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farmbot-arduino-firmware
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move debug message to R89

pull/147/head
Tim Evers 2020-05-17 20:44:00 +02:00
parent fcf98ac6a7
commit 17000da033
1 changed files with 108 additions and 25 deletions
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133
src/Movement.cpp
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@ -388,6 +388,10 @@ int Movement::moveToCoords(double xDestScaled, double yDestScaled, double zDestS
unsigned long currentMillis = 0; unsigned long currentMillis = 0;
unsigned long timeStart = millis(); unsigned long timeStart = millis();
int highestX = 0;
int highestY = 0;
int highestZ = 0;
serialMessageNr = 0; serialMessageNr = 0;
serialMessageDelay = 0; serialMessageDelay = 0;
@ -596,7 +600,6 @@ int Movement::moveToCoords(double xDestScaled, double yDestScaled, double zDestS
{ {
homeMissedSteps[0]++; homeMissedSteps[0]++;
} }
} }
if (axisY.isStepDone()) if (axisY.isStepDone())
@ -617,7 +620,6 @@ int Movement::moveToCoords(double xDestScaled, double yDestScaled, double zDestS
{ {
homeMissedSteps[1]++; homeMissedSteps[1]++;
} }
} }
if (axisZ.isStepDone()) if (axisZ.isStepDone())
@ -709,14 +711,14 @@ int Movement::moveToCoords(double xDestScaled, double yDestScaled, double zDestS
} }
serialBuffer += "\r\n"; serialBuffer += "\r\n";
serialBuffer += "R99"; //serialBuffer += "R99";
serialBuffer += " S"; //serialBuffer += " S";
serialBuffer += axisY.getNrOfSteps(); //serialBuffer += axisY.getNrOfSteps();
serialBuffer += " MS "; //serialBuffer += " MS ";
serialBuffer += motorConsMissedSteps[1]; //serialBuffer += motorConsMissedSteps[1];
serialBuffer += " MSM "; //serialBuffer += " MSM ";
serialBuffer += motorConsMissedStepsMax[1]; //serialBuffer += motorConsMissedStepsMax[1];
serialBuffer += "\r\n"; //serialBuffer += "\r\n";
if (yHome) if (yHome)
{ {
@ -867,7 +869,6 @@ int Movement::moveToCoords(double xDestScaled, double yDestScaled, double zDestS
if (serialMessageDelay > 300 && serialBuffer.length() == 0 && serialBufferSending == 0) if (serialMessageDelay > 300 && serialBuffer.length() == 0 && serialBufferSending == 0)
{ {
//Serial.print("Y-"); //Serial.print("Y-");
//axisY.test();/**/ //axisY.test();/**/
@ -898,6 +899,48 @@ int Movement::moveToCoords(double xDestScaled, double yDestScaled, double zDestS
//serialBuffer += axisZ.getLoad(); //serialBuffer += axisZ.getLoad();
//serialBuffer += CurrentState::getInstance()->getQAndNewLine(); //serialBuffer += CurrentState::getInstance()->getQAndNewLine();
//#endif //#endif
#if defined(FARMDUINO_EXP_V20)
highestX = 0;
highestY = 0;
highestZ = 0;
if (axisX.missedStepHistory[0] > highestX) { highestX = axisX.missedStepHistory[0]; }
if (axisX.missedStepHistory[1] > highestX) { highestX = axisX.missedStepHistory[1]; }
if (axisX.missedStepHistory[2] > highestX) { highestX = axisX.missedStepHistory[2]; }
if (axisX.missedStepHistory[3] > highestX) { highestX = axisX.missedStepHistory[3]; }
if (axisX.missedStepHistory[4] > highestX) { highestX = axisX.missedStepHistory[4]; }
if (axisY.missedStepHistory[0] > highestY) { highestY = axisY.missedStepHistory[0]; }
if (axisY.missedStepHistory[1] > highestY) { highestY = axisY.missedStepHistory[1]; }
if (axisY.missedStepHistory[2] > highestY) { highestY = axisY.missedStepHistory[2]; }
if (axisY.missedStepHistory[3] > highestY) { highestY = axisY.missedStepHistory[3]; }
if (axisY.missedStepHistory[4] > highestY) { highestY = axisY.missedStepHistory[4]; }
if (axisZ.missedStepHistory[0] > highestZ) { highestZ = axisZ.missedStepHistory[0]; }
if (axisZ.missedStepHistory[1] > highestZ) { highestZ = axisZ.missedStepHistory[1]; }
if (axisZ.missedStepHistory[2] > highestZ) { highestZ = axisZ.missedStepHistory[2]; }
if (axisZ.missedStepHistory[3] > highestZ) { highestZ = axisZ.missedStepHistory[3]; }
if (axisZ.missedStepHistory[4] > highestZ) { highestZ = axisZ.missedStepHistory[4]; }
serialBuffer += "R89";
serialBuffer += " U";
serialBuffer += axisX.getNrOfSteps();
serialBuffer += " X";
serialBuffer += highestX;
serialBuffer += " V";
serialBuffer += (int)(axisY.getNrOfSteps() / 100) * 100 ;
serialBuffer += " Y";
serialBuffer += highestY;
serialBuffer += " W";
serialBuffer += axisZ.getNrOfSteps();
serialBuffer += " Z";
serialBuffer += highestZ;
serialBuffer += CurrentState::getInstance()->getQAndNewLine();
#endif
break; break;
default: default:
@ -1032,6 +1075,46 @@ int Movement::moveToCoords(double xDestScaled, double yDestScaled, double zDestS
delay(100); delay(100);
} }
// Report back the final missed steps
highestX = 0;
highestY = 0;
highestZ = 0;
if (axisX.missedStepHistory[0] > highestX) { highestX = axisX.missedStepHistory[0]; }
if (axisX.missedStepHistory[1] > highestX) { highestX = axisX.missedStepHistory[1]; }
if (axisX.missedStepHistory[2] > highestX) { highestX = axisX.missedStepHistory[2]; }
if (axisX.missedStepHistory[3] > highestX) { highestX = axisX.missedStepHistory[3]; }
if (axisX.missedStepHistory[4] > highestX) { highestX = axisX.missedStepHistory[4]; }
if (axisY.missedStepHistory[0] > highestY) { highestY = axisY.missedStepHistory[0]; }
if (axisY.missedStepHistory[1] > highestY) { highestY = axisY.missedStepHistory[1]; }
if (axisY.missedStepHistory[2] > highestY) { highestY = axisY.missedStepHistory[2]; }
if (axisY.missedStepHistory[3] > highestY) { highestY = axisY.missedStepHistory[3]; }
if (axisY.missedStepHistory[4] > highestY) { highestY = axisY.missedStepHistory[4]; }
if (axisZ.missedStepHistory[0] > highestZ) { highestZ = axisZ.missedStepHistory[0]; }
if (axisZ.missedStepHistory[1] > highestZ) { highestZ = axisZ.missedStepHistory[1]; }
if (axisZ.missedStepHistory[2] > highestZ) { highestZ = axisZ.missedStepHistory[2]; }
if (axisZ.missedStepHistory[3] > highestZ) { highestZ = axisZ.missedStepHistory[3]; }
if (axisZ.missedStepHistory[4] > highestZ) { highestZ = axisZ.missedStepHistory[4]; }
Serial.print("R89");
Serial.print(" U");
Serial.print(axisX.getNrOfSteps());
Serial.print(" X");
Serial.print(highestX);
Serial.print(" V");
Serial.print((int)(axisY.getNrOfSteps() / 100) * 100);
Serial.print(" Y");
Serial.print(highestY);
Serial.print(" W");
Serial.print(axisZ.getNrOfSteps());
Serial.print(" Z");
Serial.print(highestZ);
Serial.print(CurrentState::getInstance()->getQAndNewLine());
#endif #endif
if (emergencyStop) if (emergencyStop)
@ -1325,7 +1408,7 @@ int Movement::calibrateAxis(int axis)
nextTick = calibrationTicks + tickDelay; nextTick = calibrationTicks + tickDelay;
while (calibrationTicks < nextTick && calibrationTicks >= lastTick) while (calibrationTicks < nextTick && calibrationTicks >= lastTick)
{ {
delay(1); delayMicroseconds(250);
} }
stepsCount++; stepsCount++;
@ -1362,7 +1445,7 @@ int Movement::calibrateAxis(int axis)
nextTick = calibrationTicks + tickDelay; nextTick = calibrationTicks + tickDelay;
while (calibrationTicks < nextTick && calibrationTicks >= lastTick) while (calibrationTicks < nextTick && calibrationTicks >= lastTick)
{ {
delay(1); delayMicroseconds(250);
} }
} }
else else
@ -1525,7 +1608,7 @@ int Movement::calibrateAxis(int axis)
nextTick = calibrationTicks + tickDelay; nextTick = calibrationTicks + tickDelay;
while (calibrationTicks < nextTick && calibrationTicks >= lastTick) while (calibrationTicks < nextTick && calibrationTicks >= lastTick)
{ {
delay(1); delayMicroseconds(250);
} }
if (stepsCount % (speedHome[axis] * 3) == 0) if (stepsCount % (speedHome[axis] * 3) == 0)
@ -1547,7 +1630,7 @@ int Movement::calibrateAxis(int axis)
nextTick = calibrationTicks + tickDelay; nextTick = calibrationTicks + tickDelay;
while (calibrationTicks < nextTick && calibrationTicks >= lastTick) while (calibrationTicks < nextTick && calibrationTicks >= lastTick)
{ {
delay(1); delayMicroseconds(250);
} }
} }
@ -1739,16 +1822,16 @@ void Movement::checkAxisVsEncoder(MovementAxis *axis, MovementEncoder *encoder,
axis->missedStepHistory[0] = *missedSteps; axis->missedStepHistory[0] = *missedSteps;
// test print // test print
Serial.print("R99"); //Serial.print("R99");
Serial.print(" "); //Serial.print(" ");
Serial.print("S = "); //Serial.print("S = ");
Serial.print(" "); //Serial.print(" ");
Serial.print(axis->getNrOfSteps()); //Serial.print(axis->getNrOfSteps());
Serial.print(" "); //Serial.print(" ");
Serial.print("M = "); //Serial.print("M = ");
Serial.print(" "); //Serial.print(" ");
Serial.print(*missedSteps); //Serial.print(*missedSteps);
Serial.print("\r\n"); //Serial.print("\r\n");
// reset missed steps // reset missed steps
*missedSteps = 0; *missedSteps = 0;