Added old firmware and pcb design files

These are all design documents that I thought I had lost. It's may make
me cringe, but it's still cool to use it to see how far I've come.

OSU SARL/Control Board Firmware/Pick And Plate/Driver Board Revision 2.0/Firmware/Steppers.c

@@ -0,0 +1,109 @@
+/*
+ * Steppers.c
+ *
+ * Created: 8/9/2014 1:10:47 PM
+ *  Author: corwin
+ */ 
+
+#include "Steppers.h"
+
+void enableSteppers()
+{
+	STEP_EN_CLR();
+	steppersEnabled = TRUE;
+	_delay_ms(100);
+}
+
+void disableSteppers()
+{
+	STEP_EN_SET();
+	steppersEnabled = FALSE;
+	_delay_ms(100);
+}
+
+void calibrateAllSteppers()
+{
+	ZAxis.desiredPosition = 40;														//Set position for the pipette to be up initially so it doesn't get broken on anything
+	ZAxis.shouldMove = TRUE;														//Allow axis to move
+	while(ZAxis.shouldMove);														//Wait for the pipette to come up before continuing
+	
+	homeYStepper();																	//Home the y axis against the limit switch
+	homeXStepper();																	//Home the x axis against the limit switch
+	_delay_ms(100);
+	
+	XAxis.desiredPosition = 47.5;														//Set x position to z calibration point
+	YAxis.desiredPosition = 36.5;													//Move y position to z calibration point
+	XAxis.shouldMove = TRUE;														//Allow axis to move
+	YAxis.shouldMove = TRUE;														//Allow axis to move
+	while(YAxis.shouldMove || XAxis.shouldMove);									//Don't continue until calibration point has been reached
+	
+	homeZStepper();																	//Home the z axis against the limit switch
+	setStepsOffset(&ZAxis);															//Re-align z steps to account for switch offset
+}
+
+void homeAllSteppers()
+{
+	
+	ZAxis.desiredPosition = 40;														//Set position for the pipette to be up initially so it doesn't get broken on anything
+	ZAxis.shouldMove = TRUE;														//Allow axis to move
+	while(ZAxis.shouldMove);														//Wait for the pipette to come up before continuing
+	
+	homeYStepper();																	//Home the y axis against the limit switch
+	homeXStepper();																	//Home the x axis against the limit switch
+	
+}
+
+void homeXStepper()
+{
+	X_DIR_CLR();
+	while(X_LIM_LEFT_GET()){
+		X_STEP_SET();
+		_delay_us(2);
+		X_STEP_CLR();
+		_delay_us(400);
+	}
+	XAxis.steps = 0;
+}
+
+void homeYStepper()
+{
+	Y_DIR_SET();
+	while(Y_LIM_FORW_GET()){
+		Y_STEP_SET();
+		_delay_us(2);
+		Y_STEP_CLR();
+		_delay_us(400);
+	}
+	YAxis.steps = 0;
+}
+
+void homeZStepper()
+{
+	Z_DIR_SET();
+	while(Z_LIM_DOWN_GET()){
+		Z_STEP_SET();
+		_delay_us(2);
+		Z_STEP_CLR();
+		_delay_us(400);
+	}
+	ZAxis.steps = 0;
+	ZAxis.desiredPosition = 30;
+	ZAxis.shouldMove = TRUE;
+	while(ZAxis.shouldMove);
+}
+
+void homeAStepper()
+{
+	
+}
+
+double getAxisPosition(Axes_t *axis)
+{
+	return (axis->steps/axis->stepsPerMM);
+}
+
+void setStepsOffset(Axes_t *axis)
+{
+	axis->steps = (axis->steps + (axis->mmFromZero * axis->stepsPerMM));
+}
+