1#ifdef F_CPU
2#undef F_CPU
3#define F_CPU 8000000L
4#endif
5
6#define MAX_D_IMPL 9000
7#define MAX_A 9000
8#define LED_MRUG 500UL
9
10#define X_GND_PIN 10
11#define Y_GND_PIN 9
12#define POT_VCC_PIN 3
13#define LED_PIN 4
14#define PRZYC_PIN 2
15
16#define X_STEP_PIN 13
17#define X_EN_PIN 12
18#define X_DIR_PIN 11
19#define X_OS A6
20#define X_OGR_V A1
21#define X_OGR_A A2
22
23#define Y_STEP_PIN 6
24#define Y_EN_PIN 7
25#define Y_DIR_PIN 8
26#define Y_OS A7
27#define Y_OGR_V A4
28#define Y_OGR_A A5
29
30#define POZ_HIST_JOY_ZERO MAX_D_IMPL/40
31
32#define SPAC 300000UL
33#include <avr/sleep.h>
34
35uint64_t cMicr, teraz, czas_bater, czas_led;
36uint64_t XprMicr, Xd_Micr, YprMicr, Yd_Micr;
37int16_t Xv, Xa, Yv, Ya;
38bool Xp, Yp;
39
40void wakeUpNow()
41 digitalWrite(LED_PIN, HIGH);
42 digitalWrite(POT_VCC_PIN, HIGH);
43}
44
45void setup()
46{
47 pinMode(X_GND_PIN, OUTPUT);
48 digitalWrite(X_GND_PIN, LOW);
49 pinMode(Y_GND_PIN, OUTPUT);
50 digitalWrite(Y_GND_PIN, LOW);
51 pinMode(POT_VCC_PIN, OUTPUT);
52 digitalWrite(POT_VCC_PIN, HIGH);
53 pinMode(LED_PIN, OUTPUT);
54 pinMode(PRZYC_PIN, INPUT_PULLUP);
55
56 pinMode(X_STEP_PIN, OUTPUT);
57 pinMode(X_EN_PIN, OUTPUT);
58 pinMode(X_DIR_PIN, OUTPUT);
59 digitalWrite(X_STEP_PIN, LOW);
60 digitalWrite(X_EN_PIN, LOW);
61 digitalWrite(X_DIR_PIN, LOW);
62 pinMode(X_OS, INPUT);
63 pinMode(X_OGR_V, INPUT);
64 pinMode(X_OGR_A, INPUT);
65
66 pinMode(Y_STEP_PIN, OUTPUT);
67 pinMode(Y_EN_PIN, OUTPUT);
68 pinMode(Y_DIR_PIN, OUTPUT);
69 digitalWrite(Y_STEP_PIN, LOW);
70 digitalWrite(Y_EN_PIN, LOW);
71 digitalWrite(Y_DIR_PIN, LOW);
72 pinMode(Y_OS, INPUT);
73 pinMode(Y_OGR_V, INPUT);
74 pinMode(Y_OGR_A, INPUT);
75}
76void sleepNow()
77{
78 digitalWrite(LED_PIN, LOW);
79 digitalWrite(POT_VCC_PIN, LOW);
80 set_sleep_mode(SLEEP_MODE_PWR_DOWN);
81 sleep_enable();
82 attachInterrupt(0, wakeUpNow, LOW);
83 sleep_mode();
84 sleep_disable();
85 detachInterrupt(0);
86}
87void loop()
88{
89 cMicr = micros();
90 teraz = millis();
91
92 Xv = map(analogRead(X_OS), 0, 1023, -MAX_D_IMPL, MAX_D_IMPL);
93 if (Xv > POZ_HIST_JOY_ZERO)
94 {
95 Xv = MAX_D_IMPL - Xv + map(analogRead(X_OGR_V), 0, 1023, MAX_D_IMPL, 1);
96 }
97 else if(Xv < 0-POZ_HIST_JOY_ZERO)
98 {
99 digitalWrite(X_DIR_PIN, HIGH);
100 Xv += MAX_D_IMPL + map(analogRead(X_OGR_V), 0, 1023, MAX_D_IMPL, 1);
101 }
102 else
103 {
104 digitalWrite(X_EN_PIN, HIGH);
105 digitalWrite(X_DIR_PIN, LOW);
106 digitalWrite(X_STEP_PIN, LOW);
107 Xv=0;
108 Xa = map(analogRead(X_OGR_A), 0, 1023, MAX_A, 0);
109 digitalWrite(LED_PIN, LOW);
110 }
111 if(Xv)
112 {
113 digitalWrite(X_EN_PIN, LOW);
114 Xd_Micr = long(Xv + (Xa?Xa--:0));
115 if(cMicr - XprMicr > Xd_Micr)
116 {
117 XprMicr = cMicr;
118 Xp = !Xp;
119 digitalWrite(X_STEP_PIN, Xp);
120 digitalWrite(LED_PIN, Xp);
121 czas_bater = teraz;
122 }
123 }
124
125 Yv= map(analogRead(Y_OS), 0, 1023, -MAX_D_IMPL, MAX_D_IMPL);
126 if (Yv > POZ_HIST_JOY_ZERO)
127 {
128 Yv = MAX_D_IMPL - Yv + map(analogRead(Y_OGR_V), 0, 1023, MAX_D_IMPL, 1);
129 }
130 else if (Yv < 0-POZ_HIST_JOY_ZERO)
131 {
132 digitalWrite(Y_DIR_PIN, HIGH);
133 Yv += MAX_D_IMPL + map(analogRead(Y_OGR_V), 0, 1023, MAX_D_IMPL, 1);
134 }
135 else
136 {
137 digitalWrite(Y_EN_PIN, HIGH);
138 digitalWrite(Y_DIR_PIN, LOW);
139 digitalWrite(Y_STEP_PIN, LOW);
140 Yv=0;
141 Ya = map(analogRead(Y_OGR_A), 0, 1023, 0, MAX_A);
142 }
143 if(Yv)
144 {
145 digitalWrite(Y_EN_PIN, LOW);
146 Yd_Micr = long(Yv + (Ya?Ya--:0));
147 if(cMicr - YprMicr > Yd_Micr)
148 {
149 YprMicr = cMicr;
150 Yp = !Yp;
151 digitalWrite(Y_STEP_PIN, Yp);
152 digitalWrite(LED_PIN, Yp);
153 czas_bater = teraz;
154 }
155 }
156 if((teraz - czas_led > LED_MRUG) && !Xv && !Yv)
157 {
158 czas_led = teraz;
159 digitalWrite(LED_PIN, HIGH);
160 delay(55);
161 }
162 if(teraz - czas_bater > SPAC) sleepNow();
163}
164