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Calibration/homing speed parameter

pull/94/head
Tim Evers 2017-08-30 20:10:04 +02:00
parent 7ca8130a95
commit 0b6f5705d5
3 changed files with 10 additions and 7 deletions
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6
src/StepperControl.cpp
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@ -1243,9 +1243,9 @@ void StepperControl::loadMotorSettings()
CurrentState::getInstance()->setStepsPerMm(stepsPerMm[0], stepsPerMm[1], stepsPerMm[2]);
axisX.loadMotorSettings(speedMax[0], speedMin[0], stepsAcc[0], timeOut[0], homeIsUp[0], motorInv[0], endStInv[0], MOVEMENT_INTERRUPT_SPEED, motor2Enbl[0], motor2Inv[0], endStEnbl[0], motorStopAtHome[0], motorMaxSize[0], motorStopAtMax[0]);
axisY.loadMotorSettings(speedMax[1], speedMin[1], stepsAcc[1], timeOut[1], homeIsUp[1], motorInv[1], endStInv[1], MOVEMENT_INTERRUPT_SPEED, motor2Enbl[1], motor2Inv[1], endStEnbl[1], motorStopAtHome[1], motorMaxSize[1], motorStopAtMax[1]);
axisZ.loadMotorSettings(speedMax[2], speedMin[2], stepsAcc[2], timeOut[2], homeIsUp[2], motorInv[2], endStInv[2], MOVEMENT_INTERRUPT_SPEED, motor2Enbl[2], motor2Inv[2], endStEnbl[2], motorStopAtHome[2], motorMaxSize[2], motorStopAtMax[2]);
axisX.loadMotorSettings(speedMax[0], speedMin[0], speedHome[0], stepsAcc[0], timeOut[0], homeIsUp[0], motorInv[0], endStInv[0], MOVEMENT_INTERRUPT_SPEED, motor2Enbl[0], motor2Inv[0], endStEnbl[0], motorStopAtHome[0], motorMaxSize[0], motorStopAtMax[0]);
axisY.loadMotorSettings(speedMax[1], speedMin[1], speedHome[1], stepsAcc[1], timeOut[1], homeIsUp[1], motorInv[1], endStInv[1], MOVEMENT_INTERRUPT_SPEED, motor2Enbl[1], motor2Inv[1], endStEnbl[1], motorStopAtHome[1], motorMaxSize[1], motorStopAtMax[1]);
axisZ.loadMotorSettings(speedMax[2], speedMin[2], speedHome[2], stepsAcc[2], timeOut[2], homeIsUp[2], motorInv[2], endStInv[2], MOVEMENT_INTERRUPT_SPEED, motor2Enbl[2], motor2Inv[2], endStEnbl[2], motorStopAtHome[2], motorMaxSize[2], motorStopAtMax[2]);
primeMotors();
}

8
src/StepperControlAxis.cpp
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@ -101,7 +101,7 @@ unsigned int StepperControlAxis::calculateSpeed(long sourcePosition, long curren
unsigned long halfway = ((endPos - staPos) / 2) + staPos;
//unsigned long halfway = ((destinationPosition - sourcePosition) / 2) + sourcePosition;
// Set the minimum speed if the position would be out of bounds
// Set the homing speed if the position would be out of bounds
if (
(curPos < staPos || curPos > endPos)
// ||
@ -110,7 +110,8 @@ unsigned int StepperControlAxis::calculateSpeed(long sourcePosition, long curren
// (!motorHomeIsUp && currentPosition <= 0) || (motorHomeIsUp && currentPosition >= 0) ||)
)
{
newSpeed = minSpeed;
newSpeed = motorSpeedHome;
//newSpeed = minSpeed;
movementCrawling = true;
movementMoving = true;
}
@ -395,13 +396,14 @@ void StepperControlAxis::StepperControlAxis::loadPinNumbers(int step, int dir, i
}
void StepperControlAxis::loadMotorSettings(
long speedMax, long speedMin, long stepsAcc, long timeOut, bool homeIsUp, bool motorInv,
long speedMax, long speedMin, long speedHome, long stepsAcc, long timeOut, bool homeIsUp, bool motorInv,
bool endStInv, long interruptSpeed, bool motor2Enbl, bool motor2Inv, bool endStEnbl,
bool stopAtHome, long maxSize, bool stopAtMax)
{
motorSpeedMax = speedMax;
motorSpeedMin = speedMin;
motorSpeedHome = speedHome;
motorStepsAcc = stepsAcc;
motorTimeOut = timeOut;
motorHomeIsUp = homeIsUp;

3
src/StepperControlAxis.h
View File

@ -24,7 +24,7 @@ public:
StepperControlAxis();
void loadPinNumbers(int step, int dir, int enable, int min, int max, int step2, int dir2, int enable2);
void loadMotorSettings(long speedMax, long speedMin, long stepsAcc, long timeOut, bool homeIsUp, bool motorInv, bool endStInv, long interruptSpeed, bool motor2Enbl, bool motor2Inv, bool endStEnbl, bool stopAtHome, long maxSize, bool stopAtMax);
void loadMotorSettings(long speedMax, long speedMin, long speedHome, long stepsAcc, long timeOut, bool homeIsUp, bool motorInv, bool endStInv, long interruptSpeed, bool motor2Enbl, bool motor2Inv, bool endStEnbl, bool stopAtHome, long maxSize, bool stopAtMax);
void loadCoordinates(long sourcePoint, long destinationPoint, bool home);
void setMaxSpeed(long speed);
@ -102,6 +102,7 @@ private:
// motor settings
long motorSpeedMax; // maximum speed in steps per second
long motorSpeedMin; // minimum speed in steps per second
long motorSpeedHome; // homing speed in steps per second
long motorStepsAcc; // number of steps used for acceleration
long motorTimeOut; // timeout in seconds
bool motorHomeIsUp; // direction to move when reached 0 on axis but no end stop detected while homing