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Full reverse 180 #111

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Full reverse 180 #111

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74664c1
Provides a 180 degree reverse function
mwinters-stuff Apr 21, 2026
f137a91
Fix rotating 180 from home position.
mwinters-stuff Apr 22, 2026
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5 changes: 4 additions & 1 deletion IOFunctions.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -398,7 +398,10 @@ void receiveEvent(int received) {
Serial.println(F("DEBUG: Turn accessory pin off"));
}
setAccessory(LOW);

#if TURNTABLE_EX_MODE == TURNTABLE
} else if (activity == 18 && !stepper.isRunning() && !calibrating) {
reverseTurntable(activity);
#endif
#ifdef USE_RT_EX_TURNTABLE
} else if ((activity >= 10) && (activity <= 17)) {
setExtra(activity);
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23 changes: 23 additions & 0 deletions TurntableFunctions.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -183,6 +183,7 @@ void moveHome() {
#endif
stepper.setCurrentPosition(0);
lastStep = 0;
lastTarget = 0;
homed = 1;
Serial.println(F("Turntable homed successfully"));
if (debug) {
Expand Down Expand Up @@ -283,6 +284,28 @@ void moveToPosition(long steps, uint8_t phaseSwitch) {
}
}

void reverseTurntable(uint8_t phaseSwitch){
// Calculate new target 180 degrees from current logical position.
long baseTarget = lastStep % fullTurnSteps;
if (baseTarget < 0) {
baseTarget += fullTurnSteps;
}
long newTarget = baseTarget + halfTurnSteps;
if (newTarget >= fullTurnSteps) {
newTarget -= fullTurnSteps;
}
// Set phase if needed
setPhase(phaseSwitch);
// Move to new target
stepper.enableOutputs();
stepper.moveTo(newTarget);
lastTarget = newTarget;
lastStep = newTarget;

Serial.print(F("Reverseing Turntable: Rotating to "));
Serial.println(newTarget);
}

// Function to set phase.
void setPhase(uint8_t phase) {
#if RELAY_ACTIVE_STATE == HIGH
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2 changes: 2 additions & 0 deletions TurntableFunctions.h
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Original file line number Diff line number Diff line change
Expand Up @@ -36,6 +36,7 @@ extern bool calibrating;
extern uint8_t homed;
extern AccelStepper stepper;
extern long fullTurnSteps;
extern long halfTurnSteps;
extern long phaseSwitchStartSteps;
extern long phaseSwitchStopSteps;
extern long lastTarget;
Expand All @@ -56,6 +57,7 @@ void initiateHoming();
void initiateCalibration();
void setLEDActivity(uint8_t activity);
void setAccessory(bool state);
void reverseTurntable(uint8_t phaseSwitch);

#ifdef USE_RT_EX_TURNTABLE
void setExtra(uint8_t activity);
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