From ce6c408a9f7de238febac19ad459d953e2375efc Mon Sep 17 00:00:00 2001
From: Nils Schulte <git@nilsschulte.de>
Date: Thu, 19 Mar 2020 17:14:46 +0100
Subject: [PATCH] Stepper contin. rot.

---
 README.md       |  3 ++-
 StepperL298M.py | 25 +++++++++++++++++--------
 main.py         | 29 ++++++++++++++++++++++++-----
 3 files changed, 43 insertions(+), 14 deletions(-)

diff --git a/README.md b/README.md
index a3fdf0c..d9f40c5 100644
--- a/README.md
+++ b/README.md
@@ -17,7 +17,8 @@ Pin (ESP32)| Function
 36,39,34 | Button-Input
 32,33,13 | Button-LEDs
 16 | Housing-LEDs
-2,4,5 | Free GPIO
+2 | Piezo-Buzzer
+4,5 | Free GPIO
 35 | Free GPInput
 
 ## Reference
diff --git a/StepperL298M.py b/StepperL298M.py
index 4f807e7..912b4c7 100644
--- a/StepperL298M.py
+++ b/StepperL298M.py
@@ -5,7 +5,7 @@ import uasyncio as asyncio
 stepping = [[1,0,1,0],[1,0,0,0],[1,0,0,1],[0,0,0,1],[0,1,0,1],[0,1,0,0],[0,1,1,0],[0,0,1,0]]
 
 class Stepper:
-    def __init__(self,pins,stepsPerRev=400,stepDurationMs=50,inverted=False):
+    def __init__(self,pins,stepsPerRev=400,stepDurationMs=10,inverted=False):
         self._pins = [Pin(p, Pin.OUT) for p in  pins]
         self.stepnum = 0
         self.rotDirection = 1
@@ -30,16 +30,25 @@ class Stepper:
         self._pins[3].value(level[3])
 
     def getStepsToTarget(self):
-        return ((self._rotTarget - self.stepnum)*self.rotDirection)%self.stepsPerRev
+        #return ((self._rotTarget - self.stepnum)*self.rotDirection)%self.stepsPerRev
+        return ((self._rotTarget - self.stepnum)*self.rotDirection)
 
-    def rotateTo(self, target,duration=0,direction=0):
+    def rotateTo(self, target,duration=0,direction=0,normalise = True):
         """sets the rotation target and (if direction == 0) calculates if
         it should rotate left or right"""
-        self._rotTarget = int(target*self.stepsPerRev) % self.stepsPerRev
+        self._rotTarget = int(target*self.stepsPerRev)
+        if normalise:
+            rotTargetNorm = self._rotTarget%self.stepsPerRev
+            stepsNorm = self.stepnum%self.stepsPerRev
+            self._rotTarget = self.stepnum+rotTargetNorm-stepsNorm
+            if (self._rotTarget-self.stepnum) > self.stepsPerRev/2:
+                self._rotTarget-=self.stepsPerRev
+            elif(self._rotTarget-self.stepnum) < -self.stepsPerRev/2:
+                self._rotTarget+=self.stepsPerRev
+                
         if not self.isAtTarget():
             if (direction == 0):
-                self.rotDirection = 1 if (self._rotTarget - self.stepnum)%self.stepsPerRev \
-                    < self.stepsPerRev/2 else -1
+                self.rotDirection = 1 if (self._rotTarget > self.stepnum) else -1
             else:
                 self.rotDirection = direction
             self._speedMs = max(int(self.stepDurationMs),duration*1000/self.getStepsToTarget())
@@ -53,7 +62,7 @@ class Stepper:
                 self.disablePower()
 
     def _update(self):
-        self.stepnum = (self.stepnum + self.rotDirection) % self.stepsPerRev
+        self.stepnum = (self.stepnum + self.rotDirection)
         self._setPins(stepping[(self.stepnum%8) if not self.inverted else ((8-self.stepnum)%8)])
 
     def disablePower(self):
@@ -66,4 +75,4 @@ class Stepper:
         return (self._rotTarget / self.stepsPerRev)
 
     def isAtTarget(self):
-        return (self._rotTarget%self.stepsPerRev == self.stepnum%self.stepsPerRev)
+        return (self._rotTarget == self.stepnum)
diff --git a/main.py b/main.py
index 72d1f05..89a5de4 100644
--- a/main.py
+++ b/main.py
@@ -5,14 +5,24 @@ import Button
 import uasyncio as asyncio
 import StepperL298M
 import StepperClock
+import neopixel
 
 #Async
 loop = asyncio.get_event_loop()
 
 #Initialise the time module with the RTC
-dsRtc = DS3231.DS3231(machine.I2C(sda = machine.Pin(17), scl=machine.Pin(18)))
-rtc = machine.RTC()
-rtc.init(dsRtc.DateTime()+[0])
+try:
+    dsRtc = DS3231.DS3231(machine.I2C(sda = machine.Pin(17), scl=machine.Pin(18)))
+    rtc = machine.RTC()
+    rtc.init(dsRtc.DateTime()+[0])
+except:
+    print("Error on DS3231-Inititalisation")
+    
+housingLEDs = neopixel.NeoPixel(machine.Pin(16, machine.Pin.OUT),5)
+housingLEDs.fill((0,0,0))
+housingLEDs.write()
+
+Buzzer = machine.PWM(machine.Pin(2), freq=10000, duty=0)
 
 #Initalise the Motors 
 stepDurationMs = 8
@@ -42,9 +52,14 @@ def rightButtonClickUp():
     rightButtonLED.off()
 def rightButtonClick():
     if(clock.isRunning()):
-        stepperhour.stepnum = (stepperhour.stepnum+8)%stepperhour.stepsPerRev
+        stepperminu.stepnum = (stepperminu.stepnum+8)%stepperminu.stepsPerRev
     else:
-        stepperhour.rotateTo(stepperhour.getOrientation()+0.25)
+        stepperminu.rotateTo(stepperminu.getOrientation()-0.25)
+
+    #if(clock.isRunning()):
+    #    stepperhour.stepnum = (stepperhour.stepnum+8)%stepperhour.stepsPerRev
+    #else:
+    #    stepperhour.rotateTo(stepperhour.getOrientation()+0.25)
 rightButton = Button.Button(pin=34,onPushDown=rightButtonClickDown,onPushUp=rightButtonClickUp,onClick=rightButtonClick,inverted=True)
 
 def middleButtonClickDown():
@@ -57,8 +72,12 @@ def middleButtonClick():
         clock.stop()
         stepperminu.rotateTo(0)
         stepperhour.rotateTo(0)
+        housingLEDs.fill((255,0,255))
+        housingLEDs.write()    
     else:
         clock.start()
+        housingLEDs.fill((0,0,0))
+        housingLEDs.write()    
 middleButton = Button.Button(pin=39,onPushDown=middleButtonClickDown,onPushUp=middleButtonClickUp,onClick=middleButtonClick,inverted=True)