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Add RMFT WAITFOR() and SERVO2() commands.

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WAITFOR(pin) waits until the corresponding pin is not busy (e.g. has finished moving the servo).  SERVO2(pin, value, ms) moves to the nominated position in a time given in milliseconds by ms.
This commit is contained in:
Neil McKechnie 2021-08-28 17:39:48 +01:00
parent 40c6bb7f2e
commit 0f55835b8b
4 changed files with 22 additions and 8 deletions
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1
IODevice.cpp
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@ -253,6 +253,7 @@ void IODevice::write(VPIN vpin, int value) {
pinMode(vpin, OUTPUT); pinMode(vpin, OUTPUT);
} }
void IODevice::writeAnalogue(VPIN, int, uint8_t, uint16_t) {} void IODevice::writeAnalogue(VPIN, int, uint8_t, uint16_t) {}
bool IODevice::isBusy(VPIN) { return false; }
bool IODevice::hasCallback(VPIN) { return false; } bool IODevice::hasCallback(VPIN) { return false; }
int IODevice::read(VPIN vpin) { int IODevice::read(VPIN vpin) {
pinMode(vpin, INPUT_PULLUP); pinMode(vpin, INPUT_PULLUP);

7
RMFT2.cpp
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@ -610,6 +610,13 @@ void RMFT2::loop2() {
case OPCODE_SERVO: // OPCODE_SERVO,V(vpin),OPCODE_PAD,V(position),OPCODE_PAD,V(profile),OPCODE_PAD,V(duration) case OPCODE_SERVO: // OPCODE_SERVO,V(vpin),OPCODE_PAD,V(position),OPCODE_PAD,V(profile),OPCODE_PAD,V(duration)
IODevice::writeAnalogue(operand,GET_OPERAND(1),GET_OPERAND(2),GET_OPERAND(3)); IODevice::writeAnalogue(operand,GET_OPERAND(1),GET_OPERAND(2),GET_OPERAND(3));
break; break;
case OPCODE_WAITFOR: // OPCODE_SERVO,V(pin)
if (IODevice::isBusy(operand)) {
delayMe(100);
return;
}
break;
case OPCODE_PRINT: case OPCODE_PRINT:
printMessage(operand); printMessage(operand);

4
RMFT2.h
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@ -36,13 +36,13 @@ enum OPCODE : byte {OPCODE_THROW,OPCODE_CLOSE,
OPCODE_DELAY,OPCODE_DELAYMINS,OPCODE_RANDWAIT, OPCODE_DELAY,OPCODE_DELAYMINS,OPCODE_RANDWAIT,
OPCODE_FON,OPCODE_FOFF, OPCODE_FON,OPCODE_FOFF,
OPCODE_RED,OPCODE_GREEN,OPCODE_AMBER, OPCODE_RED,OPCODE_GREEN,OPCODE_AMBER,
OPCODE_SERVO,OPCODE_SIGNAL,OPCODE_TURNOUT, OPCODE_SERVO,OPCODE_SIGNAL,OPCODE_TURNOUT,OPCODE_WAITFOR,
OPCODE_PAD,OPCODE_FOLLOW,OPCODE_CALL,OPCODE_RETURN, OPCODE_PAD,OPCODE_FOLLOW,OPCODE_CALL,OPCODE_RETURN,
OPCODE_JOIN,OPCODE_UNJOIN,OPCODE_READ_LOCO1,OPCODE_READ_LOCO2,OPCODE_POM, OPCODE_JOIN,OPCODE_UNJOIN,OPCODE_READ_LOCO1,OPCODE_READ_LOCO2,OPCODE_POM,
OPCODE_START,OPCODE_SETLOCO,OPCODE_SENDLOCO, OPCODE_START,OPCODE_SETLOCO,OPCODE_SENDLOCO,
OPCODE_PAUSE, OPCODE_RESUME, OPCODE_PAUSE, OPCODE_RESUME,
OPCODE_ONCLOSE, OPCODE_ONTHROW, OPCODE_SERVOTURNOUT, OPCODE_PINTURNOUT, OPCODE_ONCLOSE, OPCODE_ONTHROW, OPCODE_SERVOTURNOUT, OPCODE_PINTURNOUT,
OPCODE_PRINT, OPCODE_PRINT,
OPCODE_ROUTE,OPCODE_AUTOMATION,OPCODE_SEQUENCE,OPCODE_ENDTASK,OPCODE_ENDEXRAIL OPCODE_ROUTE,OPCODE_AUTOMATION,OPCODE_SEQUENCE,OPCODE_ENDTASK,OPCODE_ENDEXRAIL
}; };

18
RMFTMacros.h
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@ -78,7 +78,7 @@
#define IF(sensor_id) #define IF(sensor_id)
#define IFNOT(sensor_id) #define IFNOT(sensor_id)
#define IFRANDOM(percent) #define IFRANDOM(percent)
#define IFRESERVE(block) #define IFRESERVE(block)
#define INVERT_DIRECTION #define INVERT_DIRECTION
#define JOIN #define JOIN
#define LATCH(sensor_id) #define LATCH(sensor_id)
@ -91,15 +91,16 @@
#define READ_LOCO #define READ_LOCO
#define RED(signal_id) #define RED(signal_id)
#define RESERVE(blockid) #define RESERVE(blockid)
#define RESET(sensor_id) #define RESET(pin)
#define RESUME #define RESUME
#define RETURN #define RETURN
#define REV(speed) #define REV(speed)
#define START(route) #define START(route)
#define SENDLOCO(cab,route) #define SENDLOCO(cab,route)
#define SERVO(id,position,profile) #define SERVO(id,position,profile)
#define SERVO2(id,position,duration)
#define SETLOCO(loco) #define SETLOCO(loco)
#define SET(sensor_id) #define SET(pin)
#define SEQUENCE(id) #define SEQUENCE(id)
#define SPEED(speed) #define SPEED(speed)
#define STOP #define STOP
@ -111,6 +112,7 @@
#define TURNOUT(id,addr,subaddr) #define TURNOUT(id,addr,subaddr)
#define UNJOIN #define UNJOIN
#define UNLATCH(sensor_id) #define UNLATCH(sensor_id)
#define WAITFOR(pin)
#include "myAutomation.h" #include "myAutomation.h"
@ -179,6 +181,7 @@ const int StringMacroTracker1=__COUNTER__;
#undef START #undef START
#undef SEQUENCE #undef SEQUENCE
#undef SERVO #undef SERVO
#undef SERVO2
#undef FADE #undef FADE
#undef SENDLOCO #undef SENDLOCO
#undef SETLOCO #undef SETLOCO
@ -192,6 +195,7 @@ const int StringMacroTracker1=__COUNTER__;
#undef TURNOUT #undef TURNOUT
#undef UNJOIN #undef UNJOIN
#undef UNLATCH #undef UNLATCH
#undef WAITFOR
// Define macros for route code creation // Define macros for route code creation
#define V(val) ((int16_t)(val))&0x00FF,((int16_t)(val)>>8)&0x00FF #define V(val) ((int16_t)(val))&0x00FF,((int16_t)(val)>>8)&0x00FF
@ -239,15 +243,16 @@ const int StringMacroTracker1=__COUNTER__;
#define READ_LOCO OPCODE_READ_LOCO1,NOP,OPCODE_READ_LOCO2,NOP, #define READ_LOCO OPCODE_READ_LOCO1,NOP,OPCODE_READ_LOCO2,NOP,
#define RED(signal_id) OPCODE_RED,V(signal_id), #define RED(signal_id) OPCODE_RED,V(signal_id),
#define RESERVE(blockid) OPCODE_RESERVE,V(blockid), #define RESERVE(blockid) OPCODE_RESERVE,V(blockid),
#define RESET(sensor_id) OPCODE_RESET,V(sensor_id), #define RESET(pin) OPCODE_RESET,V(pin),
#define RESUME OPCODE_RESUME,NOP, #define RESUME OPCODE_RESUME,NOP,
#define RETURN OPCODE_RETURN,NOP, #define RETURN OPCODE_RETURN,NOP,
#define REV(speed) OPCODE_REV,V(speed), #define REV(speed) OPCODE_REV,V(speed),
#define SENDLOCO(cab,route) OPCODE_SENDLOCO,V(cab),OPCODE_PAD,V(route), #define SENDLOCO(cab,route) OPCODE_SENDLOCO,V(cab),OPCODE_PAD,V(route),
#define START(route) OPCODE_START,V(route), #define START(route) OPCODE_START,V(route),
#define SERVO(id,position,profile) OPCODE_SERVO,V(id),OPCODE_PAD,V(position),OPCODE_PAD,V(PCA9685::ProfileType::profile),OPCODE_PAD,V(0), #define SERVO(id,position,profile) OPCODE_SERVO,V(id),OPCODE_PAD,V(position),OPCODE_PAD,V(PCA9685::profile),OPCODE_PAD,V(0),
#define SERVO2(id,position,ms) OPCODE_SERVO,V(id),OPCODE_PAD,V(position),OPCODE_PAD,V(PCA9685::Instant),OPCODE_PAD,V(ms/100L),
#define SETLOCO(loco) OPCODE_SETLOCO,V(loco), #define SETLOCO(loco) OPCODE_SETLOCO,V(loco),
#define SET(sensor_id) OPCODE_SET,V(sensor_id), #define SET(pin) OPCODE_SET,V(pin),
#define SPEED(speed) OPCODE_SPEED,V(speed), #define SPEED(speed) OPCODE_SPEED,V(speed),
#define STOP OPCODE_SPEED,V(0), #define STOP OPCODE_SPEED,V(0),
#define SIGNAL(redpin,amberpin,greenpin) OPCODE_SIGNAL,V(redpin),OPCODE_PAD,V(amberpin),OPCODE_PAD,V(greenpin), #define SIGNAL(redpin,amberpin,greenpin) OPCODE_SIGNAL,V(redpin),OPCODE_PAD,V(amberpin),OPCODE_PAD,V(greenpin),
@ -257,6 +262,7 @@ const int StringMacroTracker1=__COUNTER__;
#define TURNOUT(id,addr,subaddr) OPCODE_TURNOUT,V(id),OPCODE_PAD,V(addr),OPCODE_PAD,V(subaddr), #define TURNOUT(id,addr,subaddr) OPCODE_TURNOUT,V(id),OPCODE_PAD,V(addr),OPCODE_PAD,V(subaddr),
#define UNJOIN OPCODE_UNJOIN,NOP, #define UNJOIN OPCODE_UNJOIN,NOP,
#define UNLATCH(sensor_id) OPCODE_UNLATCH,V(sensor_id), #define UNLATCH(sensor_id) OPCODE_UNLATCH,V(sensor_id),
#define WAITFOR(pin) OPCODE_WAITFOR,V(pin),
// PASS2 Build RouteCode // PASS2 Build RouteCode
const int StringMacroTracker2=__COUNTER__; const int StringMacroTracker2=__COUNTER__;