From b92ed1a431c33a4fb0d216aaf8181a07cc28da3e Mon Sep 17 00:00:00 2001
From: drake <dragonduckymarino@gmail.com>
Date: Wed, 30 Oct 2024 22:07:05 -0500
Subject: [PATCH] update for dmx

---
 .gitmodules    |  3 +++
 platformio.ini |  1 +
 src/main.cpp   | 14 +++-----------
 3 files changed, 7 insertions(+), 11 deletions(-)

diff --git a/.gitmodules b/.gitmodules
index b9c49b4..322699b 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -4,3 +4,6 @@
 [submodule "lib/DMXSerial"]
 	path = lib/DMXSerial
 	url = https://github.com/mathertel/DMXSerial
+[submodule "lib/PWM"]
+	path = lib/PWM
+	url = https://github.com/terryjmyers/PWM
diff --git a/platformio.ini b/platformio.ini
index f015c4a..6c37389 100644
--- a/platformio.ini
+++ b/platformio.ini
@@ -13,3 +13,4 @@ platform = atmelavr
 board = uno
 framework = arduino
 monitor_speed = 115200
+; lib_deps = mathertel/DMXSerial@^1.5.3
diff --git a/src/main.cpp b/src/main.cpp
index 637cbb5..5654bb1 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -1,7 +1,7 @@
 #include <Arduino.h>
 #include <DMXSerial.h>
 #include <PID_v1.h>
-#include <PWM.h>
+#include <../lib/PWM/PWM.h>
 
 // Motor Driver: IBT-2 (BTS7960)
 #define LPWM_PIN 9                  // LPWM for CCW motion (postive)
@@ -30,7 +30,7 @@
 #define SAMPLE_RATE 10000               // min time (us) between velocity calculations
 #define LOOP_RATE   10                  // min time (ms) between control adjustments. ** Must be >= SAMPLE_RATE (converted to us) **
 
-#define DMX_CHANNEL 500 // DMX Channel to read
+#define DMX_CHANNEL 2 // DMX Channel to read
 
 // wall state variables:
 long encoderPosition = 0;        // raw count from encoder
@@ -111,20 +111,12 @@ void setup() {
   // initialize loop timers
   prevSample  = millis();
   prevControl = millis();
-  // lastToggle = millis() - 2000;
 }
 
 void loop() {
-  // if (millis() - lastToggle > 7000) {
-  //   if (targetPosition == 0) {
-  //     targetPosition = 0.5;
-  //   } else {
-  //     targetPosition = 0;
-  //   }
-  //   lastToggle = millis();
-  // }
 
   if (DMXSerial.noDataSince() < 5000) {
+    targetPosition = (float)(DMXSerial.read(DMX_CHANNEL) - 101) / 100.0f; // 0 is disabled. position values are 1-201, 101 is center, <101 is CW, >101 is CCW. 1 & 201 are 360 degrees
     digitalWrite(R_EN_PIN, HIGH);
     digitalWrite(L_EN_PIN, HIGH);