add comments

movinghead/platformio.ini

@@ -30,4 +30,4 @@ build_flags =
     -D PAN_STEP_PIN=D7
     -D PAN_DIR_PIN=D4
     -D ENDSTOP_PAN=D5
-    -D PIN_LIGHT=D6
+    -D PIN_OUTPUT=D6

movinghead/src/main.cpp

@@ -48,7 +48,8 @@ bool homedTilt=false;
 AccelStepper stepperPan(AccelStepper::DRIVER, PAN_STEP_PIN, PAN_DIR_PIN);
 AccelStepper stepperTilt(AccelStepper::DRIVER, TILT_STEP_PIN, TILT_DIR_PIN);
 
-
+void setOutput(bool o);
+bool getOutput();
 void setEnable(bool t);
 bool getEnable();
 void setStepperPreset(Stepperpreset preset,Stepper s);
@@ -60,6 +61,12 @@ void testMovementTilt();
 bool isEndstopPan();
 bool isEndstopTilt();
 
+void setOutput(bool o) {
+  digitalWrite(PIN_OUTPUT, o);
+}
+bool getOutput() {
+  return digitalRead(PIN_OUTPUT);
+}
 
 void setEnable(bool t){
   digitalWrite(EN_PIN,!t); //active low
@@ -123,11 +130,11 @@ void setStepperPreset(Stepperpreset preset,Stepper s)
 void setup() {
   Serial.begin(115200);
 
-  pinMode(EN_PIN,OUTPUT);
   pinMode(ENDSTOP_TILT,INPUT_PULLUP);
   pinMode(ENDSTOP_PAN,INPUT_PULLUP);
-  pinMode(PIN_LIGHT, OUTPUT);
-  digitalWrite(PIN_LIGHT, LOW);
+  pinMode(PIN_OUTPUT, OUTPUT);
+  setOutput(false);
+  pinMode(EN_PIN,OUTPUT);
   setEnable(false);
 
   
@@ -322,9 +329,11 @@ void testMovementPan()
     last_positionReached=0;
 
     if (stepperPan.currentPosition()<stepsPerRotationPan-100) {
-      stepperPan.moveTo(stepsPerRotationPan);
+      stepperPan.moveTo(stepsPerRotationPan); //move to home
+      setOutput(false); //test output
     }else{
-      stepperPan.moveTo(stepsPerRotationPan-random(200,stepsPerRotationPan));
+      stepperPan.moveTo(stepsPerRotationPan-random(200,stepsPerRotationPan)); //move somewhere else
+      setOutput(true); //test output
     }
   }
 }
@@ -339,9 +348,9 @@ void testMovementTilt()
     last_positionReached=0;
 
     if (stepperTilt.currentPosition()<stepsPerRotationTilt-100) {
-      stepperTilt.moveTo(stepsPerRotationTilt);
+      stepperTilt.moveTo(stepsPerRotationTilt); //move to home
     }else{
-      stepperTilt.moveTo(stepsPerRotationTilt-random(200,stepsPerRotationTilt));
+      stepperTilt.moveTo(stepsPerRotationTilt-random(200,stepsPerRotationTilt)); //move somewhere else
       
       
     }