spacecruft
/
farmbot-arduino-firmware
1
0
Fork 0
Code Issues Pull Requests Releases Activity

Added max length parameters, reporting encoder status, rewritten encoder read

pull/77/head
Tim Evers 2017-05-07 14:58:33 +02:00
parent 63f0072858
commit 5ef61ccd13
6 changed files with 39 additions and 34 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
src/Config.h
View File

@ -21,7 +21,8 @@ const char COMM_REPORT_CMD_BUSY[4] = {'R', '0', '4', '\0'};
const char COMM_REPORT_CMD_STATUS[4] = {'R', '0', '5', '\0'};
const char COMM_REPORT_CALIB_STATUS[4] = {'R', '0', '6', '\0'};
const char COMM_REPORT_ENCODER[4] = { 'R', '2', '1', '\0' };
const char COMM_REPORT_ENCODER_SCALED[4] = { 'R', '2', '1', '\0' };
const char COMM_REPORT_ENCODER_RAW[4] = { 'R', '2', '2', '\0' };
const char COMM_REPORT_EMERGENCY_STOP[4] = { 'R', '8', '7', '\0' };
const char COMM_REPORT_NO_CONFIG[4] = {'R', '8', '8', '\0'};

2
src/Debug.h
View File

@ -6,6 +6,6 @@
*/
#ifndef DEBUG_H_
#define debugMessages true
#define debugMessages false
#define debugInterrupt false
#endif /* DEBUG_H_ */

55
src/StepperControl.cpp
View File

@ -14,22 +14,24 @@ StepperControl *StepperControl::getInstance()
void StepperControl::reportEncoders()
{
Serial.print(COMM_REPORT_ENCODER);
Serial.print(" XS");
Serial.print(COMM_REPORT_ENCODER_SCALED);
Serial.print(" X");
Serial.print(encoderX.currentPosition());
Serial.print(" XR");
Serial.print(encoderX.currentPosition());
Serial.print(" YS");
Serial.print(" Y");
Serial.print(encoderY.currentPosition());
Serial.print(" YR");
Serial.print(encoderY.currentPosition());
Serial.print(" ZS");
Serial.print(encoderZ.currentPosition());
Serial.print(" ZR");
Serial.print(" Z");
Serial.print(encoderZ.currentPosition());
CurrentState::getInstance()->printQAndNewLine();
Serial.print(COMM_REPORT_ENCODER_RAW);
Serial.print(" X");
Serial.print(encoderX.currentPositionRaw());
Serial.print(" Y");
Serial.print(encoderY.currentPositionRaw());
Serial.print(" Z");
Serial.print(encoderZ.currentPositionRaw());
CurrentState::getInstance()->printQAndNewLine();
}
void StepperControl::reportStatus(StepperControlAxis *axis, int axisStatus)
@ -307,16 +309,15 @@ int StepperControl::moveToCoords(long xDest, long yDest, long zDest,
axisActive[1] = true;
axisActive[2] = true;
/**/
if (xHome || yHome || zHome)
{
if (!xHome) { axisX.deactivateAxis(); }
if (!yHome) { axisY.deactivateAxis(); }
if (!zHome) { axisZ.deactivateAxis(); }
if (!xHome) { axisX.deactivateAxis(); }
if (!yHome) { axisY.deactivateAxis(); }
if (!zHome) { axisZ.deactivateAxis(); }
axisActive[0] = xHome;
axisActive[1] = yHome;
axisActive[2] = zHome;
axisActive[0] = xHome;
axisActive[1] = yHome;
axisActive[2] = zHome;
}
axisX.checkMovement();
@ -363,7 +364,6 @@ int StepperControl::moveToCoords(long xDest, long yDest, long zDest,
if (debugInterrupt)
{
delayMicroseconds(100);
handleMovementInterrupt();
}
else
@ -505,11 +505,12 @@ int StepperControl::moveToCoords(long xDest, long yDest, long zDest,
// Periodically send message still active
currentMillis++;
if (currentMillis % 750 == 0)
if (currentMillis % 300 == 0)
{
Serial.print(COMM_REPORT_CMD_BUSY);
CurrentState::getInstance()->printQAndNewLine();
reportPosition();
reportEncoders();
if (debugMessages /*&& debugInterrupt*/)
{
@ -553,6 +554,7 @@ int StepperControl::moveToCoords(long xDest, long yDest, long zDest,
storeEndStops();
reportEndStops();
reportPosition();
reportEncoders();
// Report axis idle
@ -700,7 +702,7 @@ int StepperControl::calibrateAxis(int axis)
while (!movementDone && error == 0)
{
//checkAxisVsEncoder(&axisX, &encoderX, &motorConsMissedSteps[0], &motorLastPosition[0], &motorConsMissedStepsDecay[0], &motorConsEncoderEnabled[0]);
checkAxisVsEncoder(calibAxis, calibEncoder, &motorConsMissedSteps[axis], &motorLastPosition[axis], &motorConsEncoderLastPosition[axis], &motorConsEncoderUseForPos[axis], &motorConsMissedStepsDecay[axis], &motorConsEncoderEnabled[axis]);
// Check if there is an emergency stop command
if (Serial.available() > 0)
@ -719,6 +721,7 @@ int StepperControl::calibrateAxis(int axis)
{
calibAxis->setStepAxis();
delayMicroseconds(100000 / speedMin[axis] / 2);
@ -823,6 +826,8 @@ int StepperControl::calibrateAxis(int axis)
while (!movementDone && error == 0)
{
checkAxisVsEncoder(calibAxis, calibEncoder, &motorConsMissedSteps[axis], &motorLastPosition[axis], &motorConsEncoderLastPosition[axis], &motorConsEncoderUseForPos[axis], &motorConsMissedStepsDecay[axis], &motorConsEncoderEnabled[axis]);
// Check if there is an emergency stop command
if (Serial.available() > 0)
{
@ -935,15 +940,11 @@ 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, long *encoderLastPosition, int *encoderUseForPos, float *encoderStepDecay, bool *encoderEnabled)
{
// If a step is done
//if (*encoderEnabled && axis->isStepDone()
if (*encoderEnabled)
{
bool stepMissed = false;
if (debugInterrupt && debugMessages)
if (debugMessages)
{
//debugPrintCount++;
//if (debugPrintCount % 50 == 0)

2
src/StepperControlEncoder.cpp
View File

@ -74,9 +74,7 @@ void StepperControlEncoder::setPosition(long newPosition)
long StepperControlEncoder::currentPosition()
{
// Apply scaling to the output of the encoder, except when scaling is zero or lower
//return position;
if (scalingFactor == 100 || scalingFactor <= 0)
{
return position * encoderInvert;

9
src/farmbot_arduino_controller.cpp
View File

@ -160,7 +160,7 @@ void setup()
StepperControl::getInstance()->loadSettings();
// Dump all values to the serial interface
ParameterList::getInstance()->readAllValues();
//ParameterList::getInstance()->readAllValues();
// Get the settings for the pin guard
PinGuard::getInstance()->loadConfig();
@ -178,20 +178,23 @@ void setup()
if (ParameterList::getInstance()->getValue(MOVEMENT_HOME_AT_BOOT_X) == 1)
{
Serial.print("R99 HOME X ON STARTUP\r\n");
StepperControl::getInstance()->moveToCoords(0, 0, 0, 0, 0, 0, true, false, false);
}
if (ParameterList::getInstance()->getValue(MOVEMENT_HOME_AT_BOOT_Y) == 1)
{
Serial.print("R99 HOME Y ON STARTUP\r\n");
StepperControl::getInstance()->moveToCoords(0, 0, 0, 0, 0, 0, false, true, false);
}
if (ParameterList::getInstance()->getValue(MOVEMENT_HOME_AT_BOOT_Z) == 1)
{
Serial.print("R99 HOME Z ON STARTUP\r\n");
StepperControl::getInstance()->moveToCoords(0, 0, 0, 0, 0, 0, false, false, true);
}
Serial.print("R99 ARDUINO STARTUP \r\n");
Serial.print("R99 ARDUINO STARTUP COMPLETE\r\n");
}
// The loop function is called in an endless loop
@ -340,6 +343,8 @@ void loop()
CurrentState::getInstance()->storeEndStops();
CurrentState::getInstance()->printEndStops();
StepperControl::getInstance()->reportEncoders();
if (debugMessages)
{
Serial.print(COMM_REPORT_COMMENT);

2
src/src.vcxproj
View File

@ -173,7 +173,7 @@
</ImportGroup>
<ProjectExtensions>
<VisualStudio>
<UserProperties vm.programmer_name="avrisp" arduino.upload.port="COM3" />
<UserProperties vm.programmer_name="avrisp" arduino.upload.port="COM5" />
</VisualStudio>
</ProjectExtensions>
</Project>