62 lines
1.3 KiB
C++
62 lines
1.3 KiB
C++
#include "config.h"
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#include "turret.h"
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Turret::PinMap pinX = {
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.home = PIN_X_HOME,
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.direction = PIN_X_DIRECTION,
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.pulse = PIN_X_PULSE,
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.enable = PIN_X_ENABLE,
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.laser = PIN_LASER,
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};
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Turret::PinMap pinY = {
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.home = PIN_Y_HOME,
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.direction = PIN_Y_DIRECTION,
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.pulse = PIN_Y_PULSE,
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.enable = PIN_Y_ENABLE,
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.laser = PIN_LASER,
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};
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Turret::StepRatio stepRatio(STEP_RATIO_X, STEP_RATIO_Y);
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Turret::Offset offset(OFFSET_X, OFFSET_Y, OFFSET_Z);
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Turret::ZeroOffset zeroOffset(ZERO_OFFSET_X, ZERO_OFFSET_Y);
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Turret turret(stepRatio, offset, zeroOffset, pinX, pinY);
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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().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 = -21;
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double zeroOffsetH = -163;
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// double zeroOffsetH = -147;
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// Test constant step h,v
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for (double step = 0; step < 160; step += 10) {
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Serial.print("[step]: ");
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Serial.println(step);
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turret.moveTo(step, 0, 0);
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delay(5000);
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}
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for (double step = 0; step > -160; step -= 10) {
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Serial.print("[step]: ");
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Serial.println(step);
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turret.moveTo(step, 0, 0);
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delay(5000);
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}
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turret.gotoZero();
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}
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void loop() {}
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