92 lines
2.0 KiB
C++
92 lines
2.0 KiB
C++
// Do not remove the include below
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#include "farmbot_arduino_controller.h"
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#include "pins.h"
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#include "Config.h"
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#include "StepperControl.h"
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#include "ServoControl.h"
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static char commandEndChar = 0x0A;
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static GCodeProcessor* gCodeProcessor = new GCodeProcessor();
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unsigned long lastAction;
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unsigned long currentTime;
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//The setup function is called once at startup of the sketch
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void setup() {
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pinMode(X_STEP_PIN , OUTPUT);
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pinMode(X_DIR_PIN , OUTPUT);
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pinMode(X_ENABLE_PIN, OUTPUT);
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pinMode(X_MIN_PIN , INPUT );
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pinMode(X_MAX_PIN , INPUT );
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pinMode(Y_STEP_PIN , OUTPUT);
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pinMode(Y_DIR_PIN , OUTPUT);
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pinMode(Y_ENABLE_PIN, OUTPUT);
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pinMode(Y_MIN_PIN , INPUT );
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pinMode(Y_MAX_PIN , INPUT );
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pinMode(Z_STEP_PIN , OUTPUT);
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pinMode(Z_DIR_PIN , OUTPUT);
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pinMode(Z_ENABLE_PIN, OUTPUT);
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pinMode(Z_MIN_PIN , INPUT );
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pinMode(Z_MAX_PIN , INPUT );
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pinMode(HEATER_0_PIN, OUTPUT);
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pinMode(HEATER_1_PIN, OUTPUT);
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pinMode(FAN_PIN , OUTPUT);
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pinMode(LED_PIN , OUTPUT);
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//pinMode(SERVO_0_PIN , OUTPUT);
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//pinMode(SERVO_1_PIN , OUTPUT);
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digitalWrite(X_ENABLE_PIN, HIGH);
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digitalWrite(Y_ENABLE_PIN, HIGH);
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digitalWrite(Z_ENABLE_PIN, HIGH);
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Serial.begin(115200);
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ServoControl::getInstance()->attach();
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StepperControl::getInstance()->initInterrupt();
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lastAction = millis();
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}
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// The loop function is called in an endless loop
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void loop() {
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if (Serial.available()) {
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String commandString = Serial.readStringUntil(commandEndChar);
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if (commandString && commandString.length() > 0) {
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lastAction = millis();
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Command* command = new Command(commandString);
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if(LOGGING) {
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command->print();
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}
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gCodeProcessor->execute(command);
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free(command);
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}
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}
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delay(10);
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currentTime = millis();
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if (currentTime < lastAction) {
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// If the device timer overruns, reset the idle counter
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lastAction = millis();
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}
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else {
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if ((currentTime - lastAction) > 5000) {
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// After an idle time, send the idle message
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Serial.print("R00\r\n");
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lastAction = millis();
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}
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}
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}
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