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farmbot-arduino-firmware
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Homing changes for verification of home position

pull/138/head
Tim Evers 2020-03-22 21:45:31 +01:00
parent c1bf9d659c
commit 86b1a29b3a
6 changed files with 230 additions and 43 deletions
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75
src/CurrentState.cpp
View File

@ -8,13 +8,6 @@
#include "CurrentState.h"
static CurrentState *instance;
long x = 0;
long y = 0;
long z = 0;
unsigned int speed = 0;
bool endStopState[3][2];
long Q = 0;
int lastError = 0;
CurrentState *CurrentState::getInstance()
{
@ -30,6 +23,11 @@ CurrentState::CurrentState()
x = 0;
y = 0;
z = 0;
homeMissedStepX = 0;
homeMissedStepY = 0;
homeMissedStepZ = 0;
speed = 0;
Q = 0;
lastError = 0;
@ -71,6 +69,54 @@ void CurrentState::setZ(long newZ)
z = newZ;
}
long CurrentState::getHomeMissedStepsX()
{
return homeMissedStepX;
}
long CurrentState::getHomeMissedStepsXscaled()
{
return homeMissedStepX / stepsPerMmX;
}
long CurrentState::getHomeMissedStepsY()
{
return homeMissedStepY;
}
long CurrentState::getHomeMissedStepsYscaled()
{
return homeMissedStepY / stepsPerMmY;
}
long CurrentState::getHomeMissedStepsZ()
{
return homeMissedStepZ;
}
long CurrentState::getHomeMissedStepsZscaled()
{
return homeMissedStepZ / stepsPerMmZ;
}
void CurrentState::setHomeMissedStepsX(long newX)
{
homeMissedStepX = newX;
}
void CurrentState::setHomeMissedStepsY(long newY)
{
homeMissedStepY = newY;
}
void CurrentState::setHomeMissedStepsZ(long newZ)
{
homeMissedStepZ = newZ;
}
int CurrentState::getLastError()
{
return lastError;
@ -93,6 +139,21 @@ void CurrentState::setStepsPerMm(long stepsX, long stepsY, long stepsZ)
stepsPerMmZ = stepsZ;
}
long CurrentState::getStepsPerMmX()
{
return stepsPerMmX;
}
long CurrentState::getStepsPerMmY()
{
return stepsPerMmY;
}
long CurrentState::getStepsPerMmZ()
{
return stepsPerMmZ;
}
void CurrentState::storeEndStops()
{
CurrentState::getInstance()->setEndStopState(0, 0, digitalRead(X_MIN_PIN));

28
src/CurrentState.h
View File

@ -36,6 +36,17 @@ public:
void setY(long);
void setZ(long);
long getHomeMissedStepsX();
long getHomeMissedStepsY();
long getHomeMissedStepsZ();
long getHomeMissedStepsXscaled();
long getHomeMissedStepsYscaled();
long getHomeMissedStepsZscaled();
void setHomeMissedStepsX(long);
void setHomeMissedStepsY(long);
void setHomeMissedStepsZ(long);
int getLastError();
void setLastError(int error);
@ -57,6 +68,10 @@ public:
bool isEmergencyStop();
void setStepsPerMm(long stepsX, long stepsY, long stepsZ);
long getStepsPerMmX();
long getStepsPerMmY();
long getStepsPerMmZ();
private:
CurrentState();
@ -69,6 +84,19 @@ private:
int errorCode = 0;
long x = 0;
long y = 0;
long z = 0;
unsigned int speed = 0;
bool endStopState[3][2];
long Q = 0;
int lastError = 0;
long homeMissedStepX = 0;
long homeMissedStepY = 0;
long homeMissedStepZ = 0;
bool emergencyStop = false;
};

41
src/F11Handler.cpp
View File

@ -32,10 +32,12 @@ int F11Handler::execute(Command *command)
}
int homeIsUp = ParameterList::getInstance()->getValue(MOVEMENT_HOME_UP_X);
int A = 10; // move away coordinates
int A = 10 * CurrentState::getInstance()->getStepsPerMmX(); // move away coordinates
int execution;
bool emergencyStop;
bool homingComplete = false;
if (homeIsUp == 1)
{
A = -A;
@ -47,26 +49,32 @@ int F11Handler::execute(Command *command)
long Y = CurrentState::getInstance()->getY();
long Z = CurrentState::getInstance()->getZ();
// Move to home position. Then 3 times move away and move to home again.
for (int stepNr = 0; stepNr < 7; stepNr++)
{
switch (stepNr)
{
case 0: Movement::getInstance()->moveToCoords(0, Y, Z, 0, 0, 0, true, false, false); break;
case 1: Movement::getInstance()->moveToCoords(A, Y, Z, 0, 0, 0, false, false, false); break;
case 2: Movement::getInstance()->moveToCoords(0, Y, Z, 0, 0, 0, true, false, false); break;
case 3: Movement::getInstance()->moveToCoords(A, Y, Z, 0, 0, 0, false, false, false); break;
case 4: Movement::getInstance()->moveToCoords(0, Y, Z, 0, 0, 0, true, false, false); break;
case 5: Movement::getInstance()->moveToCoords(A, Y, Z, 0, 0, 0, false, false, false); break;
case 6: Movement::getInstance()->moveToCoords(0, Y, Z, 0, 0, 0, true, false, false); break;
}
// Move to home position
Movement::getInstance()->moveToCoords(0, Y, Z, 0, 0, 0, false, false, false);
execution = CurrentState::getInstance()->getLastError();
emergencyStop = CurrentState::getInstance()->isEmergencyStop();
if (emergencyStop || execution != 0) { homingComplete = true; }
// After the first home, keep moving away and home back
// until there is no deviation in positions
while (!homingComplete)
{
// Move away from the home position
Movement::getInstance()->moveToCoords(A, Y, Z, 0, 0, 0, false, false, false);
execution = CurrentState::getInstance()->getLastError();
emergencyStop = CurrentState::getInstance()->isEmergencyStop();
if (emergencyStop || execution != 0) { break; }
if (emergencyStop || execution != 0)
// Home again
Movement::getInstance()->moveToCoords(0, Y, Z, 0, 0, 0, true, false, false);
execution = CurrentState::getInstance()->getLastError();
emergencyStop = CurrentState::getInstance()->isEmergencyStop();
if (emergencyStop || execution != 0) { break; }
// Home position cannot drift more than 5 milimeter otherwise no valid home pos
if (CurrentState::getInstance()->getHomeMissedStepsXscaled() < 5)
{
break;
homingComplete = true;
}
}
@ -74,5 +82,6 @@ int F11Handler::execute(Command *command)
{
CurrentState::getInstance()->print();
}
return 0;
}

41
src/F12Handler.cpp
View File

@ -32,9 +32,10 @@ int F12Handler::execute(Command *command)
}
int homeIsUp = ParameterList::getInstance()->getValue(MOVEMENT_HOME_UP_Y);
int A = 10; // move away coordinates
int A = 10 * CurrentState::getInstance()->getStepsPerMmY(); // move away coordinates
int execution;
bool emergencyStop;
bool homingComplete = false;
if (homeIsUp == 1)
{
@ -47,26 +48,34 @@ int F12Handler::execute(Command *command)
long Y = CurrentState::getInstance()->getY();
long Z = CurrentState::getInstance()->getZ();
// Move to home position. Then 3 times move away and move to home again.
for (int stepNr = 0; stepNr < 7; stepNr++)
{
switch (stepNr)
{
case 0: Movement::getInstance()->moveToCoords(X, 0, Z, 0, 0, 0, false, true, false); break;
case 1: Movement::getInstance()->moveToCoords(X, A, Z, 0, 0, 0, false, false, false); break;
case 2: Movement::getInstance()->moveToCoords(X, 0, Z, 0, 0, 0, false, true, false); break;
case 3: Movement::getInstance()->moveToCoords(X, A, Z, 0, 0, 0, false, false, false); break;
case 4: Movement::getInstance()->moveToCoords(X, 0, Z, 0, 0, 0, false, true, false); break;
case 5: Movement::getInstance()->moveToCoords(X, A, Z, 0, 0, 0, false, false, false); break;
case 6: Movement::getInstance()->moveToCoords(X, 0, Z, 0, 0, 0, false, true, false); break;
}
// Move to home position. s
Movement::getInstance()->moveToCoords(X, 0, Z, 0, 0, 0, false, false, false);
execution = CurrentState::getInstance()->getLastError();
emergencyStop = CurrentState::getInstance()->isEmergencyStop();
if (emergencyStop || execution != 0) { homingComplete = true; }
// After the first home, keep moving away and home back
// until there is no deviation in positions
while (!homingComplete)
{
// Move away from the home position
//posBeforeVerify = CurrentState::getInstance()->getY();
Movement::getInstance()->moveToCoords(X, A, Z, 0, 0, 0, false, false, false);
execution = CurrentState::getInstance()->getLastError();
emergencyStop = CurrentState::getInstance()->isEmergencyStop();
if (emergencyStop || execution != 0) { break; }
if (emergencyStop || execution != 0)
// Home again
Movement::getInstance()->moveToCoords(X, 0, Z, 0, 0, 0, false, true, false);
execution = CurrentState::getInstance()->getLastError();
emergencyStop = CurrentState::getInstance()->isEmergencyStop();
if (emergencyStop || execution != 0) { break; }
// Compare postition before and after verify homing
if (CurrentState::getInstance()->getHomeMissedStepsYscaled() < 5)
{
break;
homingComplete = true;
}
}

39
src/F13Handler.cpp
View File

@ -34,10 +34,12 @@ int F13Handler::execute(Command *command)
Movement::getInstance()->moveToCoords(0, 0, 0, 0, 0, 0, false, false, true);
int homeIsUp = ParameterList::getInstance()->getValue(MOVEMENT_HOME_UP_Z);
int A = 10; // move away coord
int A = 10 * CurrentState::getInstance()->getStepsPerMmZ(); // move away coordinates
int execution;
bool emergencyStop;
bool homingComplete = false;
if (homeIsUp == 1)
{
A = -A;
@ -49,14 +51,43 @@ int F13Handler::execute(Command *command)
long Y = CurrentState::getInstance()->getY();
long Z = CurrentState::getInstance()->getZ();
// Move to home position.
Movement::getInstance()->moveToCoords(X, Y, 0, 0, 0, 0, false, false, false);
execution = CurrentState::getInstance()->getLastError();
emergencyStop = CurrentState::getInstance()->isEmergencyStop();
if (emergencyStop || execution != 0) { homingComplete = true; }
// After the first home, keep moving away and home back
// until there is no deviation in positions
while (!homingComplete)
{
// Move away from the home position
Movement::getInstance()->moveToCoords(X, Y, A, 0, 0, 0, false, false, false);
execution = CurrentState::getInstance()->getLastError();
emergencyStop = CurrentState::getInstance()->isEmergencyStop();
if (emergencyStop || execution != 0) { break; }
// Home again
Movement::getInstance()->moveToCoords(X, Y, 0, 0, 0, 0, false, false, true);
execution = CurrentState::getInstance()->getLastError();
emergencyStop = CurrentState::getInstance()->isEmergencyStop();
if (emergencyStop || execution != 0) { break; }
// Compare postition before and after verify homing
if (CurrentState::getInstance()->getHomeMissedStepsZscaled() < 5)
{
homingComplete = true;
}
}
// Move to home position. Then 3 times move away and move to home again.
for (int stepNr = 0; stepNr < 7; stepNr++)
{
switch (stepNr)
{
case 0: Movement::getInstance()->moveToCoords(X, Y, 0, 0, 0, 0, false, false, true); break;
case 1: Movement::getInstance()->moveToCoords(X, Y, A, 0, 0, 0, false, false, false); break;
case 2: Movement::getInstance()->moveToCoords(X, Y, 0, 0, 0, 0, false, false, true); break;
case 0: break;
case 1: break;
case 2:
case 3: Movement::getInstance()->moveToCoords(X, Y, A, 0, 0, 0, false, false, false); break;
case 4: Movement::getInstance()->moveToCoords(X, Y, 0, 0, 0, 0, false, false, true); break;
case 5: Movement::getInstance()->moveToCoords(X, Y, A, 0, 0, 0, false, false, false); break;

49
src/Movement.cpp
View File

@ -426,6 +426,9 @@ int Movement::moveToCoords(double xDestScaled, double yDestScaled, double zDestS
destinationPoint[1] = yDest;
destinationPoint[2] = zDest;
long homeMissedSteps[3] = { 0, 0, 0 };
motorConsMissedSteps[0] = 0;
motorConsMissedSteps[1] = 0;
motorConsMissedSteps[2] = 0;
@ -557,6 +560,20 @@ int Movement::moveToCoords(double xDestScaled, double yDestScaled, double zDestS
axisX.checkMovement();
checkAxisVsEncoder(&axisX, &encoderX, &motorConsMissedSteps[0], &motorLastPosition[0], &motorConsEncoderLastPosition[0], &motorConsEncoderUseForPos[0], &motorConsMissedStepsDecay[0], &motorConsEncoderEnabled[0]);
axisX.resetStepDone();
// While homing and being at the place where home is supposed to be
// start counting how many steps are taken before the motor is deactivated
if (
xHome == true &&
(
(homeIsUp[0] == false && currentPoint[0] <= 0) ||
(homeIsUp[0] == true && currentPoint[0] >= 0)
)
)
{
homeMissedSteps[0]++;
}
}
if (axisY.isStepDone())
@ -564,6 +581,20 @@ int Movement::moveToCoords(double xDestScaled, double yDestScaled, double zDestS
axisY.checkMovement();
checkAxisVsEncoder(&axisY, &encoderY, &motorConsMissedSteps[1], &motorLastPosition[1], &motorConsEncoderLastPosition[1], &motorConsEncoderUseForPos[1], &motorConsMissedStepsDecay[1], &motorConsEncoderEnabled[1]);
axisY.resetStepDone();
// While homing and being at the place where home is supposed to be
// start counting how many steps are taken before the motor is deactivated
if (
yHome == true &&
(
(homeIsUp[1] == false && currentPoint[1] <= 0) ||
(homeIsUp[1] == true && currentPoint[1] >= 0)
)
)
{
homeMissedSteps[1]++;
}
}
if (axisZ.isStepDone())
@ -571,6 +602,20 @@ int Movement::moveToCoords(double xDestScaled, double yDestScaled, double zDestS
axisZ.checkMovement();
checkAxisVsEncoder(&axisZ, &encoderZ, &motorConsMissedSteps[2], &motorLastPosition[2], &motorConsEncoderLastPosition[2], &motorConsEncoderUseForPos[2], &motorConsMissedStepsDecay[2], &motorConsEncoderEnabled[2]);
axisZ.resetStepDone();
// While homing and being at the place where home is supposed to be
// start counting how many steps are taken before the motor is deactivated
if (
zHome == true &&
(
(homeIsUp[2] == false && currentPoint[2] <= 0) ||
(homeIsUp[2] == true && currentPoint[2] >= 0)
)
)
{
homeMissedSteps[2]++;
}
}
if (axisX.isAxisActive() && motorConsMissedSteps[0] > motorConsMissedStepsMax[0])
@ -842,6 +887,10 @@ int Movement::moveToCoords(double xDestScaled, double yDestScaled, double zDestS
CurrentState::getInstance()->setY(currentPoint[1]);
CurrentState::getInstance()->setZ(currentPoint[2]);
CurrentState::getInstance()->setHomeMissedStepsX(homeMissedSteps[0]);
CurrentState::getInstance()->setHomeMissedStepsY(homeMissedSteps[1]);
CurrentState::getInstance()->setHomeMissedStepsZ(homeMissedSteps[2]);
storeEndStops();
reportEndStops();
reportPosition();