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farmbot-arduino-firmware
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Debugging parameter handling

pull/4/head
TimEvWw 2014-08-17 19:15:05 -01:00
parent 30b86302a4
commit 501a08a78a
7 changed files with 238 additions and 102 deletions
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6
src/Config.h
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@ -48,9 +48,9 @@ const long MOVEMENT_HOME_UP_X_DEFAULT = 0;
const long MOVEMENT_HOME_UP_Y_DEFAULT = 0;
const long MOVEMENT_HOME_UP_Z_DEFAULT = 1;
const long MOVEMENT_MIN_SPD_X_DEFAULT = 0;
const long MOVEMENT_MIN_SPD_Y_DEFAULT = 0;
const long MOVEMENT_MIN_SPD_Z_DEFAULT = 0;
const long MOVEMENT_MIN_SPD_X_DEFAULT = 200;
const long MOVEMENT_MIN_SPD_Y_DEFAULT = 200;
const long MOVEMENT_MIN_SPD_Z_DEFAULT = 200;
const long MOVEMENT_MAX_SPD_X_DEFAULT = 1000;
const long MOVEMENT_MAX_SPD_Y_DEFAULT = 1000;

2
src/F21Handler.cpp
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@ -23,7 +23,7 @@ F21Handler::F21Handler() {
int F21Handler::execute(Command* command) {
//ParameterList::getInstance()->readValue(command->getP());
ParameterList::getInstance()->readValue(command->getP());
return 0;
}

2
src/F22Handler.cpp
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@ -23,7 +23,7 @@ F22Handler::F22Handler() {
int F22Handler::execute(Command* command) {
//ParameterList::getInstance()->readValue(command->getP());
ParameterList::getInstance()->readValue(command->getP());
return 0;
}

40
src/ParameterList.cpp
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@ -1,32 +1,17 @@
#include "ParameterList.h"
static ParameterList* instance;
static ParameterList* instanceParam;
long paramValues[150];
ParameterList * ParameterList::getInstance() {
if (!instance) {
instance = new ParameterList();
if (!instanceParam) {
instanceParam = new ParameterList();
};
return instance;
return instanceParam;
}
ParameterList::ParameterList() {
/*
const unsigned int MOVEMENT_STEPS_ACC_DEC = 100;
const unsigned int MOVEMENT_MAX_STEPS_PER_SECOND = 1000;
const unsigned int MOVEMENT_HOME_SPEED_S_P_S = 200;
const unsigned int MOVEMENT_TIMEOUT = 30;
const unsigned int MOVEMENT_SPEED_BASE_TIME = 2000;
const unsigned int MOVEMENT_DELAY = 500;
const unsigned int INVERT_ENDSTOPS = 1;
const bool AXIS_HOME_UP_X = false;
const bool AXIS_HOME_UP_Y = false;
const bool AXIS_HOME_UP_Z = true;
*/
paramValues[PARAM_VERSION] = PARAM_VERSION_DEFAULT;
@ -73,6 +58,7 @@ int ParameterList::readValue(int id) {
long value = paramValues[id];
/*
Serial.print("R22");
Serial.print(" ");
Serial.print("P");
@ -80,11 +66,25 @@ int ParameterList::readValue(int id) {
Serial.print(" ");
Serial.print("V");
Serial.print(value);
Serial.print("\n");
*/
return 0;
}
long ParameterList::getValue(int id) {
/*
Serial.print("R99");
Serial.print(" ");
Serial.print("getValue");
Serial.print(" id ");
Serial.print(id);
Serial.print(" value");
Serial.print(paramValues[id]);
Serial.print("\n");
*/
return paramValues[id];
}

46
src/ParameterList.h
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@ -12,33 +12,33 @@ enum ParamListEnum
{
PARAM_VERSION = 0,
MOVEMENT_TIMEOUT_X ,
MOVEMENT_TIMEOUT_Y ,
MOVEMENT_TIMEOUT_Z ,
MOVEMENT_TIMEOUT_X = 11,
MOVEMENT_TIMEOUT_Y = 12,
MOVEMENT_TIMEOUT_Z = 13,
MOVEMENT_INVERT_ENDPOINTS_X ,
MOVEMENT_INVERT_ENDPOINTS_Y ,
MOVEMENT_INVERT_ENDPOINTS_Z ,
MOVEMENT_INVERT_ENDPOINTS_X = 21,
MOVEMENT_INVERT_ENDPOINTS_Y = 22,
MOVEMENT_INVERT_ENDPOINTS_Z = 23,
MOVEMENT_INVERT_MOTOR_X ,
MOVEMENT_INVERT_MOTOR_Y ,
MOVEMENT_INVERT_MOTOR_Z ,
MOVEMENT_INVERT_MOTOR_X = 31,
MOVEMENT_INVERT_MOTOR_Y = 32,
MOVEMENT_INVERT_MOTOR_Z = 33,
MOVEMENT_STEPS_ACC_DEC_X ,
MOVEMENT_STEPS_ACC_DEC_Y ,
MOVEMENT_STEPS_ACC_DEC_Z ,
MOVEMENT_STEPS_ACC_DEC_X = 41,
MOVEMENT_STEPS_ACC_DEC_Y = 42,
MOVEMENT_STEPS_ACC_DEC_Z = 43,
MOVEMENT_HOME_UP_X ,
MOVEMENT_HOME_UP_Y ,
MOVEMENT_HOME_UP_Z ,
MOVEMENT_HOME_UP_X = 51,
MOVEMENT_HOME_UP_Y = 52,
MOVEMENT_HOME_UP_Z = 53,
MOVEMENT_MIN_SPD_X ,
MOVEMENT_MIN_SPD_Y ,
MOVEMENT_MIN_SPD_Z ,
MOVEMENT_MIN_SPD_X = 61,
MOVEMENT_MIN_SPD_Y = 62,
MOVEMENT_MIN_SPD_Z = 63,
MOVEMENT_MAX_SPD_X ,
MOVEMENT_MAX_SPD_Y ,
MOVEMENT_MAX_SPD_Z
MOVEMENT_MAX_SPD_X = 71,
MOVEMENT_MAX_SPD_Y = 72,
MOVEMENT_MAX_SPD_Z = 73
};
@ -55,8 +55,8 @@ public:
long getValue(int id);
private:
ParameterList();
// virtual ~ParameterList();
long paramValues[50];
ParameterList(ParameterList const&);
void operator=(ParameterList const&);
};

242
src/StepperControl.cpp
View File

@ -31,28 +31,45 @@ int endStopAxisReached(int axis_nr, bool movement_forward) {
bool min_endstop = false;
bool max_endstop = false;
bool invert = false;
if (endStInv[axis_nr]) {
invert = true;
}
// for the axis to check, retrieve the end stop status
if (axis_nr == 0) {
min_endstop=(digitalRead(X_MIN_PIN) == endStInv[0]);
max_endstop=(digitalRead(X_MAX_PIN) == endStInv[0]);
min_endstop=(digitalRead(X_MIN_PIN) ^ invert);
max_endstop=(digitalRead(X_MAX_PIN) ^ invert);
}
if (axis_nr == 1) {
min_endstop=(digitalRead(Y_MIN_PIN) == endStInv[1]);
max_endstop=(digitalRead(Y_MAX_PIN) == endStInv[1]);
min_endstop=(digitalRead(Y_MIN_PIN) ^ invert);
max_endstop=(digitalRead(Y_MAX_PIN) ^ invert);
}
if (axis_nr == 2) {
min_endstop=(digitalRead(Z_MIN_PIN) == endStInv[2]);
max_endstop=(digitalRead(Z_MAX_PIN) == endStInv[2]);
min_endstop=(digitalRead(Z_MIN_PIN) ^ invert);
max_endstop=(digitalRead(Z_MAX_PIN) ^ invert);
}
/*
Serial.print("R99 end stop axis");
Serial.print(" min_endstop ");
Serial.print(min_endstop);
Serial.print(" max_endstop ");
Serial.print(max_endstop);
Serial.print(" invert ");
Serial.print(invert);
Serial.print("\n");
*/
// if moving forward, only check the end stop max
// for moving backwards, check only the end stop min
if((!movement_forward && min_endstop) || (movement_forward && max_endstop)) {
//Serial.print("R99 end point reached\n");
return 1;
}
return 0;
@ -60,11 +77,20 @@ int endStopAxisReached(int axis_nr, bool movement_forward) {
void step(int axis, long &currentPoint, unsigned long steps,
long destinationPoint) {
/*
Serial.print("R99 ");
Serial.print("currentPoint ");
Serial.print(currentPoint);
Serial.print("\n");
*/
if (currentPoint < destinationPoint) {
currentPoint += steps;
} else if (currentPoint > destinationPoint) {
currentPoint -= steps;
}
switch (axis) {
case 0:
digitalWrite(X_STEP_PIN, HIGH);
@ -80,14 +106,24 @@ void step(int axis, long &currentPoint, unsigned long steps,
break;
}
/*
Serial.print("R99 ");
Serial.print("currentPoint ");
Serial.print(currentPoint);
Serial.print("\n");
*/
// if the home end stop is reached, set the current position
if (endStopAxisReached(axis, false))
{
currentPoint = 0;
//Serial.print("R99 end point reached\n");
//Serial.print("R99 end point reached when stepping\n");
}
/*
Serial.print("R99 ");
Serial.print("currentPoint ");
Serial.print(currentPoint);
Serial.print("\n");
*/
}
@ -437,15 +473,15 @@ int StepperControl::moveAbsoluteConstant( long xDest, long yDest, long zDest,
ParameterList::getInstance()->getValue(MOVEMENT_HOME_UP_Y),
ParameterList::getInstance()->getValue(MOVEMENT_HOME_UP_Z) };
bool speedMax[3] = { ParameterList::getInstance()->getValue(MOVEMENT_MAX_SPD_X),
long speedMax[3] = { ParameterList::getInstance()->getValue(MOVEMENT_MAX_SPD_X),
ParameterList::getInstance()->getValue(MOVEMENT_MAX_SPD_Y),
ParameterList::getInstance()->getValue(MOVEMENT_MAX_SPD_Z) };
bool speedMin[3] = { ParameterList::getInstance()->getValue(MOVEMENT_MIN_SPD_X),
long speedMin[3] = { ParameterList::getInstance()->getValue(MOVEMENT_MIN_SPD_X),
ParameterList::getInstance()->getValue(MOVEMENT_MIN_SPD_Y),
ParameterList::getInstance()->getValue(MOVEMENT_MIN_SPD_Z) };
bool stepsAcc[3] = { ParameterList::getInstance()->getValue(MOVEMENT_STEPS_ACC_DEC_X),
long stepsAcc[3] = { ParameterList::getInstance()->getValue(MOVEMENT_STEPS_ACC_DEC_X),
ParameterList::getInstance()->getValue(MOVEMENT_STEPS_ACC_DEC_Y),
ParameterList::getInstance()->getValue(MOVEMENT_STEPS_ACC_DEC_Z) };
@ -457,11 +493,44 @@ int StepperControl::moveAbsoluteConstant( long xDest, long yDest, long zDest,
ParameterList::getInstance()->getValue(MOVEMENT_INVERT_ENDPOINTS_Y),
ParameterList::getInstance()->getValue(MOVEMENT_INVERT_ENDPOINTS_Z) };
bool timeOut[3] = { ParameterList::getInstance()->getValue(MOVEMENT_TIMEOUT_X),
long timeOut[3] = { ParameterList::getInstance()->getValue(MOVEMENT_TIMEOUT_X),
ParameterList::getInstance()->getValue(MOVEMENT_TIMEOUT_X),
ParameterList::getInstance()->getValue(MOVEMENT_TIMEOUT_X) };
/*
Serial.print("R99 * ");
Serial.print("\n");
Serial.print("R99 ");
Serial.print(" homeisup y (end) ");
Serial.print(ParameterList::getInstance()->getValue(MOVEMENT_HOME_UP_Y));
Serial.print("\n");
Serial.print("R99 ");
Serial.print(" speedMin ");
Serial.print(speedMin[0]);
Serial.print(" | ");
Serial.print(speedMin[1]);
Serial.print(" | ");
Serial.print(speedMin[2]);
Serial.print(" timeOut ");
Serial.print(timeOut[0]);
Serial.print(" | ");
Serial.print(timeOut[1]);
Serial.print(" | ");
Serial.print(timeOut[2]);
Serial.print("\n");
Serial.print("R99 ");
Serial.print(" homeisup y ");
Serial.print(homeIsUp[1]);
Serial.print(" | ");
Serial.print(ParameterList::getInstance()->getValue(MOVEMENT_HOME_UP_Y));
Serial.print("\n");
*/
bool homeAxis[3] = { xHome, yHome, zHome };
bool home = xHome || yHome || zHome;
@ -496,18 +565,29 @@ int StepperControl::moveAbsoluteConstant( long xDest, long yDest, long zDest,
}
/*
Serial.print("R99 zdest ");
Serial.print(zDest);
Serial.print("\n");
Serial.print("R99 home ");
Serial.print(home);
Serial.print("\n");
Serial.print("R99 current z ");
Serial.print(currentPoint[2]);
Serial.print("R99 ydest ");
Serial.print(yDest);
Serial.print("\n");
*/
//Serial.print("R99 home ");
//Serial.print(home);
//Serial.print("\n");
/*
Serial.print("R99 current y ");
Serial.print(currentPoint[1]);
Serial.print("\n");
*/
/*
Serial.print("R99");
Serial.print(" x ");
Serial.print(speedMax[0]);
Serial.print(" y ");
Serial.print(speedMax[1]);
Serial.print(" z ");
Serial.print(speedMax[2]);
Serial.print("\n");
*/
// Prepare for movement
storeEndStops();
@ -529,10 +609,28 @@ Serial.print("\n");
}
}
/*
Serial.print("R99 ydest ");
Serial.print(yDest);
Serial.print("\n");
Serial.print("R99 homeisup y ");
Serial.print(homeIsUp[1]);
Serial.print("\n");
Serial.print("R99 current y ");
Serial.print(currentPoint[1]);
Serial.print("\n");
*/
// Start movement
while (!movementDone) {
/*
Serial.print("R99");
Serial.print(" moving ");
Serial.print("\n");
*/
storeEndStops();
stepMade = false;
@ -546,7 +644,13 @@ Serial.print("\n");
*/
// Keep moving until destination reached or while moving home and end stop not reached
if (!pointReached(currentPoint, destinationPoint) || home) {
// Check eachh axis
/*
Serial.print("R99");
Serial.print(" after check ");
Serial.print("\n");
*/
// Check each axis
for (int i = 0; i < 3; i++) {
// Set the speed for movement
@ -571,12 +675,53 @@ Serial.print("\n");
movementToHome = (abs(currentPoint[i]) >= abs(destinationPoint[i]));
}
if (millis() - timeStart > timeOut[i] * MOVEMENT_SPEED_BASE_TIME) {
error = 1;
Serial.print("R99 timeout axis ");
Serial.print(i);
Serial.print("\n");
} else {
// If end stop reached, don't move anymore
if ((homeAxis[i] && !endStopAxisReached(i, false)) || (!homeAxis[i] && !endStopAxisReached(i, !movementToHome) && currentPoint[i] != destinationPoint[i] )) {
moving = true;
/*
Serial.print("R99 ");
Serial.print(" moving ");
Serial.print(" axis ");
Serial.print(i);
Serial.print(" axisspeed ");
Serial.print(axisSpeed);
Serial.print("\n");
*/
/*
Serial.print("R99 ");
Serial.print(" current ");
Serial.print(currentMillis);
Serial.print(" last ");
Serial.print(lastStepMillis[i]);
Serial.print(" spd ");
Serial.print( MOVEMENT_SPEED_BASE_TIME / axisSpeed);
Serial.print("\n");
*/
// Only do a step every x milliseconds
if (currentMillis - lastStepMillis[i] >= MOVEMENT_SPEED_BASE_TIME / axisSpeed) {
/*
Serial.print("R99 axis ");
Serial.print(i);
Serial.print("\n");
*/
/*
Serial.print("R99");
Serial.print(" up ");
Serial.print(movementUp);
@ -603,26 +748,10 @@ Serial.print(homeAxis[i]);
Serial.print("\n");
*/
if (millis() - timeStart > timeOut[i] * MOVEMENT_SPEED_BASE_TIME) {
error = 1;
} else {
// If end stop reached, don't move anymore
if ((homeAxis[i] && !endStopAxisReached(i, false)) || (!homeAxis[i] && !endStopAxisReached(i, !movementToHome) && currentPoint[i] != destinationPoint[i] )) {
moving = true;
/*
Serial.print("R99 ");
Serial.print(" current ");
Serial.print(currentMillis);
Serial.print(" last ");
Serial.print(lastStepMillis[i]);
Serial.print(" spd ");
Serial.print( 1000 / axisSpeed);
Serial.print("\n");
*/
// Only do a step every x milliseconds
if (currentMillis - lastStepMillis[i] >= MOVEMENT_SPEED_BASE_TIME / axisSpeed) {
if (homeAxis[i] && currentPoint[i] == 0) {
if (homeIsUp[i]) {
currentPoint[i] = -1;
@ -630,16 +759,19 @@ Serial.print("\n");
currentPoint[i] = 1;
}
}
/*
Serial.print("R99 ");
Serial.print(" step ");
Serial.print("\n");
*/
//Serial.print("R99 ");
//Serial.print(" step ");
//Serial.print("\n");
/**/
step(i, currentPoint[i], 1, destinationPoint[i]);
stepMade = true;
lastStepMillis[i] = currentMillis;
}
}
}
@ -672,19 +804,23 @@ Serial.print("\n");
delayMicroseconds(500);
}
/**/ enableMotors(false);
enableMotors(false);
CurrentState::getInstance()->setX(currentPoint[0]);
CurrentState::getInstance()->setY(currentPoint[1]);
CurrentState::getInstance()->setZ(currentPoint[2]);
CurrentState::getInstance()->setZ(currentPoint[2]);
CurrentState::getInstance()->setZ(currentPoint[2]);
// CurrentState::getInstance()->setZ(currentPoint[2]);
// CurrentState::getInstance()->setZ(currentPoint[2]);
storeEndStops();
reportEndStops();
reportPosition();
/*
Serial.print("R99 ");
Serial.print(" homeisup y (end) ");
Serial.print(ParameterList::getInstance()->getValue(MOVEMENT_HOME_UP_Y));
Serial.print("\n");
*/
return error;
}

2
src/StepperControl.h
View File

@ -10,11 +10,11 @@
#include "Arduino.h"
#include "CurrentState.h"
#include "ParameterList.h"
#include "pins.h"
#include "Config.h"
#include <stdio.h>
#include <stdlib.h>
#include "ParameterList.h"
class StepperControl {
public: