emergency_lock()

Emergency locks (E-stops) the Farmduino microcontroller, preventing motor and peripheral usage, and resetting peripheral pins to OFF.

Features that do not rely on the microcontroller, such as sending messages and taking photos, are still available while emergency locked.

-- Lock (E-stop) the device:
emergency_lock()

emergency_unlock()

Unlocks a locked (E-stopped) device.

-- Unlock the device:
emergency_unlock()

soft_stop()

Cancels all current and pending movement requests. Unlike emergency_lock(), it will not lock the device nor will it reset the state of peripherals. Subsequent commands (including movement commands) will continue normally after a soft stop occurs, without requiring the device to be unlocked. This function can be used to pause FarmBot temporarily if a peripheral value changes mid-movement.

This is an advanced feature intended to be used in conjunction with watch_pin().

-- Soft stop the device:
soft_stop()

rotary_tool_motor_pin = 2
rotary_tool_load_sense_pin = 60
max_load = 90

-- Watcher function that soft stops the device and turns off the
-- rotary tool motor if the rotary tool load exceeds the max load
watcher = function(data)
    if (data.value > max_load) and (env("load") ~= "stalled") then
        env("load", "stalled")
        soft_stop()
        off(rotary_tool_motor_pin)
        toast("Rotary tool max load exceeded (load = " .. data.value .. ")", "warn")
    end
end

-- Watch the rotary tool load sense pin
watch_pin(rotary_tool_load_sense_pin, watcher)