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Helper_Functions.ino
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Helper_Functions.ino
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void initHardware(){
// enable eeprom wait in avr/eeprom.h functions
SPMCSR &= ~SELFPRGEN;
loadPenPosFromEE();
pinMode(enableRotMotor, OUTPUT);
pinMode(enablePenMotor, OUTPUT);
pinMode(prgButton, INPUT_PULLUP);
pinMode(penToggleButton, INPUT_PULLUP);
pinMode(motorsButton, INPUT_PULLUP);
rotMotor.setMaxSpeed(2000.0);
rotMotor.setAcceleration(10000.0);
penMotor.setMaxSpeed(2000.0);
penMotor.setAcceleration(10000.0);
motorsOff();
penServo.attach(servoPin);
penServo.write(penState);
}
void inline loadPenPosFromEE() {
penUpPos = eeprom_read_word(penUpPosEEAddress);
penDownPos = eeprom_read_word(penDownPosEEAddress);
penState = penUpPos;
}
void inline storePenUpPosInEE() {
eeprom_update_word(penUpPosEEAddress, penUpPos);
}
void inline storePenDownPosInEE() {
eeprom_update_word(penDownPosEEAddress, penDownPos);
}
void inline sendAck(){
Serial.print("OK\r\n");
}
void inline sendError(){
Serial.print("unknown CMD\r\n");
}