101 lines
2.3 KiB
C++
101 lines
2.3 KiB
C++
#include "config.h"
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#include "turret.h"
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Turret turret(
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PIN_X_DIRECTION, PIN_X_PULSE, PIN_X_ENABLE, PIN_X_HOME,
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PIN_Y_DIRECTION, PIN_Y_PULSE, PIN_Y_ENABLE, PIN_Y_HOME,
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PIN_LASER
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);
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void setup() {
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turret.init();
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Serial.begin(BAUDRATE);
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turret.laserOn().calibrate();
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turret.moveTo(0, 0, 0);
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delay(5000);
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// test pointage
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double panelWidth = 124.7;
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double panelHeight = 145.0;
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int panelHCount = 3;
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int panelVCount = 2;
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// double zeroOffsetV = -31.5;
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double zeroOffsetV = -20.8;
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// double zeroOffsetH = -184.5;
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double zeroOffsetH = -195.5;
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// Test constant step h,v
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Serial.println("Start demo_0");
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for (int i = 0; i < 20; i++) {
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Serial.print("> ");
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Serial.println(i);
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for (double step = -198.5; step < 176.0; step += 10) {
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Serial.print("[step]: ");
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Serial.println(step);
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turret.moveTo(step, 87, 0);
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// turret.moveBy(20.0, 0.0, 0.0);
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delay(500);
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}
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for (double step = 0; step < 200.0; step += 10) {
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Serial.print("[step]: ");
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Serial.println(step);
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turret.moveTo(0, step, 0);
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// turret.moveBy(20.0, 0.0, 0.0);
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delay(500);
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}
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delay(5000);
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turret.moveTo(0, 0, 0);
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delay(5000);
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}
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// Test rollX
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turret.moveTo(0 * panelWidth + zeroOffsetH, 0, 0);
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delay(5000);
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turret.moveTo((panelHCount * panelWidth) / 2 + zeroOffsetH, 0, 0);
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delay(5000);
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turret.moveTo(panelHCount * panelWidth + zeroOffsetH, 0, 0);
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delay(5000);
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turret.gotoZero();
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// Test rollY
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turret.moveTo(0, 0 * panelHeight + zeroOffsetV, 0);
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delay(5000);
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turret.moveTo(0, (panelVCount * panelHeight) / 2 + zeroOffsetV, 0);
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delay(5000);
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turret.moveTo(0, panelVCount * panelHeight + zeroOffsetV, 0);
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delay(5000);
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turret.gotoZero();
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// Test align to panels
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for (double panelH = 0; panelH < panelHCount + 1; panelH += 0.5) {
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for (double panelV = 0; panelV < panelVCount + 1; panelV += 0.5) {
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double x = panelH * panelWidth + zeroOffsetH;
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double y = panelV * panelHeight + zeroOffsetV;
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double z = 0;
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Serial.print("Goto (x, y, z) => (");
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Serial.print(x);
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Serial.print(", ");
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Serial.print(y);
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Serial.print(", ");
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Serial.print(z);
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Serial.println(")");
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turret.moveTo(x, y, z);
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delay(2000);
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}
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}
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turret.gotoZero();
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}
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void loop() {
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}
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