EX-Turntable.ino

/*
 *  © 2023 Peter Cole
 *  © 2022 Peter Cole
 *
 *  This file is part of EX-Turntable
 *
 *  This is free software: you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation, either version 3 of the License, or
 *  (at your option) any later version.
 *
 *  It is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *  GNU General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License
 *  along with EX-Turntable.  If not, see <https://www.gnu.org/licenses/>.
*/

// Include required libraries.
#include <Arduino.h>
#include "defines.h"

// Include local files
#include "IOFunctions.h"
#include "TurntableFunctions.h"

bool lastRunningState;   // Stores last running state to allow turning the stepper off after moves.

void setup() {
  // Run startup configuration
  startupConfiguration();

  // Set up the stepper driver
  setupStepperDriver();

  // If we're not sensor testing, start Wire()
  if (!sensorTesting) setupWire();

  // Display EX-Turntable configuration
  displayTTEXConfig();
}

void loop() {
// If we're only testing sensors, don't do anything else.
  if (sensorTesting) {
    bool testHomeSensorState = getHomeState();
    if (testHomeSensorState != homeSensorState) {
      if (testHomeSensorState == HOME_SENSOR_ACTIVE_STATE) {
        Serial.println(F("Home sensor ACTIVATED"));
      } else {
        Serial.println(F("Home sensor DEACTIVATED"));
      }
      homeSensorState = testHomeSensorState;
    }
    getHomeState();

#if TURNTABLE_EX_MODE == TRAVERSER
    bool testLimitSensorState = getLimitState();
    if (testLimitSensorState != limitSensorState) {
      if (testLimitSensorState == LIMIT_SENSOR_ACTIVE_STATE) {
        Serial.println(F("Limit sensor ACTIVATED"));
      } else {
        Serial.println(F("Limit sensor DEACTIVATED"));
      }
      limitSensorState = testLimitSensorState;
    }
#endif
  } else {
#if TURNTABLE_EX_MODE == TRAVERSER
// If we hit our limit switch when not calibrating, stop!
    if (getLimitState() == LIMIT_SENSOR_ACTIVE_STATE && !calibrating && stepper.isRunning() && stepper.targetPosition() < 0) {
      Serial.println(F("ALERT! Limit sensor activitated, halting stepper"));
      if (!homed) {
        homed = 1;
      }
      stepper.stop();
      stepper.setCurrentPosition(stepper.currentPosition());
    }

// If we hit our home switch when not homing, stop!
    if (getHomeState() == HOME_SENSOR_ACTIVE_STATE && homed && !calibrating && stepper.isRunning() && stepper.distanceToGo() > 0) {
      Serial.println(F("ALERT! Home sensor activitated, halting stepper"));
      stepper.stop();
      stepper.setCurrentPosition(0);
    }
#endif

// If we haven't successfully homed yet, do it.
    if (homed == 0) {
      moveHome();
    }

// If flag is set for calibrating, do it.
    if (calibrating) {
      calibration();
    }

// Process the stepper object continuously.
    stepper.run();

// Process our LED.
    processLED();

// If disabling on idle is enabled, disable the stepper.
#if defined(DISABLE_OUTPUTS_IDLE)
    if (stepper.isRunning() != lastRunningState) {
      lastRunningState = stepper.isRunning();
      if (!lastRunningState) {
        stepper.disableOutputs();
      }
    }
#endif
  }
  // Receive and process and serial input for test commands.
  processSerialInput();
}