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Small edits #1

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5ab846e
small code updates
Mar 9, 2019
f8a1d35
rm dsstore, gitignore at base of repo
Mar 9, 2019
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Binary file removed .DS_Store
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2 changes: 1 addition & 1 deletion .gitignore/.gitignore → .gitignore
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Original file line number Diff line number Diff line change
Expand Up @@ -6,4 +6,4 @@
.Spotlight-V100
.Trashes
ehthumbs.db
Thumbs.db
Thumbs.db
19 changes: 14 additions & 5 deletions BowieLights.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -64,26 +64,35 @@ void BowieLights::dimLights() {
}

void BowieLights::setLight(uint8_t led_num, uint8_t val) {
if(led_num == 0) {
switch (led_num) {
case 0:
analogWrite(BRIGHT_LED_FRONT_LEFT, val);
led_val[0] = val;
} else if(led_num == 1) {
break;
case 1:
analogWrite(BRIGHT_LED_FRONT_RIGHT, val);
led_val[1] = val;
} else if(led_num == 2) {
break;
case 2:
analogWrite(BRIGHT_LED_BACK_LEFT, val);
led_val[2] = val;
} else if(led_num == 3) {
break;
case 3:
analogWrite(BRIGHT_LED_BACK_RIGHT, val);
led_val[3] = val;
} else if(led_num == 99) {
break;
case 99:
analogWrite(BRIGHT_LED_FRONT_LEFT, val);
analogWrite(BRIGHT_LED_BACK_LEFT, val);
analogWrite(BRIGHT_LED_FRONT_RIGHT, val);
analogWrite(BRIGHT_LED_BACK_RIGHT, val);
for(int i=0; i<4; i++) {
led_val[i] = val;
}
break;
default:
Serial.println("ERROR: Undefined led_num specified");
break;
}
}

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14 changes: 10 additions & 4 deletions BowieScoop.cpp
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Expand Up @@ -52,8 +52,10 @@ void BowieScoop::servoInterruption(int key, int val) {
void BowieScoop::updateScoopProbes() {
scoop_probe_left_val = digitalRead(SCOOP_PROBE_LEFT);
scoop_probe_right_val = digitalRead(SCOOP_PROBE_RIGHT);
//Serial << "Scoop probes- L: " << scoop_probe_left_val;
//Serial << "Scoop probes- R: " << scoop_probe_right_val << endl;
#ifdef SERVO_DEBUG:
Serial << "Scoop probes- L: " << scoop_probe_left_val;
Serial << "Scoop probes- R: " << scoop_probe_right_val << endl;
#endif
}

bool BowieScoop::getScoopProbeL() {
Expand All @@ -80,15 +82,19 @@ void BowieScoop::moveEnd(int endPos, int step, int del) {
int prev_pos = getEndPos();
if(prev_pos > endPos) { // going towards END_MIN
for(int i=prev_pos; i>endPos; i-=step) {
//Serial << "S" << i << endl;
#ifdef SERVO_DEBUG
Serial << "S" << i << endl;
#endif
scoop.writeMicroseconds(i);
end_position = i;
delay(del);
servoInterruption(SERVO_END_KEY, i);
}
} else if(prev_pos <= endPos) { // going towards END_MAX
for(int i=prev_pos; i<endPos; i+=step) {
//Serial << "S" << i << endl;
#ifdef SERVO_DEBUG
Serial << "S" << i << endl;
#endif
scoop.writeMicroseconds(i);
end_position = i;
delay(del);
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3 changes: 3 additions & 0 deletions BowieScoop.h
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Original file line number Diff line number Diff line change
Expand Up @@ -26,6 +26,9 @@
#ifndef _BOWIESCOOP_H_
#define _BOWIESCOOP_H_

// optional servo positional debugging
#define SERVO_DEBUG False

// Servo positions
#define END_MIN 700 // up
#define END_PARALLEL_TOP 2300 // parallel to ground when arm is raised, raised a bit to keep debris in
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