File content as of revision 17:84ea3ec0660d:

 #include "mbed.h"
#include "Adafruit_ST7735.h"
#include "RPG.h"
#include "reScale.h"
#include "Ee24xx08.h"
#include "mRotaryEncoder.h"


// DISPLAY INIT:

#define BLACK    0x0000
#define BLUE     0x001F
#define RED      0xF800
#define GREEN    0x07E0
#define CYAN     0x07FF
#define MAGENTA  0xF81F
#define YELLOW   0xFFE0 
#define WHITE    0xFFFF

/* EEPROM Memory map:

1 - 50: N1 angles 
51 - 100: Settings
101- 150: N2 angles
151- 200: Twitch settings
200- 250: unused
*/ 

#define currentToolAddress 51
#define numToolsAddress 52
#define numNozAddress 53
#define versionAddress 54 // 0= basic, 1=pro
#define syncAddress 55
#define n1DirAddress 56
#define n2DirAddress 57




//DigitalOut myled(P1_13);


I2C iic(P0_5, P0_4);


DigitalOut dir(P0_21);


Ee24xx08 eeprom(&iic);

Adafruit_ST7735 tft(P0_9, P0_8, P0_6, P0_2, P0_22, P0_7); // MOSI, MISO, SCLK, SSEL, TFT_DC, TFT_RST

int maxServo = 2500;
int minServo = 500;
reScale servo1Scale(-90,90,minServo,maxServo); //

 PwmOut myServo(P1_13); //display board
//PwmOut myServo(D4);

//DigitalIn tUpButton(P2_11);
//DigitalIn tDownButton(P2_12);
DigitalIn encoderFalseButton(P0_23); // FALSE!!! push button of knob
DigitalIn encoderButton(P0_20); // push button of knob
DigitalIn backButton(P0_15); // back button
DigitalIn aButton(P0_1); // ISP and A button

Timer t;
Timer tw;
int lastBackButton;
int lastDownButton;
int lastEncoderButton;



int dirt = 0;

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 v0");
  
        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:"); 
        
 // **************************************************************************************************************       
 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 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 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 *******************
  
  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 *********************************
  


 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);

/*
      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?
    
    while(1) {
        
            
        
       /* 
     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;
                          
                             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;
        }  
        }    

// ************* 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);
  } 

    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);
}  
 
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 == 12){
tft.drawRect(130,108,20,12,BLACK);
} 

 // Set new box
 
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);
}

else if (count == 3){
tft.drawRect(50,48,20,12,GREEN);
}

else if (count == 4){
tft.drawRect(50,63,20,12,GREEN);
}

else if (count == 5){
tft.drawRect(50,78,20,12,GREEN);
}

else if (count == 6){
tft.drawRect(50,93,20,12,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 == 10){
tft.drawRect(130,78,20,12,GREEN);
}

else if (count == 11){
tft.drawRect(130,93,20,12,GREEN);
}

else if (count == 12){
tft.drawRect(130,108,20,12,GREEN);
}

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

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 (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;
        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;
        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 (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");
        }
        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 (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 (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;                 
}

   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;
                        }  
                        }
                

                        
                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=='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;
                
                }
                
                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;                               
                }
                
}
}

}
}