From 1eeef3ae0ecc86200116d0dfac4135d3f4f6a626 Mon Sep 17 00:00:00 2001
From: Pierre Korysko <pierre.korysko@cern.ch>
Date: Fri, 7 May 2021 18:36:01 +0200
Subject: [PATCH] Changed the Pins number
---
4DrobotServer/4DrobotServer_config.h | 23 +++++++++++++----------
1 file changed, 13 insertions(+), 10 deletions(-)
diff --git a/4DrobotServer/4DrobotServer_config.h b/4DrobotServer/4DrobotServer_config.h
index fe80226..ee07269 100644
--- a/4DrobotServer/4DrobotServer_config.h
+++ b/4DrobotServer/4DrobotServer_config.h
@@ -14,9 +14,9 @@
// ***** HARDWARE SIMULATION (FOR DEV) *********
//Uncomment to simulate hardware
-#define DUMMY_TEMP
-#define DUMMY_SERVO
-#define DUMMY_STEPPER
+//#define DUMMY_TEMP
+//#define DUMMY_SERVO
+//#define DUMMY_STEPPER
// ***** NETWORK CONFIG ************************
@@ -27,7 +27,10 @@
//byte mac[] = {0xA8, 0x61, 0x0A, 0xAE, 0x84, 0xEE};
// MAC address for Kyrre's test board
-byte mac[] = {0xA8, 0x61, 0x0A, 0xAE, 0x72, 0xF7};
+//byte mac[] = {0xA8, 0x61, 0x0A, 0xAE, 0x72, 0xF7};
+
+// MAC address for the Arduino on the 4DRobot
+byte mac[] = {0xA8, 0x61, 0x0A, 0xAE, 0x84, 0xEF};
//To use DHCP or not to use DHCP, that's the question.
// Comment out to use static IP configuration
@@ -53,14 +56,14 @@ const size_t output_bufflen = 2048;
// ***** TEMPERATURE SENSOR CONFIG *************
-const uint8_t temp_oneWire_pin = 51; // <-- Conflict with ETHERNET!
+const uint8_t temp_oneWire_pin = 49;
const size_t temp_numSensors = 1;
const unsigned long temp_update_interval = 1000; //[ms]
// ***** SAMPLE GRABBER SERVO CONFIG ***********
// TODO: Tune stepWait, positions
-const int grabber_servo_pin = 9;
+const int grabber_servo_pin = 47;
const int grabber_closed = 86; //[deg]
const int grabber_open = 130; //[deg]
const int grabber_min = 0; //[deg]
@@ -78,8 +81,8 @@ const size_t stepper_numAxis = 3;
const char stepper_axnames[] = {'X','Y','Z'};
-const uint8_t stepper_dir_pin[] = {32,36,40}; //Stepper direction pins (HIGH=positive, LOW=negative)
-const uint8_t stepper_step_pin[] = {33,37,41}; //Stepper pulse-to-step pins (pulse HIGH, otherwise low)
+const uint8_t stepper_dir_pin[] = {6,9,12}; //Stepper direction pins (HIGH=positive, LOW=negative)
+const uint8_t stepper_step_pin[] = {5,8,11}; //Stepper pulse-to-step pins (pulse HIGH, otherwise low)
//Define level for stepper_dir_pin[] to count steps in forward direction
// Used to define the Z axis as zero when on top, so that we can zero it first on top switch,
@@ -90,8 +93,8 @@ const bool stepper_backward[] = {HIGH,LOW,LOW};
//TODO: PIN4 ALSO IN USE BY ETHERNET
//TODO: Verify reproducibility of zeroing, we may need debounce?
-const uint8_t stepper_switchMAX_pin[] = {2,5,7}; //positive steps limit switch pins
-const uint8_t stepper_switchMIN_pin[] = {3,4,6}; //negative steps limit switch pins
+const uint8_t stepper_switchMAX_pin[] = {33,37,41}; //positive steps limit switch pins
+const uint8_t stepper_switchMIN_pin[] = {32,36,40}; //negative steps limit switch pins
//TODO: Verify active/inactive -> HIGH/LOW
// Note: Needs pulldown/pullup resistor
// Note: Probably safest to define on-limit = open, so if a switch fails the axis is safe (but stopped)
--
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