1 files changed, 59 insertions, 62 deletions

diff --git a/Arduino2024/NewMotor/NewMotor.ino b/Arduino2024/NewMotor/NewMotor.ino
index 4c53fdb..b943185 100644
--- a/Arduino2024/NewMotor/NewMotor.ino
+++ b/Arduino2024/NewMotor/NewMotor.ino
@@ -1,80 +1,77 @@
 #include <MobaTools.h>
 
-const byte stepPin = 9;
-const byte dirPin = 8;
-//const byte enablePin = 8;
+const byte stepPin = 12; // PWM send many pulses to drive carosel
+const byte dirPin  = 13; // Direction
+                         //const byte enablePin = 8;
 
 
 //steps per position
-long pos1 = 0;
-long pos2 = 828;
-long pos3 = 1656;
-long pos4 = 2484;
-long pos5 = 3312;
-long pos6 = 4140;
-long pos7 = 4968;
-long pos8 = 5796;
-long pos9 = 6624; 
-long pos10 = 7452;
-
-int stepsToMove = 828;
+int stepsToMove = 828; // Magic number
 unsigned long stepDelay = 1000; // milliseconds
 
 MoToStepper stepper( 400, STEPDIR );
 
 void setup()
 {
-   Serial.begin(115200);
-   Serial.println("ESP32 is ready");
+  Serial.begin(115200);
+  Serial.println("ESP32 is ready");
 
-   pinMode(13, OUTPUT);
+  pinMode(13, OUTPUT);
 
-   stepper.attach( stepPin, dirPin );   
-   stepper.setSpeedSteps(20000);  // = 75 steps/second (steps in 10 seconds)
-   stepper.setRampLen(500);
-   stepper.setZero();
+  stepper.attach( stepPin, dirPin );
+  stepper.setSpeedSteps(20000);  // = 75 steps/second (steps in 10 seconds)
+  stepper.setRampLen(500);
+  stepper.setZero();
+  pinMode(2,OUTPUT);
 }
 
 void loop()
 {
-    if (Serial.available()>0){
-      digitalWrite(13, HIGH);
-      String command = Serial.readStringUntil('/n'); //read communication until next line
-      command.trim();//removes any spaces before and after
+  if (Serial.available()>0){
+    //digitalWrite(2, HIGH);
+    String command_string = Serial.readStringUntil('\n'); //read communication until next line
+    Serial.println("OK");
+    command_string.trim();//removes any spaces before and after
+
+    int firstSpaceIndex = command_string.indexOf(' ');//find the first space
+    if(firstSpaceIndex != -1)
+    {
+      String commandName = command_string.substring(0, firstSpaceIndex);
 
-      int firstSpaceIndex = command.indexOf(' ');//find the first space
-      if(firstSpaceIndex != -1)
-      {
-        String commandName = command.substring(0, firstSpaceIndex);
-        
-        int secondSpaceIndex = command.indexOf(' ', firstSpaceIndex + 1);
-        if(secondSpaceIndex != -1){
-          int pumpNumber = command.substring(firstSpaceIndex + 1, secondSpaceIndex).toInt();
-          int pumpValue =  command.substring(secondSpaceIndex + 1).toInt();
+      int secondSpaceIndex = command_string.indexOf(' ', firstSpaceIndex + 1);
+      if(secondSpaceIndex != -1){
+        int pumpNumber = command_string.substring(firstSpaceIndex + 1, secondSpaceIndex).toInt();
+        int pumpValue =  command_string.substring(secondSpaceIndex + 1).toInt();
 
-          if(commandName == "Pump")
-          {
-            Pump(pumpNumber, pumpValue);
-          }
-        } else{
-          int positionValue = command.substring(firstSpaceIndex + 1).toInt();
+        if(commandName == "Pump")
+        {
+          Pump(pumpNumber, pumpValue);
+        }
+      } else{
+        String secondValue = command_string.substring(firstSpaceIndex + 1, command_string.length() + 1);
+        Serial.println("Second value: \"" + secondValue + "\"");
 
-          if(commandName == "Position"){
-            GoToPosition(positionValue);
-          }
+        if(commandName == "Position"){
+          GoToPosition(secondValue.toInt() * stepsToMove);
+        }
+        if(commandName == "LED"){
+          bool led_on = secondValue == "1";
+          Serial.println("LED " + led_on ? "on" : "off");
+          digitalWrite(2, led_on ? HIGH: LOW);
         }
       }
     }
-    digitalWrite(13, HIGH);
-    delay(1000);
-    digitalWrite(13, LOW);
-    
+  }
+  //digitalWrite(2, HIGH);
+  delay(1000);
+  //digitalWrite(2, LOW);
 }
 
 void GoToPosition(int value){
   //execute code
   Serial.print("Position command executed with value: ");
   Serial.println(value);
+  stepper.moveTo(value);
 }
 void Pump(int number,int value){
   //Execute code
@@ -86,17 +83,17 @@ void Pump(int number,int value){
 }
 /*
 stepper.moveTo(pos9);
-    while(stepper.distanceToGo() > 0);
-    Serial.write("current position :");
-    delay(stepDelay);
-    stepper.moveTo(pos2);
-    while(stepper.distanceToGo() > 0);
-    delay(stepDelay);
-    stepper.moveTo(pos5);
-    while(stepper.distanceToGo() > 0);
-    delay(stepDelay);
-    stepper.moveTo(pos3);
-    while(stepper.distanceToGo() > 0);
-    
-    delay(stepDelay);
-*/
\ No newline at end of file
+  while(stepper.distanceToGo() > 0);
+  Serial.write("current position :");
+  delay(stepDelay);
+  stepper.moveTo(pos2);
+  while(stepper.distanceToGo() > 0);
+  delay(stepDelay);
+  stepper.moveTo(pos5);
+  while(stepper.distanceToGo() > 0);
+  delay(stepDelay);
+  stepper.moveTo(pos3);
+  while(stepper.distanceToGo() > 0);
+
+  delay(stepDelay);
+*/