From 9c11f6201971a943045384772f5d6191a8614b00 Mon Sep 17 00:00:00 2001
From: Clement <c.boesmier@aptatio.com>
Date: Fri, 2 Feb 2024 14:39:50 +0100
Subject: [PATCH] add timer for stepper

---
 config.ini        | 1 +
 include/Program.h | 1 +
 src/Program.cpp   | 7 +++++--
 3 files changed, 7 insertions(+), 2 deletions(-)

diff --git a/config.ini b/config.ini
index 133d750..6503517 100644
--- a/config.ini
+++ b/config.ini
@@ -23,6 +23,7 @@ build_flags =
     ;-D STEPER_PAS=755.906 ; = 65mm
     -D STEPER_PAS=58 ; = 5mm
     -D STEPER_SPEED=2700 ;1000 ; 2500
+    -D GRBL_UPDATE=165 ;update time in ms
     ;;;;;;;;;;;;;;;;;;;;;;
     ;;;   App config   ;;;
     ;;;;;;;;;;;;;;;;;;;;;;
diff --git a/include/Program.h b/include/Program.h
index 2f073d8..ce4f803 100644
--- a/include/Program.h
+++ b/include/Program.h
@@ -28,6 +28,7 @@ private:
     NfcReader *nfcReader;
     GRBL *grbl;
     BigNfcReader* outputReader;
+    int grblUpdateTime;
 };
 
 #endif
diff --git a/src/Program.cpp b/src/Program.cpp
index c01be89..0067723 100644
--- a/src/Program.cpp
+++ b/src/Program.cpp
@@ -82,6 +82,7 @@ Program::Program() {
     this->grbl = new GRBL(STEPMOTOR_I2C_ADDR);
     this->outputReader = new BigNfcReader();
     this->outputReader->init();
+    this->grblUpdateTime = 0;
     Wire.begin(21, 22);
     grbl->init(STEPER_SPEED, STEPER_PAS, STEPER_ACC);
     struct WifiConfig wifi_c = {WIFI_SSID, WIFI_PASSWORD};
@@ -100,7 +101,7 @@ void Program::loop() {
     }
     this->servo->refresh();
     this->outputReader->refresh();
-    Serial.println(this->outputReader->getNbTags());
+    // Serial.println(this->outputReader->getNbTags());
 
     if(this->outputReader->getNbTags() >= 2){
         lcdScreen->set_nfc_message("To mutch colis number detected");
@@ -162,8 +163,10 @@ void Program::loop() {
         }
         this->grbl->mouveForward(CONVOYER_LEN);
     } else {
-        if(this->grbl->isIddle()){
+        if(this->grbl->isIddle() || (maintenant - this->grblUpdateTime >= GRBL_UPDATE)){
+            this->grblUpdateTime = maintenant;
             this->grbl->mouveForward(5);
+            Serial.print("pouet");
         }
     }
 }