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Add new y driver. #2

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Add new y driver. #2

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48 changes: 40 additions & 8 deletions firmware/firmware.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -12,13 +12,17 @@
#define PIN_INTER_RIGHT 1 //Equal to pin 3; 0 means pin 2 on the board
#define PIN_INTER_LEFT 0

#define TRAN_RATION 75

#define PULSE_RATE 400

#define BACKSPACE_STEPS 1200
#define ANTI_SHAKE_STEPS 10

#if AXIS != 1
#define TRAN_RATION 95
#define PULSE_DELAY_DEFAULT 400
#else
#define TRAN_RATION 75
#define PULSE_DELAY_DEFAULT 100
#endif

Expand All @@ -27,6 +31,8 @@

#define ADDRESS_LOW 2
#define ADDRESS_HIGH 1
void linterrupt();
void rinterrupt();

int g_inputCount = 0;
bool g_processFlag = false;
Expand Down Expand Up @@ -85,6 +91,39 @@ unsigned long do_run(unsigned long steps, unsigned long during_micro_second, boo
digitalWrite(PIN_PULS, HIGH);
delayMicroseconds(during_micro_second);
}
if (inter_left || inter_right) {
unsigned int j = 0;
delay(500);

digitalWrite(PIN_DIR, !direct_left_default);
inter_left = inter_right = false; //just for interrupt!

detachInterrupt(PIN_INTER_LEFT);
detachInterrupt(PIN_INTER_RIGHT);

attachInterrupt(PIN_INTER_LEFT, linterrupt, FALLING);
attachInterrupt(PIN_INTER_RIGHT, rinterrupt, FALLING);

int interdelay = 0;
for(i = 0; i < BACKSPACE_STEPS; i++) {
if (inter_left || inter_right)
break;
for(j = 0; j < ANTI_SHAKE_STEPS; j++) {
digitalWrite(PIN_PULS, LOW);
delayMicroseconds(during_micro_second);
digitalWrite(PIN_PULS, HIGH);
delayMicroseconds(during_micro_second);
}

}

detachInterrupt(PIN_INTER_LEFT);
detachInterrupt(PIN_INTER_RIGHT);

attachInterrupt(PIN_INTER_LEFT, linterrupt, RISING);
attachInterrupt(PIN_INTER_RIGHT, rinterrupt, RISING);
}


return i;
}
Expand Down Expand Up @@ -139,25 +178,18 @@ void linterrupt()
{
if(!g_afterSetup) return;

// motor_run(100);
stop_motor();

motor_run(5);

inter_left = true;
return;
}
void rinterrupt()
{
if(!g_afterSetup) return;

// motor_run(-100);
stop_motor();

motor_run(-5);

inter_right = true;

return;
}

Expand Down