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farmbot-arduino-firmware
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debugging moving to coord with encoder

pull/33/head
TimEvWw 2016-01-06 21:05:29 -01:00
parent 96b8608db1
commit 25191bfa83
3 changed files with 39 additions and 17 deletions
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6
src/Config.h
View File

@ -30,9 +30,9 @@ const unsigned int MOVEMENT_DELAY = 500;
const long PARAM_VERSION_DEFAULT = 0;
const long PARAM_TEST_DEFAULT = 0;
const long MOVEMENT_TIMEOUT_X_DEFAULT = 5;
const long MOVEMENT_TIMEOUT_Y_DEFAULT = 30;
const long MOVEMENT_TIMEOUT_Z_DEFAULT = 30;
const long MOVEMENT_TIMEOUT_X_DEFAULT = 120;
const long MOVEMENT_TIMEOUT_Y_DEFAULT = 120;
const long MOVEMENT_TIMEOUT_Z_DEFAULT = 120;
const long MOVEMENT_INVERT_ENDPOINTS_X_DEFAULT = 0;
const long MOVEMENT_INVERT_ENDPOINTS_Y_DEFAULT = 0;

4
src/ParameterList.cpp
View File

@ -155,7 +155,7 @@ int ParameterList::readValue(int id) {
long ParameterList::getValue(int id) {
/*
Serial.print("R99");
Serial.print(" ");
Serial.print("getValue");
@ -164,7 +164,7 @@ long ParameterList::getValue(int id) {
Serial.print(" value ");
Serial.print(paramValues[id]);
Serial.print("\n");
*/
return paramValues[id];
}

46
src/StepperControl.cpp
View File

@ -179,26 +179,52 @@ int StepperControl::moveToCoords( long xDest, long yDest, long zDest,
axisZ.checkTiming();
//checkAxisVsEncoder(&axisX, &encoderX, &motorConsMissedSteps[0]);
checkAxisVsEncoder(&axisX, &encoderX, &motorConsMissedSteps[0], &motorLastPosition[0], &motorConsMissedStepsDecay[0], &motorConsEncoderEnabled[0]);
if (motorConsMissedSteps[0] > motorConsMissedStepsMax[0]) {
axisX.deactivateAxis();
Serial.print("R99");
Serial.print(" deactivate motor X due to missed steps");
Serial.print("\n");
if (axisX.movingToHome()) {
encoderX.setPosition(0);
axisX.setCurrentPosition(0);
Serial.print("R99");
Serial.print(" home position X axis detected with encoder");
Serial.print("\n");
}
}
if (motorConsMissedSteps[1] > motorConsMissedStepsMax[1]) {
axisX.deactivateAxis();
axisY.deactivateAxis();
Serial.print("R99");
Serial.print(" deactivate motor Y due to missed steps");
Serial.print("\n");
if (axisY.movingToHome()) {
encoderY.setPosition(0);
axisY.setCurrentPosition(0);
Serial.print("R99");
Serial.print(" home position Y axis detected with encoder");
Serial.print("\n");
}
}
if (motorConsMissedSteps[2] > motorConsMissedStepsMax[2]) {
axisX.deactivateAxis();
axisZ.deactivateAxis();
Serial.print("R99");
Serial.print(" deactivate motor Z due to missed steps");
Serial.print("\n");
if (axisZ.movingToHome()) {
encoderZ.setPosition(0);
axisZ.setCurrentPosition(0);
Serial.print("R99");
Serial.print(" home position Z axis detected with encoder");
Serial.print("\n");
}
}
if (axisX.endStopAxisReached(false)) {
@ -265,12 +291,12 @@ int StepperControl::moveToCoords( long xDest, long yDest, long zDest,
// Periodically send message still active
currentMillis++;
//if (currentMillis % 2500 == 0)
//if (currentMillis % 750 == 0)
if (1 == 1)
if (currentMillis % 750 == 0)
//if (1 == 1)
{
Serial.print("R04\n");
reportPosition();
/*
Serial.print("R99");
Serial.print(" encoder pos ");
Serial.print(encoderX.currentPosition());
@ -286,6 +312,7 @@ int StepperControl::moveToCoords( long xDest, long yDest, long zDest,
Serial.print(" axis pos ");
Serial.print(axisX.currentPosition());
Serial.print("\n");
*/
//Serial.print("R99");
//Serial.print(" missed step nr ");
@ -675,9 +702,8 @@ void StepperControl::checkAxisVsEncoder(StepperControlAxis* axis, StepperControl
bool stepMissed = false;
/*
debugPrintCount++;
if (debugPrintCount % 50 == 0)
{
Serial.print("R99");
@ -703,7 +729,7 @@ void StepperControl::checkAxisVsEncoder(StepperControlAxis* axis, StepperControl
Serial.print(*encoderEnabled);
Serial.print("\n");
}
*/
// Decrease amount of missed steps if there are no missed step
if (*missedSteps > 0) {
@ -832,10 +858,6 @@ void StepperControl::loadEncoderSettings() {
motorConsEncoderEnabled[0] = false;
}
Serial.print("R99 encoder enabled x: ");
Serial.print(motorConsEncoderEnabled[0]);
Serial.print("\n");
if (ParameterList::getInstance()->getValue(ENCODER_ENABLED_Y) == 1) {
motorConsEncoderEnabled[1] = true;
} else {