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hwSwitchSO.ino
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hwSwitchSO.ino
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#include <Servo.h>
#define DOWN -1
#define UP 1
class HwSwitch {
public:
String Name;
int SwitchPort;
int _pressedState;
int _lastCheckMillis;
int _lastPinState;
HwSwitch(String, int, int, int);
bool IsPressed();
bool SwitchStateChanged();
int GetPinState();
};
class HwServo {
public:
HwServo();
HwServo(int, int, HwSwitch &);
int ServoPort;
int ZeroPoint;
HwSwitch & LimitSwitch;
void RotateUp();
void RotateDown();
void Stop();
Servo _servo;
};
HwSwitch::HwSwitch(String switchName, int switchPort, int inputType, int pressedState)
{
Name = switchName;
SwitchPort = switchPort;
_pressedState = pressedState;
_lastCheckMillis = 0;
pinMode(switchPort, inputType);
_lastPinState = digitalRead(SwitchPort);
}
bool HwSwitch::IsPressed()
{
int currentPinState = GetPinState();
return currentPinState == _pressedState;
}
bool HwSwitch::SwitchStateChanged()
{
int currentPinState = GetPinState();
if (_lastPinState != currentPinState)
{
Serial.println("---");
Serial.println("1. Now: " + String(currentPinState) + " - Prev: " + String(_lastPinState));
_lastPinState = currentPinState;
Serial.println("2. Now: " + String(currentPinState) + " - Prev: " + String(_lastPinState));
return true;
}
return false;
}
int HwSwitch::GetPinState()
{
unsigned long ms = millis();
if ((ms - _lastCheckMillis) < 50)
{
return _lastPinState;
}
_lastCheckMillis = ms;
return digitalRead(SwitchPort);
}
HwServo::HwServo(int servoPort, int zeroPoint, HwSwitch &limitSwitch)
{
_servo.attach(servoPort);
_servo.write(zeroPoint);
ServoPort = servoPort;
ZeroPoint = zeroPoint;
LimitSwitch = limitSwitch;
}
void HwServo::RotateUp()
{
_servo.write(ZeroPoint + UP);
}
void HwServo::RotateDown()
{
if (!LimitSwitch.IsPressed())
{
_servo.write(ZeroPoint + DOWN);
}
}
void HwServo::Stop()
{
_servo.write(ZeroPoint);
}
HwServo *HwServos[2];
HwSwitch *s1;
HwSwitch *s2;
HwServo *sv1;
HwServo *sv2;
void SendSwitchStateUpdate(HwSwitch & hws){
Serial.println("something happened");
}
void setup() {
// put your setup code here, to run once:
s1 = new HwSwitch("S1", 14, INPUT_PULLUP, HIGH);
s2 = new HwSwitch("S2", 8, INPUT_PULLUP, HIGH);
sv1 = new HwServo(9, 94, *s1);
sv2 = new HwServo(5, 90, *s2);
HwServos[0] = sv1;
HwServos[1] = sv2;
}
void loop() {
// put your main code here, to run repeatedly:
for(int i = 0; i < 2; i++)
{
if (HwServos[i]->LimitSwitch.SwitchStateChanged())
{
SendSwitchStateUpdate(HwServos[i]->LimitSwitch);
if (HwServos[i]->LimitSwitch.IsPressed())
{
HwServos[i]->Stop();
}
}
}
}