Arm.c

void Arm_Init(void)

Initialize MyTimer on Timer 0 PT0 which has a frequency of 3MHz

Set Timer0 Channel 6 to output compare used by the servo

Toggle Channel 6 on overflow to create a PWM

Set servo to home position

Set stepper to home position

Turn off both coils in the stepper motor

static void StepMotorModule_runMotor(int waitTime, int dir)

step the motor if waitTime has passed

static void stepMotor(int dir)

Depending on the direction, update the current step in the fullCmds array

If curStepStage overflows the array, loop back

Write out the proper voltages to PS2, PS3, PP2, and PP0 depending on the array index value

static void pulseServo(unsigned int width)

Set the pulse width of the rise time on OC of the servo.

This width determines the servo’s angle

Save this width as servo_curPos

void goToHomePosition(void)

Set servo’s desired position to home position

Set stepper’s desired position to home position

void goToAttackPosition(void)

Set servo’s desired position to attack position

Set stepper’s desired position to attack position

void waveArm(void)

Set stepper’s desired position to attack position

Set servo’s desired position to out position

Set the servo’s skip to wave skip

char isWaveStopped(void)

If stepper’s desPos is not equal to stepper’s curPos

If desPos > curPos

runMotor to send the arm out

If desPos < curPos

runMotor to bring the arm in

Set the stepper’s waitTime depending on its position

If servo’s desPos is not equal to servo’s curPos

If desPos < curPos

pulseServo to wave out

If desPos > curPos

pulseServo to wave in

When servo gets to the end of the wave, bring the servo back to wave beginning point

Return 1 when curPos == desPos for both stepper and servo

void swingArm(int targetNum)

correlate targetNum with the height (either low or hi) from the TargetHeights array

if high

Set stepper’s desPos = highPos

Else

Set stepper’s desPos = lowPos

char isArmStopped(void)

if stepper’s desPos is not equal to stepper’s curPos

if stepper’s desPos > stepper’s curPos

runMotor to raise the arm

when stepper reaches attackPos, swing the servo out to midPos

when stepper reaches highPos, swing the servo out to attack

else if stepper’s desPos < stepper’s curPos

runMotor to bring arm back in

if servo’s desPos is not equal to servo’s curPos

if servo’s desPos > servo’s curPos

pulseServo to bring servo back in

when servo reaches midPos, send stepper’s desPos back to attackPos

else if servo’s desPos < servo’s curPos

pulseServo to swing servo out

if servo’s curPos <= servo’s outpos

send servo back home

Return 1 when curPos == desPos for both stepper and servo