2014-05-25 17:20:00 -06:00
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#include "StepperControl.h"
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static StepperControl* instance;
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StepperControl * StepperControl::getInstance() {
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if (!instance) {
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instance = new StepperControl();
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};
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return instance;
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2014-05-28 17:02:22 -06:00
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}
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;
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2014-05-25 17:20:00 -06:00
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StepperControl::StepperControl() {
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}
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2014-07-15 16:19:06 -06:00
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unsigned long getMaxLength(unsigned long lengths[3]) {
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unsigned long max = lengths[0];
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2014-05-25 17:20:00 -06:00
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for (int i = 1; i < 3; i++) {
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if (lengths[i] > max) {
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max = lengths[i];
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}
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}
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return max;
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}
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2014-09-21 14:42:44 -06:00
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bool endStopMin(int axis_nr) {
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long stepPin[3] = { X_MIN_PIN,
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Y_MIN_PIN,
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Z_MIN_PIN };
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return digitalRead(stepPin[axis_nr]);
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}
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bool endStopMax(int axis_nr) {
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long stepPin[3] = { X_MAX_PIN,
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Y_MAX_PIN,
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Z_MAX_PIN };
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return digitalRead(stepPin[axis_nr]);
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}
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2014-07-25 14:32:37 -06:00
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int endStopAxisReached(int axis_nr, bool movement_forward) {
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2014-08-07 15:05:30 -06:00
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bool endStInv[3] = { ParameterList::getInstance()->getValue(MOVEMENT_INVERT_ENDPOINTS_X),
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ParameterList::getInstance()->getValue(MOVEMENT_INVERT_ENDPOINTS_Y),
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ParameterList::getInstance()->getValue(MOVEMENT_INVERT_ENDPOINTS_Z) };
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2014-07-25 14:32:37 -06:00
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bool min_endstop = false;
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bool max_endstop = false;
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2014-08-17 14:15:05 -06:00
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bool invert = false;
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if (endStInv[axis_nr]) {
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invert = true;
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}
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2014-07-25 14:32:37 -06:00
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// for the axis to check, retrieve the end stop status
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2014-09-21 14:42:44 -06:00
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if (!invert) {
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min_endstop = endStopMin(axis_nr);
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max_endstop = endStopMax(axis_nr);
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} else {
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min_endstop = endStopMax(axis_nr);
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max_endstop = endStopMin(axis_nr);
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}
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/*
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2014-07-25 14:32:37 -06:00
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if (axis_nr == 0) {
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2014-08-17 14:15:05 -06:00
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min_endstop=(digitalRead(X_MIN_PIN) ^ invert);
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max_endstop=(digitalRead(X_MAX_PIN) ^ invert);
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2014-07-25 14:32:37 -06:00
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}
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if (axis_nr == 1) {
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2014-08-17 14:15:05 -06:00
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min_endstop=(digitalRead(Y_MIN_PIN) ^ invert);
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max_endstop=(digitalRead(Y_MAX_PIN) ^ invert);
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2014-07-25 14:32:37 -06:00
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}
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if (axis_nr == 2) {
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2014-08-17 14:15:05 -06:00
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min_endstop=(digitalRead(Z_MIN_PIN) ^ invert);
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max_endstop=(digitalRead(Z_MAX_PIN) ^ invert);
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2014-07-25 14:32:37 -06:00
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}
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2014-09-21 14:42:44 -06:00
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*/
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2014-07-25 14:32:37 -06:00
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// if moving forward, only check the end stop max
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// for moving backwards, check only the end stop min
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if((!movement_forward && min_endstop) || (movement_forward && max_endstop)) {
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return 1;
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}
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return 0;
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}
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void step(int axis, long ¤tPoint, unsigned long steps,
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2014-07-15 16:19:06 -06:00
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long destinationPoint) {
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2014-08-17 14:15:05 -06:00
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2014-05-25 17:20:00 -06:00
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if (currentPoint < destinationPoint) {
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currentPoint += steps;
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} else if (currentPoint > destinationPoint) {
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currentPoint -= steps;
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}
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2014-08-17 14:15:05 -06:00
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2014-05-25 17:20:00 -06:00
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switch (axis) {
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case 0:
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digitalWrite(X_STEP_PIN, HIGH);
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2014-05-28 17:02:22 -06:00
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//digitalWrite(X_STEP_PIN, LOW);
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2014-05-25 17:20:00 -06:00
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break;
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case 1:
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digitalWrite(Y_STEP_PIN, HIGH);
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2014-05-28 17:02:22 -06:00
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//digitalWrite(Y_STEP_PIN, LOW);
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2014-05-25 17:20:00 -06:00
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break;
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case 2:
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digitalWrite(Z_STEP_PIN, HIGH);
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2014-05-28 17:02:22 -06:00
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//digitalWrite(Z_STEP_PIN, LOW);
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2014-05-25 17:20:00 -06:00
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break;
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}
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2014-07-25 14:32:37 -06:00
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// if the home end stop is reached, set the current position
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if (endStopAxisReached(axis, false))
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{
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currentPoint = 0;
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}
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2014-05-25 17:20:00 -06:00
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}
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2014-07-15 16:19:06 -06:00
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bool pointReached(long currentPoint[3],
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long destinationPoint[3]) {
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2014-05-25 17:20:00 -06:00
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for (int i = 0; i < 3; i++) {
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if (destinationPoint[i] != currentPoint[i]) {
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return false;
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}
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}
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return true;
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}
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2014-08-02 10:51:01 -06:00
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/*
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2014-05-25 17:20:00 -06:00
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unsigned int calculateSpeed(unsigned int ¤tStepsPerSecond,
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unsigned int maxStepsPerSecond, unsigned int currentSteps,
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unsigned int currentMillis, unsigned int maxLength,
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unsigned int &accelerationSteps,
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unsigned int maxAccelerationStepsPerSecond) {
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2014-08-02 10:51:01 -06:00
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2014-05-25 17:20:00 -06:00
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if (currentStepsPerSecond < maxStepsPerSecond) {
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if (currentSteps < maxLength / 2) {
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2014-08-02 10:51:01 -06:00
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accelerationSteps = currentSteps;
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2014-05-25 17:20:00 -06:00
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if (currentMillis % 100 == 0) {
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currentStepsPerSecond += maxAccelerationStepsPerSecond / 10;
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}
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} else {
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if (currentMillis % 100 == 0
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&& currentStepsPerSecond
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> maxAccelerationStepsPerSecond / 10) {
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currentStepsPerSecond -= maxAccelerationStepsPerSecond / 10;
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}
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}
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} else if (currentSteps > maxLength - accelerationSteps
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&& currentStepsPerSecond > maxAccelerationStepsPerSecond / 10) {
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if (currentMillis % 100 == 0) {
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currentStepsPerSecond -= maxAccelerationStepsPerSecond / 10;
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}
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} else {
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currentStepsPerSecond = maxStepsPerSecond;
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}
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2014-05-28 17:02:22 -06:00
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if (currentStepsPerSecond < maxAccelerationStepsPerSecond) {
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currentStepsPerSecond = maxAccelerationStepsPerSecond;
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}
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2014-05-25 17:20:00 -06:00
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return currentStepsPerSecond;
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}
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2014-08-02 10:51:01 -06:00
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*/
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unsigned int calculateSpeed(long sourcePosition, long currentPosition, long destinationPosition, long minSpeed, long maxSpeed, long stepsAccDec) {
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int newSpeed = 0;
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long curPos = abs(currentPosition);
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long staPos;
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long endPos;
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if (abs(sourcePosition) < abs(destinationPosition)) {
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staPos = abs(sourcePosition);
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endPos = abs(destinationPosition);;
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} else {
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staPos = abs(destinationPosition);;
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endPos = abs(sourcePosition);
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}
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unsigned long halfway = ((endPos - staPos) / 2) + staPos;
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// Set the minimum speed if the position would be out of bounds
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if (curPos < staPos || curPos > endPos) {
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newSpeed = minSpeed;
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} else {
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if (curPos >= staPos && curPos <= halfway) {
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// accelerating
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if (curPos > (staPos + stepsAccDec)) {
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// now beyond the accelleration point to go full speed
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newSpeed = maxSpeed + 1;
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} else {
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// speeding up, increase speed linear within the first period
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newSpeed = (1.0 * (curPos - staPos) / stepsAccDec * (maxSpeed - minSpeed)) + minSpeed;
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}
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} else {
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// decelerating
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if (curPos < (endPos - stepsAccDec)) {
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// still before the deceleration point so keep going at full speed
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newSpeed = maxSpeed + 2;
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} else {
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// speeding up, increase speed linear within the first period
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newSpeed = (1.0 * (endPos - curPos) / stepsAccDec * (maxSpeed - minSpeed)) + minSpeed;
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}
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}
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}
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2014-08-27 15:11:09 -06:00
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if (LOGGING) {
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if (millis() % 200 == 0 && currentPosition != destinationPosition) {
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Serial.print("R99");
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// Serial.print(" a ");
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// Serial.print(endPos);
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// Serial.print(" b ");
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// Serial.print((endPos - stepsAccDec));
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// Serial.print(" c ");
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// Serial.print(curPos < (endPos - stepsAccDec));
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Serial.print(" sta ");
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Serial.print(staPos);
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Serial.print(" cur ");
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Serial.print(curPos);
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Serial.print(" end ");
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Serial.print(endPos);
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Serial.print(" half ");
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Serial.print(halfway);
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Serial.print(" len ");
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Serial.print(stepsAccDec);
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// Serial.print(" min ");
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// Serial.print(minSpeed);
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// Serial.print(" max ");
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// Serial.print(maxSpeed);
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Serial.print(" spd ");
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Serial.print(" ");
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Serial.print(newSpeed);
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Serial.print("\n");
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}
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}
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2014-08-02 10:51:01 -06:00
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return newSpeed;
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}
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2014-05-25 17:20:00 -06:00
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void enableMotors(bool enable) {
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if (enable) {
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digitalWrite(X_ENABLE_PIN, LOW);
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digitalWrite(Y_ENABLE_PIN, LOW);
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digitalWrite(Z_ENABLE_PIN, LOW);
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2014-07-15 14:23:01 -06:00
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delay(100);
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2014-05-25 17:20:00 -06:00
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} else {
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digitalWrite(X_ENABLE_PIN, HIGH);
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digitalWrite(Y_ENABLE_PIN, HIGH);
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digitalWrite(Z_ENABLE_PIN, HIGH);
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}
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}
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2014-09-05 16:25:24 -06:00
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void setDirectionAxis(int dirPin, long currentPoint, long destinationPoint, bool goHome, bool homeIsUp, bool motorInv) {
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2014-09-04 15:10:47 -06:00
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if (((!goHome && currentPoint < destinationPoint) || (goHome && homeIsUp)) ^ motorInv) {
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digitalWrite(dirPin, HIGH);
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} else {
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digitalWrite(dirPin, LOW);
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}
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}
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void setDirections(long* currentPoint, long* destinationPoint, bool* homeAxis, bool* motorInv) {
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2014-08-07 15:05:30 -06:00
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bool homeIsUp[3] = { ParameterList::getInstance()->getValue(MOVEMENT_HOME_UP_X),
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ParameterList::getInstance()->getValue(MOVEMENT_HOME_UP_Y),
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ParameterList::getInstance()->getValue(MOVEMENT_HOME_UP_Z) };
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2014-09-04 15:10:47 -06:00
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setDirectionAxis(X_DIR_PIN, currentPoint[0], destinationPoint[0], homeAxis[0], homeIsUp[0], motorInv[0]);
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setDirectionAxis(Y_DIR_PIN, currentPoint[1], destinationPoint[1], homeAxis[1], homeIsUp[1], motorInv[1]);
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setDirectionAxis(Z_DIR_PIN, currentPoint[2], destinationPoint[2], homeAxis[2], homeIsUp[2], motorInv[2]);
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2014-05-25 17:20:00 -06:00
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}
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2014-07-15 16:19:06 -06:00
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unsigned long getLength(long l1, long l2) {
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2014-05-28 17:02:22 -06:00
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if(l1 > l2) {
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return l1 - l2;
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} else {
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return l2 - l1;
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}
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}
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2014-07-01 05:00:03 -06:00
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int endStopsReached() {
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2014-08-07 15:05:30 -06:00
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bool endStInv[3] = { ParameterList::getInstance()->getValue(MOVEMENT_INVERT_ENDPOINTS_X),
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ParameterList::getInstance()->getValue(MOVEMENT_INVERT_ENDPOINTS_Y),
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ParameterList::getInstance()->getValue(MOVEMENT_INVERT_ENDPOINTS_Z) };
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bool x_min_endstop=(digitalRead(X_MIN_PIN) == endStInv[0]);
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bool x_max_endstop=(digitalRead(X_MAX_PIN) == endStInv[0]);
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bool y_min_endstop=(digitalRead(Y_MIN_PIN) == endStInv[1]);
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bool y_max_endstop=(digitalRead(Y_MAX_PIN) == endStInv[1]);
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bool z_min_endstop=(digitalRead(Z_MIN_PIN) == endStInv[2]);
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bool z_max_endstop=(digitalRead(Z_MAX_PIN) == endStInv[2]);
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2014-07-01 05:00:03 -06:00
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if(x_min_endstop || x_max_endstop || y_min_endstop || y_max_endstop || z_min_endstop || z_max_endstop) {
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return 1;
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}
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return 0;
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}
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2014-07-23 01:46:21 -06:00
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void reportEndStops() {
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CurrentState::getInstance()->printEndStops();
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}
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2014-07-25 14:32:37 -06:00
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void reportPosition(){
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CurrentState::getInstance()->printPosition();
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}
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2014-07-23 01:46:21 -06:00
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void storeEndStops() {
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2014-07-15 14:23:01 -06:00
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2014-07-24 15:04:19 -06:00
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CurrentState::getInstance()->storeEndStops();
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}
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2014-07-15 14:23:01 -06:00
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2014-09-04 15:10:47 -06:00
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/**
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* water is dosed by setting the pin for the water high for a number of miliseconds
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*
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*/
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void doseWaterByTime(long time) {
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digitalWrite(HEATER_1_PIN, HIGH);
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delay(time);
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digitalWrite(HEATER_1_PIN, LOW);
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}
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2014-06-25 14:22:52 -06:00
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/**
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* xDest - destination X in steps
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* yDest - destination Y in steps
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* zDest - destination Z in steps
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* maxStepsPerSecond - maximum number of steps per second
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* maxAccelerationStepsPerSecond - maximum number of acceleration in steps per second
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*/
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2014-08-06 16:04:40 -06:00
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int StepperControl::moveAbsoluteConstant( long xDest, long yDest, long zDest,
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unsigned int xMaxSpd, unsigned int yMaxSpd, unsigned int zMaxSpd,
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bool xHome, bool yHome, bool zHome) {
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2014-07-15 14:23:01 -06:00
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2014-08-06 16:04:40 -06:00
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long sourcePoint[3] = { CurrentState::getInstance()->getX(),
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CurrentState::getInstance()->getY(),
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CurrentState::getInstance()->getZ() };
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2014-08-02 10:51:01 -06:00
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2014-08-06 16:04:40 -06:00
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long currentPoint[3] = { CurrentState::getInstance()->getX(),
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CurrentState::getInstance()->getY(),
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CurrentState::getInstance()->getZ() };
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2014-08-02 10:51:01 -06:00
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2014-07-15 16:19:06 -06:00
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long destinationPoint[3] = { xDest, yDest, zDest };
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2014-06-25 14:22:52 -06:00
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2014-08-06 16:04:40 -06:00
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unsigned long movementLength[3] = { getLength(destinationPoint[0], currentPoint[0]),
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getLength(destinationPoint[1], currentPoint[1]),
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getLength(destinationPoint[2], currentPoint[2])};
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2014-07-15 16:19:06 -06:00
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unsigned long maxLenth = getMaxLength(movementLength);
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2014-08-06 16:04:40 -06:00
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double lengthRatio[3] = { 1.0 * movementLength[0] / maxLenth,
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1.0 * movementLength[1] / maxLenth,
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1.0 * movementLength[2] / maxLenth };
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2014-08-07 15:05:30 -06:00
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bool homeIsUp[3] = { ParameterList::getInstance()->getValue(MOVEMENT_HOME_UP_X),
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ParameterList::getInstance()->getValue(MOVEMENT_HOME_UP_Y),
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ParameterList::getInstance()->getValue(MOVEMENT_HOME_UP_Z) };
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2014-08-06 16:04:40 -06:00
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2014-08-17 14:15:05 -06:00
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long speedMax[3] = { ParameterList::getInstance()->getValue(MOVEMENT_MAX_SPD_X),
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2014-08-07 15:05:30 -06:00
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ParameterList::getInstance()->getValue(MOVEMENT_MAX_SPD_Y),
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ParameterList::getInstance()->getValue(MOVEMENT_MAX_SPD_Z) };
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2014-08-06 16:04:40 -06:00
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2014-08-17 14:15:05 -06:00
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long speedMin[3] = { ParameterList::getInstance()->getValue(MOVEMENT_MIN_SPD_X),
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2014-08-07 15:05:30 -06:00
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ParameterList::getInstance()->getValue(MOVEMENT_MIN_SPD_Y),
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ParameterList::getInstance()->getValue(MOVEMENT_MIN_SPD_Z) };
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2014-08-06 16:04:40 -06:00
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2014-08-17 14:15:05 -06:00
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long stepsAcc[3] = { ParameterList::getInstance()->getValue(MOVEMENT_STEPS_ACC_DEC_X),
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2014-08-07 15:05:30 -06:00
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ParameterList::getInstance()->getValue(MOVEMENT_STEPS_ACC_DEC_Y),
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ParameterList::getInstance()->getValue(MOVEMENT_STEPS_ACC_DEC_Z) };
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2014-08-06 16:04:40 -06:00
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2014-08-07 15:05:30 -06:00
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bool motorInv[3] = { ParameterList::getInstance()->getValue(MOVEMENT_INVERT_MOTOR_X),
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ParameterList::getInstance()->getValue(MOVEMENT_INVERT_MOTOR_Y),
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ParameterList::getInstance()->getValue(MOVEMENT_INVERT_MOTOR_Z) };
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2014-08-06 16:04:40 -06:00
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2014-08-07 15:05:30 -06:00
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bool endStInv[3] = { ParameterList::getInstance()->getValue(MOVEMENT_INVERT_ENDPOINTS_X),
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ParameterList::getInstance()->getValue(MOVEMENT_INVERT_ENDPOINTS_Y),
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ParameterList::getInstance()->getValue(MOVEMENT_INVERT_ENDPOINTS_Z) };
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2014-08-06 16:04:40 -06:00
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2014-08-17 14:15:05 -06:00
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long timeOut[3] = { ParameterList::getInstance()->getValue(MOVEMENT_TIMEOUT_X),
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2014-08-07 15:05:30 -06:00
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ParameterList::getInstance()->getValue(MOVEMENT_TIMEOUT_X),
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ParameterList::getInstance()->getValue(MOVEMENT_TIMEOUT_X) };
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2014-08-06 16:04:40 -06:00
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2014-08-07 15:05:30 -06:00
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bool homeAxis[3] = { xHome, yHome, zHome };
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bool home = xHome || yHome || zHome;
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2014-07-23 01:46:21 -06:00
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2014-07-29 16:12:19 -06:00
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unsigned long currentMillis = 0;
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2014-10-12 15:57:07 -06:00
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2014-07-25 14:32:37 -06:00
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unsigned long currentSteps = 0;
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unsigned long lastStepMillis[3] = { 0, 0, 0 };
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2014-06-25 14:22:52 -06:00
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2014-07-25 14:32:37 -06:00
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unsigned long timeStart = millis();
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2014-07-15 14:23:01 -06:00
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bool movementDone = false;
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2014-07-29 16:12:19 -06:00
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bool movementUp = false;
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bool movementToHome = false;
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2014-07-15 14:23:01 -06:00
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bool moving = false;
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bool stepMade = false;
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2014-10-24 16:02:50 -06:00
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int incomingByte = 0;
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int axisSpeed = 0;
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2014-07-25 14:32:37 -06:00
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int error = 0;
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2014-08-06 16:04:40 -06:00
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// if a speed is given in the command, use that instead of the config speed
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if (xMaxSpd > 0 && xMaxSpd < speedMax[0]) {
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speedMax[0] = xMaxSpd;
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}
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if (yMaxSpd > 0 && yMaxSpd < speedMax[1]) {
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speedMax[1] = yMaxSpd;
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}
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if (zMaxSpd > 0 && zMaxSpd < speedMax[2]) {
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speedMax[2] = zMaxSpd;
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2014-07-29 16:12:19 -06:00
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}
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2014-08-06 16:04:40 -06:00
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// Prepare for movement
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2014-07-23 01:46:21 -06:00
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storeEndStops();
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2014-07-15 14:23:01 -06:00
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reportEndStops();
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2014-07-13 15:12:01 -06:00
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enableMotors(true);
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2014-07-29 16:12:19 -06:00
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2014-09-04 15:10:47 -06:00
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setDirections(currentPoint, destinationPoint, homeAxis, motorInv);
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2014-07-29 16:12:19 -06:00
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// Limit normal movmement to the home position
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for (int i = 0; i < 3; i++) {
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if (!homeIsUp[i] && destinationPoint[i] < 0) {
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destinationPoint[i] = 0;
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}
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if ( homeIsUp[i] && destinationPoint[i] > 0) {
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destinationPoint[i] = 0;
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}
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}
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2014-06-25 14:22:52 -06:00
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2014-08-06 16:04:40 -06:00
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// Start movement
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2014-07-13 15:12:01 -06:00
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while (!movementDone) {
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2014-07-15 14:23:01 -06:00
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2014-07-23 01:46:21 -06:00
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storeEndStops();
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2014-10-24 16:02:50 -06:00
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// Check if there is an emergency stop command
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if (Serial.available() > 0) {
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incomingByte = Serial.read();
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if (incomingByte == 69 || incomingByte == 101) {
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movementDone = true;
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}
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}
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2014-07-15 14:23:01 -06:00
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stepMade = false;
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moving = false;
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2014-08-27 15:11:09 -06:00
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2014-08-06 16:04:40 -06:00
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// Keep moving until destination reached or while moving home and end stop not reached
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2014-10-24 16:02:50 -06:00
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if ((!pointReached(currentPoint, destinationPoint) || home) && !movementDone) {
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2014-08-17 14:15:05 -06:00
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// Check each axis
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2014-07-13 15:12:01 -06:00
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for (int i = 0; i < 3; i++) {
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2014-07-29 16:12:19 -06:00
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2014-08-06 16:04:40 -06:00
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axisSpeed = calculateSpeed( sourcePoint[i],currentPoint[i],destinationPoint[i],
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2014-08-26 15:59:52 -06:00
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speedMin[i], speedMax[i], stepsAcc[i]);
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2014-07-29 16:12:19 -06:00
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if (homeAxis[i]){
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// When home is active, the direction is fixed
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movementUp = homeIsUp[i];
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movementToHome = true;
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if (currentPoint[i] == 0) {
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// Go slow when theoretical end point reached but there is no end stop siganl
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2014-08-06 16:04:40 -06:00
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axisSpeed = speedMin[i];
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2014-07-15 14:23:01 -06:00
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}
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2014-07-29 16:12:19 -06:00
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} else {
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// For normal movement, move in direction of destination
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movementUp = ( currentPoint[i] < destinationPoint[i] );
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movementToHome = (abs(currentPoint[i]) >= abs(destinationPoint[i]));
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}
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2014-08-17 14:15:05 -06:00
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if (millis() - timeStart > timeOut[i] * MOVEMENT_SPEED_BASE_TIME) {
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error = 1;
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} else {
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2014-09-05 16:25:24 -06:00
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//if ()
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2014-08-17 14:15:05 -06:00
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// If end stop reached, don't move anymore
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if ((homeAxis[i] && !endStopAxisReached(i, false)) || (!homeAxis[i] && !endStopAxisReached(i, !movementToHome) && currentPoint[i] != destinationPoint[i] )) {
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moving = true;
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2014-08-27 15:11:09 -06:00
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// Only do a step every x milliseconds (x is calculated above)
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2014-08-17 14:15:05 -06:00
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if (currentMillis - lastStepMillis[i] >= MOVEMENT_SPEED_BASE_TIME / axisSpeed) {
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2014-08-06 16:04:40 -06:00
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if (homeAxis[i] && currentPoint[i] == 0) {
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2014-08-27 15:11:09 -06:00
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// Keep moving toward end stop even when position is zero
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// but end stop is not yet active
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2014-08-06 16:04:40 -06:00
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if (homeIsUp[i]) {
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currentPoint[i] = -1;
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} else {
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currentPoint[i] = 1;
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}
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2014-07-15 14:23:01 -06:00
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}
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2014-07-29 16:12:19 -06:00
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2014-08-27 15:11:09 -06:00
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// set a step on the motors
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2014-08-06 16:04:40 -06:00
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step(i, currentPoint[i], 1, destinationPoint[i]);
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stepMade = true;
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lastStepMillis[i] = currentMillis;
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2014-08-27 15:11:09 -06:00
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}
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2014-08-17 14:15:05 -06:00
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2014-08-27 15:11:09 -06:00
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}
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2014-08-17 14:15:05 -06:00
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2014-08-27 15:11:09 -06:00
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// If end stop for home is active, set the position to zero
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if (endStopAxisReached(i, false))
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{
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currentPoint[i] = 0;
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2014-07-13 15:12:01 -06:00
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}
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}
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2014-06-25 14:22:52 -06:00
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}
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2014-07-13 15:12:01 -06:00
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} else {
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movementDone = true;
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2014-06-25 14:22:52 -06:00
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}
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2014-08-02 10:51:01 -06:00
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delayMicroseconds(MOVEMENT_DELAY);
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2014-06-25 14:22:52 -06:00
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if (stepMade) {
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currentSteps++;
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}
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2014-10-12 15:57:07 -06:00
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2014-06-25 14:22:52 -06:00
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currentMillis++;
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2014-10-12 15:57:07 -06:00
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if (currentMillis % 10000 == 0)
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{
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// Periodically send message still active
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Serial.print("R04\n");
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}
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2014-06-25 14:22:52 -06:00
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if (stepMade) {
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digitalWrite(X_STEP_PIN, LOW);
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digitalWrite(Y_STEP_PIN, LOW);
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digitalWrite(Z_STEP_PIN, LOW);
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}
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2014-07-15 14:23:01 -06:00
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if (!moving)
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2014-07-13 15:12:01 -06:00
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{
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movementDone = true;
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}
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2014-07-25 14:32:37 -06:00
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2014-09-05 16:25:24 -06:00
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delayMicroseconds(MOVEMENT_DELAY);
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2014-06-25 14:22:52 -06:00
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}
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2014-08-17 14:15:05 -06:00
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enableMotors(false);
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2014-07-23 01:46:21 -06:00
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2014-05-28 17:02:22 -06:00
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CurrentState::getInstance()->setX(currentPoint[0]);
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CurrentState::getInstance()->setY(currentPoint[1]);
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CurrentState::getInstance()->setZ(currentPoint[2]);
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2014-07-23 01:46:21 -06:00
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storeEndStops();
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reportEndStops();
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2014-07-25 14:32:37 -06:00
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reportPosition();
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2014-08-27 15:11:09 -06:00
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2014-07-25 14:32:37 -06:00
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return error;
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2014-05-25 17:20:00 -06:00
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}
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2014-09-04 15:10:47 -06:00
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//
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// Calibration
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//
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int StepperControl::calibrateAxis(int axis) {
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2014-09-22 14:35:01 -06:00
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int parMotInv[3] = { 31, 32, 33};
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int parEndInv[3] = { 21, 22, 23};
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2014-10-09 15:35:26 -06:00
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int parNbrStp[3] = {801,802,803};
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2014-09-22 14:35:01 -06:00
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2014-09-21 14:42:44 -06:00
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bool motorInv[3] = { ParameterList::getInstance()->getValue(MOVEMENT_INVERT_MOTOR_X),
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ParameterList::getInstance()->getValue(MOVEMENT_INVERT_MOTOR_Y),
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ParameterList::getInstance()->getValue(MOVEMENT_INVERT_MOTOR_Z) };
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bool homeAxis[3] = {false,false,false};
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bool homeIsUp[3] = {false,false,false};
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long speedMin[3] = {200,200,200};
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bool endStInv[3] = {false,false,false};
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long timeOut[3] = {5000,5000,5000};
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2014-09-04 15:10:47 -06:00
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long stepPin[3] = { X_STEP_PIN,
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Y_STEP_PIN,
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Z_STEP_PIN };
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long dirPin[3] = { X_DIR_PIN,
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Y_DIR_PIN,
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Z_DIR_PIN };
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// Set the coordinate variables for homing, so the default functions can be used for settign direction
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2014-09-21 14:42:44 -06:00
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long sourcePoint[3] = { 0, 0, 0 };
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long destinationPoint[3] = { 0, 0, 0 };
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2014-09-04 15:10:47 -06:00
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unsigned long currentMillis = 0;
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unsigned long currentSteps = 0;
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unsigned long lastStepMillis = 0;
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unsigned long timeStart = millis();
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bool movementDone = false;
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2014-09-22 14:35:01 -06:00
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int paramValueInt = 0;
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2014-09-21 14:42:44 -06:00
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bool invertEndStops = false;
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int stepsCount = 0;
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2014-10-24 16:02:50 -06:00
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int incomingByte = 0;
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2014-09-04 15:10:47 -06:00
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int error = 0;
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// Prepare for movement
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storeEndStops();
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reportEndStops();
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2014-09-21 14:42:44 -06:00
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// Preliminary checks
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if (endStopMin(axis) || endStopMax(axis)) {
|
2014-10-12 15:57:07 -06:00
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|
|
Serial.print("R99 Calibration error: end stop active before start\n");
|
2014-09-21 14:42:44 -06:00
|
|
|
return 1;
|
|
|
|
}
|
2014-09-04 15:10:47 -06:00
|
|
|
|
2014-10-12 15:57:07 -06:00
|
|
|
|
|
|
|
|
|
|
|
/*
|
|
|
|
Serial.print("R99");
|
|
|
|
Serial.print(" ");
|
|
|
|
Serial.print("calibration start");
|
|
|
|
Serial.print("\n");
|
|
|
|
*/
|
|
|
|
|
|
|
|
|
2014-09-04 15:10:47 -06:00
|
|
|
// Move towards home
|
|
|
|
|
2014-09-21 14:42:44 -06:00
|
|
|
enableMotors(true);
|
|
|
|
|
2014-09-04 15:10:47 -06:00
|
|
|
movementDone = false;
|
2014-09-21 14:42:44 -06:00
|
|
|
setDirectionAxis(dirPin[0], 0, -1, homeAxis[axis], homeIsUp[axis], motorInv[axis]);
|
2014-09-04 15:10:47 -06:00
|
|
|
|
2014-09-21 14:42:44 -06:00
|
|
|
while (!movementDone && error == 0) {
|
2014-09-04 15:10:47 -06:00
|
|
|
|
2014-10-24 16:02:50 -06:00
|
|
|
// Check if there is an emergency stop command
|
|
|
|
if (Serial.available() > 0) {
|
|
|
|
incomingByte = Serial.read();
|
|
|
|
if (incomingByte == 69 || incomingByte == 101) {
|
|
|
|
movementDone = true;
|
|
|
|
error = 1;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
2014-09-04 15:10:47 -06:00
|
|
|
// Move until the end stop for home position is reached
|
2014-10-24 16:02:50 -06:00
|
|
|
if ((!endStopMin(axis) && !endStopMax(axis)) && !movementDone) {
|
2014-09-04 15:10:47 -06:00
|
|
|
|
2014-09-21 14:42:44 -06:00
|
|
|
if (millis() - timeStart > timeOut[axis] * MOVEMENT_SPEED_BASE_TIME) {
|
2014-09-04 15:10:47 -06:00
|
|
|
movementDone = true;
|
|
|
|
error = 1;
|
|
|
|
} else {
|
|
|
|
|
2014-09-21 14:42:44 -06:00
|
|
|
// Only do a step every x milliseconds (x is calculated above)
|
|
|
|
if (currentMillis - lastStepMillis >= MOVEMENT_SPEED_BASE_TIME / speedMin[axis]) {
|
|
|
|
digitalWrite(X_STEP_PIN, HIGH);
|
2014-10-12 15:57:07 -06:00
|
|
|
lastStepMillis = currentMillis;
|
2014-09-04 15:10:47 -06:00
|
|
|
}
|
|
|
|
}
|
|
|
|
|
2014-10-12 15:57:07 -06:00
|
|
|
delayMicroseconds(MOVEMENT_DELAY);
|
|
|
|
|
2014-09-04 15:10:47 -06:00
|
|
|
currentMillis++;
|
2014-10-12 15:57:07 -06:00
|
|
|
if (currentMillis % 10000 == 0)
|
|
|
|
{
|
|
|
|
// Periodically send message still active
|
|
|
|
Serial.print("R04\n");
|
|
|
|
}
|
|
|
|
|
2014-09-04 15:10:47 -06:00
|
|
|
digitalWrite(X_STEP_PIN, LOW);
|
2014-10-12 15:57:07 -06:00
|
|
|
delayMicroseconds(MOVEMENT_DELAY);
|
2014-09-04 15:10:47 -06:00
|
|
|
|
|
|
|
} else {
|
|
|
|
movementDone = true;
|
2014-09-21 14:42:44 -06:00
|
|
|
|
|
|
|
// If end stop for home is active, set the position to zero
|
|
|
|
if (endStopMax(axis))
|
|
|
|
{
|
|
|
|
invertEndStops = true;
|
|
|
|
}
|
2014-09-04 15:10:47 -06:00
|
|
|
}
|
|
|
|
}
|
|
|
|
|
2014-10-12 15:57:07 -06:00
|
|
|
|
|
|
|
/*
|
|
|
|
Serial.print("R99");
|
|
|
|
Serial.print(" ");
|
|
|
|
Serial.print("calibration halfway");
|
|
|
|
Serial.print(" ");
|
|
|
|
Serial.print("end stop invert");
|
|
|
|
Serial.print(" ");
|
|
|
|
Serial.print(invertEndStops);
|
|
|
|
Serial.print(" ");
|
|
|
|
Serial.print("error");
|
|
|
|
Serial.print(" ");
|
|
|
|
Serial.print(error);
|
|
|
|
Serial.print("\n");
|
|
|
|
*/
|
|
|
|
|
|
|
|
|
2014-09-22 14:35:01 -06:00
|
|
|
// Report back the end stop setting
|
|
|
|
|
|
|
|
if (error == 0) {
|
|
|
|
if (invertEndStops) {
|
|
|
|
paramValueInt = 1;
|
|
|
|
} else {
|
|
|
|
paramValueInt = 0;
|
|
|
|
}
|
|
|
|
|
|
|
|
Serial.print("R23");
|
|
|
|
Serial.print(" ");
|
|
|
|
Serial.print("P");
|
|
|
|
Serial.print(parEndInv[axis]);
|
|
|
|
Serial.print(" ");
|
|
|
|
Serial.print("V");
|
2014-10-09 15:35:26 -06:00
|
|
|
Serial.print(paramValueInt);
|
|
|
|
Serial.print("\n");
|
2014-09-22 14:35:01 -06:00
|
|
|
}
|
2014-09-04 15:10:47 -06:00
|
|
|
|
2014-09-22 14:35:01 -06:00
|
|
|
// Store the status of the system
|
2014-09-04 15:10:47 -06:00
|
|
|
|
2014-09-21 14:42:44 -06:00
|
|
|
storeEndStops();
|
|
|
|
reportEndStops();
|
2014-09-22 14:35:01 -06:00
|
|
|
//reportPosition();
|
2014-09-04 15:10:47 -06:00
|
|
|
|
2014-09-21 14:42:44 -06:00
|
|
|
// Move into the other direction now, and measure the number of steps
|
2014-09-04 15:10:47 -06:00
|
|
|
|
2014-10-12 15:57:07 -06:00
|
|
|
stepsCount = 0;
|
2014-09-21 14:42:44 -06:00
|
|
|
movementDone = false;
|
|
|
|
setDirectionAxis(dirPin[0], 0, 1, homeAxis[axis], homeIsUp[axis], motorInv[axis]);
|
2014-09-04 15:10:47 -06:00
|
|
|
|
2014-09-21 14:42:44 -06:00
|
|
|
while (!movementDone && error == 0) {
|
2014-09-04 15:10:47 -06:00
|
|
|
|
2014-10-24 16:02:50 -06:00
|
|
|
// Check if there is an emergency stop command
|
|
|
|
if (Serial.available() > 0) {
|
|
|
|
incomingByte = Serial.read();
|
|
|
|
if (incomingByte == 69 || incomingByte == 101) {
|
|
|
|
movementDone = true;
|
|
|
|
error = 1;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
|
2014-09-21 14:42:44 -06:00
|
|
|
// Move until the end stop at the other side of the axis is reached
|
2014-10-24 16:02:50 -06:00
|
|
|
if (((!invertEndStops && !endStopMax(axis)) || (invertEndStops && !endStopMin(axis))) && !movementDone) {
|
2014-09-04 15:10:47 -06:00
|
|
|
|
2014-09-21 14:42:44 -06:00
|
|
|
if (millis() - timeStart > timeOut[axis] * MOVEMENT_SPEED_BASE_TIME) {
|
|
|
|
movementDone = true;
|
|
|
|
error = 1;
|
|
|
|
} else {
|
2014-09-04 15:10:47 -06:00
|
|
|
|
2014-09-21 14:42:44 -06:00
|
|
|
// Only do a step every x milliseconds (x is calculated above)
|
|
|
|
if (currentMillis - lastStepMillis >= MOVEMENT_SPEED_BASE_TIME / speedMin[axis]) {
|
|
|
|
digitalWrite(X_STEP_PIN, HIGH);
|
|
|
|
stepsCount++;
|
2014-10-12 15:57:07 -06:00
|
|
|
lastStepMillis = currentMillis;
|
2014-09-21 14:42:44 -06:00
|
|
|
}
|
|
|
|
}
|
2014-09-04 15:10:47 -06:00
|
|
|
|
2014-10-12 15:57:07 -06:00
|
|
|
delayMicroseconds(MOVEMENT_DELAY);
|
|
|
|
|
2014-09-21 14:42:44 -06:00
|
|
|
currentMillis++;
|
2014-10-12 15:57:07 -06:00
|
|
|
if (currentMillis % 10000 == 0)
|
|
|
|
{
|
|
|
|
// Periodically send message still active
|
|
|
|
Serial.print("R04\n");
|
|
|
|
}
|
|
|
|
|
|
|
|
|
2014-09-21 14:42:44 -06:00
|
|
|
digitalWrite(X_STEP_PIN, LOW);
|
2014-10-12 15:57:07 -06:00
|
|
|
delayMicroseconds(MOVEMENT_DELAY);
|
2014-09-04 15:10:47 -06:00
|
|
|
|
2014-09-21 14:42:44 -06:00
|
|
|
} else {
|
2014-09-04 15:10:47 -06:00
|
|
|
movementDone = true;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
2014-10-12 15:57:07 -06:00
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
/*
|
|
|
|
Serial.print("R99");
|
|
|
|
Serial.print(" ");
|
|
|
|
Serial.print("calibration done");
|
|
|
|
Serial.print(" ");
|
|
|
|
Serial.print("nr steps");
|
|
|
|
Serial.print(" ");
|
|
|
|
Serial.print(stepsCount);
|
|
|
|
Serial.print(" ");
|
|
|
|
Serial.print("error");
|
|
|
|
Serial.print(" ");
|
|
|
|
Serial.print(error);
|
|
|
|
Serial.print("\n");
|
|
|
|
*/
|
|
|
|
|
|
|
|
|
|
|
|
|
2014-09-22 14:35:01 -06:00
|
|
|
// Report back the end stop setting
|
|
|
|
|
|
|
|
if (error == 0) {
|
|
|
|
Serial.print("R23");
|
|
|
|
Serial.print(" ");
|
|
|
|
Serial.print("P");
|
|
|
|
Serial.print(parNbrStp[axis]);
|
|
|
|
Serial.print(" ");
|
|
|
|
Serial.print("V");
|
2014-10-12 15:57:07 -06:00
|
|
|
Serial.print(stepsCount);
|
2014-10-09 15:35:26 -06:00
|
|
|
Serial.print("\n");
|
2014-09-22 14:35:01 -06:00
|
|
|
}
|
2014-09-04 15:10:47 -06:00
|
|
|
|
2014-09-22 14:35:01 -06:00
|
|
|
enableMotors(false);
|
2014-09-04 15:10:47 -06:00
|
|
|
|
|
|
|
storeEndStops();
|
|
|
|
reportEndStops();
|
2014-10-12 15:57:07 -06:00
|
|
|
|
|
|
|
|
|
|
|
switch (axis) {
|
|
|
|
case 0:
|
|
|
|
CurrentState::getInstance()->setX(stepsCount);
|
|
|
|
break;
|
|
|
|
case 1:
|
|
|
|
CurrentState::getInstance()->setY(stepsCount);
|
|
|
|
break;
|
|
|
|
case 2:
|
|
|
|
CurrentState::getInstance()->setZ(stepsCount);
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
|
|
|
reportPosition();
|
2014-09-04 15:10:47 -06:00
|
|
|
|
|
|
|
return error;
|
|
|
|
}
|