From 1b451ad809e7ead3a0124daca57a809c43f8ea09 Mon Sep 17 00:00:00 2001
From: dogma <jonsaul@puppetmaster.lol>
Date: Mon, 27 Nov 2023 19:51:36 -0600
Subject: [PATCH] Clean up files

---
 boot.py             |  12 ++-
 motorcontroller.ino | 221 --------------------------------------------
 motorstepper.cpp    |  50 ----------
 stepper.py          |   1 -
 4 files changed, 10 insertions(+), 274 deletions(-)
 delete mode 100644 motorcontroller.ino
 delete mode 100644 motorstepper.cpp
 delete mode 100644 stepper.py

diff --git a/boot.py b/boot.py
index 728528a..12e59ab 100644
--- a/boot.py
+++ b/boot.py
@@ -1,2 +1,10 @@
-# boot.py -- run on boot-up
- 
\ No newline at end of file
+# This file is executed on every boot (including wake-boot from deepsleep)
+#import esp
+#esp.osdebug(None)
+import os, machine
+#os.dupterm(None, 1) # disable REPL on UART(0)
+import gc
+import webrepl
+
+webrepl.start()
+gc.collect()
diff --git a/motorcontroller.ino b/motorcontroller.ino
deleted file mode 100644
index 250be82..0000000
--- a/motorcontroller.ino
+++ /dev/null
@@ -1,221 +0,0 @@
-
-/*
- * Skytracker by Nick Touran for ESP8266 and Stepper Motors
- * 
- * partofthething.com
- * 
- * This accelerates the motor to correct the tangent error. It can rewind too!
- * 
- * Motors are 28BYJ-48 5V + ULN2003 Driver Board from Amazon
- * Hook up power and ground and then hook inputs 1-4 up to GPIO pins. 
- * 
- * See Also: http://www.raspberrypi-spy.co.uk/2012/07/stepper-motor-control-in-python/
- * This motor has a 1:64 gear reduction ratio and a stride angle of 5.625 deg (1/64th of a circle). 
- * 
- * So it takes 64*64 = 4096 single steps for one full rotation, or 2048 double-steps.
- * with 3 ms timing, double-stepping can do a full rotation in 2048*0.003 =  6.144 seconds 
- * so that's a whopping 1/6.144 * 60 = 9.75 RPM. But it has way more torque than I expected. 
- * 
- * Can get 2ms timing going with double stepping on ESP8266. Pretty fast!
- * Should power it off of external 5V. 
- * 
- * Shaft diameter is 5mm with a 3mm inner key thing. Mounting holes are 35mm apart. 
- * 
- */
-
-
-#define NUM_PINS 4
-#define NUM_STEPS 8
-#define RADS_PER_SEC 7.292115e-05
-#define LENGTH_CM 28.884 // fill in with precise measured value
-// For theta zero, I used relative measurement between two boards w/ level.
-// Got 0.72 degrees, which is 0.012566 radians
-#define THETA0 0.012566 // fill in with angle at fully closed position (radians)
-#define ROTATIONS_PER_CM 7.8740157  // 1/4-20 thread
-#define DOUBLESTEPS_PER_ROTATION 2048.0  
-#define CYCLES_PER_SECOND 80000000
-
-//modes
-#define NORMAL 0
-#define REWINDING 1
-#define STOPPED 2
-
-
-int allPins[NUM_PINS] = {D1, D2, D3, D4};
-int MODE_PIN = D7;
-
-// from manufacturers datasheet
-int STEPPER_SEQUENCE[NUM_STEPS][NUM_PINS] = {{1,0,0,1},
-                                             {1,0,0,0},
-                                             {1,1,0,0},
-                                             {0,1,0,0},
-                                             {0,1,1,0},
-                                             {0,0,1,0},
-                                             {0,0,1,1},
-                                             {0,0,0,1}};
-
-int step_delta; 
-int step_num = 0;
-double total_seconds = 0.0;
-long totalsteps = 0;
-double step_interval_s=0.001;
-int *current_step;
-volatile unsigned long next; // next time to trigger callback
-volatile unsigned long now; // volatile keyword required when things change in callbacks
-volatile unsigned long last_toggle; // for debounce
-volatile short current_mode=NORMAL;
-bool autostop=true;  // hack for allowing manual rewind at boot
-
-float ypt(float ts) {
-   // bolt insertion rate in cm/s: y'(t) 
-   // Note, if you run this for ~359 minutes, it goes to infinity!!
-   return LENGTH_CM * RADS_PER_SEC/pow(cos(THETA0 + RADS_PER_SEC * ts),2);
-}
-
-void inline step_motor(void) {
-  /*  This is the callback function that gets called when the timer
-   *  expires. It moves the motor, updates lists, recomputes
-   *  the step interval based on the current tangent error, 
-   *  and sets a new timer. 
-   */
-  switch(current_mode) {
-    case NORMAL:
-      step_interval_s = 1.0/(ROTATIONS_PER_CM * ypt(total_seconds)* 2 * DOUBLESTEPS_PER_ROTATION);
-      step_delta = 1;  // single steps while filming for smoothest operation and highest torque
-      step_num %= NUM_STEPS;
-      break;
-    case REWINDING:
-      // fast rewind
-      step_interval_s = 0.0025;  // can often get 2ms but gets stuck sometimes.
-      step_delta = -2;  // double steps going backwards for speed.
-      if (step_num<0) {
-        step_num+=NUM_STEPS;  // modulus works here in Python it goes negative in C. 
-      }
-      break;
-    case STOPPED:
-      step_interval_s = 0.2;  // wait a bit to conserve power. 
-      break;
-  }
-
-  if (current_mode!=STOPPED) {
-    total_seconds += step_interval_s; // required for tangent error
-    current_step = STEPPER_SEQUENCE[step_num];
-    do_step(current_step);
-    step_num += step_delta;  // double-steppin' 
-    totalsteps += step_delta;
-  }
-  
-  // Serial.println(totalsteps);
-  // Before setting the next timer, subtract out however many
-  // clock cycles were burned doing all the work above. 
-  now = ESP.getCycleCount();
-  next = now + step_interval_s * CYCLES_PER_SECOND - (now-next); // will auto-rollover.
-  timer0_write(next);  // see you next time!
-}
-
-void do_step(int *current_step) {
-   /* apply a single step of the stepper motor on its pins. */
-   for (int i=0;i<NUM_PINS+1;i++) {
-     if (current_step[i] == 1) {
-        digitalWrite(allPins[i], HIGH);
-     }
-     else {
-        digitalWrite(allPins[i], LOW);
-     }
-   }
-}
-
-void setup() {
-  Serial.begin(115200);
-  setup_gpio();
-  setup_timer();
-
-
-  // Convenient Feature: Hold button down during boot to do a manual rewind.
-  // Press button again to set new zero point. 
-  int buttonUp = digitalRead(MODE_PIN);
-  if(not buttonUp) {
-    Serial.println("Manual REWIND!");
-    autostop=false;
-    current_mode=REWINDING;
-  }
-}
-
-void setup_timer() {
-  noInterrupts();
-  timer0_isr_init();
-  timer0_attachInterrupt(step_motor);  // call this function when timer expires
-  next=ESP.getCycleCount()+1000;
-  timer0_write(next);  // do first call in 1000 clock cycles. 
-  interrupts();
-}
-
-void setup_gpio() {
-  
-  for (int i=0;i<NUM_PINS+1;i++) {
-     pinMode(allPins[i], OUTPUT);
-  }
-  all_pins_off();
-  
-  // Setup toggle button for some user input. 
-  pinMode(MODE_PIN, INPUT_PULLUP);
-  attachInterrupt(digitalPinToInterrupt(MODE_PIN), toggle_mode, FALLING);
-}
-
-void all_pins_off() {
-  for (int i=0;i<NUM_PINS+1;i++) {
-    digitalWrite(allPins[i], LOW); 
-  }
-}
-
-void toggle_mode() {
-  /*  We have several modes that we can toggle between with a button, 
-   *  NORMAL, REWIND, and STOPPED.
-   */
-  if(ESP.getCycleCount() - last_toggle < 0.2*CYCLES_PER_SECOND) //debounce
-  {
-    return; 
-  }
-  if (current_mode == REWINDING){
-    Serial.println("STOPPING");
-    current_mode = STOPPED;
-    all_pins_off();
-    if (not autostop) {
-      // Reset things after a manual rewind.
-      step_num = 0;
-      total_seconds = 0.0;
-      totalsteps=0;
-      autostop=true;
-    }
-  }
-  else if (current_mode == NORMAL) {
-    Serial.println("Rewinding.");
-    current_mode = REWINDING;
-  }
-  else {
-    Serial.println("Restarting.");
-    current_mode = NORMAL;
-  }
-  last_toggle = ESP.getCycleCount();
-}
-
-
-void loop() {
-
-  if(current_mode == REWINDING) {
-      // we've reached the starting point. stop rewinding.
-      if(totalsteps < 1 and autostop==true){
-        Serial.println("Ending the rewind and stopping.");
-        current_mode=STOPPED;
-        all_pins_off();
-        total_seconds = 0.0;
-      }
-  }
-  else {
-    // no-op. just wait for interrupts. 
-    yield();  
-  }
-}
-
-
-
diff --git a/motorstepper.cpp b/motorstepper.cpp
deleted file mode 100644
index af1d359..0000000
--- a/motorstepper.cpp
+++ /dev/null
@@ -1,50 +0,0 @@
-#define NUM_PINS 4
-#define NUM_STEPS 8
-
-int allPins[NUM_PINS] = {D1, D2, D3, D4};
-
-// from manufacturers datasheet
-int STEPPER_SEQUENCE[NUM_STEPS][NUM_PINS] = {{1,0,0,1},
-                                             {1,0,0,0},
-                                             {1,1,0,0},
-                                             {0,1,0,0},
-                                             {0,1,1,0},
-                                             {0,0,1,0},
-                                             {0,0,1,1},
-                                             {0,0,0,1}};
-int stepNum = 0;
-
-void setup() {
-  Serial.begin(115200);
-  setup_gpio();
-}
-
-void setup_gpio() {
-  for (int i=0;i<NUM_PINS+1;i++) {
-     pinMode(allPins[i], OUTPUT);
-  }
-  all_pins_off();
-}
-
-void all_pins_off() {
-  for (int i=0;i<NUM_PINS+1;i++) {
-    digitalWrite(allPins[i], HIGH); 
-  }
-}
-
-int *currentStep;
-void loop() {
-  
- currentStep = STEPPER_SEQUENCE[stepNum];
-  for (int i=0;i<NUM_PINS+1;i++) {
-     if (currentStep[i] == 1) {
-        digitalWrite(allPins[i], HIGH);
-     }
-     else {
-        digitalWrite(allPins[i], LOW);
-     }
-  }
-  delay(5);
-  stepNum +=2;  // double-stepping. Faster and shakier. 
-  stepNum %= NUM_STEPS;
-}
\ No newline at end of file
diff --git a/stepper.py b/stepper.py
deleted file mode 100644
index 11d462a..0000000
--- a/stepper.py
+++ /dev/null
@@ -1 +0,0 @@
-import machine