Implemented MoveStepper command.

src/ATM.ino

@@ -8,6 +8,7 @@
 #include "commands/MeasureReflection.h"
 #include "commands/VoltageSweep.h"
 #include "commands/ControlSwitch.h"
+#include "commands/MoveStepper.h"
 
 #define DEBUG
 
@@ -23,6 +24,7 @@ SetVoltages setVoltages;
 MeasureReflection measureReflection;
 VoltageSweep voltageSweep;
 ControlSwitch controlSwitch;
+MoveStepper moveStepper;
 
 // Frequency Settings
 #define FREQUENCY_STEP 100000U    // 100kHz frequency steps for initial frequency sweep
@@ -61,9 +63,10 @@ void setup()
   commandManager.registerCommand('d', &tuneMatch);
   commandManager.registerCommand('h', &homing);
   commandManager.registerCommand('v', &setVoltages);
-  commandManager.registerCommand('m', &measureReflection);
+  commandManager.registerCommand('r', &measureReflection);
   commandManager.registerCommand('s', &voltageSweep);
   commandManager.registerCommand('c', &controlSwitch);
+  commandManager.registerCommand('m', &moveStepper);
 
   pinMode(MISO_PIN, INPUT_PULLUP); // Seems to be necessary for SPI to work
 
@@ -135,26 +138,29 @@ void setup()
   adac.configure_ADCs(ADCs);
 }
 
-// Serial communication via USB.
-// Commands:
-// f<start frequency>f<stop frequency>f<frequency step> - Frequency Sweep
-// d<target frequency in MHz>f<start frequency>f<stop frequency>f<frequency step> - Tune and Match
-// h - Homing
 
 void loop()
 {
+  // Serial communication via USB.
+  // Commands:
+  // f<start frequency>f<stop frequency>f<frequency step> - Frequency Sweep
+  // d<target frequency in MHz>f<start frequency>f<stop frequency>f<frequency step> - Tune and Match
+  // h - Homing
+  // v<VM voltage in V>v<VT voltage in V> - Set Voltages
+  // r<frequency in MHz> - Measure Reflection
+  // s<start voltage in V>s<stop voltage in V>s<voltage step in V> - Voltage Sweep
+  // c<filter identifier> - Control Switch for the filterbank 'p' stands for preamplifier and 'a' for automatic tuning and matching. 
+  // m<stepper identifier><steps> - Move stepper motor. 't' for tuner and 'm' for matcher. Positive steps move the stepper away from the motor and negative steps move the stepper towards the motor.
   if (Serial.available())
   {
-
     String input_line = Serial.readStringUntil('\n'); // read string until newline character
 
     char command = input_line.charAt(0); // gets first character of input
 
     commandManager.executeCommand(command, input_line);
     commandManager.printCommandResult(command);
-    // approximate call
-    // CAREFULL -> if the coil has no proper matching in the frequency range this will not work! Only use this for testing -> otherwise use the automated 'decide' call.
-    /*if (command == 'a')
+    /*
+    Optimize matching call
     else if (command == 'm')
     {
       printInfo("Optimize Matching around frequency:");
@@ -186,10 +192,7 @@ void loop()
     {
       printInfo("Calibrating ...");
       getCalibrationValues();
-    }
-    else
-    {
-      printInfo("Invalid Input");
-    }*/
+    } */
   }
 }
+

src/commands/FrequencySweep.h

@@ -12,7 +12,7 @@ public:
      * @brief This function performs a frequency sweep
      * @param input_line The input line from the serial monitor. The syntax is f<start frequency>f<stop frequency>f<frequency step>.
     */
-    void execute(String input_lne) override;
+    void execute(String input_line) override;
     void printResult() override;
     void printHelp() override;
 private:

src/commands/MeasureReflection.h

@@ -4,7 +4,7 @@
 #include "Command.h"
 
 /**
- * @brief This class is used to perform a frequency sweep
+ * @brief This class is used to measure the  reflection at  a given frequency
  */
 class MeasureReflection : public Command
 {

src/commands/MoveStepper.cpp

@@ -0,0 +1,40 @@
+#include "Utilities.h"
+#include "MoveStepper.h"
+
+void MoveStepper::execute(String input_line)
+{
+    #define MATCHING_STEPPER 'm'
+    #define TUNING_STEPPER 't'
+
+    char stepper = input_line[1];
+    int steps = input_line.substring(2).toInt();
+
+    if (stepper == MATCHING_STEPPER)
+    {
+         matcher.STEPPER.move(steps);
+         matcher.STEPPER.runToPosition();
+    }
+    else if (stepper == TUNING_STEPPER)
+    {
+        tuner.STEPPER.move(steps);
+        tuner.STEPPER.runToPosition();
+    }
+    else
+    {
+        printInfo("Invalid stepper motor");
+    }
+}
+
+void MoveStepper::printResult()
+{
+    // Print Info  confirmation
+    printInfo("Fniished moving stepper");
+}
+
+void MoveStepper::printHelp()
+{
+    Serial.println("Move stepper command");
+    Serial.println("Syntax: m<stepper motor><steps>");
+    Serial.println("Example: mt100");
+    Serial.println("This will move the tuning stepper motor 100 steps");
+}

src/commands/MoveStepper.h

@@ -0,0 +1,22 @@
+#ifndef MOVESTEPPER_H
+#define MOVESTEPPER_H
+
+#include "Command.h"
+
+/**
+ * @brief This class is used to move either the tuning  or matching stepper motor
+*/
+class MoveStepper : public Command {
+public:
+    /**
+     * @brief This function moves the stepper motor
+     * @param input_line The input line from the serial monitor. 
+    */
+    void execute(String input_line) override;
+    void printResult() override;
+    void printHelp() override;
+private:
+    uint32_t resonance_frequency;
+};
+
+#endif