Config pins fixes

Fixes the pinout configuration to bring it in line with the hardware, and fixes the code so that it actually cares about the pinouts... Also adds option to disable the XY interlock.

4DrobotServer/4DrobotServer_config.h

@@ -9,14 +9,14 @@
 //Note on Arduino pins used for Ethernet shield,
 // AVOID THESE PINS:
 // 4/10/11/12/13 (UNO)
-// 50/51/52/10/4 (Mega)
+// 50/51/52/10/4; 53 unused but it MUST be an output (Mega)
 
 // ***** 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 +56,15 @@ 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;
+// Note: Servo may prefer pin 9 (PWM)?
+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 +82,8 @@ 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 +94,8 @@ 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)