Merge branch 'refactor_brake' into 'master'

Refactor brake and support stop/brake

See merge request !2

shackremote_arduino/brake.cpp

+#include "brake.h"
+
+Brake::Brake(int brake_pin, int release_delay_in_ms)
+{
+    last_release_ = 0;
+    brake_counter_ = 0;
+    brake_pin_ = brake_pin;
+    brake_tightened_ = true;
+    release_delay_in_ms_ = release_delay_in_ms;
+
+    //Pin Settings
+    pinMode(brake_pin_, OUTPUT);
+
+    //All Relais Off
+    digitalWrite(brake_pin_, HIGH);
+}
+
+void Brake::doBreak()
+{
+    if(brake_counter_ == 0)
+    {
+        if(brake_tightened_ == false)
+        {
+            int diff = millis() - last_release_;
+            if((diff > release_delay_in_ms_) || (diff < 0))
+            {
+                digitalWrite(brake_pin_, HIGH);
+                brake_tightened_ = true;
+            }
+        }
+    }
+    else
+    {
+        digitalWrite(brake_pin_, LOW);
+        last_release_ = millis();
+        brake_tightened_ = false;
+    }
+}
+
+void Brake::skipDelay()
+{
+    last_release_ = millis() - release_delay_in_ms_ - 1;
+}
+
+void Brake::release()
+{
+    last_release_ = millis();
+    brake_counter_++;
+}
+
+void Brake::tighten()
+{
+    brake_counter_--;
+}

shackremote_arduino/brake.h

+#ifndef BRAKE_H
+#define BRAKE_H
+
+#include "settings.h"
+#include "Arduino.h"
+
+class Brake
+{
+public:
+    Brake(int brake_pin, int release_delay_in_ms);
+    void doBreak();
+
+    void tighten();
+    void release();
+    void skipDelay();
+private:
+    int last_release_;
+    int brake_counter_;
+    int brake_pin_;
+    int release_delay_in_ms_;
+    byte brake_tightened_;
+};
+
+#endif //BRAKE_H

shackremote_arduino/control.cpp

@@ -51,11 +51,11 @@ void Control::doControl()
 Control::hamlibError Control::executeCommandString(String *command_string, Communicator *communicator)
 {
     String substring;
+    String response = "";
     int lastPos = -1;
     int newPos = 0;
-    int dst = 0;
 
-    while (newPos = command_string->indexOf(";", lastPos + 1)) {
+    while ((newPos = command_string->indexOf(";", lastPos + 1)) != -1) {
         substring = command_string->substring(lastPos + 1, newPos);
         lastPos = newPos;
 
@@ -68,29 +68,46 @@ Control::hamlibError Control::executeCommandString(String *command_string, Commu
             // GNAAAARRR
             communicator->sendMessage(String(rotor_->getAzimuth()) + ";" + String(rotor_->getElevation()) + ";");
         }
-        else if ( substring.startsWith("setaz") ) {
-            if( substring.length() < 7 )
-                return HAMLIB_NOK;
-            dst = (int)substring.substring(5).toFloat();
-            if ( dst == 0 && substring.substring(5) != "0" )
-                return HAMLIB_NOK;
-            if ( dst < AZIM_MIN or dst > AZIM_MAX )
-                return HAMLIB_NOK;
-            rotor_->setAzimuth(dst);
-        }
-        else if ( substring.startsWith("setel") ) {
-            if( substring.length() < 7 )
-                return HAMLIB_NOK;
-            dst = (int)substring.substring(5).toFloat();
-            if ( dst == 0 && substring.substring(5) != "0" )
-                return HAMLIB_NOK;
-            if ( dst < ELEV_MIN or dst > ELEV_MAX )
-                return HAMLIB_NOK;
-            rotor_->setElevation(dst);
+        else {
+            if(executeActiveCommandSubstring(substring) == HAMLIB_OK)
+                response += "1";
+            else
+                response += "0";
         }
+    }
+
+    if(response != "")
+        communicator->sendMessage(response);
+
+    return HAMLIB_OK;
+}
+
+Control::hamlibError Control::executeActiveCommandSubstring(String substring)
+{
+    Motor::motorError err;
+    float dst = 0.0;
+    if (substring.startsWith("setaz") || substring.startsWith("setel")) {
+        if( substring.length() < 7 )
+            return HAMLIB_NOK;
+        dst = substring.substring(5).toFloat();
+        if ( dst == 0 && substring.substring(5) != "0" )
+            return HAMLIB_NOK;
+        if(substring.startsWith("setaz"))
+            err = rotor_->setAzimuth(dst);
         else
+            err = rotor_->setElevation(dst);
+        if(err == Motor::ROT_VAL_OUT_OF_RANGE)
             return HAMLIB_NOK;
     }
-
+    else if (substring == "stop") {
+        rotor_->stopAzimuth();
+        rotor_->stopElevation();
+    }
+    else if (substring == "brake") {
+        rotor_->stopAndBreakAzimuth();
+        rotor_->stopAndBreakElevation();
+    }
+    else
+        return HAMLIB_NOK;
     return HAMLIB_OK;
 }

shackremote_arduino/control.h

@@ -5,6 +5,7 @@
 #include "rotor.h"
 #include "serial_communicator.h"
 #include "udp_communicator.h"
+#include "motor.h"
 
 class Control
 {
@@ -22,6 +23,7 @@ public:
 private:
     void doCommunicate();
     hamlibError executeCommandString(String*, Communicator*);
+    hamlibError executeActiveCommandSubstring(String);
 
     Rotor *rotor_;
     Communicator *serial_communicator_;

shackremote_arduino/motor.cpp

 #include "motor.h"
 
-Motor::Motor(double max, double min, int down_pin, int up_pin, int break_pin, int sensor_pin, double degree, double resolution, double span)
+Motor::Motor(double max, double min, int down_pin, int up_pin, Brake* brake, int sensor_pin, double degree, double resolution, double span)
 {
     max_ = max;
     min_ = min;
     span_ = span;
+    brake_ = brake;
     degree_ = degree;
     up_pin_ = up_pin;
     down_pin_ = down_pin;
-    break_pin_ = break_pin;
     sensor_pin_ = sensor_pin;
     resolution_ = resolution;
 
     //Pin Settings
     pinMode(up_pin_, OUTPUT);
     pinMode(down_pin_, OUTPUT);
-    pinMode(break_pin_, OUTPUT);
 
     //All Relais Off
     digitalWrite(up_pin_, HIGH);
     digitalWrite(down_pin_, HIGH);
-    digitalWrite(break_pin_, HIGH);
 
     should_rotate_ = false;
+    brake_tightened_ = true;
 }
 
 void Motor::doMotor()
@@ -45,7 +44,7 @@ void Motor::doMotor()
 
 Motor::motorError Motor::rotateUp()
 {
-    releaseBreak();
+    releaseBrake();
     digitalWrite(down_pin_, HIGH);
     digitalWrite(up_pin_, LOW);
     return Motor::ROT_OK;
@@ -53,26 +52,32 @@ Motor::motorError Motor::rotateUp()
 
 Motor::motorError Motor::rotateDown()
 {
-    releaseBreak();
+    releaseBrake();
     digitalWrite(up_pin_, HIGH);
     digitalWrite(down_pin_, LOW);
     return Motor::ROT_OK;
 }
 
-void Motor::releaseBreak()
+void Motor::releaseBrake()
 {
-    digitalWrite(break_pin_, LOW);
+    if(brake_tightened_) {
+        brake_->release();
+        brake_tightened_ = false;
+    }
 }
 
-void Motor::tightenBreak()
+void Motor::tightenBrake()
 {
-    digitalWrite(break_pin_, HIGH);
+    if(brake_tightened_ == false) {
+        brake_->tighten();
+        brake_tightened_ = true;
+    }
 }
 
 void Motor::stop()
 {
     should_rotate_ = false;
-    tightenBreak();
+    tightenBrake();
     digitalWrite(down_pin_, HIGH);
     digitalWrite(up_pin_, HIGH);
 }

shackremote_arduino/motor.h

@@ -2,6 +2,7 @@
 #define MOTOR_H
 
 #include "Arduino.h"
+#include "brake.h"
 
 class Motor
 {
@@ -11,27 +12,25 @@ public:
                     ROT_VAL_OUT_OF_RANGE,
                     ROT_BREAK_NOT_RELEASED,
                     ROT_ALREADY_IN_SPAN };
-    Motor(double max, double min, int down_pin, int up_pin, int break_pin, int sensor_pin, double degree, double resolution, double span);
+    Motor(double max, double min, int down_pin, int up_pin, Brake *brake, int sensor_pin, double degree, double resolution, double span);
     void doMotor();
-    double getPosition() const;
-
-    void releaseBreak();
-    void tightenBreak();
     void stop();
+    double getPosition() const;
 
     motorError setPosition(double);
-
+private:
+    void releaseBrake();
+    void tightenBrake();
     motorError rotateUp();
     motorError rotateDown();
-private:
     motorError readMotSensor();
     double readADC(int);
 
+    Brake* brake_;
     double max_;
     double min_;
     int down_pin_;
     int up_pin_;
-    int break_pin_;
     int sensor_pin_;
     double position_;
     double destination_;
@@ -39,6 +38,7 @@ private:
     double resolution_;
     double span_;
     byte should_rotate_;
+    byte brake_tightened_;
 };
 
 #endif //MOTOR_H

shackremote_arduino/rotor.cpp

@@ -2,34 +2,16 @@
 
 Rotor::Rotor()
 {
-    azimuth_ = new Motor(AZIM_MAX, AZIM_MIN, AZIM_RE_CW, AZIM_RE_CCW, AZIM_RE_BREAK, AZIM_POT, AZIM_DEG, AZIM_RES, AZIM_SPAN);
-    elevation_ = new Motor(ELEV_MAX, ELEV_MIN, ELEV_RE_DWN, ELEV_RE_UP, ELEV_RE_BREAK, ELEV_POT, ELEV_DEG, ELEV_RES, ELEV_SPAN);
+    brake_ = new Brake(AZIM_RE_BREAK, 10000);
+    azimuth_ = new Motor(AZIM_MAX, AZIM_MIN, AZIM_RE_CW, AZIM_RE_CCW, brake_, AZIM_POT, AZIM_DEG, AZIM_RES, AZIM_SPAN);
+    elevation_ = new Motor(ELEV_MAX, ELEV_MIN, ELEV_RE_DWN, ELEV_RE_UP, brake_, ELEV_POT, ELEV_DEG, ELEV_RES, ELEV_SPAN);
 }
 
 void Rotor::doRotor()
 {
     azimuth_->doMotor();
     elevation_->doMotor();
-}
-
-void Rotor::releaseBreakAzimuth()
-{
-    azimuth_->releaseBreak();
-}
-
-void Rotor::releaseBreakElevation()
-{
-    elevation_->releaseBreak();
-}
-
-void Rotor::tightenBreakAzimuth()
-{
-    azimuth_->tightenBreak();
-}
-
-void Rotor::tightenBreakElevation()
-{
-    elevation_->tightenBreak();
+    brake_->doBreak();
 }
 
 void Rotor::stopAzimuth()
@@ -42,24 +24,16 @@ void Rotor::stopElevation()
     elevation_->stop();
 }
 
-Motor::motorError Rotor::rotateCW()
-{
-    return azimuth_->rotateDown();
-}
-
-Motor::motorError Rotor::rotateCCW()
-{
-    return azimuth_->rotateUp();
-}
-
-Motor::motorError Rotor::rotateUp()
+void Rotor::stopAndBreakAzimuth()
 {
-    return elevation_->rotateUp();
+    stopAzimuth();
+    brake_->skipDelay();
 }
 
-Motor::motorError Rotor::rotateDown()
+void Rotor::stopAndBreakElevation()
 {
-    return elevation_->rotateDown();
+    stopElevation();
+    brake_->skipDelay();
 }
 
 double Rotor::getAzimuth() const

shackremote_arduino/rotor.h

@@ -10,6 +10,7 @@
 
 #include "settings.h"
 #include "motor.h"
+#include "brake.h"
 
 class Rotor
 {
@@ -20,23 +21,17 @@ public:
     double getAzimuth() const;
     double getElevation() const;
 
-    void releaseBreakAzimuth();
-    void releaseBreakElevation();
-    void tightenBreakAzimuth();
-    void tightenBreakElevation();
     void stopAzimuth();
     void stopElevation();
+    void stopAndBreakAzimuth();
+    void stopAndBreakElevation();
 
     Motor::motorError setAzimuth(double);
     Motor::motorError setElevation(double);
-
-    Motor::motorError rotateCW();
-    Motor::motorError rotateCCW();
-    Motor::motorError rotateUp();
-    Motor::motorError rotateDown();
 private:
     Motor *azimuth_;
     Motor *elevation_;
+    Brake *brake_;
 };
 
 #endif //ROTOR_H