io_port_test/io_port_test.ino

/*
IO Port Test
 
This example sketch outputs multiple signals on an output port, and then
reads back in the received signals to check that they match.
 
This can be used as a self-test to ensure that the input and outputs work properly,
e.g. that the level converter chips have been properly soldered.
 
Example project for the Stepdance control system.
 
A part of the Mixing Metaphors Project
 
// (c) 2025 Ilan Moyer, Jennifer Jacobs, Devon Frost
*/
 
// #define module_driver   // tells compiler we're using the Stepdance Driver Module PCB
#define module_basic   // tells compiler we're using the Stepdance Driver Module PCB
                        // This configures pin assignments for the Teensy 4.1
 
#include "stepdance.hpp"  // Import the stepdance library
 
// -- Define Output Ports --
// Output ports generate step and direction electrical signals
 
OutputPort output_port;
 
// -- Define Motion Channels --
// Channels track target positions and interface with output ports
 
Channel channel_x;
Channel channel_y;
Channel channel_r;
Channel channel_t;
Channel channel_z;
Channel channel_e; 
 
// -- Button to trigger test --
Button button_d1;
 
// -- Input Port --
InputPort input_port;
 
void setup() {
  // -- Configure and start the output port --
  #ifdef module_driver
    output_port.begin(OUTPUT_D, OUTPUT_FRAME_32US, OUTPUT_TRANSMIT_ON_FRAME); // For driver module we use "D" because it has both a driver socket and an output jack
  #endif
  #ifdef module_basic
    output_port.begin(OUTPUT_A, OUTPUT_FRAME_32US, OUTPUT_TRANSMIT_ON_FRAME); // For basic module we use "D" because it has both a driver socket and an output jack
  #endif
 
  // -- Configure and start the channels --
  channel_x.begin(&output_port, SIGNAL_X);
  channel_y.begin(&output_port, SIGNAL_Y);
  channel_r.begin(&output_port, SIGNAL_R);
  channel_t.begin(&output_port, SIGNAL_T);
  channel_z.begin(&output_port, SIGNAL_Z);
  channel_e.begin(&output_port, SIGNAL_E);
 
  // -- Configure and start the input port --
  input_port.begin(INPUT_A);
 
  button_d1.begin(IO_D1, INPUT_PULLDOWN);
  button_d1.set_mode(BUTTON_MODE_STANDARD);
  button_d1.set_callback_on_press(&button_press);
 
  // -- Start Serial Port --
  Serial.begin(115200);
 
  // -- Start the stepdance library --
  // This activates the system.
  dance_start();
}
 
LoopDelay report;
 
void loop() {
  dance_loop(); // Stepdance loop
  report.periodic_call(&report_input_values, 500);
}
 
void button_press(){
  channel_x.input_target_position.write(10000, INCREMENTAL);
  channel_y.input_target_position.write(-10000, INCREMENTAL);
  // channel_r.target_position += 10000;
  // channel_t.target_position -= 10000;
  channel_z.input_target_position.write(10000, INCREMENTAL);
  channel_e.input_target_position.write(-10000, INCREMENTAL);
}
 
void report_input_values(){
  Serial.print("X: ");
  Serial.print(input_port.position_x);
  Serial.print(", Y: ");
  Serial.print(input_port.position_y); 
  // Serial.print(", R: ");
  // Serial.print(input_port.position_r);
  // Serial.print(", T: ");
  // Serial.print(input_port.position_t);
  Serial.print(", Z: ");
  Serial.print(input_port.position_z);
  Serial.print(", E: ");
  Serial.println(input_port.position_e);
}