Move bitlair_doorduino_door to platformio structure

bitlair_doorduino_door/src/main.cpp

@@ -0,0 +1,145 @@
+#include <Arduino.h>
+
+// this pin should connect to Ground when want to stop the motor
+#define STOPPER_PIN 4
+
+// Motor steps per revolution. Most steppers are 200 steps or 1.8 degrees/step
+#define MOTOR_STEPS 400
+#define RPM 60
+// Acceleration and deceleration values are always in FULL steps / s^2
+#define MOTOR_ACCEL 2000
+#define MOTOR_DECEL 1000
+
+// Microstepping mode. If you hardwired it to save pins, set to the same value here.
+#define MICROSTEPS 8
+
+#define DIR 10
+#define STEP 11
+#define ENABLE A3 // optional (just delete ENABLE from everywhere if not used)
+
+#define SLEEP 12
+#define RESET 13
+
+#include "A4988.h"
+#define MS1 A2
+#define MS2 A1
+#define MS3 A0
+A4988 stepper(MOTOR_STEPS, DIR, STEP, ENABLE, MS1, MS2, MS3);
+
+
+#include <ams_as5048b.h>
+
+//unit consts
+#define U_RAW 1
+#define U_TRN 2
+#define U_DEG 3
+#define U_RAD 4
+#define U_GRAD 5
+#define U_MOA 6
+#define U_SOA 7
+#define U_MILNATO 8
+#define U_MILSE 9
+#define U_MILRU 10
+
+AMS_AS5048B mysensor;
+
+
+#define DOOR_OPEN   3
+#define DOOR_CLOSE  2
+
+#define STATE_IDLE  0
+#define STATE_OPEN  1
+#define STATE_CLOSE 2
+int state = STATE_IDLE;
+int angle_prev = 0;
+int angle = 0;
+int angle_steps = 0;
+
+void setup() {
+    Serial.begin(115200);
+
+    pinMode(SLEEP, OUTPUT);
+    pinMode(RESET, OUTPUT);
+    digitalWrite(SLEEP, HIGH);
+    digitalWrite(RESET, HIGH);
+
+    // Configure stopper pin to read HIGH unless grounded
+    pinMode(STOPPER_PIN, INPUT_PULLUP);
+
+    stepper.begin(RPM, MICROSTEPS);
+    stepper.disable();
+
+    //stepper.setSpeedProfile(stepper.LINEAR_SPEED, MOTOR_ACCEL, MOTOR_DECEL);
+    stepper.setSpeedProfile(stepper.CONSTANT_SPEED, MOTOR_ACCEL, MOTOR_DECEL);
+
+    //init AMS_AS5048B object
+    mysensor.begin();
+
+    pinMode(DOOR_OPEN, INPUT);
+    pinMode(DOOR_CLOSE, INPUT);
+
+    Serial.println("START");
+
+    stepper.setEnableActiveState(LOW);
+//    stepper.enable();
+//    stepper.rotate(360);
+//    Serial.println("START2");
+
+    if (digitalRead(DOOR_OPEN) == HIGH && state == STATE_IDLE){
+      state = STATE_OPEN;
+      Serial.println("RECEIVED OPEN");
+      stepper.enable();
+      stepper.startRotate(-560);
+    }
+    if (digitalRead(DOOR_CLOSE) == HIGH && state == STATE_IDLE){
+      state = STATE_CLOSE;
+      Serial.println("RECEIVED CLOSE");
+      stepper.enable();
+      stepper.startRotate(560);
+    }
+
+}
+
+void loop() {
+    static int step = 0;
+
+    if(state != STATE_IDLE && millis()%50 == 0){
+      angle_prev = angle;
+      angle = mysensor.angleR(U_DEG, true);
+      angle_steps++;
+        Serial.print("Time : ");
+        Serial.print(millis(), DEC);
+        Serial.print("    Angle : ");
+        Serial.print(angle, DEC);
+        Serial.print("  angle prev : ");
+        Serial.println(angle_prev, DEC);
+
+      if(angle_steps > 5 && (angle_prev - angle) >= -5 && (angle_prev - angle) <= 5){
+          Serial.println("STOPPER REACHED");
+          stepper.stop();
+          stepper.disable();
+  
+          state = STATE_IDLE;
+          step = 0;
+          angle_steps = 0;
+          delay(10000);
+          Serial.println("FINISHED");
+      }
+    }
+
+    // motor control loop - send pulse and return how long to wait until next pulse
+    unsigned wait_time = stepper.nextAction();
+//  Serial.println(wait_time);
+    step++;
+
+    // 0 wait time indicates the motor has stopped
+    if (state != STATE_IDLE && wait_time <= 0) {
+        stepper.disable();       // comment out to keep motor powered
+        Serial.println("END");
+        state = STATE_IDLE;
+        step = 0;
+        angle_steps = 0;
+        delay(10000);
+        Serial.println("FINISHED");
+    }
+}