spacecruft
/
Farmbot-Web-App
1
0
Fork 0
Code Issues Pull Requests Releases Activity

add microsteps

pull/1157/head
gabrielburnworth 2019-04-16 10:01:27 -07:00
parent 08259b0ab1
commit beee68850a
9 changed files with 123 additions and 33 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
frontend/__test_support__/fake_state/resources.ts
View File

@ -374,6 +374,9 @@ export function fakeFirmwareConfig(): TaggedFirmwareConfig {
movement_step_per_mm_x: 5,
movement_step_per_mm_y: 5,
movement_step_per_mm_z: 25,
movement_microsteps_x: 1,
movement_microsteps_y: 1,
movement_microsteps_z: 1,
movement_steps_acc_dec_x: 300,
movement_steps_acc_dec_y: 300,
movement_steps_acc_dec_z: 300,

4
frontend/constants.ts
View File

@ -113,6 +113,10 @@ export namespace ToolTips {
trim(`The number of motor steps required to move the axis one millimeter.
(default: x: 5, y: 5, z: 25)`);
export const MICROSTEPS_PER_STEP =
trim(`The number of microsteps required to move the motor one step.
(default: x: 1, y: 1, z: 1)`);
export const ALWAYS_POWER_MOTORS =
trim(`Keep power applied to motors. Prevents slipping from gravity in
certain situations. (default: enabled)`);

36
frontend/controls/move/__tests__/direction_axes_props_test.ts 100644
View File

@ -0,0 +1,36 @@
import {
calcMicrostepsPerMm, calculateAxialLengths
} from "../direction_axes_props";
import { fakeFirmwareConfig } from "../../../__test_support__/fake_state/resources";
describe("calcMicrostepsPerMm()", () => {
it("uses fallback values", () => {
expect(calcMicrostepsPerMm(undefined, undefined)).toEqual(1);
});
it("calculates value with no microstepping", () => {
expect(calcMicrostepsPerMm(5, 1)).toEqual(5);
});
it("calculates value with microstepping", () => {
expect(calcMicrostepsPerMm(5, 4)).toEqual(20);
});
});
describe("calculateAxialLengths()", () => {
it("calculates lengths", () => {
const firmwareSettings = fakeFirmwareConfig().body;
firmwareSettings.movement_axis_nr_steps_x = 0;
firmwareSettings.movement_step_per_mm_x = 0;
firmwareSettings.movement_microsteps_x = 0;
firmwareSettings.movement_axis_nr_steps_y = 100;
firmwareSettings.movement_step_per_mm_y = 5;
firmwareSettings.movement_microsteps_y = 1;
firmwareSettings.movement_axis_nr_steps_z = 100;
firmwareSettings.movement_step_per_mm_z = 25;
firmwareSettings.movement_microsteps_z = 4;
expect(calculateAxialLengths({ firmwareSettings })).toEqual({
x: 0, y: 20, z: 1
});
});
});

31
frontend/controls/move/direction_axes_props.ts
View File

@ -1,17 +1,34 @@
import { DirectionAxesProps } from "./interfaces";
import { McuParams } from "farmbot";
const _ = (nr_steps: number | undefined, steps_mm: number | undefined) => {
return (nr_steps || 0) / (steps_mm || 1);
export const calcMicrostepsPerMm = (
steps_per_mm: number | undefined,
microsteps_per_step: number | undefined) =>
(steps_per_mm || 1) * (microsteps_per_step || 1);
const calcAxisLength = (
nr_steps: number | undefined,
steps_per_mm: number | undefined,
microsteps_per_step: number | undefined) => {
return (nr_steps || 0)
/ calcMicrostepsPerMm(steps_per_mm, microsteps_per_step);
};
function calculateAxialLengths(props: { firmwareSettings: McuParams }) {
export function calculateAxialLengths(props: { firmwareSettings: McuParams }) {
const fwParams = props.firmwareSettings;
return {
x: _(fwParams.movement_axis_nr_steps_x, fwParams.movement_step_per_mm_x),
y: _(fwParams.movement_axis_nr_steps_y, fwParams.movement_step_per_mm_y),
z: _(fwParams.movement_axis_nr_steps_z, fwParams.movement_step_per_mm_z),
x: calcAxisLength(
fwParams.movement_axis_nr_steps_x,
fwParams.movement_step_per_mm_x,
fwParams.movement_microsteps_x),
y: calcAxisLength(
fwParams.movement_axis_nr_steps_y,
fwParams.movement_step_per_mm_y,
fwParams.movement_microsteps_y),
z: calcAxisLength(
fwParams.movement_axis_nr_steps_z,
fwParams.movement_step_per_mm_z,
fwParams.movement_microsteps_z),
};
}

9
frontend/devices/components/hardware_settings/homing_and_calibration.tsx
View File

@ -11,6 +11,7 @@ import { Header } from "./header";
import { Collapse } from "@blueprintjs/core";
import { minFwVersionCheck } from "../../../util";
import { t } from "../../../i18next_wrapper";
import { calculateScale } from "./motors";
export function HomingAndCalibration(props: HomingAndCalibrationProps) {
@ -31,6 +32,8 @@ export function HomingAndCalibration(props: HomingAndCalibrationProps) {
*/
const disabled = disabledAxisMap(hardware);
const scale = calculateScale(sourceFwConfig);
return <section>
<Header
title={t("Homing and Calibration")}
@ -79,11 +82,11 @@ export function HomingAndCalibration(props: HomingAndCalibrationProps) {
name={t("Axis Length (mm)")}
tooltip={ToolTips.LENGTH}
x={"movement_axis_nr_steps_x"}
xScale={sourceFwConfig("movement_step_per_mm_x").value}
y={"movement_axis_nr_steps_y"}
yScale={sourceFwConfig("movement_step_per_mm_y").value}
z={"movement_axis_nr_steps_z"}
zScale={sourceFwConfig("movement_step_per_mm_z").value}
xScale={scale.x}
yScale={scale.y}
zScale={scale.z}
gray={{
x: !sourceFwConfig("movement_stop_at_max_x").value,
y: !sourceFwConfig("movement_stop_at_max_y").value,

52
frontend/devices/components/hardware_settings/motors.tsx
View File

@ -12,6 +12,9 @@ import { Collapse } from "@blueprintjs/core";
import { McuInputBox } from "../mcu_input_box";
import { minFwVersionCheck } from "../../../util";
import { t } from "../../../i18next_wrapper";
import { Xyz, McuParamName } from "farmbot";
import { SourceFwConfig } from "../../interfaces";
import { calcMicrostepsPerMm } from "../../../controls/move/direction_axes_props";
const SingleSettingRow =
({ label, tooltip, settingType, children }: {
@ -30,6 +33,19 @@ const SingleSettingRow =
: <Col xs={6}>{children}</Col>}
</Row>;
export const calculateScale =
(sourceFwConfig: SourceFwConfig): Record<Xyz, number | undefined> => {
const getV = (name: McuParamName) => sourceFwConfig(name).value;
return {
x: calcMicrostepsPerMm(getV("movement_step_per_mm_x"),
getV("movement_microsteps_x")),
y: calcMicrostepsPerMm(getV("movement_step_per_mm_y"),
getV("movement_microsteps_y")),
z: calcMicrostepsPerMm(getV("movement_step_per_mm_z"),
getV("movement_microsteps_z")),
};
};
export function Motors(props: MotorsProps) {
const {
dispatch, firmwareVersion, controlPanelState,
@ -38,6 +54,7 @@ export function Motors(props: MotorsProps) {
const enable2ndXMotor = sourceFwConfig("movement_secondary_motor_x");
const invert2ndXMotor = sourceFwConfig("movement_secondary_motor_invert_x");
const eStopOnMoveError = sourceFwConfig("param_e_stop_on_mov_err");
const scale = calculateScale(sourceFwConfig);
return <section>
<Header
@ -69,9 +86,9 @@ export function Motors(props: MotorsProps) {
x={"movement_max_spd_x"}
y={"movement_max_spd_y"}
z={"movement_max_spd_z"}
xScale={sourceFwConfig("movement_step_per_mm_x").value}
yScale={sourceFwConfig("movement_step_per_mm_y").value}
zScale={sourceFwConfig("movement_step_per_mm_z").value}
xScale={scale.x}
yScale={scale.y}
zScale={scale.z}
sourceFwConfig={sourceFwConfig}
dispatch={dispatch} />
{(minFwVersionCheck(firmwareVersion, "5.0.5") || isValidFwConfig) &&
@ -81,9 +98,9 @@ export function Motors(props: MotorsProps) {
x={"movement_home_spd_x"}
y={"movement_home_spd_y"}
z={"movement_home_spd_z"}
xScale={sourceFwConfig("movement_step_per_mm_x").value}
yScale={sourceFwConfig("movement_step_per_mm_y").value}
zScale={sourceFwConfig("movement_step_per_mm_z").value}
xScale={scale.x}
yScale={scale.y}
zScale={scale.z}
sourceFwConfig={sourceFwConfig}
dispatch={dispatch} />}
<NumericMCUInputGroup
@ -92,9 +109,9 @@ export function Motors(props: MotorsProps) {
x={"movement_min_spd_x"}
y={"movement_min_spd_y"}
z={"movement_min_spd_z"}
xScale={sourceFwConfig("movement_step_per_mm_x").value}
yScale={sourceFwConfig("movement_step_per_mm_y").value}
zScale={sourceFwConfig("movement_step_per_mm_z").value}
xScale={scale.x}
yScale={scale.y}
zScale={scale.z}
sourceFwConfig={sourceFwConfig}
dispatch={dispatch} />
<NumericMCUInputGroup
@ -103,9 +120,9 @@ export function Motors(props: MotorsProps) {
x={"movement_steps_acc_dec_x"}
y={"movement_steps_acc_dec_y"}
z={"movement_steps_acc_dec_z"}
xScale={sourceFwConfig("movement_step_per_mm_x").value}
yScale={sourceFwConfig("movement_step_per_mm_y").value}
zScale={sourceFwConfig("movement_step_per_mm_z").value}
xScale={scale.x}
yScale={scale.y}
zScale={scale.z}
sourceFwConfig={sourceFwConfig}
dispatch={dispatch} />
<NumericMCUInputGroup
@ -114,9 +131,20 @@ export function Motors(props: MotorsProps) {
x={"movement_step_per_mm_x"}
y={"movement_step_per_mm_y"}
z={"movement_step_per_mm_z"}
xScale={sourceFwConfig("movement_microsteps_x").value}
yScale={sourceFwConfig("movement_microsteps_y").value}
zScale={sourceFwConfig("movement_microsteps_z").value}
float={false}
sourceFwConfig={props.sourceFwConfig}
dispatch={props.dispatch} />
<NumericMCUInputGroup
name={t("Microsteps per step")}
tooltip={ToolTips.MICROSTEPS_PER_STEP}
x={"movement_microsteps_x"}
y={"movement_microsteps_y"}
z={"movement_microsteps_z"}
sourceFwConfig={props.sourceFwConfig}
dispatch={props.dispatch} />
<BooleanMCUInputGroup
name={t("Always Power Motors")}
tooltip={ToolTips.ALWAYS_POWER_MOTORS}

9
frontend/farm_designer/state_to_props.ts
View File

@ -27,6 +27,7 @@ import { Feature } from "../devices/interfaces";
import { reduceFarmwareEnv } from "../farmware/state_to_props";
import { getFirmwareConfig } from "../resources/getters";
import { DevSettings } from "../account/dev/dev_support";
import { calcMicrostepsPerMm } from "../controls/move/direction_axes_props";
const plantFinder = (plants: TaggedPlant[]) =>
(uuid: string | undefined): TaggedPlant =>
@ -64,7 +65,11 @@ export function mapStateToProps(props: Everything): Props {
const { mcu_params } = props.bot.hardware;
const firmwareSettings = fwConfig || mcu_params;
const { movement_step_per_mm_x, movement_step_per_mm_y } = firmwareSettings;
const fw = firmwareSettings;
const stepsPerMmXY = {
x: calcMicrostepsPerMm(fw.movement_step_per_mm_x, fw.movement_microsteps_x),
y: calcMicrostepsPerMm(fw.movement_step_per_mm_y, fw.movement_microsteps_y),
};
const peripherals = uniq(selectAllPeripherals(props.resources.index))
.map(x => {
@ -119,7 +124,7 @@ export function mapStateToProps(props: Everything): Props {
plants,
botLocationData: validBotLocationData(props.bot.hardware.location_data),
botMcuParams: firmwareSettings,
stepsPerMmXY: { x: movement_step_per_mm_x, y: movement_step_per_mm_y },
stepsPerMmXY,
peripherals,
eStopStatus: props.bot.hardware.informational_settings.locked,
latestImages,

10
frontend/sequences/state_to_props.ts
View File

@ -15,6 +15,7 @@ import { getFirmwareConfig } from "../resources/getters";
import { Farmwares } from "../farmware/interfaces";
import { manifestInfo } from "../farmware/generate_manifest_info";
import { DevSettings } from "../account/dev/dev_support";
import { calculateAxialLengths } from "../controls/move/direction_axes_props";
export function mapStateToProps(props: Everything): Props {
const uuid = props.resources.consumers.sequences.current;
@ -42,14 +43,7 @@ export function mapStateToProps(props: Everything): Props {
y: !!firmwareSettings.movement_home_up_y,
z: !!firmwareSettings.movement_home_up_z
},
axisLength: {
x: (firmwareSettings.movement_axis_nr_steps_x || 0)
/ (firmwareSettings.movement_step_per_mm_x || 1),
y: (firmwareSettings.movement_axis_nr_steps_y || 0)
/ (firmwareSettings.movement_step_per_mm_y || 1),
z: (firmwareSettings.movement_axis_nr_steps_z || 0)
/ (firmwareSettings.movement_step_per_mm_z || 1)
},
axisLength: calculateAxialLengths({ firmwareSettings }),
};
};

2
package.json
View File

@ -43,7 +43,7 @@
"coveralls": "3.0.3",
"enzyme": "3.9.0",
"enzyme-adapter-react-16": "1.12.1",
"farmbot": "7.0.4-rc1",
"farmbot": "7.0.4-rc3",
"farmbot-toastr": "1.0.3",
"i18next": "15.0.9",
"jest": "24.7.1",