than what was stored to memory.
-
- char tempLastAngleN2 = 0; // last angle of last tool in spindle
- eeprom.read(currentToolNo+100, &tempLastAngleN2);
- int lastAngleN2 = (int)tempLastAngleN2;
- lastAngleN2 = lastAngleN2 - 90; // Not storing signed int, so signed value is 45 less than what was stored to memory.
-
- char tempLastTwitch = 0; // last Twitch setting for the current tool in spindle
- eeprom.read(currentToolNo + 150, &tempLastTwitch);
- twitch = (int)tempLastTwitch; // should be 1, 2 or 3.
-
- char tempLastVersion = 0; // version of system. 0=basic, 1=pro
- eeprom.read(versionAddress, &tempLastVersion);
- version = (int)tempLastVersion;
-
- char tempLastSync = 0; // previous sync setting
- eeprom.read(syncAddress, &tempLastSync);
- sync = (int)tempLastSync;
-
- char tempLastN1Dir = 0; // previous N1 knob direction setting
- eeprom.read(n1DirAddress, &tempLastN1Dir);
- n1Dir = (int)tempLastN1Dir;
-
+ char tempToolNo = 0; // last tool in spindle
+ eeprom.read(currentToolAddress, &tempToolNo);
+ int currentToolNo = (int)tempToolNo;
+
+ char tempNumTools = 0; // number of tools in ATC
+ eeprom.read(numToolsAddress, &tempNumTools);
+ int numTools = (int)tempNumTools;
+
+ char tempNumNoz = 0; // number of nozzles installed
+ eeprom.read(numNozAddress, &tempNumNoz);
+ int numNoz = (int)tempNumNoz;
+
+ char tempLastAngle = 0; // last angle of last tool in spindle N1
+ eeprom.read(currentToolNo, &tempLastAngle);
+ int lastAngle = (int)tempLastAngle;
+ lastAngle = lastAngle - 90; // Not storing signed int, so signed value is 45 less than what was stored to memory.
+
+ char tempLastAngleN2 = 0; // last angle of last tool in spindle
+ eeprom.read(currentToolNo+100, &tempLastAngleN2);
+ int lastAngleN2 = (int)tempLastAngleN2;
+ lastAngleN2 = lastAngleN2 - 90; // Not storing signed int, so signed value is 45 less than what was stored to memory.
+
+ char tempLastTwitch = 0; // last Twitch setting for the current tool in spindle
+ eeprom.read(currentToolNo + 150, &tempLastTwitch);
+ twitch = (int)tempLastTwitch; // should be 1, 2 or 3.
+
+ char tempLastVersion = 0; // version of system. 0=basic, 1=pro
+ eeprom.read(versionAddress, &tempLastVersion);
+ version = (int)tempLastVersion;
+
+ char tempLastSync = 0; // previous sync setting
+ eeprom.read(syncAddress, &tempLastSync);
+ sync = (int)tempLastSync;
+
+ char tempLastN1Dir = 0; // previous N1 knob direction setting
+ eeprom.read(n1DirAddress, &tempLastN1Dir);
+ n1Dir = (int)tempLastN1Dir;
+
char tempLastN2Dir = 0; // previous N2 knob direction setting
- eeprom.read(n2DirAddress, &tempLastN2Dir);
- n2Dir = (int)tempLastN2Dir;
-
-
- /*EEprom test over 2 digits:
- int test1 = 150;
- eeprom.write(199, test1);
- wait(1);
-char tempN2char = 0;
-eeprom.read(199, &tempN2char);
-int tempN2 = (int)tempN2char;
- tft.setCursor(130,120);
- tft.setTextColor(RED);
- tft.setTextSize(1);
- tft.printf("%d", tempN2);
- */
-
-
- //******************** Button debounce *********************************
-
+ eeprom.read(n2DirAddress, &tempLastN2Dir);
+ n2Dir = (int)tempLastN2Dir;
- backButton.mode(PullUp); // button pull up
- //tDownButton.mode(PullUp); // button pull up
- encoderButton.mode(PullUp);
- encoderFalseButton.mode(PullUp);
- aButton.mode(PullUp);
-
-t.start(); // starts timer
-lastBackButton = t.read_ms();
-lastDownButton = t.read_ms();
-lastEncoderButton = t.read_ms();
-
- //****************************************************************************
-
- int lastToolNo = 99;
- int lastNumTools = -1; // trigger to write eeprom value for number of tools
-
- int lastNumNoz = 0; //trigger display for number of nozzles after startup
-
- int n1Pos = lastAngle; //Set servo to last known postition prior to power off
- int lastN1Pos = 150;
-
- int n2Pos = lastAngleN2;
- int lastN2Pos = 150;
-
- int servo1Pos = 0;
-
- // RPG rpg1(P2_2,P1_20,P0_23); // RPG (PinName pA, PinName pB, PinName pPB)P0_23 is unconnected!! ;
- //mRotaryEncoder Enc(P2_2,P1_20,P0_23, PullUp, 500);
- mRotaryEncoder Enc(P1_20,P2_2,P0_23, PullUp, 1000);
-
- myServo.period_ms(20);
+ /*EEprom test over 2 digits:
+ int test1 = 150;
+ eeprom.write(199, test1);
+ wait(1);
+ char tempN2char = 0;
+ eeprom.read(199, &tempN2char);
+ int tempN2 = (int)tempN2char;
+ tft.setCursor(130,120);
+ tft.setTextColor(RED);
+ tft.setTextSize(1);
+ tft.printf("%d", tempN2);
+ */
+
+
+ //******************** Button debounce *********************************
+
+
+
+ backButton.mode(PullUp); // button pull up
+//tDownButton.mode(PullUp); // button pull up
+ encoderButton.mode(PullUp);
+ encoderFalseButton.mode(PullUp);
+ aButton.mode(PullUp);
+
+ t.start(); // starts timer
+ lastBackButton = t.read_ms();
+ lastDownButton = t.read_ms();
+ lastEncoderButton = t.read_ms();
+
+//****************************************************************************
+
+ int lastToolNo = 99;
+ int lastNumTools = -1; // trigger to write eeprom value for number of tools
+
+ int lastNumNoz = 0; //trigger display for number of nozzles after startup
+
+ int n1Pos = lastAngle; //Set servo to last known postition prior to power off
+ int lastN1Pos = 150;
-/*
- char t1Ang = 200;
- char t1Read = 0;
-
- eeprom.write(1, t1Ang);
- wait(1);
- eeprom.read(1, &t1Read);
-
+ int n2Pos = lastAngleN2;
+ int lastN2Pos = 150;
+
+ int servo1Pos = 0;
+
+
+// RPG rpg1(P2_2,P1_20,P0_23); // RPG (PinName pA, PinName pB, PinName pPB)P0_23 is unconnected!! ;
+//mRotaryEncoder Enc(P2_2,P1_20,P0_23, PullUp, 500);
+ mRotaryEncoder Enc(P1_20,P2_2,P0_23, PullUp, 1000);
+
+ myServo.period_ms(20);
+
+ /*
+ char t1Ang = 200;
+ char t1Read = 0;
+
+ eeprom.write(1, t1Ang);
+ wait(1);
+ eeprom.read(1, &t1Read);
+
- tft.setCursor(30,110);
- tft.setTextColor(WHITE);
- tft.setTextWrap(true);
- // tft.printf("%s\r\n",t1Read);
- tft.printf("%d", currentTool);
- */
-
- uint8_t c = 0; // for 485 link
-
-
- int serialToolNumber = 0;
- int stage = 0; // for serial parsing
- int Tens = 0;
- int Ones = 0;
-
- dir = 0;
-
- wait(2);
- Serial device(P0_14, P0_13, 19200); // RS 485 TX RX?
-
+ tft.setCursor(30,110);
+ tft.setTextColor(WHITE);
+ tft.setTextWrap(true);
+ // tft.printf("%s\r\n",t1Read);
+ tft.printf("%d", currentTool);
+ */
+
+ uint8_t c = 0; // for 485 link
+
+
+ int serialToolNumber = 0;
+ int stage = 0; // for serial parsing
+ int Tens = 0;
+ int Ones = 0;
+
+ dir = 0;
+
+ wait(2);
+ Serial device(P0_14, P0_13, 19200); // RS 485 TX RX?
+
while(1) {
-
-
-
- /*
- while (device.readable())
- {
- c = device.getc();
+
+
+
+ /*
+ while (device.readable())
+ {
+ c = device.getc();
+
+
+ if (c == '+'){
+ currentToolNo = currentToolNo +1;
+ if (currentToolNo > numTools){
+ currentToolNo = 1;
+ }
+ }
+
+ else if (c == '-'){
+ currentToolNo = currentToolNo - 1;
+ if (currentToolNo > 1){
+ currentToolNo = numTools;
+ }
+ }
+ }
+ */
+
+ /*
+ while (device.readable())
+ {
+
+
+ c = device.getc();
+
+ if (c == 'M'){
+ // stage = 1;
-
- if (c == '+'){
- currentToolNo = currentToolNo +1;
- if (currentToolNo > numTools){
- currentToolNo = 1;
- }
- }
-
- else if (c == '-'){
- currentToolNo = currentToolNo - 1;
- if (currentToolNo > 1){
- currentToolNo = numTools;
- }
- }
- }
- */
-
- /*
- while (device.readable())
- {
-
-
- c = device.getc();
-
- if (c == 'M'){
- // stage = 1;
-
- c = device.getc();
- if (c == '+'){
-
- // tft.setTextColor(WHITE);
- // tft.setCursor(100, 100);
- // tft.printf("%d", c);
- currentToolNo = currentToolNo +1;
- if (currentToolNo > numTools){
- currentToolNo = 1;
- }
- }
-
- else if (c == '-'){
- currentToolNo = currentToolNo - 1;
- if (currentToolNo < 1){
- currentToolNo = numTools;
- }
- }
-
- }
- }
-
- */
-
-
-
-//myled = 1;
-
-if (t.read() > 1200){ // timer can only hold 30 min, so reset after 20
-t.reset();
-lastBackButton = t.read_ms();
-lastDownButton = t.read_ms();
-lastEncoderButton = t.read_ms();
-}
+ c = device.getc();
+ if (c == '+'){
+
+ // tft.setTextColor(WHITE);
+ // tft.setCursor(100, 100);
+ // tft.printf("%d", c);
+ currentToolNo = currentToolNo +1;
+ if (currentToolNo > numTools){
+ currentToolNo = 1;
+ }
+ }
+
+ else if (c == '-'){
+ currentToolNo = currentToolNo - 1;
+ if (currentToolNo < 1){
+ currentToolNo = numTools;
+ }
+ }
+
+ }
+ }
+
+ */
+
+
+
+//myled = 1;
+
+ if (t.read() > 1200) { // timer can only hold 30 min, so reset after 20
+ t.reset();
+ lastBackButton = t.read_ms();
+ lastDownButton = t.read_ms();
+ lastEncoderButton = t.read_ms();
+ }
-if (backButton == 0){ //Back button was pressed so back to default selection
- count = 0;
- }
-
-if (encoderButton == 0){
-if (t.read_ms() > (lastEncoderButton + 50)){ // from 200
-count = count + 1; //Reset count if PB pressed
-}
- if (count > maxCount){
- count = 0;
- }
-lastEncoderButton = t.read_ms();
-
- if (count > maxCount){
- count = 0;
- }
- }
+ if (backButton == 0) { //Back button was pressed so back to default selection
+ count = 0;
+ }
+
+ if (encoderButton == 0) {
+ if (t.read_ms() > (lastEncoderButton + 50)) { // from 200
+ count = count + 1; //Reset count if PB pressed
+ }
+ if (count > maxCount) {
+ count = 0;
+ }
+ lastEncoderButton = t.read_ms();
+
+ if (count > maxCount) {
+ count = 0;
+ }
+ }
+
+
+//****************************************************************************************
+
+ if (version == 0) { //Basic runs the servo direct from the display unit
+ if (twitch == 0) {
+ tw.stop();
+ twitchStart = 0;
+ twitchDirection = 0;
+ servo1Pos = servo1Scale.from(n1Pos);
+ }
+
+ if (twitch > 0) {
+ if (twitchStart == 0) {
+ tw.start(); // start timer for nozzle sweep
+ servo1Pos = servo1Scale.from(n1Pos);
+ lastTwitchMove = tw.read_ms(); // store time of last nozzle movement
+ minTwitch = servo1Pos; // store original servo postion for bottom of sweep
+ maxTwitch = servo1Pos + 1000; // 11.11mS per degree of sweep, 55 = 5 degrees of sweep. This should be a viariable set on the display.
+ twitchStart = 1;
+ }
+ if ((twitchStart == 1) && (tw.read_ms() > (lastTwitchMove + twReadMs))) {
+ if (twitchDirection == 0) { //going up
+ servo1Pos = servo1Pos + 100; // add variable amount of uS to the servo signal
+
+ tft.setCursor(130,120);
+ tft.setTextColor(RED);
+ tft.setTextSize(1);
+ tft.printf("%d", servo1Pos);
+
+
+ if (servo1Pos > maxServo) {
+ servo1Pos = maxServo;
+ twitchDirection = 1; //reverse direction
+ }
+ if (servo1Pos > maxTwitch) {
+ servo1Pos = maxTwitch;
+ twitchDirection = 1; //reverse direction
+ }
+ lastTwitchMove = tw.read_ms();
+ }
+
+ if (twitchDirection == 1) { // going down
+ servo1Pos = servo1Pos - 100; // add variable amount of Ms to the servo signal
+ if (servo1Pos < minServo) {
+ servo1Pos = minServo;
+ twitchDirection = 0; //reverse direction
+ }
+ if (servo1Pos < minTwitch) {
+ servo1Pos = minTwitch;
+ twitchDirection = 0; //reverse direction
+ }
+ lastTwitchMove = tw.read_ms();
+ }
+ }
+ }
+
+ myServo.pulsewidth_us(servo1Pos);
+ }
+
+
+//********************** update display values **********************************************
+
+
+ if (currentToolNo != lastToolNo) {
+ /*
+ tft.fillRect(103, 2, 55,25, BLACK);
+ tft.setCursor(105, 4);
+ */
+ tft.setCursor(22, 28);
+ tft.setTextColor(BLACK);
+ tft.setTextSize(2);
+ tft.printf("%d", lastToolNo);
+ tft.setTextColor(WHITE);
+ //tft.setTextSize(2);
+ // tft.printf("T");
+ tft.setCursor(22,28);
+ tft.printf("%d", currentToolNo);
+
+ tempLastAngle = 0;
+ eeprom.read(currentToolNo, &tempLastAngle);
+ lastAngle = (int)tempLastAngle;
+ lastAngle = lastAngle - 90; // Not storing signed int, so signed value is 90 less than what was stored to memory.
+ n1Pos = lastAngle;
+
+ tempLastAngleN2 = 0;
+ eeprom.read(currentToolNo+100, &tempLastAngleN2);
+ int lastAngleN2 = (int)tempLastAngleN2;
+ lastAngleN2 = lastAngleN2 - 90; // Not storing signed int, so signed value is 45 less than what was stored to memory.
+ n2Pos = lastAngleN2;
+
+ if (count == 0) { // if knob is on N1 adjust and ATC changes tools, update enc value)
+ Enc.Set(n1Pos); // test for ATC following issue!
+ }
+
+ eeprom.write(currentToolAddress, currentToolNo);
+ wait(0.1);
+ tempLastTwitch = 0;
+ eeprom.read(currentToolNo + 150, &tempLastTwitch); // pull up previous twitch setting.
+ twitch = (int)tempLastTwitch;
+ lastToolNo = currentToolNo;
+ }
+
+
+ if (n1Pos != lastN1Pos) {
+ tft.setCursor(40, 4);
+ tft.setTextColor(BLACK);
+ tft.setTextSize(2);
+ tft.printf("%d", lastN1Pos);
+ tft.setCursor(40,4);
+ tft.setTextColor(GREEN);
+ tft.setTextSize(2);
+ tft.printf("%d", n1Pos);
+ eeprom.write(currentToolNo, n1Pos + 90); // store new angle in eeprom, add 90 because its an unsigned value.
+ //wait(0.1); // adjusted from 1
+ dir=1;
+ device.printf("N");
+ device.printf("%d", n1Pos + 190); //send over RS485 add 190 so no negative values and always 3 digits.
+ //device.printf("N245"); // TEST!!!
+ // tft.setCursor(100, 50);
+ // tft.setTextSize(2);
+ // tft.printf("%d", n1Pos + 145);
+ wait(0.05);
+ dir=0;
+
+ //Enc.Set(n1Pos); // test!!
+
+ lastN1Pos = n1Pos;
+ syncFlag =1; // set the flag after lastN1Pos has run once to allow REV sync setting in count ==0 2019-09-11
+ }
+
+ if (n2Pos != lastN2Pos && numNoz == 2) {
+ tft.setCursor(115, 4);
+ tft.setTextColor(BLACK);
+ tft.setTextSize(2);
+ tft.printf("%d", lastN2Pos);
+ tft.setCursor(115, 4);
+ tft.setTextColor(GREEN);
+ tft.setTextSize(2);
+ tft.printf("%d", n2Pos);
+ eeprom.write(currentToolNo +100, n2Pos + 90); // store new angle in eeprom, add 90 because its an unsigned value.
+ //wait(0.1); // adjusted from 1
+ dir=1;
+ device.printf("N");
+ device.printf("%d", n2Pos + 390); //send over RS485 add 390 so no negative values and always 3 digits.
+ //device.printf("N245"); // TEST!!!
+ // tft.setCursor(100, 50);
+ // tft.setTextSize(2);
+ // tft.printf("%d", n1Pos + 145);
+ wait(0.05);
+ dir=0;
+ lastN2Pos = n2Pos;
+ }
+
+
+ if (numTools != lastNumTools) {
+ tft.setCursor(133, 95);
+ tft.setTextColor(BLACK);
+ tft.setTextSize(1);
+ tft.printf("%d", lastNumTools);
+ tft.setCursor(133,95);
+ tft.setTextColor(WHITE);
+ tft.setTextSize(1);
+ tft.printf("%d", numTools);
+ eeprom.write(numToolsAddress, numTools); // store new angle in eeprom, add 45 because its an unsigned value.
+ //wait(0.1); // adjusted from 1
+ lastNumTools = numTools;
+ }
+
+ if (numNoz != lastNumNoz) {
+ tft.setCursor(133, 110);
+ tft.setTextColor(BLACK);
+ tft.setTextSize(1);
+ tft.printf("%d", lastNumNoz);
+ tft.setCursor(133,110);
+ tft.setTextColor(WHITE);
+ tft.setTextSize(1);
+ tft.printf("%d", numNoz);
+ eeprom.write(numNozAddress, numNoz); // store new angle in eeprom, add 45 because its an unsigned value.
+ //wait(0.1); // adjusted from 1
+
+ if (numNoz == 2) {
+ tft.setCursor(80, 4);
+ tft.setTextColor(WHITE);
+ tft.setTextSize(2);
+ tft.printf("N2");
+ tft.drawRect(78,2,74,18,WHITE);
+ }
+ if (numNoz == 1) {
+ tft.setCursor(80, 4);
+ tft.setTextColor(BLACK);
+ tft.setTextSize(2);
+ tft.printf("N2");
+ tft.setCursor(115, 4);
+ tft.printf("%d", n2Pos);
+ tft.drawRect(78,2,74,18,BLACK);
+ }
+ lastNumNoz = numNoz;
+ }
+
+
+ if (twitch != lastTwitch) {
+ tft.setCursor(52, 50);
+ tft.setTextColor(BLACK);
+ tft.setTextSize(1);
+ tft.printf("%d", lastTwitch);
+ tft.setCursor(52, 50);
+ tft.setTextColor(GREEN);
+ tft.setTextSize(1);
+ tft.printf("%d", twitch);
+ dir=1;
+ device.printf("W");
+ device.printf("%d", twitch);
+ wait(0.05);
+ dir=0;
+ eeprom.write(currentToolNo +150, twitch); // store new twitch setting
+ lastN1Pos = 999; // trigger sending servo values to module
+ lastN2Pos = 999;
+ lastTwitch = twitch;
+ }
+
+ if (sync != lastSync) { //
+ tft.setCursor(52, 65);
+ tft.setTextColor(BLACK);
+ tft.setTextSize(1);
+ if (lastSync == 0) {
+ tft.printf("OFF");
+ }
+ if (lastSync == 1) {
+ tft.printf("ON");
+ }
+
+ tft.setCursor(52, 65);
+ tft.setTextSize(1);
+ if (sync == 0) {
+ tft.setTextColor(WHITE);
+ tft.printf("OFF");
+ }
+ if (sync == 1) {
+ tft.setTextColor(GREEN);
+ tft.printf("ON");
+ }
+
+
+ eeprom.write(syncAddress, sync); // store new twitch setting
+ syncSpread = (n2Pos - n1Pos);
+
+ lastSync = sync;
+
+ }
+
+ if (n1Dir != lastN1Dir) { //
+ tft.setCursor(132, 50);
+ tft.setTextColor(BLACK);
+ tft.setTextSize(1);
+ if (lastN1Dir == 0) {
+ tft.printf("NOR");
+ }
+ if (lastN1Dir == 1) {
+ tft.printf("REV");
+ }
+ tft.setCursor(132, 50);
+ if (n1Dir == 0) {
+ tft.setTextColor(WHITE);
+ tft.printf("NOR");
+ }
+ if (n1Dir == 1) {
+ tft.setTextColor(GREEN);
+ tft.printf("REV");
+ }
+ eeprom.write(n1DirAddress, n1Dir); // store new twitch setting
+ lastN1Dir = n1Dir;
+
+ dir=1;
+ device.printf("D1");
+ device.printf("%d", n1Dir);
+ wait(0.05);
+ dir=0;
+
+ }
+
+ if (n2Dir != lastN2Dir) { //
+ tft.setCursor(132, 65);
+ tft.setTextColor(BLACK);
+ tft.setTextSize(1);
+ if (lastN2Dir == 0) {
+ tft.printf("NOR");
+ }
+ if (lastN2Dir == 1) {
+ tft.printf("REV");
+ }
+ tft.setCursor(132, 65);
+ if (n2Dir == 0) {
+ tft.setTextColor(WHITE);
+ tft.printf("NOR");
+ }
+ if (n2Dir == 1) {
+ tft.setTextColor(GREEN);
+ tft.printf("REV");
+ }
+ eeprom.write(n2DirAddress, n2Dir); // store new twitch setting
+ lastN2Dir = n2Dir;
+
+ dir=1;
+ device.printf("D2");
+ device.printf("%d", n2Dir);
+ wait(0.05);
+ dir=0;
+
+ }
+
+ if (version != lastVersion) { //
+ tft.setCursor(132, 80);
+ tft.setTextColor(BLACK);
+ tft.setTextSize(1);
+ if (lastVersion == 0) {
+ tft.printf("BAS");
+ }
+ if (lastVersion == 1) {
+ tft.printf("PRO");
+ }
+ tft.setCursor(132, 80);
+ if (version == 0) {
+ tft.setTextColor(WHITE);
+ tft.setTextSize(1);
+ tft.printf("BAS");
+ }
+ if (version == 1) {
+ tft.setTextColor(RED);
+ tft.printf("PRO");
+ }
+ eeprom.write(versionAddress, version); // store new twitch setting
+ lastVersion = version;
+ }
// ************* Rectangles for identifying active selection *****************************
-if (count != lastCount){
-
- if (count ==0){
- Enc.Set(n1Pos);
- }
-
- else if (count == 1){
- Enc.Set(n2Pos);
- }
-
- else if (count == 2){
- Enc.Set(currentToolNo);
- }
-
- else if (count == 3){
- Enc.Set(twitch);
- }
-
- else if (count == 4){
- Enc.Set(sync);
- }
-
- else if (count == 8){
- Enc.Set(n1Dir);
- }
-
- else if (count == 9){
- Enc.Set(n2Dir);
- }
-
- else if (count == 10){
- Enc.Set(version);
- }
-
- else if (count == 11){
- Enc.Set(numTools);
- }
+ if (count != lastCount) {
+
+ if (count ==0) {
+ Enc.Set(n1Pos);
+ lastN1Pos = n1Pos; ////*******************************2019-09-11 WAS FIX FOR SYNC REV RST = 90
+ }
+
+ else if (count == 1) {
+ Enc.Set(n2Pos);
+ }
+
+ else if (count == 2) {
+ Enc.Set(currentToolNo);
+ }
+
+ else if (count == 3) {
+ Enc.Set(twitch);
+ }
+
+ else if (count == 4) {
+ Enc.Set(sync);
+ }
+
+ else if (count == 8) {
+ Enc.Set(n1Dir);
+ }
+
+ else if (count == 9) {
+ Enc.Set(n2Dir);
+ }
+
+ else if (count == 10) {
+ Enc.Set(version);
+ }
- else if (count == 12){
- Enc.Set(numNoz);
- }
+ else if (count == 11) {
+ Enc.Set(numTools);
+ }
+
+ else if (count == 12) {
+ Enc.Set(numNoz);
+ }
+
+
+
+// clear old boxes (white or black)
+ if (lastCount == 0) {
+ tft.drawRect(2,2,74,18,WHITE);
+ }
+
+ else if ((lastCount == 1) && (numNoz == 2)) {
+ tft.drawRect(78,2,74,18,WHITE);
+ }
+
+ else if (lastCount == 2) {
+ tft.drawRect(20,26,28,18,BLACK);
+ }
+
+ else if (lastCount == 3) {
+ tft.drawRect(50,48,20,12,BLACK);
+ }
+
+ else if (lastCount == 4) {
+ tft.drawRect(50,63,20,12,BLACK);
+ }
+
+ else if (lastCount == 5) {
+ tft.drawRect(50,78,20,12,BLACK);
+ }
+
+ else if (lastCount == 6) {
+ tft.drawRect(50,93,20,12,BLACK);
+ }
-
-
- // clear old boxes (white or black)
- if (lastCount == 0){
-tft.drawRect(2,2,74,18,WHITE);
-}
-
-else if ((lastCount == 1) && (numNoz == 2)){
-tft.drawRect(78,2,74,18,WHITE);
-}
-
-else if (lastCount == 2){
-tft.drawRect(20,26,28,18,BLACK);
-}
-
-else if (lastCount == 3){
-tft.drawRect(50,48,20,12,BLACK);
-}
-
-else if (lastCount == 4){
-tft.drawRect(50,63,20,12,BLACK);
-}
-
-else if (lastCount == 5){
-tft.drawRect(50,78,20,12,BLACK);
-}
-
-else if (lastCount == 6){
-tft.drawRect(50,93,20,12,BLACK);
-}
-
-else if (lastCount == 7){
-tft.drawRect(50,108,20,12,BLACK);
-}
-
-else if (lastCount == 8){
-tft.drawRect(130,48,20,12,BLACK);
-}
-
-else if (lastCount == 9){
-tft.drawRect(130,63,20,12,BLACK);
-}
-
-else if (lastCount == 10){
-tft.drawRect(130,78,20,12,BLACK);
-}
+ else if (lastCount == 7) {
+ tft.drawRect(50,108,20,12,BLACK);
+ }
+
+ else if (lastCount == 8) {
+ tft.drawRect(130,48,20,12,BLACK);
+ }
+
+ else if (lastCount == 9) {
+ tft.drawRect(130,63,20,12,BLACK);
+ }
+
+ else if (lastCount == 10) {
+ tft.drawRect(130,78,20,12,BLACK);
+ }
-else if (lastCount == 11){
-tft.drawRect(130,93,20,12,BLACK);
-}
+ else if (lastCount == 11) {
+ tft.drawRect(130,93,20,12,BLACK);
+ }
+
+ else if (lastCount == 12) {
+ tft.drawRect(130,108,20,12,BLACK);
+ }
+
+// Set new box
-else if (lastCount == 12){
-tft.drawRect(130,108,20,12,BLACK);
-}
+ if (count == 0) { // N1 adjust
+ tft.drawRect(2,2,74,18,GREEN);
+ }
+
+ else if ((count == 1) && (numNoz == 2)) { // N2 adjust
+ tft.drawRect(78,2,74,18,GREEN);
+ }
+
+ else if (count == 2) {
+ tft.drawRect(20,26,28,18,GREEN);
+ }
- // Set new box
-
-if (count == 0){ // N1 adjust
-tft.drawRect(2,2,74,18,GREEN);
-}
+ else if (count == 3) {
+ tft.drawRect(50,48,20,12,GREEN);
+ }
-else if ((count == 1) && (numNoz == 2)){ // N2 adjust
-tft.drawRect(78,2,74,18,GREEN);
-}
+ else if (count == 4) {
+ tft.drawRect(50,63,20,12,GREEN);
+ }
-else if (count == 2){
-tft.drawRect(20,26,28,18,GREEN);
-}
-
-else if (count == 3){
-tft.drawRect(50,48,20,12,GREEN);
-}
+ else if (count == 5) {
+ tft.drawRect(50,78,20,12,GREEN);
+ }
-else if (count == 4){
-tft.drawRect(50,63,20,12,GREEN);
-}
+ else if (count == 6) {
+ tft.drawRect(50,93,20,12,GREEN);
+ }
-else if (count == 5){
-tft.drawRect(50,78,20,12,GREEN);
-}
+ else if (count == 7) {
+ tft.drawRect(50,108,20,12,GREEN);
+ }
-else if (count == 6){
-tft.drawRect(50,93,20,12,GREEN);
-}
+ else if (count == 8) {
+ tft.drawRect(130,48,20,12,GREEN);
+ }
-else if (count == 7){
-tft.drawRect(50,108,20,12,GREEN);
-}
-
-else if (count == 8){
-tft.drawRect(130,48,20,12,GREEN);
-}
+ else if (count == 9) {
+ tft.drawRect(130,63,20,12,GREEN);
+ }
-else if (count == 9){
-tft.drawRect(130,63,20,12,GREEN);
-}
-
-else if (count == 10){
-tft.drawRect(130,78,20,12,GREEN);
-}
+ else if (count == 10) {
+ tft.drawRect(130,78,20,12,GREEN);
+ }
-else if (count == 11){
-tft.drawRect(130,93,20,12,GREEN);
-}
+ else if (count == 11) {
+ tft.drawRect(130,93,20,12,GREEN);
+ }
-else if (count == 12){
-tft.drawRect(130,108,20,12,GREEN);
-}
+ else if (count == 12) {
+ tft.drawRect(130,108,20,12,GREEN);
+ }
-lastCount = count;
-}
+ lastCount = count;
+ }
-
- //****************** ENCODER ACTIONS ************************************************
- if (count == 0){ // knob controls servo value
-n1Pos = Enc.Get();
-if (sync == 1){
- n2Pos = (n1Pos + syncSpread);
- if (n2Pos > 90){
- n2Pos = 90;
- //Enc.Set(90);
- }
- if (n2Pos < -90){
- n2Pos = -90;
- // Enc.Set(-90);
- }
- }
- if (sync == 2){
- n2Pos = n2Pos + (lastN1Pos - n1Pos);
- if (n2Pos > 90){
- n2Pos = 90;
- //Enc.Set(90);
- }
- if (n2Pos < -90){
- n2Pos = -90;
- // Enc.Set(-90);
- }
- }
-if (n1Pos > 90){
- n1Pos = 90;
- Enc.Set(90);
- }
- if (n1Pos < -90){
- n1Pos = -90;
- Enc.Set(-90);
- }
- }
- //***************************
- if (count == 1){ // knob controls servo value
-n2Pos = Enc.Get();
-if (n2Pos > 90){
- n2Pos = 90;
- Enc.Set(90);
- }
- if (n2Pos < -90){
- n2Pos = -90;
- Enc.Set(-90);
- }
- }
-//****************************
-if (count == 2){ //knob controls tool number
+
+//****************** ENCODER ACTIONS ************************************************
+ if (count == 0) { // knob controls servo value
+
+ if (n1Pos != Enc.Get()) {
+ //n1Pos = Enc.Get(); 2019-09-12
+ if (sync == 0 && n1Dir ==0) { // n1 fwd
+ n1Pos = Enc.Get();
+ }
+
+ if (sync == 0 && n1Dir ==1) { // n1 rev
+ n1Pos = n1Pos + (n1Pos - Enc.Get());
+ Enc.Set(n1Pos);
+ }
+
+
+ if (n1Pos > 90) {
+ n1Pos = 90;
+ Enc.Set(90);
+ }
+
+ if (n1Pos < -90) {
+ n1Pos = -90;
+ Enc.Set(-90);
+ }
+
+//***
+
+ if (sync == 1 && n1Dir == 0 && n2Dir == 0) { // PASS 2019-09-12
+ encoderMove = (Enc.Get() - n1Pos); // save direction change, positive or negative
+ if (encoderMove > 0 && n1Pos < 90 && n2Pos <90) { // Move is positive // stop both nozzles once ONE reaches limit.
+ n1Pos = Enc.Get();
+ n2Pos = n2Pos + encoderMove;
+ encoderMove =0;
+ //Enc.Set(n1Pos);
+ }
+
+ if (encoderMove < 0 && n1Pos > -90 && n2Pos >-90) { // Move is positive // stop both nozzles once ONE reaches limit.
+ n1Pos = Enc.Get();
+ n2Pos = n2Pos + encoderMove;
+ encoderMove =0;
+ // Enc.Set(n1Pos);
+ }
+ Enc.Set(n1Pos); // reset encoder so it doesnt store counts past +90/ -90
+
+ }
+
+ if (sync == 1 && n1Dir == 1 && n2Dir == 0) {
+ encoderMove = ( n1Pos - Enc.Get()); // save direction change, positive or negative
+ if (encoderMove > 0 && n1Pos > -90 && n2Pos <90) { // Move is positive // stop both nozzles once ONE reaches limit.
+ n1Pos = (n1Pos + encoderMove);
+ Enc.Set(n1Pos);
+ n2Pos = (n2Pos - encoderMove);
+ encoderMove=0;
+ }
-currentToolNo = Enc.Get();
-if (currentToolNo > numTools){
- currentToolNo = numTools;
- }
- if (currentToolNo < 1){
- currentToolNo = 1;
- Enc.Set(1);
- }
- }
- //****************************
-if (count == 3){ // Knob controls twitch setting
- twitch = Enc.Get();
- if (twitch < 0){
- twitch = 0;
- Enc.Set(0);
- }
- if (twitch > 3){
- twitch = 3;
- Enc.Set(3);
- }
- }
- //****************************
- if (count == 4){ // Knob controls sync setting. 1=off, 2=sync, 3=rev
- sync = Enc.Get();
- if (sync < 0){
- sync= 0;
- Enc.Set(0);
- }
- if (sync > 2){
- sync = 2;
- Enc.Set(2);
- }
- }
- //****************************
- // 5,6,7 AUX?
- if (count == 8){ // knob controls the direction of rotation for N1
- n1Dir = Enc.Get();
-
- if (n1Dir > 1){
- n1Dir = 1;
- Enc.Set(1);
- }
-
- if (n1Dir < 0){
- n1Dir =0;
- Enc.Set(0);
- }
- }
-//****************************
- if (count == 9){ // knob controls the direction of rotation for N2
- n2Dir = Enc.Get();
-
- if (n2Dir > 1){
- n2Dir = 1;
- Enc.Set(1);
- }
-
- if (n2Dir < 0){
- n2Dir =0;
- Enc.Set(0);
- }
- }
-//****************************
- if (count == 10){ // knob controls the version
-version = Enc.Get();
-
- if (version > 1){
- version = 1;
- Enc.Set(1);
- }
-
- if (version < 0){
- version =0;
- Enc.Set(0);
- }
- }
- //****************************
- if (count == 11){ //knob controls tool number
-numTools = Enc.Get();
-if (numTools > 50){
- numTools = 50;
- Enc.Set(50);
- }
- if (numTools < 1){
- numTools = 1;
- Enc.Set(1);
- }
- }
-//****************************
- if (count == 12){ //knob controls tool number
-numNoz = Enc.Get();
-if (numNoz> 2){
- numNoz = 2;
- Enc.Set(2);
- }
- if (numNoz < 1){
- numNoz = 1;
- Enc.Set(1);
- }
- }
-//****************************************************************************************
+ if (encoderMove < 0 && n1Pos < 90 && n2Pos > -90) { // Move is positive // stop both nozzles once ONE reaches limit.
+ n1Pos = (n1Pos + encoderMove);
+ Enc.Set(n1Pos);
+ n2Pos = (n2Pos - encoderMove);
+ encoderMove=0;
+ }
+ Enc.Set(n1Pos); // reset encoder so it doesnt store counts past +90/ -90
+
+ }
+
+
+ if (sync == 1 && n1Dir == 0 && n2Dir == 1) {
+ encoderMove = (Enc.Get() - n1Pos); // save direction change, positive or negative
+ if (encoderMove < 0 && n1Pos > -90 && n2Pos <90) { // Move is positive // stop both nozzles once ONE reaches limit.
+ n1Pos = (n1Pos + encoderMove);
+ Enc.Set(n1Pos);
+ n2Pos = (n2Pos - encoderMove);
+ encoderMove=0;
+ }
+
+ if (encoderMove > 0 && n1Pos < 90 && n2Pos > -90) { // Move is positive // stop both nozzles once ONE reaches limit.
+ n1Pos = (n1Pos + encoderMove);
+ Enc.Set(n1Pos);
+ n2Pos = (n2Pos - encoderMove);
+ encoderMove=0;
+ }
+ Enc.Set(n1Pos); // reset encoder so it doesnt store counts past +90/ -90
+ }
+
+
-if (version == 0){ //Basic runs the servo direct from the display unit
-if (twitch == 0){
-tw.stop();
-twitchStart = 0;
-twitchDirection = 0;
-servo1Pos = servo1Scale.from(n1Pos);
-}
+ if (sync == 1 && n1Dir == 1 && n2Dir == 1) {
+ encoderMove = (Enc.Get() - n1Pos); // save direction change, positive or negative
+ if (encoderMove > 0 && n1Pos > -90 && n2Pos >-90) { // Move is positive // stop both nozzles once ONE reaches limit.
+ n1Pos = (n1Pos - encoderMove);
+ Enc.Set(n1Pos);
+ n2Pos = (n2Pos - encoderMove);
+ encoderMove=0;
+ }
-if (twitch > 0){
- if (twitchStart == 0){
- tw.start(); // start timer for nozzle sweep
- servo1Pos = servo1Scale.from(n1Pos);
- lastTwitchMove = tw.read_ms(); // store time of last nozzle movement
- minTwitch = servo1Pos; // store original servo postion for bottom of sweep
- maxTwitch = servo1Pos + 1000; // 11.11mS per degree of sweep, 55 = 5 degrees of sweep. This should be a viariable set on the display.
- twitchStart = 1;
- }
- if ((twitchStart == 1) && (tw.read_ms() > (lastTwitchMove + twReadMs))){
- if (twitchDirection == 0){ //going up
- servo1Pos = servo1Pos + 100; // add variable amount of uS to the servo signal
-
- tft.setCursor(130,120);
- tft.setTextColor(RED);
- tft.setTextSize(1);
- tft.printf("%d", servo1Pos);
-
-
- if (servo1Pos > maxServo){
- servo1Pos = maxServo;
- twitchDirection = 1; //reverse direction
+ if (encoderMove < 0 && n1Pos < 90 && n2Pos < 90) { // Move is positive // stop both nozzles once ONE reaches limit.
+ n1Pos = (n1Pos - encoderMove);
+ Enc.Set(n1Pos);
+ n2Pos = (n2Pos - encoderMove);
+ encoderMove=0;
+ }
+ Enc.Set(n1Pos); // reset encoder so it doesnt store counts past +90/ -90
+ }
+
}
- if (servo1Pos > maxTwitch){
- servo1Pos = maxTwitch;
- twitchDirection = 1; //reverse direction
- }
- lastTwitchMove = tw.read_ms();
+ if (n1Pos > 90) {
+ n1Pos =90;
+ }
+ if (n1Pos < -90) {
+ n1Pos = -90;
}
-
- if (twitchDirection == 1){ // going down
- servo1Pos = servo1Pos - 100; // add variable amount of Ms to the servo signal
- if (servo1Pos < minServo){
- servo1Pos = minServo;
- twitchDirection = 0; //reverse direction
+ if (n2Pos > 90) {
+ n2Pos =90;
}
- if (servo1Pos < minTwitch){
- servo1Pos = minTwitch;
- twitchDirection = 0; //reverse direction
- }
- lastTwitchMove = tw.read_ms();
- }
- }
- }
-
-myServo.pulsewidth_us(servo1Pos);
-}
+ if (n2Pos < -90) {
+ n2Pos = -90;
+ }
+ }
-//********************** update display values **********************************************
+//***************************
+ if (count == 1) { // knob controls servo value
+
+ if (n2Pos != Enc.Get()) {
+ encoderMove = (Enc.Get() - n2Pos); // save direction change, positive or negative
+
+ if (n2Dir == 0 && encoderMove >0 && n2Pos < 90){ // normal direction
+ n2Pos = n2Pos + encoderMove;
+ encoderMove=0;
+ }
+ if (n2Dir == 0 && encoderMove <0 && n2Pos > -90){ // normal direction
+ n2Pos = n2Pos + encoderMove;
+ encoderMove=0;
+ }
-
- if (currentToolNo != lastToolNo){
- /*
- tft.fillRect(103, 2, 55,25, BLACK);
- tft.setCursor(105, 4);
- */
- tft.setCursor(22, 28);
- tft.setTextColor(BLACK);
- tft.setTextSize(2);
- tft.printf("%d", lastToolNo);
- tft.setTextColor(WHITE);
- //tft.setTextSize(2);
- // tft.printf("T");
- tft.setCursor(22,28);
- tft.printf("%d", currentToolNo);
- tempLastAngle = 0;
- eeprom.read(currentToolNo, &tempLastAngle);
- lastAngle = (int)tempLastAngle;
- lastAngle = lastAngle - 90; // Not storing signed int, so signed value is 90 less than what was stored to memory.
- n1Pos = lastAngle;
-
- if (count == 0){ // if knob is on N1 adjust and ATC changes tools, update enc value)
- Enc.Set(n1Pos); // test for ATC following issue!
+ if (n2Dir == 1 && encoderMove <0 && n2Pos < 90){ // reverse direction
+ n2Pos = n2Pos - encoderMove;
+ encoderMove=0;
+ }
+ if (n2Dir == 1 && encoderMove >0 && n2Pos > -90){ // reverse direction
+ n2Pos = n2Pos - encoderMove;
+ encoderMove=0;
+ }
+ Enc.Set(n2Pos); // reset encoder so it doesnt store counts past +90/ -90
+ if (n2Pos > 90){
+ n2Pos = 90;
+ }
+ if (n2Pos < -90){
+ n2Pos = -90;
+ }
}
- eeprom.write(currentToolAddress, currentToolNo);
- wait(0.1);
- tempLastTwitch = 0;
- eeprom.read(currentToolNo + 150, &tempLastTwitch); // pull up previous twitch setting.
- twitch = (int)tempLastTwitch;
- lastToolNo = currentToolNo;
+ }
+//****************************
+ if (count == 2) { //knob controls tool number
+
+ currentToolNo = Enc.Get();
+ if (currentToolNo > numTools) {
+ currentToolNo = numTools;
+ }
+ if (currentToolNo < 1) {
+ currentToolNo = 1;
+ Enc.Set(1);
+ }
+ }
+//****************************
+ if (count == 3) { // Knob controls twitch setting
+ twitch = Enc.Get();
+ if (twitch < 0) {
+ twitch = 0;
+ Enc.Set(0);
+ }
+ if (twitch > 3) {
+ twitch = 3;
+ Enc.Set(3);
+ }
}
-
-
- if (n1Pos != lastN1Pos){
- tft.setCursor(40, 4);
- tft.setTextColor(BLACK);
- tft.setTextSize(2);
- tft.printf("%d", lastN1Pos);
- tft.setCursor(40,4);
- tft.setTextColor(GREEN);
- tft.setTextSize(2);
- tft.printf("%d", n1Pos);
- eeprom.write(currentToolNo, n1Pos + 90); // store new angle in eeprom, add 90 because its an unsigned value.
- //wait(0.1); // adjusted from 1
- dir=1;
- device.printf("N");
- device.printf("%d", n1Pos + 190); //send over RS485 add 190 so no negative values and always 3 digits.
- //device.printf("N245"); // TEST!!!
- // tft.setCursor(100, 50);
- // tft.setTextSize(2);
- // tft.printf("%d", n1Pos + 145);
- wait(0.05);
- dir=0;
-
- //Enc.Set(n1Pos); // test!!
-
- lastN1Pos = n1Pos;
- }
-
-if (n2Pos != lastN2Pos && numNoz == 2){
- tft.setCursor(115, 4);
- tft.setTextColor(BLACK);
- tft.setTextSize(2);
- tft.printf("%d", lastN2Pos);
- tft.setCursor(115, 4);
- tft.setTextColor(GREEN);
- tft.setTextSize(2);
- tft.printf("%d", n2Pos);
- eeprom.write(currentToolNo +100, n2Pos + 90); // store new angle in eeprom, add 90 because its an unsigned value.
- //wait(0.1); // adjusted from 1
- dir=1;
- device.printf("N");
- device.printf("%d", n2Pos + 390); //send over RS485 add 390 so no negative values and always 3 digits.
- //device.printf("N245"); // TEST!!!
- // tft.setCursor(100, 50);
- // tft.setTextSize(2);
- // tft.printf("%d", n1Pos + 145);
- wait(0.05);
- dir=0;
- lastN2Pos = n2Pos;
- }
-
-
- if (numTools != lastNumTools){
- tft.setCursor(133, 95);
- tft.setTextColor(BLACK);
- tft.setTextSize(1);
- tft.printf("%d", lastNumTools);
- tft.setCursor(133,95);
- tft.setTextColor(WHITE);
- tft.setTextSize(1);
- tft.printf("%d", numTools);
- eeprom.write(numToolsAddress, numTools); // store new angle in eeprom, add 45 because its an unsigned value.
- //wait(0.1); // adjusted from 1
- lastNumTools = numTools;
- }
+//****************************
+ if (count == 4) { // Knob controls sync setting. 1=off, 2=sync, 3=rev
+ sync = Enc.Get();
+ if (sync < 0) {
+ sync= 0;
+ Enc.Set(0);
+ }
+ if (sync > 1) {
+ sync = 1;
+ Enc.Set(1);
+ }
+ }
+ //****************************
+ // 5,6,7 AUX?
+ if (count == 8) { // knob controls the direction of rotation for N1
+ n1Dir = Enc.Get();
- if (numNoz != lastNumNoz){
- tft.setCursor(133, 110);
- tft.setTextColor(BLACK);
- tft.setTextSize(1);
- tft.printf("%d", lastNumNoz);
- tft.setCursor(133,110);
- tft.setTextColor(WHITE);
- tft.setTextSize(1);
- tft.printf("%d", numNoz);
- eeprom.write(numNozAddress, numNoz); // store new angle in eeprom, add 45 because its an unsigned value.
- //wait(0.1); // adjusted from 1
-
- if (numNoz == 2){
- tft.setCursor(80, 4);
- tft.setTextColor(WHITE);
- tft.setTextSize(2);
- tft.printf("N2");
- tft.drawRect(78,2,74,18,WHITE);
- }
- if (numNoz == 1){
- tft.setCursor(80, 4);
- tft.setTextColor(BLACK);
- tft.setTextSize(2);
- tft.printf("N2");
- tft.setCursor(115, 4);
- tft.printf("%d", n2Pos);
- tft.drawRect(78,2,74,18,BLACK);
+ if (n1Dir > 1) {
+ n1Dir = 1;
+ Enc.Set(1);
+ }
+
+ if (n1Dir < 0) {
+ n1Dir =0;
+ Enc.Set(0);
+ }
}
- lastNumNoz = numNoz;
- }
-
-
- if (twitch != lastTwitch){
- tft.setCursor(52, 50);
- tft.setTextColor(BLACK);
- tft.setTextSize(1);
- tft.printf("%d", lastTwitch);
- tft.setCursor(52, 50);
- tft.setTextColor(GREEN);
- tft.setTextSize(1);
- tft.printf("%d", twitch);
- dir=1;
- device.printf("W");
- device.printf("%d", twitch);
- wait(0.05);
- dir=0;
- eeprom.write(currentToolNo +150, twitch); // store new twitch setting
- lastN1Pos = 999; // trigger sending servo values to module
- lastN2Pos = 999;
- lastTwitch = twitch;
-}
+//****************************
+ if (count == 9) { // knob controls the direction of rotation for N2
+ n2Dir = Enc.Get();
+
+ if (n2Dir > 1) {
+ n2Dir = 1;
+ Enc.Set(1);
+ }
- if (sync != lastSync){ //
- tft.setCursor(52, 65);
- tft.setTextColor(BLACK);
- tft.setTextSize(1);
- if (lastSync == 0){
- tft.printf("OFF");
- }
- if (lastSync == 1){
- tft.printf("ON");
+ if (n2Dir < 0) {
+ n2Dir =0;
+ Enc.Set(0);
+ }
}
- if (lastSync == 2){
- tft.printf("REV");
- }
- tft.setCursor(52, 65);
- tft.setTextSize(1);
- if (sync == 0){
- tft.setTextColor(WHITE);
- tft.printf("OFF");
- }
- if (sync == 1){
- tft.setTextColor(GREEN);
- tft.printf("ON");
- }
- if (sync == 2){
- tft.setTextColor(RED);
- tft.printf("REV");
- }
- eeprom.write(syncAddress, sync); // store new twitch setting
- syncSpread = (n2Pos - n1Pos);
-
- lastSync = sync;
-
-}
+//****************************
+ if (count == 10) { // knob controls the version
+ version = Enc.Get();
+
+ if (version > 1) {
+ version = 1;
+ Enc.Set(1);
+ }
- if (n1Dir != lastN1Dir){ //
- tft.setCursor(132, 50);
- tft.setTextColor(BLACK);
- tft.setTextSize(1);
- if (lastN1Dir == 0){
- tft.printf("NOR");
- }
- if (lastN1Dir == 1){
- tft.printf("REV");
- }
- tft.setCursor(132, 50);
- if (n1Dir == 0){
- tft.setTextColor(WHITE);
- tft.printf("NOR");
- }
- if (n1Dir == 1){
- tft.setTextColor(GREEN);
- tft.printf("REV");
- }
- eeprom.write(n1DirAddress, n1Dir); // store new twitch setting
- lastN1Dir = n1Dir;
-}
-
- if (n2Dir != lastN2Dir){ //
- tft.setCursor(132, 65);
- tft.setTextColor(BLACK);
- tft.setTextSize(1);
- if (lastN2Dir == 0){
- tft.printf("NOR");
+ if (version < 0) {
+ version =0;
+ Enc.Set(0);
+ }
}
- if (lastN2Dir == 1){
- tft.printf("REV");
- }
- tft.setCursor(132, 65);
- if (n2Dir == 0){
- tft.setTextColor(WHITE);
- tft.printf("NOR");
+//****************************
+ if (count == 11) { //knob controls tool number
+ numTools = Enc.Get();
+ if (numTools > 50) {
+ numTools = 50;
+ Enc.Set(50);
+ }
+ if (numTools < 1) {
+ numTools = 1;
+ Enc.Set(1);
+ }
}
- if (n2Dir == 1){
- tft.setTextColor(GREEN);
- tft.printf("REV");
+//****************************
+ if (count == 12) { //knob controls tool number
+ numNoz = Enc.Get();
+ if (numNoz> 2) {
+ numNoz = 2;
+ Enc.Set(2);
+ }
+ if (numNoz < 1) {
+ numNoz = 1;
+ Enc.Set(1);
+ }
}
- eeprom.write(n2DirAddress, n2Dir); // store new twitch setting
- lastN2Dir = n2Dir;
-}
- if (version != lastVersion){ //
- tft.setCursor(132, 80);
- tft.setTextColor(BLACK);
- tft.setTextSize(1);
- if (lastVersion == 0){
- tft.printf("BAS");
- }
- if (lastVersion == 1){
- tft.printf("PRO");
- }
- tft.setCursor(132, 80);
- if (version == 0){
- tft.setTextColor(WHITE);
- tft.setTextSize(1);
- tft.printf("BAS");
- }
- if (version == 1){
- tft.setTextColor(RED);
- tft.printf("PRO");
- }
- eeprom.write(versionAddress, version); // store new twitch setting
- lastVersion = version;
-}
//**************************** RS485 link ***************************************
-while (device.readable())
- {
- c = device.getc();
-
- if (c == 'T'){ // Actual tool number sent over serial
-
- index = 1;
-
- }
-
-
- if (c == 'M'){ // magazine + or - sent over serial
- index = 5;
- }
-
- if (index == 1){
- c = device.getc();
- if (c == '1'){ // hundreds place to know we are sending 3 digits
- index = 2;
- }
- }
-
+ while (device.readable()) {
+ c = device.getc();
+
+ if (c == 'T') { // Actual tool number sent over serial
+
+ index = 1;
+
+ }
+
+
+ if (c == 'M') { // magazine + or - sent over serial
+ index = 5;
+ }
-
- if (index == 2){ // tool number 10's column
-
- c = device.getc();
-
- if (c=='0'){
- Tens = 0;
+ if (index == 1) {
+ c = device.getc();
+ if (c == '1') { // hundreds place to know we are sending 3 digits
+ index = 2;
+ }
+ }
+
+
+
+ if (index == 2) { // tool number 10's column
+
+ c = device.getc();
+
+ if (c=='0') {
+ Tens = 0;
+ index = 4;
+
+ }
+
+ else if (c=='1') {
+ Tens = 1;
index = 4;
-
- }
-
- else if (c=='1'){
- Tens = 1;
- index = 4;
-
- }
-
- else if (c=='2'){
- Tens = 2;
- index = 4;
-
- }
-
- else if (c=='3'){
- Tens = 3;
- index = 4;
-
- }
-
- else if (c=='4'){
- Tens = 4;
- index = 4;
- }
-
- else if (c=='5'){ //max number of tools is 50
- Tens = 5;
- index = 4;
- }
-
- }
-
- if (index == 4){ // tool number ones column
-
- c = device.getc();
-
- if (c=='0'){
- Ones = 0;
-
- }
-
- else if (c=='1'){
- Ones = 1;
-
-
- }
-
- else if (c=='2'){
- Ones = 2;
-
- }
-
- else if (c=='3'){
- Ones = 3;
-
- }
-
- else if (c=='4'){
- Ones = 4;
- }
-
- else if (c=='5'){
- Ones = 5;
- }
-
- else if (c=='6'){
- Ones = 6;
- }
-
- else if (c=='7'){
- Ones = 7;
- }
-
- else if (c=='8'){
- Ones = 8;
- }
-
- else if (c=='9'){
- Ones = 9;
- }
-
- else if (c=='0'){
- Ones = 0;
- }
-
-
-
- serialToolNumber = ((Tens * 10) + Ones);
-
- currentToolNo = serialToolNumber; // update tool number
-
- index=0;
-
+
+ }
+
+ else if (c=='2') {
+ Tens = 2;
+ index = 4;
+
+ }
+
+ else if (c=='3') {
+ Tens = 3;
+ index = 4;
+
+ }
+
+ else if (c=='4') {
+ Tens = 4;
+ index = 4;
}
-
- if (index == 5){ // magazine monitoring
-
+
+ else if (c=='5') { //max number of tools is 50
+ Tens = 5;
+ index = 4;
+ }
+
+ }
+
+ if (index == 4) { // tool number ones column
-
- c = device.getc();
+ c = device.getc();
+
+ if (c=='0') {
+ Ones = 0;
- if (c == '+'){
+ }
+
+ else if (c=='1') {
+ Ones = 1;
- currentToolNo = (currentToolNo +1);
- if (currentToolNo > numTools){
- currentToolNo = 1;
- }
- index = 0;
- }
- else if (c == '-'){
- /*
- tft.setTextColor(WHITE);
- tft.setCursor(100, 100);
- tft.printf("1");
- */
- currentToolNo = (currentToolNo -1);
- if (currentToolNo < 1){
- currentToolNo = numTools;
- }
- index = 0;
+ }
+
+ else if (c=='2') {
+ Ones = 2;
+
+ }
+
+ else if (c=='3') {
+ Ones = 3;
+
+ }
+
+ else if (c=='4') {
+ Ones = 4;
+ }
+
+ else if (c=='5') {
+ Ones = 5;
+ }
+
+ else if (c=='6') {
+ Ones = 6;
+ }
+
+ else if (c=='7') {
+ Ones = 7;
+ }
+
+ else if (c=='8') {
+ Ones = 8;
+ }
+
+ else if (c=='9') {
+ Ones = 9;
+ }
+
+ else if (c=='0') {
+ Ones = 0;
}
-
-}
+
+
+
+ serialToolNumber = ((Tens * 10) + Ones);
+
+ currentToolNo = serialToolNumber; // update tool number
+
+ index=0;
+
+ }
+
+ if (index == 5) { // magazine monitoring
+
+
+
+ c = device.getc();
+
+ if (c == '+') {
+
+
+ currentToolNo = (currentToolNo +1);
+ if (currentToolNo > numTools) {
+ currentToolNo = 1;
+ }
+ index = 0;
+ } else if (c == '-') {
+ /*
+ tft.setTextColor(WHITE);
+ tft.setCursor(100, 100);
+ tft.printf("1");
+ */
+ currentToolNo = (currentToolNo -1);
+ if (currentToolNo < 1) {
+ currentToolNo = numTools;
+ }
+ index = 0;
+ }
+
+ }
+ }
+
+ }
}
-}
-}
-