diff --git a/motor.cpp b/motor.cpp
index 129c90613a774f86e08deda5eb46e35fea3b9898..98bcb50a285135c074754b9973506a5a927a14fb 100644
--- a/motor.cpp
+++ b/motor.cpp
@@ -3,7 +3,7 @@
//CONSTRUCTORS
Motor :: Motor (MotorHardware_t& stepper): stepper(stepper)
{
- set_physical(300,300, 1);
+ set_speed_mm_per_sec(1);
set_accel_mm_per_sec_per_sec(0.5); // <----- this is not yet configured by user
}
@@ -111,6 +111,22 @@ void Motor :: move_to_step (int step)
Serial.printf("# move to: %d step %g mm\n", step, step_to_mm(step));
}
+void Motor :: move_step (int step)
+/***
+-Argument : Number of step.
+-Return : /
+-Action : Move the number of step required.
+***/
+{
+#if !CORE_MOCK
+ cli();
+ if (_mm_per_revolution > 0 && _steps_per_revolution > 0)
+ stepper.moveTo(_clockwise_equals_forward? step: -step);
+ sei();
+#endif
+ Serial.printf("# move to: %d step %g mm\n", step, step_to_mm(step));
+}
+
void Motor :: move_to_mm (float mm)
/***
-Argument : distance in mm
@@ -124,6 +140,20 @@ void Motor :: move_to_mm (float mm)
move_to_step(mm_to_step(mm));
}
+void Motor :: move_mm (float mm)
+/***
+-Argument : distance in mm
+-Return : /
+-Action : Move to the distance required.
+***/
+{
+ Serial.printf("# moving to %g mm / %g steps\n",
+ mm,
+ mm_to_step(mm));
+ move_step(mm_to_step(mm));
+}
+
+
void Motor :: stop ()
/***
-Argument : /
diff --git a/motor.h b/motor.h
index c1dda505161fc7b244295316379e91bc5cc1d768..b6a142b298208cd17eeb44b74464f205e2412dcf 100644
--- a/motor.h
+++ b/motor.h
@@ -64,7 +64,9 @@ public:
//MOVEMENTS
void move_to_step (int step);
+ void move_step (int step);
void move_to_mm (float mm);
+ void move_mm (float mm);
void stop ();
void stay_here ();
bool motor_is_running ();
diff --git a/web.cpp b/web.cpp
index a06496df7d5bf3791a05310dc6385ca839f40dc6..d95aaeec246b1fc15376b44690f8febcd603df40 100644
--- a/web.cpp
+++ b/web.cpp
@@ -31,6 +31,12 @@ void web_setup ()
//***Initialisation***//
calibration = ESPUI.button("Callibration", calibration_callback, ControlColor::None, "Lancer");
+ fast_backward = ESPUI.button("Initialisation", fast_backward_callback, ControlColor::None, "Reculer rapidement");
+ fast_forward = ESPUI.addControl(ControlType::Button, "Initialisation", "Avancer rapidement", ControlColor::None, fast_backward, fast_forward_callback);
+ slow_backward = ESPUI.addControl(ControlType::Button, "Initialisation", "Reculer doucement", ControlColor::None, fast_backward, slow_backward_callback);
+ slow_forward = ESPUI.addControl(ControlType::Button, "Initialisation", "Avancer doucement", ControlColor::None, fast_backward, slow_forward_callback);
+
+ ESPUI.addControl(ControlType::Separator, "", "", ControlColor::None);
//Remaning_volume
label_remaining_volume_mL = ESPUI.label("Volume restant en mL", ControlColor::None, "Volume restant en mL");
@@ -112,7 +118,6 @@ void number_callback(Control* sender, int type)
}
-
//SPECIFIC CALLBACKS//
//***ABOVE***//
@@ -184,6 +189,115 @@ void calibration_callback (Control *sender, int type)
}
}
+void fast_backward_callback (Control *sender, int type)
+/***
+-Argument : Pointer to the controller calling the function, integer according to the controller type.
+-Return : /
+-Action :
+***/
+{
+ switch (type)
+ {
+ case B_DOWN:
+
+ Serial.printf("Backward 10 steps");
+ syringe_filled.reset_position();
+ syringe_filled.move_mm(-50);
+ syringe_filled.set_speed_mm_per_sec(50);
+ syringe_filled.set_accel_mm_per_sec_per_sec(10);
+
+ break;
+
+ case B_UP:
+
+ syringe_filled.stop();
+
+ break;
+ }
+}
+
+void fast_forward_callback (Control *sender, int type)
+/***
+-Argument : Pointer to the controller calling the function, integer according to the controller type.
+-Return : /
+-Action :
+***/
+{
+
+ switch (type)
+ {
+ case B_DOWN:
+
+ Serial.printf("Forward 10 steps");
+ syringe_filled.reset_position();
+ syringe_filled.move_mm(50);
+ syringe_filled.set_speed_mm_per_sec(50);
+ syringe_filled.set_accel_mm_per_sec_per_sec(10);
+
+ break;
+
+ case B_UP:
+
+ syringe_filled.stop();
+
+ break;
+ }
+}
+
+void slow_backward_callback (Control *sender, int type)
+/***
+-Argument : Pointer to the controller calling the function, integer according to the controller type.
+-Return : /
+-Action :
+***/
+{
+ switch (type)
+ {
+ case B_DOWN:
+
+ Serial.printf("Backward 1 step");
+ syringe_filled.reset_position();
+ syringe_filled.move_mm(-50);
+ syringe_filled.set_speed_mm_per_sec(0.5);
+ syringe_filled.set_accel_mm_per_sec_per_sec(0.2);
+
+ break;
+
+ case B_UP:
+
+ syringe_filled.stop();
+
+ break;
+ }
+}
+
+void slow_forward_callback (Control *sender, int type)
+/***
+-Argument : Pointer to the controller calling the function, integer according to the controller type.
+-Return : /
+-Action :
+***/
+{
+ switch (type)
+ {
+ case B_DOWN:
+
+ Serial.printf("Forward 1 step");
+ syringe_filled.reset_position();
+ syringe_filled.move_mm(50);
+ syringe_filled.set_speed_mm_per_sec(0.5);
+ syringe_filled.set_accel_mm_per_sec_per_sec(0.2);
+
+ break;
+
+ case B_UP:
+
+ syringe_filled.stop();
+
+ break;
+ }
+}
+
void volume_exchange_mL_callback (Control* sender, int value, void* param)
/***
-Argument : Pointer to the controller calling the function, integer according to the controller type.
@@ -565,6 +679,11 @@ void set_init_style()
style (syringe_filled_placement, 2);
style (calibration, 2);
+ style (fast_forward, 3);
+ style (fast_backward, 3);
+ style (slow_forward, 3);
+ style (slow_backward, 3);
+
style (volume_exchange_mL_label, 1);
style (volume_exchange_mL, 1);
diff --git a/web.h b/web.h
index de1b94e8341ab70b594b079e032e37c3644b25f9..50febad9ccaf1ef1b36617afd9b7fec042116d9e 100644
--- a/web.h
+++ b/web.h
@@ -25,7 +25,7 @@ uint16_t activation_syringe_pump;
int status_syringe_filled;
uint16_t syringe_filled_placement;
-uint16_t calibration;
+uint16_t calibration, fast_backward, fast_forward, slow_backward, slow_forward;
uint16_t volume_exchange_mL_label, volume_exchange_mL, exchange_throughtput_uL_per_sec_label, exchange_throughtput_uL_per_sec, label_push_pull_choice, switch_push_pull_choice;
@@ -85,6 +85,10 @@ void number_callback(Control* sender, int type);
void activation_syringe_pump_callback (Control* sender, int value, void* param);
void syringe_filled_placement_callback (Control* sender, int value, void* param);
void calibration_callback(Control* sender, int type);
+void fast_backward_callback (Control *sender, int type);
+void fast_forward_callback (Control *sender, int type);
+void slow_backward_callback (Control *sender, int type);
+void slow_forward_callback (Control *sender, int type);
void volume_exchange_mL_callback (Control* sender, int value, void* param);
void exchange_throughtput_uL_per_sec_callback (Control* sender, int value, void* param);
void switch_push_pull_choice_callback (Control* sender, int value, void* param);