adding axis sub status functions
TimEvWw
parent
3d59c0b8ff
commit
0250dccb66
Binary file not shown.
22
src/Config.h
22
src/Config.h
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@ -22,6 +22,28 @@ const int LOGGING = 0;
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//const bool AXIS_HOME_UP_Y = false;
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//const bool AXIS_HOME_UP_Z = true;
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const String COMM_REPORT_CMD_START = "R01";
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const String COMM_REPORT_CMD_DONE = "R02";
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const String COMM_REPORT_CMD_ERROR = "R03";
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const String COMM_REPORT_CMD_BUSY = "R04";
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const String COMM_REPORT_CMD_STATUS = "R05";
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const String COMM_REPORT_COMMENT = "R99";
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const int COMM_REPORT_MOVE_STATUS_IDLE = 0;
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const int COMM_REPORT_MOVE_STATUS_START_MOTOR = 1;
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const int COMM_REPORT_MOVE_STATUS_ACCELERATING = 2;
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const int COMM_REPORT_MOVE_STATUS_CRUISING = 3;
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const int COMM_REPORT_MOVE_STATUS_DECELERATING = 4;
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const int COMM_REPORT_MOVE_STATUS_STOP_MOTOR = 5;
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const int COMM_REPORT_MOVE_STATUS_CRAWLING = 6;
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const int COMM_REPORT_MOVE_STATUS_ERROR = -1;
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const int COMM_REPORT_CALIBRATE_STATUS_IDLE = 0;
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const int COMM_REPORT_CALIBRATE_STATUS_TO_HOME = 1;
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const int COMM_REPORT_CALIBRATE_STATUS_TO_END = 2;
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const int COMM_REPORT_CALIBRATE_STATUS_ERROR = -1;
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const int MOVEMENT_INTERRUPT_SPEED = 100; // Interrupt cycle in micro seconds
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const unsigned int MOVEMENT_SPEED_BASE_TIME = 2000;
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@ -34,12 +34,12 @@ int GCodeProcessor::execute(Command* command) {
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Serial.println("This is false: handler == NULL");
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return -1;
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}
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Serial.println("R01");
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Serial.println(COMM_REPORT_CMD_START);
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int execution = handler->execute(command);
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if(execution == 0) {
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Serial.println("R02");
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Serial.println(COMM_REPORT_CMD_DONE);
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} else {
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Serial.println("R03");
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Serial.println(COMM_REPORT_CMD_ERROR);
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}
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return execution;
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};
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@ -296,7 +296,8 @@ int StepperControl::moveToCoords( long xDest, long yDest, long zDest,
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if (currentMillis % 750 == 0)
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//if (1 == 1)
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{
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Serial.print("R04\n");
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Serial.print(COMM_REPORT_CMD_BUSY);
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Serial.print("\n");
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reportPosition();
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/*
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Serial.print("R99");
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@ -488,7 +489,8 @@ int StepperControl::calibrateAxis(int axis) {
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if (stepsCount % (speedMin[axis] * 3) == 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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Serial.print(COMM_REPORT_CMD_BUSY);
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Serial.print("\n");
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}
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if (stepsCount % (speedMin[axis] / 6) == 0 /*|| *missedSteps > 3*/)
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@ -604,7 +606,8 @@ int StepperControl::calibrateAxis(int axis) {
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if (stepsCount % (speedMin[axis] * 3) == 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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Serial.print(COMM_REPORT_CMD_BUSY);
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Serial.print("\n");
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}
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/*
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if (stepsCount % (speedMin[axis] / 6) == 0)
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@ -685,6 +688,28 @@ int StepperControl::calibrateAxis(int axis) {
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}
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void checkAxisSubStatus(StepperControlAxis* axis, int* axisSubStatus) {
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int newStatus = 0;
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if (axis->isAccelerating()) {
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newStatus = COMM_REPORT_MOVE_STATUS_ACCELERATING;
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}
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if (axis->isCruising()) {
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newStatus = COMM_REPORT_MOVE_STATUS_CRUISING;
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}
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if (axis->isDecelerating()) {
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newStatus = COMM_REPORT_MOVE_STATUS_DECELERATING;
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}
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if (axis->isCrawling()) {
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newStatus = COMM_REPORT_MOVE_STATUS_CRAWLING;
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}
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}
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// Handle movement by checking each axis
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void StepperControl::handleMovementInterrupt(void){
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@ -51,8 +51,10 @@ private:
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StepperControlEncoder encoderZ;
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void checkAxisVsEncoder(StepperControlAxis* axis, StepperControlEncoder* encoder, float* missedSteps, long* lastPosition, float* encoderStepDecay, bool* encoderEnabled);
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void checkAxisSubStatus(StepperControlAxis* axis, int* axisSubStatus);
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bool axisActive[3];
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int axisSubStep[3];
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void loadMotorSettings();
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void loadEncoderSettings();
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@ -18,6 +18,11 @@ StepperControlAxis::StepperControlAxis() {
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movementUp = false;
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movementToHome = false;
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movementAccelerating = false;
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movementDecelerating = false;
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movementCruising = false;
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movementCrawling = false;
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movementMotorActive = false;
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}
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void StepperControlAxis::test() {
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@ -41,6 +46,12 @@ unsigned int StepperControlAxis::calculateSpeed(long sourcePosition, long curren
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long staPos;
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long endPos;
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movementAccelerating = false;
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movementDecelerating = false;
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movementCruising = false;
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movementCrawling = false;
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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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@ -54,24 +65,29 @@ unsigned int StepperControlAxis::calculateSpeed(long sourcePosition, long curren
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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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movementCrawling = true;
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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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movementCruising = true;
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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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movementAccelerating = true;
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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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movementCruising = true;
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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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movementDecelerating = true;
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}
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}
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}
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@ -294,10 +310,12 @@ void StepperControlAxis::loadCoordinates(long sourcePoint, long destinationPoint
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void StepperControlAxis::enableMotor() {
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digitalWrite(pinEnable, LOW);
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movementMotorActive = true;
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}
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void StepperControlAxis::disableMotor() {
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digitalWrite(pinEnable, HIGH);
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movementMotorActive = false;
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}
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void StepperControlAxis::setDirectionUp() {
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@ -418,3 +436,20 @@ bool StepperControlAxis::movingToHome() {
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bool StepperControlAxis::movingUp() {
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return movementUp;
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}
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bool StepperControlAxis::isAccelerating() {
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return movementAccelerating;
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}
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bool StepperControlAxis::isDecelerating() {
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return movementDecelerating;
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}
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bool StepperControlAxis::isCrawling() {
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return movementCrawling;
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}
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bool StepperControlAxis::isMotorActive() {
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return movementMotorActive;
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}
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@ -35,6 +35,11 @@ public:
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bool isAxisActive();
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void deactivateAxis();
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bool isAccelerating();
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bool isDecelerating();
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bool isCruising();
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bool isCrawling();
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bool isMotorActive();
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bool endStopMin();
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bool endStopMax();
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@ -107,6 +112,11 @@ private:
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bool movementUp;
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bool movementToHome;
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bool movementStepDone;
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bool movementAccelerating;
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bool movementDecelerating;
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bool movementCruising;
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bool movementCrawling;
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bool movementMotorActive;
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void step(long ¤tPoint, unsigned long steps, long destinationPoint);
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bool pointReached(long currentPoint, long destinationPoint);
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