Lino/RoboterArm
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added button press settings

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LinoSchmidt
2022-01-16 14:10:43 +01:00
parent 22a5796b38
commit e3301f4ea2
1 changed files with 26 additions and 11 deletions
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37
Firmware 2.0/src/main.cpp
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@@ -25,6 +25,11 @@
#define HandMax 130 #define HandMax 130
#define HandMin 45 #define HandMin 45
#define InvertDrehung false
#define InvertArm false
#define InvertOberarm true
#define InvertHand false
#define Drehung_Start 135 #define Drehung_Start 135
#define Arm_Start 180 #define Arm_Start 180
#define Oberarm_Start 111 #define Oberarm_Start 111
@@ -48,6 +53,8 @@
#define Calibration_TimeToMiddle 3000 #define Calibration_TimeToMiddle 3000
#define Calibration_messureTime 5 #define Calibration_messureTime 5
#define Calibration_messureCount 10 #define Calibration_messureCount 10
#define Button_LongPressTime 1000
#define Button_ShortPressTime 300
//Buzzer //Buzzer
#define BuzzerPin 7 #define BuzzerPin 7
@@ -253,11 +260,11 @@ void joystickButtonPress(){
delay(10); delay(10);
} }
if(buttonTime < 300){ if(buttonTime < Button_ShortPressTime){
Code[CodeLenght] = 0; Code[CodeLenght] = 0;
Serial.println("short press"); Serial.println("short press");
} }
else if(buttonTime < 1000){ else if(buttonTime < Button_LongPressTime){
Code[CodeLenght] = 1; Code[CodeLenght] = 1;
Serial.println("long press"); Serial.println("long press");
} }
@@ -273,7 +280,7 @@ void joystickButtonPress(){
buttonTime+= 10; buttonTime+= 10;
delay(10); delay(10);
if(buttonTime >= 1000){ if(buttonTime >= Button_LongPressTime){
Finished = true; Finished = true;
Serial.println("Code fineshed!"); Serial.println("Code fineshed!");
} }
@@ -319,14 +326,22 @@ void loop(){
detached = false; detached = false;
} }
if(joystick_LX != 0) if(joystick_LX != 0){
HandPos += joystick_LX; if(InvertHand)HandPos -= joystick_LX;
if(joystick_LY != 0) else HandPos += joystick_LX;
OberarmPos += joystick_LY; }
if(joystick_RX != 0) if(joystick_LY != 0){
DrehungPos += joystick_RX; if(InvertOberarm)OberarmPos -= joystick_LY;
if(joystick_RY != 0) else OberarmPos += joystick_LY;
ArmPos += joystick_RY; }
if(joystick_RX != 0){
if(InvertDrehung)DrehungPos -= joystick_RX;
else DrehungPos += joystick_RX;
}
if(joystick_RY != 0){
if(InvertArm)ArmPos -= joystick_RY;
else ArmPos += joystick_RY;
}
if(HandPos > HandMax)HandPos = HandMax; if(HandPos > HandMax)HandPos = HandMax;