Support stop and brake

shackremote_arduino/brake.cpp

 #include "brake.h"
 
-Brake::Brake(int brake_pin, int release_cache_in_ms)
+Brake::Brake(int brake_pin, int release_delay_in_ms)
 {
     last_release_ = 0;
     brake_counter_ = 0;
-    brake_tightened_ = true;
     brake_pin_ = brake_pin;
-    release_cache_in_ms_ = release_cache_in_ms;
+    brake_tightened_ = true;
+    release_delay_in_ms_ = release_delay_in_ms;
 
     //Pin Settings
     pinMode(brake_pin_, OUTPUT);
@@ -22,7 +22,7 @@ void Brake::doBreak()
         if(brake_tightened_ == false)
         {
             int diff = millis() - last_release_;
-            if((diff > release_cache_in_ms_) || (diff < 0))
+            if((diff > release_delay_in_ms_) || (diff < 0))
             {
                 digitalWrite(brake_pin_, HIGH);
                 brake_tightened_ = true;
@@ -37,6 +37,11 @@ void Brake::doBreak()
     }
 }
 
+void Brake::skipDelay()
+{
+    last_release_ = millis() - release_delay_in_ms_ - 1;
+}
+
 void Brake::release()
 {
     last_release_ = millis();

shackremote_arduino/brake.h

@@ -7,16 +7,17 @@
 class Brake
 {
 public:
-    Brake(int brake_pin, int release_cache_in_ms);
+    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_cache_in_ms_;
+    int release_delay_in_ms_;
     byte brake_tightened_;
 };
 

shackremote_arduino/control.cpp

@@ -99,5 +99,15 @@ Control::hamlibError Control::executeActiveCommandSubstring(String substring)
         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/motor.h

@@ -14,17 +14,15 @@ public:
                     ROT_ALREADY_IN_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();
+    void stop();
     double getPosition() const;
 
+    motorError setPosition(double);
+private:
     void releaseBrake();
     void tightenBrake();
-    void stop();
-
-    motorError setPosition(double);
-
     motorError rotateUp();
     motorError rotateDown();
-private:
     motorError readMotSensor();
     double readADC(int);
 

shackremote_arduino/rotor.cpp

@@ -14,26 +14,6 @@ void Rotor::doRotor()
     brake_->doBreak();
 }
 
-void Rotor::releaseBrakeAzimuth()
-{
-    azimuth_->releaseBrake();
-}
-
-void Rotor::releaseBrakeElevation()
-{
-    elevation_->releaseBrake();
-}
-
-void Rotor::tightenBrakeAzimuth()
-{
-    azimuth_->tightenBrake();
-}
-
-void Rotor::tightenBrakeElevation()
-{
-    elevation_->tightenBrake();
-}
-
 void Rotor::stopAzimuth()
 {
     azimuth_->stop();
@@ -44,24 +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

@@ -21,20 +21,13 @@ public:
     double getAzimuth() const;
     double getElevation() const;
 
-    void releaseBrakeAzimuth();
-    void releaseBrakeElevation();
-    void tightenBrakeAzimuth();
-    void tightenBrakeElevation();
     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_;