adding servo handling

src/Command.cpp

@@ -102,6 +102,10 @@ CommandCodeEnum Command::getGCodeEnum(char* code) {
 		return F44;
 	}
 
+	if (strcmp(code, "F61") == 0) {
+		return F61;
+	}
+
 	if (strcmp(code, "F81") == 0) {
 		return F81;
 	}

src/Command.h

@@ -28,6 +28,7 @@ enum CommandCodeEnum
   F42 = 142,
   F43 = 143,
   F44 = 144,
+  F61 = 161,
   F81 = 181,
   F82 = 182,
   F83 = 183

src/F61Handler.cpp

@@ -0,0 +1,31 @@
+
+
+/*
+ * F61Handler.cpp
+ *
+ *  Created on: 4014-11-04
+ *      Author: Tim Evers
+ */
+
+#include "F61Handler.h"
+
+
+static F61Handler* instance;
+
+F61Handler * F61Handler::getInstance() {
+        if (!instance) {
+                instance = new F61Handler();
+        };
+        return instance;
+}
+;
+
+F61Handler::F61Handler() {
+}
+
+int F61Handler::execute(Command* command) {
+
+        ServoControl::getInstance()->setAngle(command->getP(),command->getV());
+
+        return 0;
+}

src/F61Handler.h

@@ -0,0 +1,33 @@
+/*
+ * F61Handler.h
+ *
+ *  Created on: 2014-11-04
+ *      Author: TimEvers
+ */
+
+#ifndef F4HANDLER_H_
+#define F4HANDLER_H_
+#include "GCodeHandler.h"
+#include "Config.h"
+#include "CurrentState.h"
+#include "pins.h"
+#include "Config.h"
+#include "ServoControl.h"
+
+class F61Handler : public GCodeHandler {
+public:
+        static F61Handler* getInstance();
+        int execute(Command*);
+private:
+        F61Handler();
+        F61Handler(F61Handler const&);
+        void operator=(F61Handler const&);
+};
+
+#endif /* F61HANDLER_H_ */
+
+
+
+
+
+

src/GCodeProcessor.cpp

@@ -3,6 +3,7 @@
  *
  *  Created on: 15 maj 2014
  *      Author: MattLech
+ *      Author: Tim Evers
  */
 
 #include "GCodeProcessor.h"
@@ -84,6 +85,9 @@ GCodeHandler* GCodeProcessor::getGCodeHandler(CommandCodeEnum codeEnum) {
 	case F44:
 		return F44Handler::getInstance();
 
+	case F61:
+		return F61Handler::getInstance();
+
 	case F81:
 		return F81Handler::getInstance();
 	case F82:

src/GCodeProcessor.h

@@ -34,6 +34,8 @@
 #include "F43Handler.h"
 #include "F44Handler.h"
 
+#include "F61Handler.h"
+
 #include "F81Handler.h"
 #include "F82Handler.h"
 #include "F83Handler.h"

src/ServoControl.cpp

@@ -0,0 +1,47 @@
+#include "ServoControl.h"
+
+#include "Servo.h"
+
+/*
+Servo pin layout
+D11 D6 D5 D4
+*/
+
+static ServoControl* instance;
+
+Servo servos[2];
+
+ServoControl * ServoControl::getInstance() {
+	if (!instance) {
+		instance = new ServoControl();
+	};
+	return instance;
+}
+;
+
+ServoControl::ServoControl() {
+}
+
+int ServoControl::attach() {
+	servos[0].attach(SERVO_0_PIN);
+	servos[1].attach(SERVO_1_PIN);
+}
+
+int ServoControl::setAngle(int motor, int angle) {
+
+	switch(motor) {
+		case 1:
+		        servos[0].write(angle);
+			break;
+		case 2:
+		        servos[1].write(angle);
+			break;
+		default:  
+			return 1;
+	}
+
+	return 0;
+}
+
+
+

src/ServoControl.h

@@ -0,0 +1,29 @@
+/*
+ * ServoControl.h
+ *
+ *  Created on: 2014-11-01
+ *      Author: Tim Evers
+ */
+
+#ifndef SERVOCONTROL_H_
+#define SERVOCONTROL_H_
+
+#include "Arduino.h"
+#include "pins.h"
+#include "Config.h"
+#include <stdio.h>
+#include <stdlib.h>
+
+class ServoControl {
+public:
+	static ServoControl* getInstance();
+
+	int attach();
+	int setAngle(int motor, int angle);
+private:
+	ServoControl();
+	ServoControl(ServoControl const&);
+	void operator=(ServoControl const&);
+};
+
+#endif /* SERVOCONTROL_H_ */

src/farmbot_arduino_controller.cpp

@@ -3,6 +3,8 @@
 #include "pins.h"
 #include "Config.h"
 
+#include "ServoControl.h"
+
 static char commandEndChar = 0x0A;
 static GCodeProcessor* gCodeProcessor = new GCodeProcessor();
 
@@ -31,11 +33,17 @@ void setup() {
 	pinMode(FAN_PIN     , OUTPUT);
 	pinMode(LED_PIN     , OUTPUT);
 
+	//pinMode(SERVO_0_PIN , OUTPUT);
+	//pinMode(SERVO_1_PIN , OUTPUT);
+
 	digitalWrite(X_ENABLE_PIN, HIGH);
 	digitalWrite(Y_ENABLE_PIN, HIGH);
 	digitalWrite(Z_ENABLE_PIN, HIGH);
 
 	Serial.begin(115200);
+
+	ServoControl::getInstance()->attach();
+
 }
 
 // The loop function is called in an endless loop
@@ -52,4 +60,7 @@ void loop() {
 		}
 	}
 	delay(100);
+
+	//ServoControl::getInstance()->SetAngle(90);
+
 }

src/pins.h

@@ -26,12 +26,15 @@
 #define SDSS               53
 #define LED_PIN            13
 
-#define FAN_PIN            9
+#define FAN_PIN             9
 
 #define PS_ON_PIN          12
 #define KILL_PIN           -1
 
 #define HEATER_0_PIN       10
-#define HEATER_1_PIN       8
-#define TEMP_0_PIN          13   // ANALOG NUMBERING
-#define TEMP_1_PIN          14   // ANALOG NUMBERING
+#define HEATER_1_PIN        8
+#define TEMP_0_PIN         13   // ANALOG NUMBERING
+#define TEMP_1_PIN         14   // ANALOG NUMBERING
+
+#define SERVO_0_PIN	   4
+#define SERVO_1_PIN	   5