We need to modify the lock pin code and logic in order to allow the lock pin to work using limit switch feedback.
Acceptance
When the task is done, the lock pin code will look similar to a fusion of the existing lock pin code and the existing shutter code, except the lock pin code does not need the following functions:
off
reset
keep open
keep closed
Lock pin queries digital inputs on EZStepper board:
Switch #\1 input is "tripped" (connected to GND, logical 0) when lock pin is fully retracted ("positive" motion)
Switch #\2 input is "tripped" (connected to GND, logical 0) when lock pin is fully extended ("negative" motion)
State machine is in commanded open state:
Lock pin motor driver is commanded to drive "forward", "positive" infinitely unless Switch #\1 input is tripped.
State machine is in close state:
Lock pin motor driver is commanded to drive "backward", "negative" infinitely unless Switch #\2 input is tripped.
Unit tests updated
Details
actuators.c holds shutter and lock pin code. EZHR17EN Command Set describes the EZStepper protocol.
evanmayer
commented
3 months ago
Task
We need to modify the lock pin code and logic in order to allow the lock pin to work using limit switch feedback.
Acceptance
When the task is done, the lock pin code will look similar to a fusion of the existing lock pin code and the existing shutter code, except the lock pin code does not need the following functions:
Lock pin queries digital inputs on EZStepper board:
Unit tests updated
Details
actuators.cholds shutter and lock pin code. EZHR17EN Command Set describes the EZStepper protocol.