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farmbot-arduino-firmware
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encoder settings as writable parameters

pull/33/head
TimEvWw 2016-01-03 20:28:06 -01:00
parent e9326d4bf2
commit 1352bc751e
3 changed files with 50 additions and 50 deletions
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2
src/Config.h
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@ -71,7 +71,7 @@ const long ENCODER_MISSED_STEPS_MAX_X_DEFAULT = 10;
const long ENCODER_MISSED_STEPS_MAX_Y_DEFAULT = 10;
const long ENCODER_MISSED_STEPS_MAX_Z_DEFAULT = 10;
// How much a good step is substracted from the missed step total (0-10)
// How much a good step is substracted from the missed step total (1-10)
const long ENCODER_MISSED_STEPS_DECAY_X_DEFAULT = 1;
const long ENCODER_MISSED_STEPS_DECAY_Y_DEFAULT = 1;
const long ENCODER_MISSED_STEPS_DECAY_Z_DEFAULT = 1;

96
src/StepperControl.cpp
View File

@ -345,8 +345,10 @@ int StepperControl::calibrateAxis(int axis) {
int parNbrStp;
float * missedSteps;
int * missedStepsMax;
long * lastPosition;
int * missedStepsMax;
long * lastPosition;
float * encoderStepDecay;
bool * encoderEnabled;
// Prepare for movement
@ -359,34 +361,40 @@ int StepperControl::calibrateAxis(int axis) {
switch (axis) {
case 0:
calibAxis = &axisX;
calibEncoder = &encoderX;
parEndInv = MOVEMENT_INVERT_ENDPOINTS_X;
parNbrStp = MOVEMENT_AXIS_NR_STEPS_X;
invertEndStops = endStInv[0];
missedSteps = &motorConsMissedSteps[0];
missedStepsMax = &motorConsMissedStepsMax[0];
lastPosition = &motorLastPosition[0];
calibAxis = &axisX;
calibEncoder = &encoderX;
parEndInv = MOVEMENT_INVERT_ENDPOINTS_X;
parNbrStp = MOVEMENT_AXIS_NR_STEPS_X;
invertEndStops = endStInv[0];
missedSteps = &motorConsMissedSteps[0];
missedStepsMax = &motorConsMissedStepsMax[0];
lastPosition = &motorLastPosition[0];
encoderStepDecay = &motorConsMissedStepsDecay[0];
encoderEnabled = &motorConsEncoderEnabled[0];
break;
case 1:
calibAxis = &axisY;
calibEncoder = &encoderY;
parEndInv = MOVEMENT_INVERT_ENDPOINTS_Y;;
parNbrStp = MOVEMENT_AXIS_NR_STEPS_Y;
invertEndStops = endStInv[1];
missedSteps = &motorConsMissedSteps[1];
missedStepsMax = &motorConsMissedStepsMax[1];
lastPosition = &motorLastPosition[0];
calibAxis = &axisY;
calibEncoder = &encoderY;
parEndInv = MOVEMENT_INVERT_ENDPOINTS_Y;;
parNbrStp = MOVEMENT_AXIS_NR_STEPS_Y;
invertEndStops = endStInv[1];
missedSteps = &motorConsMissedSteps[1];
missedStepsMax = &motorConsMissedStepsMax[1];
lastPosition = &motorLastPosition[1];
encoderStepDecay = &motorConsMissedStepsDecay[1];
encoderEnabled = &motorConsEncoderEnabled[1];
break;
case 2:
calibAxis = &axisZ;
calibEncoder = &encoderZ;
parEndInv = MOVEMENT_INVERT_ENDPOINTS_Z;
parNbrStp = MOVEMENT_AXIS_NR_STEPS_Z;
invertEndStops = endStInv[2];
missedSteps = &motorConsMissedSteps[2];
missedStepsMax = &motorConsMissedStepsMax[2];
lastPosition = &motorLastPosition[0];
calibAxis = &axisZ;
calibEncoder = &encoderZ;
parEndInv = MOVEMENT_INVERT_ENDPOINTS_Z;
parNbrStp = MOVEMENT_AXIS_NR_STEPS_Z;
invertEndStops = endStInv[2];
missedSteps = &motorConsMissedSteps[2];
missedStepsMax = &motorConsMissedStepsMax[2];
lastPosition = &motorLastPosition[2];
encoderStepDecay = &motorConsMissedStepsDecay[2];
encoderEnabled = &motorConsEncoderEnabled[2];
break;
default:
Serial.print("R99 Calibration error: invalid axis selected\n");
@ -423,8 +431,7 @@ int StepperControl::calibrateAxis(int axis) {
while (!movementDone && error == 0) {
checkAxisVsEncoder(&axisX, &encoderX, &motorConsMissedSteps[0], &motorLastPosition[0]);
checkAxisVsEncoder(&axisX, &encoderX, &motorConsMissedSteps[0], &motorLastPosition[0], &motorConsMissedStepsDecay[0], &motorConsEncoderEnabled[0]);
// Check if there is an emergency stop command
if (Serial.available() > 0) {
@ -539,17 +546,6 @@ int StepperControl::calibrateAxis(int axis) {
// Check if there is an emergency stop command
if (Serial.available() > 0) {
incomingByte = Serial.read();
if (incomingByte == 69 || incomingByte == 101) {
Serial.print("R99 emergency stop\n");
movementDone = true;
@ -569,7 +565,7 @@ int StepperControl::calibrateAxis(int axis) {
stepsCount++;
/**///checkAxisVsEncoder(&axisX, &encoderX, &motorConsMissedSteps[0]);
checkAxisVsEncoder(&axisX, &encoderX, &motorConsMissedSteps[0], &motorLastPosition[0]);
checkAxisVsEncoder(&axisX, &encoderX, &motorConsMissedSteps[0], &motorLastPosition[0], &motorConsMissedStepsDecay[0], &motorConsEncoderEnabled[0]);
delayMicroseconds(1000000 / speedMin[axis] /2);
@ -671,17 +667,17 @@ void StepperControl::handleMovementInterrupt(void){
int debugPrintCount = 0;
// Check encoder to verify the motor is at the right position
void StepperControl::checkAxisVsEncoder(StepperControlAxis* axis, StepperControlEncoder* encoder, float* missedSteps, long* lastPosition) {
void StepperControl::checkAxisVsEncoder(StepperControlAxis* axis, StepperControlEncoder* encoder, float* missedSteps, long* lastPosition, float* encoderStepDecay, bool* encoderEnabled) {
// If a step is done
//if (axis->isStepDone() && axis->currentPosition() % 3 == 0) {
if (axis->isStepDone()) {
if (encoderEnabled && axis->isStepDone()) {
bool stepMissed = false;
debugPrintCount++;
/*
if (debugPrintCount % 50 == 0)
{
Serial.print("R99");
@ -701,13 +697,17 @@ void StepperControl::checkAxisVsEncoder(StepperControlAxis* axis, StepperControl
Serial.print(encoderX.currentPosition());
Serial.print(" axis X pos ");
Serial.print(axisX.currentPosition());
Serial.print(" decay ");
Serial.print(*encoderStepDecay);
Serial.print(" enabled ");
Serial.print(*encoderEnabled);
Serial.print("\n");
}
*/
// Decrease amount of missed steps if there are no missed step
if (*missedSteps > 0) {
(*missedSteps)-=0.1;
(*missedSteps)-= (*encoderStepDecay);
}
// Check if the encoder goes in the wrong direction or nothing moved
@ -818,9 +818,9 @@ void StepperControl::loadEncoderSettings() {
motorConsMissedStepsDecay[1] = ParameterList::getInstance()->getValue(ENCODER_MISSED_STEPS_DECAY_Y) / 10;
motorConsMissedStepsDecay[2] = ParameterList::getInstance()->getValue(ENCODER_MISSED_STEPS_DECAY_Z) / 10;
motorConsMissedStepsDecay[0] = min(max(motorConsMissedStepsDecay[0],1),10);
motorConsMissedStepsDecay[1] = min(max(motorConsMissedStepsDecay[1],1),10);
motorConsMissedStepsDecay[2] = min(max(motorConsMissedStepsDecay[2],1),10);
motorConsMissedStepsDecay[0] = min(max(motorConsMissedStepsDecay[0],0.1),1);
motorConsMissedStepsDecay[1] = min(max(motorConsMissedStepsDecay[1],0.1),1);
motorConsMissedStepsDecay[2] = min(max(motorConsMissedStepsDecay[2],0.1),1);
if (ParameterList::getInstance()->getValue(ENCODER_ENABLED_X) == 1) {
motorConsEncoderEnabled[0] = true;

2
src/StepperControl.h
View File

@ -50,7 +50,7 @@ private:
StepperControlEncoder encoderY;
StepperControlEncoder encoderZ;
void checkAxisVsEncoder(StepperControlAxis* axis, StepperControlEncoder* encoder, float* missedSteps, long* lastPosition);
void checkAxisVsEncoder(StepperControlAxis* axis, StepperControlEncoder* encoder, float* missedSteps, long* lastPosition, float* encoderStepDecay, bool* encoderEnabled);
bool axisActive[3];