Watchdog timer interrupt handler, for examining the buttons periodically. More...

#include <egoShieldTeach.h>

Public Member Functions
	egoShield (void)
	Constructor of egoShield class. More...

void	setup (uint16_t acc=1500, uint16_t vel=1000, uint8_t uStep=SIXTEEN, uint16_t fTol=10, uint16_t fHys=5, float P=1.0, float I=0.02, float D=0.006, float res=1)
	Initializes buttons, OLED, uStepper and BT-module. More...

void	loop (void)
	Contains the main logic of the shield functionality, e.g. transition between states (idle, play, record and pause).

Public Attributes
uStepper	stepper
	Creates an uStepper instance.

Private Member Functions
void	resetButton (buttons *btn)
	Function for resetting the state of a button seperately. More...

void	resetAllButton ()
	Resets the state of all 4 buttons at once.

void	inputs (void)
	Reads the four buttons and writes their value; no push, short push or long push, to global variables.

uint8_t	buttonState (uint8_t button, uint8_t nmbr)
	Returns the button state of the appropriate button. More...

void	idleMode (void)
	Holds the idle logic; page to show, what buttons to enable etc.

void	playMode (void)
	Holds the play logic, showing play page and running the recorded sequence.

void	recordMode (void)
	Holds the record logic, showing the record page and recording positions from user input.

void	pauseMode (void)
	Holds the pause logic, showing the pause page and pausing the playing of a sequence.

void	timeMode (void)
	Holds the timelapse logic, showing the timelapse page.

void	manForward (void)
	Holds the manual forward logic for driving the stepper motor manually with the pushbuttons.

void	manBackward (void)
	Holds the manual backward logic for driving the stepper motor manually with the pushbuttons.

void	startPage (void)
	Holds the code for the start page of the OLED.

void	idlePage (bool pidMode, float pos)
	Holds the code for the idle page of the OLED. More...

void	recordPage (bool pidMode, bool recorded, uint8_t index, float pos)
	Holds the code for the record page of the OLED. More...

void	playPage (bool loopMode, bool pidMode, uint8_t index, bool mode)
	Holds the code for the play page of the OLED. More...

void	pausePage (bool loopMode, bool pidMode, uint8_t index)
	Holds the code for the pause page of the OLED. More...

void	changeVelocity (bool speedDirection=1)
	Holds the code for the changing velocity during sequence play.

void	debounce (buttons *btn, uint8_t sample)
	This function handles the debouncing and tracking of whether buttons are pressed, released or held. More...

Private Attributes
SoftwareSerial *	BTSerial

U8G2_SSD1306_128X64_NONAME_1_4W_SW_SPI *	u8g2

uint8_t	place

uint8_t	endmove

float	pos [CNT]

bool	pidFlag

bool	record

bool	loopMode

bool	longPushFlag [4]

char	state

uint8_t	rec

uint8_t	play

uint8_t	fw

uint8_t	bw

float	setPoint

uint16_t	acceleration

uint16_t	velocity

uint8_t	microStepping

uint16_t	faultTolerance

uint16_t	faultHysteresis

float	pTerm

float	iTerm

float	dTerm

float	stepSize

uint16_t	interval

float	resolution

bool	brakeFlag

volatile buttons	forwardBtn = {0x1F, DEPRESSED, 0, 0, 0}

volatile buttons	playBtn = {0x1F, DEPRESSED, 0, 0, 0}

volatile buttons	recordBtn = {0x1F, DEPRESSED, 0, 0, 0}

volatile buttons	backwardsBtn = {0x1F, DEPRESSED, 0, 0, 0}

Friends
void	used

void	WDT_vect (void) __attribute__((signal

Detailed Description

Watchdog timer interrupt handler, for examining the buttons periodically.

The Watchdog is configured to interrupt once every 16ms, to examine the IO state of the buttons, and performing the debouncing. The debouncing algorithm looks at the last five measured IO states of each button individually, to determine whether a button has finished bouncing or not. In order to see if the button is held or just pressed, a counter (seperate for each button) is incremented every time all the last five measurements are identical and if this counter reaches the value "HOLDTIME", the button are considered held. If any IO measurement is different from the last one, the counter is reset.

Definition at line 221 of file egoShieldTeach.h.

Constructor & Destructor Documentation

◆ egoShield()

egoShield::egoShield ( void )

Constructor of egoShield class.

This is the constructor of the egoShield class. No arguments are present in the constructor.

Definition at line 76 of file egoShieldTeach.cpp.

Member Function Documentation

◆ buttonState()

uint8_t egoShield::buttonState	(	uint8_t	button,
		uint8_t	nmbr
	)

private

Returns the button state of the appropriate button.

Parameters

[in]	button	is set to either of the four available buttons.
[in]	nmbr	is used for indexing in the longPushFlag array.

Returns: 0 - no push detected.; 1 - short push detected.; 2 - long push detected.

◆ debounce()

void egoShield::debounce	(	buttons *	btn,
		uint8_t	sample
	)

private

This function handles the debouncing and tracking of whether buttons are pressed, released or held.

Parameters

[in]	btn	is a pointer to the struct off the button currently being examined
[in]	sample	is a representation of the current button IO state

Definition at line 706 of file egoShieldTeach.cpp.

◆ idlePage()

void egoShield::idlePage	(	bool	pidMode,
		float	pos
	)

private

Holds the code for the idle page of the OLED.

Parameters

[in]	pidMode	tells if the display should show PID ON or PID OFF.
[in]	pos	is the encoder position to be displayed.

Definition at line 513 of file egoShieldTeach.cpp.

◆ pausePage()

void egoShield::pausePage	(	bool	loopMode,
		bool	pidMode,
		uint8_t	index
	)

private

Holds the code for the pause page of the OLED.

Parameters

[in]	loopMode	tells if the display should show loop symbol.
[in]	pidMode	tells if the display should show PID ON or PID OFF.
[in]	index	tells which step we are at.

Definition at line 661 of file egoShieldTeach.cpp.

◆ playPage()

void egoShield::playPage	(	bool	loopMode,
		bool	pidMode,
		uint8_t	index,
		bool	mode
	)

private

Holds the code for the play page of the OLED.

Parameters

[in]	loopMode	tells if the display should show loop symbol.
[in]	pidMode	tells if the display should show PID ON or PID OFF.
[in]	index	tells which step we are at.

Definition at line 607 of file egoShieldTeach.cpp.

◆ recordPage()

void egoShield::recordPage	(	bool	pidMode,
		bool	recorded,
		uint8_t	index,
		float	pos
	)

private

Holds the code for the record page of the OLED.

Parameters

[in]	pidMode	tells if the display should show PID ON or PID OFF.
[in]	recorded	tells if a step has been recorded.
[in]	index	tells which step we are at.
[in]	pos	is the encoder position to be displayed.

Definition at line 556 of file egoShieldTeach.cpp.

◆ resetButton()

void egoShield::resetButton ( buttons * btn )

private

Function for resetting the state of a button seperately.

Parameters

[in] btn is a Pointer to the button struct variable needed to be reset

Definition at line 765 of file egoShieldTeach.cpp.

◆ setup()

void egoShield::setup	(	uint16_t	acc = `1500`,
		uint16_t	vel = `1000`,
		uint8_t	uStep = `SIXTEEN`,
		uint16_t	fTol = `10`,
		uint16_t	fHys = `5`,
		float	P = `1.0`,
		float	I = `0.02`,
		float	D = `0.006`,
		float	res = `1`
	)

Initializes buttons, OLED, uStepper and BT-module.

Parameters

[in]	acc	takes in the maximum acceleration in play mode.
[in]	vel	takes in the maximum velocity in play mode.
[in]	uStep	takes in the microstepping setting.
[in]	fTol	takes in the fault tolerance for the PID in steps, i.e. how much error is allowed before correction.
[in]	fHys	takes fault hysteresis in steps, i.e. when is the PID deactivated again.
[in]	P	takes in the PID P term.
[in]	I	takes in the PID I term.
[in]	D	takes in the PID D term.
[in]	res	takes in the resolution of the drive in deg/mm.

Definition at line 81 of file egoShieldTeach.cpp.

Friends And Related Function Documentation

◆ WDT_vect

void WDT_vect ( void )

friend

Periodic interrupt to sample buttons

Definition at line 69 of file egoShieldTeach.cpp.

Member Data Documentation

◆ acceleration

uint16_t egoShield::acceleration

private

This variable holds the acceleration used during playback of the sequence

Definition at line 300 of file egoShieldTeach.h.

◆ backwardsBtn

volatile buttons egoShield::backwardsBtn = {0x1F, DEPRESSED, 0, 0, 0}

private

Declaration of structs for backwards button

Definition at line 327 of file egoShieldTeach.h.

◆ brakeFlag

bool egoShield::brakeFlag

private

This variable holds the brake flag

Definition at line 322 of file egoShieldTeach.h.

◆ BTSerial

SoftwareSerial* egoShield::BTSerial

private

Creates an SoftwareSerial instance for BT-module

Definition at line 270 of file egoShieldTeach.h.

◆ bw

uint8_t egoShield::bw

private

This variable holds the current state of the backward button, which tells whether no, short or long push has been detected

Definition at line 296 of file egoShieldTeach.h.

◆ dTerm

float egoShield::dTerm

private

This variable holds the PID D term

Definition at line 314 of file egoShieldTeach.h.

◆ endmove

uint8_t egoShield::endmove

private

This variable holds the final step number in the recorded sequence

Definition at line 276 of file egoShieldTeach.h.

◆ faultHysteresis

uint16_t egoShield::faultHysteresis

private

This variable holds the fault hysteresis setting

Definition at line 308 of file egoShieldTeach.h.

◆ faultTolerance

uint16_t egoShield::faultTolerance

private

This variable holds the fault tolerance setting

Definition at line 306 of file egoShieldTeach.h.

◆ forwardBtn

volatile buttons egoShield::forwardBtn = {0x1F, DEPRESSED, 0, 0, 0}

private

Declaration of structs for forward button

Definition at line 324 of file egoShieldTeach.h.

◆ fw

uint8_t egoShield::fw

private

This variable holds the current state of the forward button, which tells whether no, short or long push has been detected

Definition at line 294 of file egoShieldTeach.h.

◆ interval

uint16_t egoShield::interval

private

This variable holds the interval for timelapse

Definition at line 318 of file egoShieldTeach.h.

◆ iTerm

float egoShield::iTerm

private

This variable holds the PID I term

Definition at line 312 of file egoShieldTeach.h.

◆ longPushFlag

bool egoShield::longPushFlag[4]

private

This array indicates whether one of the buttons have experienced a long duration push

Definition at line 286 of file egoShieldTeach.h.

◆ loopMode

bool egoShield::loopMode

private

This variable indicates whether we are in loop mode during playback

Definition at line 284 of file egoShieldTeach.h.

◆ microStepping

uint8_t egoShield::microStepping

private

This variable holds the microstepping setting

Definition at line 304 of file egoShieldTeach.h.

◆ pidFlag

bool egoShield::pidFlag

private

This variable indicates if PID is enabled

Definition at line 280 of file egoShieldTeach.h.

◆ place

uint8_t egoShield::place

private

This variable holds the step number in the recorded sequence

Definition at line 274 of file egoShieldTeach.h.

◆ play

uint8_t egoShield::play

private

This variable holds the current state of the play button, which tells whether no, short or long push has been detected

Definition at line 292 of file egoShieldTeach.h.

◆ playBtn

volatile buttons egoShield::playBtn = {0x1F, DEPRESSED, 0, 0, 0}

private

Declaration of structs for play button

Definition at line 325 of file egoShieldTeach.h.

◆ pos

float egoShield::pos[CNT]

private

This array holds the encoder value at the recorded positions

Definition at line 278 of file egoShieldTeach.h.

◆ pTerm

float egoShield::pTerm

private

This variable holds the PID P term

Definition at line 310 of file egoShieldTeach.h.

◆ rec

uint8_t egoShield::rec

private

This variable holds the current state of the record button, which tells whether no, short or long push has been detected

Definition at line 290 of file egoShieldTeach.h.

◆ record

bool egoShield::record

private

This variable indicates whether we are recording

Definition at line 282 of file egoShieldTeach.h.

◆ recordBtn

volatile buttons egoShield::recordBtn = {0x1F, DEPRESSED, 0, 0, 0}

private

Declaration of structs for record button

Definition at line 326 of file egoShieldTeach.h.

◆ resolution

float egoShield::resolution

private

This variable holds the resolution deg/mm

Definition at line 320 of file egoShieldTeach.h.

◆ setPoint

float egoShield::setPoint

private

This variable holds the current set-point to the PID, either from manual control or during playback of the sequence

Definition at line 298 of file egoShieldTeach.h.

◆ state

char egoShield::state

private

This variable holds the current state of the program, which tells whether the program is in idle, play, record or pause mode

Definition at line 288 of file egoShieldTeach.h.

◆ stepSize

float egoShield::stepSize

private

This variable holds the stepSize for timelapse

Definition at line 316 of file egoShieldTeach.h.

◆ u8g2

U8G2_SSD1306_128X64_NONAME_1_4W_SW_SPI* egoShield::u8g2

private

Creates an u8g2 (OLED) instance

Definition at line 272 of file egoShieldTeach.h.

◆ velocity

uint16_t egoShield::velocity

private

This variable holds the velocity used during playback of the sequence

Definition at line 302 of file egoShieldTeach.h.

The documentation for this class was generated from the following files:

/c/Users/Thomas/Documents/Arduino/libraries/egoShieldTeach/src/egoShieldTeach.h
/c/Users/Thomas/Documents/Arduino/libraries/egoShieldTeach/src/egoShieldTeach.cpp

Public Member Functions

Public Attributes

Private Member Functions

Private Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ egoShield()

Member Function Documentation

◆ buttonState()

◆ debounce()

◆ idlePage()

◆ pausePage()

◆ playPage()

◆ recordPage()

◆ resetButton()

◆ setup()

Friends And Related Function Documentation

◆ WDT_vect

Member Data Documentation

◆ acceleration

◆ backwardsBtn

◆ brakeFlag

◆ BTSerial

◆ bw

◆ dTerm

◆ endmove

◆ faultHysteresis

◆ faultTolerance

◆ forwardBtn

◆ fw

◆ interval

◆ iTerm

◆ longPushFlag

◆ loopMode

◆ microStepping

◆ pidFlag

◆ place

◆ play

◆ playBtn

◆ pos

◆ pTerm

◆ rec

◆ record

◆ recordBtn

◆ resolution

◆ setPoint

◆ state

◆ stepSize

◆ u8g2

◆ velocity