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farmbot-arduino-firmware
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Merge pull request #100 from TimEvWw/master 

Reporting the use of 'alternative coordinates'
pull/101/head
Tim Evers 2018-03-29 21:50:12 +02:00 committed by GitHub
parent 1f8ffd8137 d33740548c
commit 511ed28394
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
8 changed files with 59 additions and 17 deletions
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4
src/Board.h
View File

@ -1,3 +1,3 @@
//#define RAMPS_V14
//#define FARMDUINO_V10
#define FARMDUINO_V14
#define FARMDUINO_V10
//#define FARMDUINO_V14

4
src/Config.h
View File

@ -28,6 +28,10 @@
const char COMM_REPORT_HOMED_Y[4] = { 'R', '1', '2', '\0' };
const char COMM_REPORT_HOMED_Z[4] = { 'R', '1', '3', '\0' };
const char COMM_REPORT_COORD_CHANGED_X[4] = { 'R', '1', '5', '\0' };
const char COMM_REPORT_COORD_CHANGED_Y[4] = { 'R', '1', '6', '\0' };
const char COMM_REPORT_COORD_CHANGED_Z[4] = { 'R', '1', '7', '\0' };
const char COMM_REPORT_TIMEOUT_X[4] = { 'R', '7', '1', '\0' };
const char COMM_REPORT_TIMEOUT_Y[4] = { 'R', '7', '2', '\0' };
const char COMM_REPORT_TIMEOUT_Z[4] = { 'R', '7', '3', '\0' };

8
src/G00Handler.cpp
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@ -24,8 +24,8 @@ G00Handler::G00Handler()
int G00Handler::execute(Command *command)
{
/*
Serial.print("G00 was here\r\n");
/* Serial.print("G00 was here\r\n");
Serial.print("R99");
Serial.print(" X ");
@ -40,8 +40,8 @@ int G00Handler::execute(Command *command)
Serial.print(command->getB());
Serial.print(" C ");
Serial.print(command->getC());
Serial.print("\r\n");
*/
Serial.print("\r\n");*/
StepperControl::getInstance()->moveToCoords(
command->getX(), command->getY(), command->getZ(),

32
src/StepperControl.cpp
View File

@ -308,11 +308,31 @@ int StepperControl::moveToCoords(double xDestScaled, double yDestScaled, double
motorLastPosition[2] = currentPoint[2];
// Load coordinates into motor control
// Report back coordinates if target coordinates changed
axisX.loadCoordinates(currentPoint[0], destinationPoint[0], xHome);
axisY.loadCoordinates(currentPoint[1], destinationPoint[1], yHome);
axisZ.loadCoordinates(currentPoint[2], destinationPoint[2], zHome);
if (axisX.loadCoordinates(currentPoint[0], destinationPoint[0], xHome))
{
Serial.print(COMM_REPORT_COORD_CHANGED_X);
Serial.print(" X");
Serial.print(axisX.destinationPosition() / stepsPerMm[0]);
CurrentState::getInstance()->printQAndNewLine();
}
if (axisY.loadCoordinates(currentPoint[1], destinationPoint[1], yHome))
{
Serial.print(COMM_REPORT_COORD_CHANGED_Y);
Serial.print(" Y");
Serial.print(axisY.destinationPosition() / stepsPerMm[1]);
CurrentState::getInstance()->printQAndNewLine();
}
if (axisZ.loadCoordinates(currentPoint[2], destinationPoint[2], zHome))
{
Serial.print(COMM_REPORT_COORD_CHANGED_Z);
Serial.print(" Z");
Serial.print(axisZ.destinationPosition() / stepsPerMm[2]);
CurrentState::getInstance()->printQAndNewLine();
}
// Prepare for movement
axisX.movementStarted = false;
@ -1303,9 +1323,9 @@ void StepperControl::loadMotorSettings()
CurrentState::getInstance()->setStepsPerMm(stepsPerMm[0], stepsPerMm[1], stepsPerMm[2]);
axisX.loadMotorSettings(speedMax[0], speedMin[0], speedHome[0], stepsAcc[0], timeOut[0], homeIsUp[0], motorInv[0], endStInv[0], endStInv2[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], endStInv2[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], endStInv2[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], endStInv2[0], MOVEMENT_INTERRUPT_SPEED, motor2Enbl[0], motor2Inv[0], endStEnbl[0], motorStopAtHome[0], motorMaxSize[0] *= stepsPerMm[0], motorStopAtMax[0]);
axisY.loadMotorSettings(speedMax[1], speedMin[1], speedHome[1], stepsAcc[1], timeOut[1], homeIsUp[1], motorInv[1], endStInv[1], endStInv2[1], MOVEMENT_INTERRUPT_SPEED, motor2Enbl[1], motor2Inv[1], endStEnbl[1], motorStopAtHome[1], motorMaxSize[1] *= stepsPerMm[1], motorStopAtMax[1]);
axisZ.loadMotorSettings(speedMax[2], speedMin[2], speedHome[2], stepsAcc[2], timeOut[2], homeIsUp[2], motorInv[2], endStInv[2], endStInv2[2], MOVEMENT_INTERRUPT_SPEED, motor2Enbl[2], motor2Inv[2], endStEnbl[2], motorStopAtHome[2], motorMaxSize[2] *= stepsPerMm[2], motorStopAtMax[2]);
primeMotors();
}

15
src/StepperControlAxis.cpp
View File

@ -445,7 +445,7 @@ void StepperControlAxis::loadMotorSettings(
}
void StepperControlAxis::loadCoordinates(long sourcePoint, long destinationPoint, bool home)
bool StepperControlAxis::loadCoordinates(long sourcePoint, long destinationPoint, bool home)
{
coordSourcePoint = sourcePoint;
@ -453,6 +453,8 @@ void StepperControlAxis::loadCoordinates(long sourcePoint, long destinationPoint
coordDestinationPoint = destinationPoint;
coordHomeAxis = home;
bool changed = false;
// Limit normal movement to the home position
if (motorStopAtHome)
@ -460,11 +462,13 @@ void StepperControlAxis::loadCoordinates(long sourcePoint, long destinationPoint
if (!motorHomeIsUp && coordDestinationPoint < 0)
{
coordDestinationPoint = 0;
changed = true;
}
if (motorHomeIsUp && coordDestinationPoint > 0)
{
coordDestinationPoint = 0;
changed = true;
}
}
@ -476,10 +480,12 @@ void StepperControlAxis::loadCoordinates(long sourcePoint, long destinationPoint
if (coordDestinationPoint < 0)
{
coordDestinationPoint = -abs(motorMaxSize);
changed = true;
}
else
{
coordDestinationPoint = abs(motorMaxSize);
changed = true;
}
}
}
@ -487,6 +493,8 @@ void StepperControlAxis::loadCoordinates(long sourcePoint, long destinationPoint
// Initialize movement variables
moveTicks = 0;
axisActive = true;
return changed;
}
void StepperControlAxis::enableMotor()
@ -673,6 +681,11 @@ void StepperControlAxis::setCurrentPosition(long newPos)
coordCurrentPoint = newPos;
}
long StepperControlAxis::destinationPosition()
{
return coordDestinationPoint;
}
void StepperControlAxis::setMaxSpeed(long speed)
{
motorSpeedMax = speed;

3
src/StepperControlAxis.h
View File

@ -25,7 +25,7 @@ public:
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 speedHome, long stepsAcc, long timeOut, bool homeIsUp, bool motorInv, bool endStInv, bool endStInv2, long interruptSpeed, bool motor2Enbl, bool motor2Inv, bool endStEnbl, bool stopAtHome, long maxSize, bool stopAtMax);
void loadCoordinates(long sourcePoint, long destinationPoint, bool home);
bool loadCoordinates(long sourcePoint, long destinationPoint, bool home);
void setMaxSpeed(long speed);
void enableMotor();
@ -51,6 +51,7 @@ public:
long currentPosition();
void setCurrentPosition(long newPos);
long destinationPosition();
void setStepAxis();
void setMotorStep();

6
src/src.vcxproj
View File

@ -47,10 +47,10 @@
<WarningLevel>Level3</WarningLevel>
<Optimization>Disabled</Optimization>
<SDLCheck>true</SDLCheck>
<AdditionalIncludeDirectories>$(ProjectDir)..\..\..\..\AppData\Local\arduino15\packages\arduino\hardware\avr\1.6.19\libraries\SPI\src;$(ProjectDir)..\..\..\..\AppData\Local\arduino15\packages\arduino\hardware\avr\1.6.19\libraries\EEPROM\src;$(ProjectDir)..\..\..\..\..\..\Program Files (x86)\Arduino\libraries\Servo\src;$(ProjectDir)..\..\..\..\..\..\Program Files (x86)\Arduino\libraries;$(ProjectDir)..\..\..\..\AppData\Local\arduino15\packages\arduino\hardware\avr\1.6.19\libraries;$(ProjectDir)..\..\..\..\Documents\Arduino\libraries;$(ProjectDir)..\..\..\..\AppData\Local\arduino15\packages\arduino\hardware\avr\1.6.19\cores\arduino;$(ProjectDir)..\..\..\..\AppData\Local\arduino15\packages\arduino\hardware\avr\1.6.19\variants\mega;$(ProjectDir)..\src;$(ProjectDir)..\..\..\..\AppData\Local\arduino15\packages\arduino\tools\avr-gcc\4.9.2-atmel3.5.4-arduino2\avr\include\;$(ProjectDir)..\..\..\..\AppData\Local\arduino15\packages\arduino\tools\avr-gcc\4.9.2-atmel3.5.4-arduino2\avr\include\avr\;$(ProjectDir)..\..\..\..\AppData\Local\arduino15\packages\arduino\tools\avr-gcc\4.9.2-atmel3.5.4-arduino2\lib\gcc\avr\4.8.1\include;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
<AdditionalIncludeDirectories>$(ProjectDir)..\src;$(ProjectDir)..\..\..\..\AppData\Local\arduino15\packages\arduino\hardware\avr\1.6.19\libraries\SPI\src;$(ProjectDir)..\..\..\..\AppData\Local\arduino15\packages\arduino\hardware\avr\1.6.19\libraries\EEPROM\src;$(ProjectDir)..\..\..\..\..\..\Program Files (x86)\Arduino\libraries\Servo\src;$(ProjectDir)..\..\..\..\..\..\Program Files (x86)\Arduino\libraries;$(ProjectDir)..\..\..\..\AppData\Local\arduino15\packages\arduino\hardware\avr\1.6.19\libraries;$(ProjectDir)..\..\..\..\Documents\Arduino\libraries;$(ProjectDir)..\..\..\..\AppData\Local\arduino15\packages\arduino\hardware\avr\1.6.19\cores\arduino;$(ProjectDir)..\..\..\..\AppData\Local\arduino15\packages\arduino\hardware\avr\1.6.19\variants\mega;$(ProjectDir)..\..\..\..\AppData\Local\arduino15\packages\arduino\tools\avr-gcc\4.9.2-atmel3.5.4-arduino2\avr\include\;$(ProjectDir)..\..\..\..\AppData\Local\arduino15\packages\arduino\tools\avr-gcc\4.9.2-atmel3.5.4-arduino2\avr\include\avr\;$(ProjectDir)..\..\..\..\AppData\Local\arduino15\packages\arduino\tools\avr-gcc\4.9.2-atmel3.5.4-arduino2\lib\gcc\avr\4.8.1\include;$(ProjectDir)..\..\..\..\AppData\Local\arduino15\packages\arduino\tools\avr-gcc\4.9.2-atmel3.5.4-arduino2\lib\gcc\avr\4.9.2\include;$(ProjectDir)..\..\..\..\AppData\Local\arduino15\packages\arduino\tools\avr-gcc\4.9.2-atmel3.5.4-arduino2\lib\gcc\avr\4.9.3\include;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
<ForcedIncludeFiles>$(ProjectDir)__vm\.src.vsarduino.h;%(ForcedIncludeFiles)</ForcedIncludeFiles>
<IgnoreStandardIncludePath>false</IgnoreStandardIncludePath>
<PreprocessorDefinitions>__AVR_ATmega2560__;_VMDEBUG=1;F_CPU=16000000L;ARDUINO=10802;ARDUINO_AVR_MEGA2560;ARDUINO_ARCH_AVR;__cplusplus=201103L;%(PreprocessorDefinitions)</PreprocessorDefinitions>
<PreprocessorDefinitions>__AVR_ATmega2560__;_VMDEBUG=1;F_CPU=16000000L;ARDUINO=10802;ARDUINO_AVR_MEGA2560;ARDUINO_ARCH_AVR;__cplusplus=201103L;_VMICRO_INTELLISENSE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
</ClCompile>
<Link>
<GenerateDebugInformation>true</GenerateDebugInformation>
@ -178,7 +178,7 @@
</ImportGroup>
<ProjectExtensions>
<VisualStudio>
<UserProperties vm.programmer_name="avrisp" arduino.upload.port="COM4" />
<UserProperties vm.programmer_name="avrisp" arduino.upload.port="COM6" />
</VisualStudio>
</ProjectExtensions>
</Project>

4
src/src.vcxproj.user 100644
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@ -0,0 +1,4 @@
<?xml version="1.0" encoding="utf-8"?>
<Project ToolsVersion="15.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
<PropertyGroup />
</Project>