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farmbot-arduino-firmware
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Code Issues Pull Requests Releases Activity

report new calibration settings

pull/10/head
TimEvWw 2014-09-22 19:35:01 -01:00
parent a967114c14
commit 734cb9d9b2
1 changed files with 38 additions and 9 deletions
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47
src/StepperControl.cpp
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@ -597,6 +597,10 @@ int StepperControl::calibrateAxis(int axis) {
// 1.0 * movementLength[1] / maxLenth,
// 1.0 * movementLength[2] / maxLenth };
int parMotInv[3] = { 31, 32, 33};
int parEndInv[3] = { 21, 22, 23};
int parNbrStp[3] = {901,902,903};
bool motorInv[3] = { ParameterList::getInstance()->getValue(MOVEMENT_INVERT_MOTOR_X),
ParameterList::getInstance()->getValue(MOVEMENT_INVERT_MOTOR_Y),
ParameterList::getInstance()->getValue(MOVEMENT_INVERT_MOTOR_Z) };
@ -655,6 +659,7 @@ int StepperControl::calibrateAxis(int axis) {
//bool stepMade = false;
//int axisSpeed = 0;
int paramValueInt = 0;
bool invertEndStops = false;
int stepsCount = 0;
@ -712,15 +717,30 @@ int StepperControl::calibrateAxis(int axis) {
}
}
// Store the status of the system halfway
// Report back the end stop setting
//CurrentState::getInstance()->setX(currentPoint[0]);
//CurrentState::getInstance()->setY(currentPoint[1]);
//CurrentState::getInstance()->setZ(currentPoint[2]);
if (error == 0) {
if (invertEndStops) {
paramValueInt = 1;
} else {
paramValueInt = 0;
}
Serial.print("R23");
Serial.print(" ");
Serial.print("P");
Serial.print(parEndInv[axis]);
Serial.print(" ");
Serial.print("V");
Serial.print(paramValueInt)
Serial.print("\n")
}
// Store the status of the system
storeEndStops();
reportEndStops();
reportPosition();
//reportPosition();
// Move into the other direction now, and measure the number of steps
@ -754,11 +774,20 @@ int StepperControl::calibrateAxis(int axis) {
}
}
enableMotors(false);
// Report back the end stop setting
//CurrentState::getInstance()->setX(currentPoint[0]);
//CurrentState::getInstance()->setY(currentPoint[1]);
//CurrentState::getInstance()->setZ(currentPoint[2]);
if (error == 0) {
Serial.print("R23");
Serial.print(" ");
Serial.print("P");
Serial.print(parNbrStp[axis]);
Serial.print(" ");
Serial.print("V");
Serial.print(paramValueInt)
Serial.print("\n")
}
enableMotors(false);
storeEndStops();
reportEndStops();