adjusted movement commands

1 files changed, 22 insertions, 6 deletions

diff --git a/r3cam-steppermotor/r3cam-steppermotor.c b/r3cam-steppermotor/r3cam-steppermotor.c
index bd67374..c0ce5f9 100644
--- a/r3cam-steppermotor/r3cam-steppermotor.c
+++ b/r3cam-steppermotor/r3cam-steppermotor.c
@@ -87,6 +87,7 @@ static uint8_t cur_speed = 0xFF - M_START_DIVISOR;
 static uint8_t m_clk_divisor_ = M_START_DIVISOR;

 static uint8_t m_clk_divisor_counter_ = 0;

 static uint16_t m_steps_to_go_ = 0;

+static uint16_t m_steps_to_go_back_ = 0;

 

 inline void m_timer_enable(void)

 {

@@ -103,12 +104,21 @@ void motor_stop(void)
     m_timer_disable();

     M_PORT &= ~(1 << M_ENABLE);

     m_steps_to_go_ = 0;

+    m_steps_to_go_back_ = 0;

 }

 

 ISR(TIMER0_OVF_vect)

 {

     if (m_steps_to_go_ == 0)

-        motor_stop();

+    {

+        if(m_steps_to_go_back_)

+        {  

+          M_PORT ^= (1 << M_DIRECTION);

+          m_steps_to_go_=m_steps_to_go_back_;

+          m_steps_to_go_back_=0;

+        } else   

+          motor_stop();

+    }    

     if (m_clk_divisor_counter_ == 0)

     {

         m_clk_divisor_counter_ = m_clk_divisor_;

@@ -129,7 +139,7 @@ void motor_set_speed(uint8_t speed)
     CDC_Device_SendString(&VirtualSerial_CDC_Interface, tmp);

 }

 

-void motor_run(uint16_t steps, uint8_t direction)

+void motor_run(uint16_t steps, uint8_t direction,uint16_t steps_back)

 {

     //reset by pulling reset low for 100ms

     M_PORT &= ~(1 << M_RESET);

@@ -138,6 +148,7 @@ void motor_run(uint16_t steps, uint8_t direction)
     

     m_clk_divisor_counter_ = 0;

     m_steps_to_go_ = steps;

+    m_steps_to_go_back_ = steps_back;

     

     if (direction)

         M_PORT |= (1 << M_DIRECTION);

@@ -172,10 +183,15 @@ void handle_cmd(uint8_t cmd)
   case 't': led_toggle(); break;

   case 'r': reset2bootloader(); break;

   case 's': motor_stop(); break;

-  case 'c': motor_run(50,0); break;

-  case 'w': motor_run(50,1); break;

-  case 'C': motor_run(300,0); break;

-  case 'W': motor_run(300,1); break;

+  case 'y': motor_run(30,0,20); break;

+  case 'x': motor_run(140,0,40); break;

+  case 'c': motor_run(60,0,20); break;

+  case 'v': motor_run(40,0,20); break;

+  case 'q': motor_run(140,1,40); break;

+  case 'w': motor_run(60,1,20); break;

+  case 'e': motor_run(40,1,20); break;

+  case 'C': motor_run(330,0,40); break;

+  case 'W': motor_run(330,1,40); break;

   case '+': motor_set_speed(++cur_speed); break;

   case '-': motor_set_speed(--cur_speed); break;

   default: CDC_Device_SendString(&VirtualSerial_CDC_Interface, "error\n\r"); return;