.

include/FlipFlat.h

@@ -7,35 +7,41 @@
 #include <EasyButton.h>
 #include <AccelStepper.h>
 
-#define DEBUG       0
+#define DEBUG       1
+#define UNIPOLAR    1
 
 #ifdef ESP32
 #define BRIGHT_PLUS GPIO_NUM_34
 #define BRIGHT_MIN  GPIO_NUM_35
 #define PWM         GPIO_NUM_25  
-#define OPEN_FF     GPIO_NUM_36
-#define CLOSE_FF    GPIO_NUM_39
-#define STEP_PIN    GPIO_NUM_32
-#define DIR_PIN     GPIO_NUM_33
+#define COER_FF     GPIO_NUM_39
 
 #define FF_SERIAL   Serial2
 #define LOG_SERIAL  Serial
 #endif
 
-//#ifdef ARDUINO_AVR_LEONARDO
+#ifdef __AVR_ATmega32U4__
 #define BRIGHT_PLUS 15 
 #define BRIGHT_MIN  14
 #define PWM         9  
 #define COVER_FF    16
-#define STEP_PIN    7
-#define DIR_PIN     8
 
 #define FF_SERIAL   Serial  
 #define LOG_SERIAL  Serial1
+#endif
 
-//#endif
-
+#ifdef UNIPOLAR
+#define STEP_PIN1   5
+#define STEP_PIN2   6
+#define STEP_PIN3   7
+#define STEP_PIN4   8
+#define STEPS       2038
+#else
+#define STEP_PIN    7
+#define DIR_PIN     8
 #define STEPS       200 // steps per revolution for the motor
+#endif
+
 
 enum devices {
   FLAT_MAN_L = 10,
@@ -67,6 +73,7 @@ enum motorDirections {
   NONE
 };
 
+
 void setupSerial();
 void handleSerial();
 void handleCoverSwitch();

src/FlipFlat.cpp

@@ -1,7 +1,7 @@
 // FlipFlat based on the Altinak Flip-Flat commands. Makes it possible to use it with ASCOM and INDI drivers
 
 // Enable DEBUG in FlipFlat.h to see logging.
-// Due to driver imitations in de indi driver, when using ESP32 Serial can't be used for FlipFlat communication. 
+// Due to driver imitations in de indi driver, when using ESP32 Serial can't be used for FlipFlat communication.
 // Use Serial 2 (pins 16 and 17) instead. Standard Serial is used for debug messages
 
 #include <FlipFlat.h>
@@ -19,7 +19,11 @@ EasyButton brightness_plus(BRIGHT_PLUS);
 EasyButton brightness_min(BRIGHT_MIN);
 EasyButton cover_control(COVER_FF);
 
+#ifdef UNIPOLAR
+AccelStepper stepper(AccelStepper::FULL4WIRE, STEP_PIN1, STEP_PIN3, STEP_PIN2, STEP_PIN4);
+#else
 AccelStepper stepper(AccelStepper::DRIVER, STEP_PIN, DIR_PIN);
+#endif
 
 void setup()
 {
@@ -27,28 +31,25 @@ void setup()
 
   LOG("Debug mode");
   LOG("Starting FlipFlat");
-  LOG("Setup PWM pin");
 
+  LOG("Setup PWM pin");
   pinMode(PWM, OUTPUT);
 
   LOG("Setup brightness buttons");
-
   brightness_plus.begin();
   brightness_plus.onPressed(increaseBrightness);
   brightness_min.begin();
   brightness_min.onPressed(decreaseBrightness);
 
   LOG("Setup open-close button");
-
   cover_control.begin();
   cover_control.onPressed(handleCoverSwitch);
 
   LOG("Initializing stepper");
-
   stepper.setMaxSpeed(1000);
   stepper.setAcceleration(50);
-  stepper.setSpeed(200);
-  stepper.moveTo(STEPS);
+  stepper.setSpeed(400);
+  //stepper.moveTo(STEPS);
 }
 
 void loop()
@@ -62,6 +63,8 @@ void loop()
     LOG("Command received");
     parseCommand();
   }
+
+  stepper.run();
 }
 
 void increaseBrightness()
@@ -118,12 +121,12 @@ void processCommand(const char *cmd, const char *data)
 {
   switch (*cmd)
   {
-    /*
-    Ping device
-      Request: >POOO\r
-      Return : *PiiOOO\n
-        ii = DEVICE_ID
-    */
+  /*
+  Ping device
+    Request: >POOO\r
+    Return : *PiiOOO\n
+      ii = DEVICE_ID
+  */
   case 'P':
     LOG("Ping received");
     FF_SERIAL << F("*P") << deviceId << F("OOO\n");
@@ -160,7 +163,7 @@ void processCommand(const char *cmd, const char *data)
     Request: >LOOO\r
     Return : *LiiOOO\n
       ii = deviceId
-    */
+  */
   case 'L':
     LOG("Turn on received");
     FF_SERIAL << F("*L") << deviceId << F("OOO\n");
@@ -168,12 +171,12 @@ void processCommand(const char *cmd, const char *data)
     setBrightness(brightness);
     break;
 
-    /*
-    Turn light off
-      Request: >DOOO\r
-      Return : *DiiOOO\n
-        id = deviceId
-    */
+  /*
+  Turn light off
+    Request: >DOOO\r
+    Return : *DiiOOO\n
+      id = deviceId
+  */
   case 'D':
     LOG("Turn off received");
     FF_SERIAL << F("*D") << deviceId << F("OOO\n");
@@ -181,14 +184,14 @@ void processCommand(const char *cmd, const char *data)
     setBrightness(0);
     break;
 
-    /*
-    Set brightness
-      Request: >Bxxx\r
-        xxx = brightness value from 000-255
-      Return : *Bidyyy\n
-        id = deviceId
-        yyy = value that brightness was set from 000-255
-    */
+  /*
+  Set brightness
+    Request: >Bxxx\r
+      xxx = brightness value from 000-255
+    Return : *Bidyyy\n
+      id = deviceId
+      yyy = value that brightness was set from 000-255
+  */
   case 'B':
     LOG("Set brightness received");
     FF_SERIAL << F("*B") << deviceId << _WIDTHZ(brightness, 3) << F("\n");
@@ -200,38 +203,38 @@ void processCommand(const char *cmd, const char *data)
 
     break;
 
-    /*
-    Get brightness
-      Request: >J000\r
-      Return : *Jiiyyy\n
-        id = deviceId
-        yyy = current brightness value from 000-255
-    */
+  /*
+  Get brightness
+    Request: >J000\r
+    Return : *Jiiyyy\n
+      id = deviceId
+      yyy = current brightness value from 000-255
+  */
   case 'J':
     LOG("Get brightness received");
     FF_SERIAL << F("*J") << deviceId << _WIDTHZ(brightness, 3) << F("\n");
     break;
 
-    /*
-    Get device status:
-      Request: >S000\r
-      Return : *SiiMLC\n
-        ii = deviceId
-        M  = motor status( 0 stopped, 1 running)
-        L  = light status( 0 off, 1 on)
-        C  = Cover Status( 0 moving, 1 closed, 2 open)
-    */
+  /*
+  Get device status:
+    Request: >S000\r
+    Return : *SiiMLC\n
+      ii = deviceId
+      M  = motor status( 0 stopped, 1 running)
+      L  = light status( 0 off, 1 on)
+      C  = Cover Status( 0 moving, 1 closed, 2 open)
+  */
   case 'S':
     LOG("Get status recived");
     FF_SERIAL << F("*S") << deviceId << motorStatus << lightStatus << coverStatus << F("\n");
     break;
 
-    /*
-    Get firmware version
-      Request: >V000\r
-      Return : *Vii001\n
-        ii = deviceId
-    */
+  /*
+  Get firmware version
+    Request: >V000\r
+    Return : *Vii001\n
+      ii = deviceId
+  */
   case 'V': // get firmware version
     LOG("Get firmware version received");
     FF_SERIAL << F("*V") << deviceId << F("001") << F("\n");
@@ -265,15 +268,14 @@ void closeFlipFlat()
   }
 }
 
-void rotateMotor(float newAngle)
+void rotateMotor(float angle)
 {
   if (motorDirection == OPENING)
   {
     motorStatus = RUNNING;
     coverStatus = NEITHER_OPEN_NOR_CLOSED;
 
-    stepper.move(STEPS * newAngle / 360.0);
-    stepper.runToPosition();
+    stepper.move(STEPS * angle / 360.0);
 
     coverStatus = OPEN;
   }
@@ -284,8 +286,7 @@ void rotateMotor(float newAngle)
       motorStatus = RUNNING;
       coverStatus = NEITHER_OPEN_NOR_CLOSED;
 
-      stepper.move(-STEPS * newAngle / 360.0);
-      stepper.runToPosition();
+      stepper.move(-STEPS * angle / 360.0);
 
       coverStatus = CLOSED;
     }
@@ -302,19 +303,20 @@ void setupSerial()
   LOG_SERIAL.begin(9600);
 #endif
 
-#ifdef ARDUINO_AVR_LEONARDO
+#ifdef __AVR_ATmega32U4__
   FF_SERIAL.begin(9600);
   LOG_SERIAL.begin(9600);
 #endif
 
   LOG("Logging serial up and running");
   LOG("FlipFlat Serial up and running");
-
 }
 
-void handleCoverSwitch(){
-  switch (coverStatus){
- case CLOSED:
+void handleCoverSwitch()
+{
+  switch (coverStatus)
+  {
+  case CLOSED:
     LOG("Opening cover");
     openFlipFlat();
     break;