mega.cpp

#include <Arduino.h>
#include <BasicStepperDriver.h>

// Accept a trigger of 's' over Serial1 or Serial2
#define USE_SERIAL_TRIGGER true

// Enable the motors only when they are being moved
#define DISABLE_MOTORS     false

const int EAR_LEFT_DIR = 48, EAR_LEFT_STEP = 46, EAR_LEFT_ENABLE = 62; // Z
const int EAR_RIGHT_DIR = A1, EAR_RIGHT_STEP = A0, EAR_RIGHT_ENABLE = 38; // X

const int NOSE_TOP_DIR = A7, NOSE_TOP_STEP = A6, NOSE_TOP_ENABLE = A2; // Y
const int NOSE_LEFT_DIR = 34, NOSE_LEFT_STEP = 36, NOSE_LEFT_ENABLE = 30; // E1
const int NOSE_RIGHT_DIR = 28, NOSE_RIGHT_STEP = 26, NOSE_RIGHT_ENABLE = 24; // E0

const int MOTOR_STEPS = 150;
const int RPM = 200;
const int MICROSTEPS = 5;

BasicStepperDriver ear_left(MOTOR_STEPS, EAR_LEFT_DIR, EAR_LEFT_STEP, EAR_LEFT_ENABLE);
BasicStepperDriver ear_right(MOTOR_STEPS, EAR_RIGHT_DIR, EAR_RIGHT_STEP, EAR_RIGHT_ENABLE);
BasicStepperDriver nose_top(MOTOR_STEPS, NOSE_TOP_DIR, NOSE_TOP_STEP, NOSE_TOP_ENABLE);
BasicStepperDriver nose_left(MOTOR_STEPS, NOSE_LEFT_DIR, NOSE_LEFT_STEP, NOSE_LEFT_ENABLE);
BasicStepperDriver nose_right(MOTOR_STEPS, NOSE_RIGHT_DIR, NOSE_RIGHT_STEP, NOSE_RIGHT_ENABLE);

void setup() {
#if USE_SERIAL_TRIGGER
  Serial.begin(115200);
  Serial2.begin(9600); // TX2 on D17
#endif
  
  ear_left.begin(RPM, MICROSTEPS);
  ear_right.begin(RPM, MICROSTEPS);
  nose_top.begin(150, MICROSTEPS);
  nose_left.begin(150, MICROSTEPS);
  nose_right.begin(150, MICROSTEPS);
}

void loop() {
#if USE_SERIAL_TRIGGER
  if (!Serial2.available() && !Serial.available()) return;
  if ((Serial2.available() && Serial2.read() != 's') || 
      (Serial.available() && Serial.read() != 's')) return;

  Serial.println("!\n");
  Serial2.println("!\n");
#endif

#if DISABLE_MOTORS
  ear_left.enable();
  ear_right.enable();
  nose_top.enable();
  nose_left.enable();
  nose_right.enable();
#endif

  ear_left.rotate(-30);
  ear_right.rotate(-30);
  nose_top.rotate(180);
  nose_left.rotate(-20);
  nose_right.rotate(20);
  
  delay(50);

  ear_left.rotate(-30);
  ear_right.rotate(-30);
  nose_top.rotate(-180);
  nose_left.rotate(20);
  nose_right.rotate(-20);

#if DISABLE_MOTORS
  ear_left.disable();
  ear_right.disable();
  nose_top.disable();
  nose_left.disable();
  nose_right.disable();
#endif
  
  delay(50);
}