Added shooting object to arduino

platformio.ini

@@ -16,5 +16,6 @@ lib_deps =
 	paulstoffregen/Encoder@^1.4.2
 	andrealombardo/L298N@^2.0.3
 	waspinator/AccelStepper@^1.64
+	stepper
 upload_port = COM4
 monitor_speed = 115200

src/main.cpp

@@ -1,15 +1,21 @@
 #include <Arduino.h>
 #include "motorControl.h"
+#include "shooting.h"
 
 motorControl controller;
+shooting shooter;
 stepStruct reading;
 
+//previous count for shooting to ensure fire one puck at a time
+int prevCount = 0;
+
 //function prototype:
 void serialCommunicate();
 
 void setup() {
   Serial.begin(115200);
   controller.setup();
+  shooter.setup();
   while (!Serial) {
     ;  // Wait for the serial port to be ready
   }
@@ -46,9 +52,9 @@ void loop() {
 void serialCommunicate(){
   if (Serial.available() > 0) {
     String inputString = Serial.readStringUntil('\n');  // Read until newline
-
+    
     // Separate the comma-separated values
-    int values[4];
+    int values[5];
     int currentIndex = 0;
     int commaIndex = inputString.indexOf(',');
     while (commaIndex != -1) {
@@ -59,12 +65,18 @@ void serialCommunicate(){
     }
 
     // Handle the last value
-    if (currentIndex < 4) {
+    if (currentIndex < 5) {
       values[currentIndex] = inputString.toInt();
     }
 
     //write the values to the arduino
     controller.updateMotors(values[0], values[1], values[2], values[3]);
+
+    //loading and shooting values write to arduino
+    if(values[4] > prevCount){
+      shooter.shoot();
+      prevCount = values[4];
+    }
   }
   //read from the motor
   reading = controller.readSteppers();
@@ -75,6 +87,8 @@ void serialCommunicate(){
   Serial.print(reading.step3);
   Serial.print(',');
   Serial.print(reading.step4);
+  Serial.print(',');
+  Serial.print(prevCount);
   Serial.println();
 
   //move steps

src/shooting.cpp

@@ -0,0 +1,29 @@
+#include "shooting.h"
+
+shooting::shooting() :myStepper(200, IN1, IN2, IN3, IN4){
+// Constructor initializer list to initialize myStepper
+}
+
+shooting::~shooting() {
+
+}
+
+void shooting::setup() {
+    myStepper.setSpeed(25);
+    pinMode(Solenoid, OUTPUT); 
+}
+
+
+void shooting::shoot(){
+    //Shooting Code, may need to adjust delays
+    digitalWrite(Solenoid, HIGH); 
+    delay(100);
+    digitalWrite(Solenoid, LOW); 
+    myStepper.step(-130);     //Switch Solenoid ON
+    //delay(100);                          
+          //Switch Solenoid OFF
+    //Reload code
+    //need to verify rotation duration/trial&error?
+    //delay(300);
+    myStepper.step(130);
+}

src/shooting.h

@@ -0,0 +1,28 @@
+#ifndef shooting_h
+#define shooting_h
+
+#include <Arduino.h>
+#include <Stepper.h>
+
+
+class shooting {
+public:
+    shooting(); //constructor
+    virtual ~shooting(); //virtual destructor
+    void setup();
+    void shoot();
+
+protected:
+    //solenoid pin
+    int Solenoid = 50;//pin value 
+
+    //motors
+    int IN1 = 42;//1
+    int IN2 = 44;//2
+    int IN3 = 46;//3
+    int IN4 = 48;//4
+
+    Stepper myStepper;// Declare Stepper instance as a member variable
+};
+
+#endif