debugging

src/Command.cpp

@@ -55,6 +55,11 @@ CommandCodeEnum Command::getGCodeEnum(char *code)
   //	return F03;
   //}
 
+  if (strcmp(code, "F09") == 0 || strcmp(code, "F9") == 0)
+  {
+    return F09;
+  }
+
   if (strcmp(code, "F11") == 0)
   {
     return F11;

src/Config.h

@@ -20,6 +20,7 @@ const char COMM_REPORT_CMD_ERROR[4] = {'R', '0', '3', '\0'};
 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_EMERGENCY_STOP[4] = { 'R', '8', '7', '\0' };
 const char COMM_REPORT_NO_CONFIG[4] = {'R', '8', '8', '\0'};
 const char COMM_REPORT_COMMENT[4] = {'R', '9', '9', '\0'};
 
@@ -58,7 +59,7 @@ const long MOVEMENT_KEEP_ACTIVE_Z_DEFAULT = 1;
 
 const long MOVEMENT_HOME_AT_BOOT_X_DEFAULT = 0;
 const long MOVEMENT_HOME_AT_BOOT_Y_DEFAULT = 0;
-const long MOVEMENT_HOME_AT_BOOT_Z_DEFAULT = 1;
+const long MOVEMENT_HOME_AT_BOOT_Z_DEFAULT = 0;
 
 const long MOVEMENT_ENABLE_ENDPOINTS_X_DEFAULT = 0;
 const long MOVEMENT_ENABLE_ENDPOINTS_Y_DEFAULT = 0;

src/Debug.h

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

src/F09Handler.cpp

@@ -31,7 +31,7 @@ int F09Handler::execute(Command *command)
     Serial.print("R99 Reset emergency stop\r\n");
   }
 
-  CurrentState::getInstance()->setEmergencyStop();
+  CurrentState::getInstance()->resetEmergencyStop();
 
   return 0;
 }

src/GCodeProcessor.cpp

@@ -31,12 +31,34 @@ int GCodeProcessor::execute(Command *command)
   long Q = command->getQ();
   CurrentState::getInstance()->setQ(Q);
 
-  // Do not execute the command when the config complete parameter is not
+  
-  // set by the raspberry pi and it's asked to do a move command
+  //Only allow reset of emergency stop when emergency stop is engaged
+
+  if (CurrentState::getInstance()->isEmergencyStop()) 
+  {
+    if (!(
+      command->getCodeEnum() == F09 ||
+      command->getCodeEnum() == F20 ||
+      command->getCodeEnum() == F21 ||
+      command->getCodeEnum() == F22 ||
+      command->getCodeEnum() == F81 ||
+      command->getCodeEnum() == F82 ||
+      command->getCodeEnum() == F83 ))
+    {
+
+    Serial.print(COMM_REPORT_EMERGENCY_STOP);
+    CurrentState::getInstance()->printQAndNewLine();
+    return -1;
+    }
+  }
 
   // Tim 2017-04-15 Disable until the raspberry code is ready
   /*
-	if (ParameterList::getInstance()->getValue(PARAM_CONFIG_OK) != 1) {
+  // Do not execute the command when the config complete parameter is not
+  // set by the raspberry pi and it's asked to do a move command
+
+	if (ParameterList::getInstance()->getValue(PARAM_CONFIG_OK) != 1) 
+  {
 		if (	command->getCodeEnum() == G00 ||
 			command->getCodeEnum() == G01 ||
 			command->getCodeEnum() == F11 ||
@@ -44,13 +66,14 @@ int GCodeProcessor::execute(Command *command)
 			command->getCodeEnum() == F13 ||
 			command->getCodeEnum() == F14 ||
 			command->getCodeEnum() == F15 ||
-			command->getCodeEnum() == F16 ) {
+			command->getCodeEnum() == F16 ) 
+    {
 
         		Serial.print(COMM_REPORT_NO_CONFIG);
 			CurrentState::getInstance()->printQAndNewLine();
 			return -1;
 		}
-        }
+  }
 	*/
 
   // Return error when no command or invalid command is found

src/StepperControl.cpp

@@ -326,14 +326,14 @@ int StepperControl::moveToCoords(long xDest, long yDest, long zDest,
       Serial.print(" deactivate motor X due to missed steps");
       Serial.print("\r\n");
 
-      //if (axisX.movingToHome())
+      if (xHome)
-      //{
+      {
-      //  encoderX.setPosition(0);
+        encoderX.setPosition(0);
-      //  axisX.setCurrentPosition(0);
+        axisX.setCurrentPosition(0);
-      //  Serial.print("R99");
+        Serial.print("R99");
-      //  Serial.print(" home position X axis detected with encoder");
+        Serial.print(" home position X axis detected with encoder");
-      //  Serial.print("\r\n");
+        Serial.print("\r\n");
-      //}
+      }
     }
 
     if (motorConsMissedSteps[1] > motorConsMissedStepsMax[1])
@@ -343,14 +343,14 @@ int StepperControl::moveToCoords(long xDest, long yDest, long zDest,
       Serial.print(" deactivate motor Y due to missed steps");
       Serial.print("\r\n");
 
-      //if (axisY.movingToHome())
+      if (yHome)
-      //{
+      {
-      //  encoderY.setPosition(0);
+        encoderY.setPosition(0);
-      //  axisY.setCurrentPosition(0);
+        axisY.setCurrentPosition(0);
-      //  Serial.print("R99");
+        Serial.print("R99");
-      //  Serial.print(" home position Y axis detected with encoder");
+        Serial.print(" home position Y axis detected with encoder");
-      //  Serial.print("\r\n");
+        Serial.print("\r\n");
-      //}
+      }
     }
 
     if (motorConsMissedSteps[2] > motorConsMissedStepsMax[2])
@@ -360,14 +360,14 @@ int StepperControl::moveToCoords(long xDest, long yDest, long zDest,
       Serial.print(" deactivate motor Z due to missed steps");
       Serial.print("\r\n");
 
-      //if (axisZ.movingToHome())
+      if (zHome)
-      //{
+      {
-      //  encoderZ.setPosition(0);
+        encoderZ.setPosition(0);
-      //  axisZ.setCurrentPosition(0);
+        axisZ.setCurrentPosition(0);
-      //  Serial.print("R99");
+        Serial.print("R99");
-      //  Serial.print(" home position Z axis detected with encoder");
+        Serial.print(" home position Z axis detected with encoder");
-      //  Serial.print("\r\n");
+        Serial.print("\r\n");
-      //}
+      }
     }
 
     if (axisX.endStopAxisReached(false))

src/StepperControl.h

@@ -86,7 +86,7 @@ private:
   long speedMin[3] = { 0, 0, 0 };
   long stepsAcc[3] = { 0, 0, 0 };
   bool motorInv[3] = { false, false, false };
-  bool motorMaxSize[3] = { false, false, false };
+  long motorMaxSize[3] = { 0, 0, 0};
   bool motorKeepActive[3] = { false, false, false };
   bool motor2Inv[3] = { false, false, false };
   bool motor2Enbl[3] = { false, false, false };

src/StepperControlAxis.cpp

@@ -398,11 +398,11 @@ void StepperControlAxis::loadCoordinates(long sourcePoint, long destinationPoint
     {
       if (coordDestinationPoint < 0)
       {
-        coordDestinationPoint = abs(motorMaxSize);
+        coordDestinationPoint = -abs(motorMaxSize);
       }
       else
       {
-        coordDestinationPoint = -abs(motorMaxSize);
+        coordDestinationPoint = abs(motorMaxSize);
       }
     }
   }

src/farmbot_arduino_controller.cpp

@@ -228,8 +228,14 @@ void loop()
   {
     StepperControl::getInstance()->disableMotors();
     PinControl::getInstance()->resetPinsUsed();
+    if (debugMessages)
+    {
+      Serial.print(COMM_REPORT_COMMENT);
+      Serial.print(" Going to safe state");
+      CurrentState::getInstance()->printQAndNewLine();
+    }
   }
-  previousEmergencyStop == CurrentState::getInstance()->isEmergencyStop();
+  previousEmergencyStop = CurrentState::getInstance()->isEmergencyStop();
     
   // Check if parameters are changes, and if so load the new settings
   if (lastParamChangeNr != ParameterList::getInstance()->paramChangeNumber())
@@ -260,8 +266,23 @@ void loop()
     {
       // After an idle time, send the idle message
 
-      Serial.print(COMM_REPORT_CMD_IDLE);
+      if (CurrentState::getInstance()->isEmergencyStop())
-      CurrentState::getInstance()->printQAndNewLine();
+      {
+        Serial.print(COMM_REPORT_EMERGENCY_STOP);
+        CurrentState::getInstance()->printQAndNewLine();
+
+        if (debugMessages)
+        {
+          Serial.print(COMM_REPORT_COMMENT);
+          Serial.print(" Emergency stop engaged");
+          CurrentState::getInstance()->printQAndNewLine();
+        }
+      }
+      else
+      {
+        Serial.print(COMM_REPORT_CMD_IDLE);
+        CurrentState::getInstance()->printQAndNewLine();
+      }
 
       StepperControl::getInstance()->storePosition();
       CurrentState::getInstance()->printPosition();