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farmbot-arduino-firmware
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Merge pull request #147 from TimEvWw/master 

move debug message to R89
master
Tim Evers 2020-05-17 21:03:16 +02:00 committed by GitHub
parent 72d9c18315 17000da033
commit 71d94b59fa
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 108 additions and 25 deletions
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133
src/Movement.cpp
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@ -388,6 +388,10 @@ int Movement::moveToCoords(double xDestScaled, double yDestScaled, double zDestS
unsigned long currentMillis = 0;
unsigned long timeStart = millis();
int highestX = 0;
int highestY = 0;
int highestZ = 0;
serialMessageNr = 0;
serialMessageDelay = 0;
@ -596,7 +600,6 @@ int Movement::moveToCoords(double xDestScaled, double yDestScaled, double zDestS
{
homeMissedSteps[0]++;
}
}
if (axisY.isStepDone())
@ -617,7 +620,6 @@ int Movement::moveToCoords(double xDestScaled, double yDestScaled, double zDestS
{
homeMissedSteps[1]++;
}
}
if (axisZ.isStepDone())
@ -709,14 +711,14 @@ int Movement::moveToCoords(double xDestScaled, double yDestScaled, double zDestS
}
serialBuffer += "\r\n";
serialBuffer += "R99";
serialBuffer += " S";
serialBuffer += axisY.getNrOfSteps();
serialBuffer += " MS ";
serialBuffer += motorConsMissedSteps[1];
serialBuffer += " MSM ";
serialBuffer += motorConsMissedStepsMax[1];
serialBuffer += "\r\n";
//serialBuffer += "R99";
//serialBuffer += " S";
//serialBuffer += axisY.getNrOfSteps();
//serialBuffer += " MS ";
//serialBuffer += motorConsMissedSteps[1];
//serialBuffer += " MSM ";
//serialBuffer += motorConsMissedStepsMax[1];
//serialBuffer += "\r\n";
if (yHome)
{
@ -867,7 +869,6 @@ int Movement::moveToCoords(double xDestScaled, double yDestScaled, double zDestS
if (serialMessageDelay > 300 && serialBuffer.length() == 0 && serialBufferSending == 0)
{
//Serial.print("Y-");
//axisY.test();/**/
@ -898,6 +899,48 @@ int Movement::moveToCoords(double xDestScaled, double yDestScaled, double zDestS
//serialBuffer += axisZ.getLoad();
//serialBuffer += CurrentState::getInstance()->getQAndNewLine();
//#endif
#if defined(FARMDUINO_EXP_V20)
highestX = 0;
highestY = 0;
highestZ = 0;
if (axisX.missedStepHistory[0] > highestX) { highestX = axisX.missedStepHistory[0]; }
if (axisX.missedStepHistory[1] > highestX) { highestX = axisX.missedStepHistory[1]; }
if (axisX.missedStepHistory[2] > highestX) { highestX = axisX.missedStepHistory[2]; }
if (axisX.missedStepHistory[3] > highestX) { highestX = axisX.missedStepHistory[3]; }
if (axisX.missedStepHistory[4] > highestX) { highestX = axisX.missedStepHistory[4]; }
if (axisY.missedStepHistory[0] > highestY) { highestY = axisY.missedStepHistory[0]; }
if (axisY.missedStepHistory[1] > highestY) { highestY = axisY.missedStepHistory[1]; }
if (axisY.missedStepHistory[2] > highestY) { highestY = axisY.missedStepHistory[2]; }
if (axisY.missedStepHistory[3] > highestY) { highestY = axisY.missedStepHistory[3]; }
if (axisY.missedStepHistory[4] > highestY) { highestY = axisY.missedStepHistory[4]; }
if (axisZ.missedStepHistory[0] > highestZ) { highestZ = axisZ.missedStepHistory[0]; }
if (axisZ.missedStepHistory[1] > highestZ) { highestZ = axisZ.missedStepHistory[1]; }
if (axisZ.missedStepHistory[2] > highestZ) { highestZ = axisZ.missedStepHistory[2]; }
if (axisZ.missedStepHistory[3] > highestZ) { highestZ = axisZ.missedStepHistory[3]; }
if (axisZ.missedStepHistory[4] > highestZ) { highestZ = axisZ.missedStepHistory[4]; }
serialBuffer += "R89";
serialBuffer += " U";
serialBuffer += axisX.getNrOfSteps();
serialBuffer += " X";
serialBuffer += highestX;
serialBuffer += " V";
serialBuffer += (int)(axisY.getNrOfSteps() / 100) * 100 ;
serialBuffer += " Y";
serialBuffer += highestY;
serialBuffer += " W";
serialBuffer += axisZ.getNrOfSteps();
serialBuffer += " Z";
serialBuffer += highestZ;
serialBuffer += CurrentState::getInstance()->getQAndNewLine();
#endif
break;
default:
@ -1032,6 +1075,46 @@ int Movement::moveToCoords(double xDestScaled, double yDestScaled, double zDestS
delay(100);
}
// Report back the final missed steps
highestX = 0;
highestY = 0;
highestZ = 0;
if (axisX.missedStepHistory[0] > highestX) { highestX = axisX.missedStepHistory[0]; }
if (axisX.missedStepHistory[1] > highestX) { highestX = axisX.missedStepHistory[1]; }
if (axisX.missedStepHistory[2] > highestX) { highestX = axisX.missedStepHistory[2]; }
if (axisX.missedStepHistory[3] > highestX) { highestX = axisX.missedStepHistory[3]; }
if (axisX.missedStepHistory[4] > highestX) { highestX = axisX.missedStepHistory[4]; }
if (axisY.missedStepHistory[0] > highestY) { highestY = axisY.missedStepHistory[0]; }
if (axisY.missedStepHistory[1] > highestY) { highestY = axisY.missedStepHistory[1]; }
if (axisY.missedStepHistory[2] > highestY) { highestY = axisY.missedStepHistory[2]; }
if (axisY.missedStepHistory[3] > highestY) { highestY = axisY.missedStepHistory[3]; }
if (axisY.missedStepHistory[4] > highestY) { highestY = axisY.missedStepHistory[4]; }
if (axisZ.missedStepHistory[0] > highestZ) { highestZ = axisZ.missedStepHistory[0]; }
if (axisZ.missedStepHistory[1] > highestZ) { highestZ = axisZ.missedStepHistory[1]; }
if (axisZ.missedStepHistory[2] > highestZ) { highestZ = axisZ.missedStepHistory[2]; }
if (axisZ.missedStepHistory[3] > highestZ) { highestZ = axisZ.missedStepHistory[3]; }
if (axisZ.missedStepHistory[4] > highestZ) { highestZ = axisZ.missedStepHistory[4]; }
Serial.print("R89");
Serial.print(" U");
Serial.print(axisX.getNrOfSteps());
Serial.print(" X");
Serial.print(highestX);
Serial.print(" V");
Serial.print((int)(axisY.getNrOfSteps() / 100) * 100);
Serial.print(" Y");
Serial.print(highestY);
Serial.print(" W");
Serial.print(axisZ.getNrOfSteps());
Serial.print(" Z");
Serial.print(highestZ);
Serial.print(CurrentState::getInstance()->getQAndNewLine());
#endif
if (emergencyStop)
@ -1325,7 +1408,7 @@ int Movement::calibrateAxis(int axis)
nextTick = calibrationTicks + tickDelay;
while (calibrationTicks < nextTick && calibrationTicks >= lastTick)
{
delay(1);
delayMicroseconds(250);
}
stepsCount++;
@ -1362,7 +1445,7 @@ int Movement::calibrateAxis(int axis)
nextTick = calibrationTicks + tickDelay;
while (calibrationTicks < nextTick && calibrationTicks >= lastTick)
{
delay(1);
delayMicroseconds(250);
}
}
else
@ -1525,7 +1608,7 @@ int Movement::calibrateAxis(int axis)
nextTick = calibrationTicks + tickDelay;
while (calibrationTicks < nextTick && calibrationTicks >= lastTick)
{
delay(1);
delayMicroseconds(250);
}
if (stepsCount % (speedHome[axis] * 3) == 0)
@ -1547,7 +1630,7 @@ int Movement::calibrateAxis(int axis)
nextTick = calibrationTicks + tickDelay;
while (calibrationTicks < nextTick && calibrationTicks >= lastTick)
{
delay(1);
delayMicroseconds(250);
}
}
@ -1739,16 +1822,16 @@ void Movement::checkAxisVsEncoder(MovementAxis *axis, MovementEncoder *encoder,
axis->missedStepHistory[0] = *missedSteps;
// test print
Serial.print("R99");
Serial.print(" ");
Serial.print("S = ");
Serial.print(" ");
Serial.print(axis->getNrOfSteps());
Serial.print(" ");
Serial.print("M = ");
Serial.print(" ");
Serial.print(*missedSteps);
Serial.print("\r\n");
//Serial.print("R99");
//Serial.print(" ");
//Serial.print("S = ");
//Serial.print(" ");
//Serial.print(axis->getNrOfSteps());
//Serial.print(" ");
//Serial.print("M = ");
//Serial.print(" ");
//Serial.print(*missedSteps);
//Serial.print("\r\n");
// reset missed steps
*missedSteps = 0;