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uncomment homing and send position

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This commit is contained in:
Eggert Jung
2022-02-11 18:17:02 +01:00
parent 28942ab232
commit 30f1ec733d
2 changed files with 21 additions and 12 deletions
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25
taenzer.c
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@@ -8,19 +8,20 @@ taenzer_state_t taenzer_state;
void do_taenzer(){
///* Homing */
//if(!taenzer_state.homed){
// set_Output(MOTOR_TAENZER_DIR, 1); // direction: up
// TCCR4B |= _BV(CS41); //TURN ON
//}
//if(read_Input(IN_TAENZER_HOME, LEVEL)){
// TCCR4B &= ~_BV(CS41); //TURN OFF
// taenzer_state.homed = 1;
//}
/* Homing */
if(!taenzer_state.homed){
set_Output(MOTOR_TAENZER_DIR, 1); // direction: up
TCCR4B |= _BV(CS41); //TURN ON
}
if(read_Input(IN_TAENZER_HOME, LEVEL)){
TCCR4B &= ~_BV(CS41); //TURN OFF
taenzer_state.homed = 1;
taenzer_state.pos = 0;
}
/* Force regualtion */
if(kraftsensor_valid /* && taenzer_state.homed */){
if(kraftsensor_value < 0){
if(kraftsensor_valid && taenzer_state.homed){
if(kraftsensor_value < 9000){
set_Output(MOTOR_TAENZER_DIR, 0); // direction: down
TCCR4B |= _BV(CS41); //TURN ON
}
@@ -38,7 +39,7 @@ void timer4_init()
TCCR4A |= (1<<COM4A1);
TCCR4B |= _BV(WGM43);
// TIMSK4 |= 1<<TOIE4;
TIMSK4 |= 1<<TOIE4;
// TIMSK4 |= 1<<OCIE4A;
ICR4 = 100;